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https://github.com/elephantrobotics/mycobot_ros.git
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51 lines
1.3 KiB
Python
Executable file
51 lines
1.3 KiB
Python
Executable file
#!/usr/bin/env python3
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import time
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import rospy
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import os
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from sensor_msgs.msg import JointState
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from pymycobot.mybuddy import MyBuddy
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import math
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mb = None
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def callback(data):
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rospy.loginfo(rospy.get_caller_id() + "%s", data)
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data_list = []
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for index, value in enumerate(data.position):
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data_list.append(value)
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data_list1 = data_list[:6]
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data_list2 = data_list[6:-1]
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data_list3 = list(data_list[-1:])
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print("left_arm: %s" % data_list1)
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print("right_arm: %s" % data_list2)
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print("waist: %s" % data_list3)
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print("\n")
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mb.send_radians(1,data_list1, 50)
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time.sleep(0.02)
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mb.send_radians(2,data_list2, 50)
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time.sleep(0.02)
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# mb.send_radians(3,data_list3, 50)
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# time.sleep(0.02)
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# mb.set_encoder(3,1,data_list3[0]*4096/(2*math.pi)+2048,1)
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mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
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time.sleep(0.02)
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def listener():
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global mb
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rospy.init_node("mybuddy_reciver", anonymous=True)
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port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
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baud = rospy.get_param("~baud", 115200)
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print(port, baud)
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mb = MyBuddy(port, baud)
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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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rospy.spin()
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if __name__ == "__main__":
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listener()
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