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https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
85 lines
2.3 KiB
Python
Executable file
85 lines
2.3 KiB
Python
Executable file
#!/usr/bin/env python3
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# license removed for brevity
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import time
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import rospy
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from sensor_msgs.msg import JointState
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from std_msgs.msg import Header
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from visualization_msgs.msg import Marker
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from pythonAPI.mycobot import MyCobot
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def talker():
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pub = rospy.Publisher('joint_states', JointState, queue_size=10)
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pub_marker = rospy.Publisher('visualization_marker', Marker, queue_size=10)
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rospy.init_node('display', anonymous=True)
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rate = rospy.Rate(30) # 30hz
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# pub joint state
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joint_state_send = JointState()
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joint_state_send.header = Header()
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joint_state_send.name = [
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'joint2_to_joint1',
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'joint3_to_joint2',
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'joint4_to_joint3',
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'joint5_to_joint4',
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'joint6_to_joint5',
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'joint6output_to_joint6'
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]
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joint_state_send.velocity = [0]
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joint_state_send.effort = []
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marker_ = Marker()
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marker_.header.frame_id = '/joint1'
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marker_.ns = 'my_namespace'
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while not rospy.is_shutdown():
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joint_state_send.header.stamp = rospy.Time.now()
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angles = mycobot.get_angles_of_radian()
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data_list = []
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for index, value in enumerate(angles):
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if index != 2:
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value *= -1
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data_list.append(value)
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joint_state_send.position = data_list
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pub.publish(joint_state_send)
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coords = mycobot.get_coords()
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rospy.loginfo('{}'.format(coords))
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#marker
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marker_.header.stamp = rospy.Time.now()
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marker_.type = marker_.SPHERE
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marker_.action = marker_.ADD
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marker_.scale.x = 0.04
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marker_.scale.y = 0.04
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marker_.scale.z = 0.04
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#marker position initial
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# print(coords)
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if not coords:
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coords = [0,0,0,0,0,0]
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rospy.loginfo('error [101]: can not get coord values')
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marker_.pose.position.x = coords[1] / 1000 * -1
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marker_.pose.position.y = coords[0] / 1000
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marker_.pose.position.z = coords[2] / 1000
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marker_.color.a = 1.0
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marker_.color.g = 1.0
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pub_marker.publish(marker_)
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rate.sleep()
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if __name__ == '__main__':
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mycobot = MyCobot()
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try:
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talker()
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except rospy.ROSInterruptException:
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pass
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