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https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
56 lines
1.4 KiB
Python
Executable file
56 lines
1.4 KiB
Python
Executable file
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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from socket import *
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import math
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import sys
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import time
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from multiprocessing import Lock
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import rospy
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from sensor_msgs.msg import JointState
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from pymycobot.elephantrobot import ElephantRobot
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global mc
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def callback(data):
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"""callback function,回调函数"""
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# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
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data_list = []
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for index, value in enumerate(data.position):
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radians_to_angles = round(math.degrees(value), 2)
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data_list.append(radians_to_angles)
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rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
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mc.write_angles(data_list, 800)
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def listener():
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global mc
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try:
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rospy.init_node("control_slider", anonymous=True)
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ip = rospy.get_param("~ip", "192.168.1.17")
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port = rospy.get_param("~port", 5001)
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print (ip, port)
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mc = ElephantRobot(ip, int(port))
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# START CLIENT,启动客户端
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res = mc.start_client()
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if res != "":
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sys.exit(1)
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mc.set_speed(90)
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rospy.Subscriber("joint_states", JointState, callback)
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# spin() simply keeps python from exiting until this node is stopped
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# spin()只是阻止python退出，直到该节点停止
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print ("sping ...")
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rospy.spin()
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except Exception as e:
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print(e)
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if __name__ == "__main__":
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listener()
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