mirror of
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 python2
|
|
# license removed for brevity
|
|
import time
|
|
|
|
import rospy
|
|
from sensor_msgs.msg import JointState
|
|
from std_msgs.msg import Header
|
|
from visualization_msgs.msg import Marker
|
|
|
|
from pythonAPI.mycobot import MyCobot
|
|
|
|
|
|
def talker():
|
|
pub = rospy.Publisher('joint_states', JointState, queue_size=10)
|
|
pub_marker = rospy.Publisher('visualization_marker', Marker, queue_size=10)
|
|
rospy.init_node('display', anonymous=True)
|
|
rate = rospy.Rate(30) # 30hz
|
|
|
|
# pub joint state
|
|
joint_state_send = JointState()
|
|
joint_state_send.header = Header()
|
|
|
|
joint_state_send.name = [
|
|
'joint2_to_joint1',
|
|
'joint3_to_joint2',
|
|
'joint4_to_joint3',
|
|
'joint5_to_joint4',
|
|
'joint6_to_joint5',
|
|
'joint6output_to_joint6'
|
|
]
|
|
joint_state_send.velocity = [0]
|
|
joint_state_send.effort = []
|
|
|
|
marker_ = Marker()
|
|
marker_.header.frame_id = '/joint1'
|
|
marker_.ns = 'my_namespace'
|
|
|
|
while not rospy.is_shutdown():
|
|
joint_state_send.header.stamp = rospy.Time.now()
|
|
|
|
angles = mycobot.get_angles_of_radian()
|
|
data_list = []
|
|
for index, value in enumerate(angles):
|
|
if index != 2:
|
|
value *= -1
|
|
data_list.append(value)
|
|
|
|
joint_state_send.position = data_list
|
|
|
|
pub.publish(joint_state_send)
|
|
|
|
coords = mycobot.get_coords()
|
|
rospy.loginfo('{}'.format(coords))
|
|
|
|
#marker
|
|
marker_.header.stamp = rospy.Time.now()
|
|
marker_.type = marker_.SPHERE
|
|
marker_.action = marker_.ADD
|
|
marker_.scale.x = 0.04
|
|
marker_.scale.y = 0.04
|
|
marker_.scale.z = 0.04
|
|
|
|
#marker position initial
|
|
# print(coords)
|
|
if not coords:
|
|
coords = [0,0,0,0,0,0]
|
|
rospy.loginfo('error [101]: can not get coord values')
|
|
|
|
marker_.pose.position.x = coords[1] / 1000 * -1
|
|
marker_.pose.position.y = coords[0] / 1000
|
|
marker_.pose.position.z = coords[2] / 1000
|
|
|
|
marker_.color.a = 1.0
|
|
marker_.color.g = 1.0
|
|
pub_marker.publish(marker_)
|
|
|
|
rate.sleep()
|
|
|
|
if __name__ == '__main__':
|
|
mycobot = MyCobot()
|
|
try:
|
|
talker()
|
|
except rospy.ROSInterruptException:
|
|
pass
|
|
|