mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
40 lines
897 B
Python
40 lines
897 B
Python
#!/usr/bin/env python2
|
|
import time
|
|
import rospy
|
|
from sensor_msgs.msg import JointState
|
|
|
|
from pymycobot.mycobot import MyCobot
|
|
|
|
|
|
mc = None
|
|
|
|
|
|
def callback(data):
|
|
rospy.loginfo(rospy.get_caller_id() + "%s", data)
|
|
data_list = []
|
|
for index, value in enumerate(data.position):
|
|
# if index != 2:
|
|
# value *= -1
|
|
data_list.append(value)
|
|
|
|
mc.send_radians(data_list, 80)
|
|
|
|
|
|
def listener():
|
|
global mc
|
|
rospy.init_node("mycobot_reciver", anonymous=True)
|
|
|
|
port = rospy.get_param("~port", "/dev/ttyTHS1")
|
|
baud = rospy.get_param("~baud", 1000000)
|
|
print(port, baud)
|
|
mc = MyCobot(port, baud)
|
|
|
|
rospy.Subscriber("joint_states", JointState, callback)
|
|
|
|
# spin() simply keeps python from exiting until this node is stopped
|
|
# spin() 只是阻止 python 退出，直到该节点停止
|
|
rospy.spin()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
listener()
|