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https://github.com/elephantrobotics/mycobot_ros.git
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110 lines
3 KiB
Python
Executable file
110 lines
3 KiB
Python
Executable file
#!/usr/bin/env python2
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# encoding:utf8
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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 pymycobot.mycobot import MyCobot
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from pymycobot import MyCobotSocket
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def talker():
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rospy.init_node("display", anonymous=True)
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print("Try connect real mycobot...")
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# port = rospy.get_param("~port", "/dev/ttyTHS1")
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# baud = rospy.get_param("~baud", 1000000)
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ip=rospy.get_param('~ip','192.168.125.226')
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netport=rospy.get_param('~netport',9000)
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# print("port: {}, baud: {}\n".format(port, baud))
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print('ip:{},port:{}'.format(ip,netport))
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try:
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# mycobot = MyCobot(port, baud)
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mycobot=MyCobotSocket(ip,netport)
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mycobot.connect(serialport="/dev/ttyTHS1", baudrate="1000000")
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except Exception as e:
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print(e)
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print(
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"""\
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\rTry connect mycobot failed!
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\rPlease check wether connected with mycobot.
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\rPlease chckt wether the port or baud is right.
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"""
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)
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exit(1)
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mycobot.release_all_servos()
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time.sleep(0.1)
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print("Rlease all servos over.\n")
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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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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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print("publishing ...")
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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_radians()
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data_list = []
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for index, value in enumerate(angles):
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data_list.append(value)
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# rospy.loginfo('{}'.format(data_list))
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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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# 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.标记位置初始
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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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try:
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talker()
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except rospy.ROSInterruptException:
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pass
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