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https://github.com/elephantrobotics/mycobot_ros.git
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67 lines
2 KiB
Python
67 lines
2 KiB
Python
#!/usr/bin/env python
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# -*- coding:utf-8 -*-
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"""[summary]
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This file obtains the joint angle of the manipulator in ROS,
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and then sends it directly to the real manipulator using `pymycobot` API.
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This file is [slider_control.launch] related script.
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Passable parameters:
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port: serial prot string. Defaults is '/dev/ttyAMA0'
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baud: serial prot baudrate. Defaults is 1000000.
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"""
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import time
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import math
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import rospy
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from sensor_msgs.msg import JointState
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import pymycobot
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from packaging import version
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# min low version require
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MIN_REQUIRE_VERSION = '3.6.1'
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current_verison = pymycobot.__version__
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print('current pymycobot library version: {}'.format(current_verison))
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if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
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raise RuntimeError('The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
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else:
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print('pymycobot library version meets the requirements!')
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from pymycobot import MechArm270
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mc = None
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def callback(data):
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# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
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print(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.send_angles(data_list, 25)
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def listener():
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global mc
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rospy.init_node("control_slider", anonymous=True)
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rospy.Subscriber("joint_states", JointState, callback)
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port = rospy.get_param("~port", "/dev/ttyAMA0") # Select connected device. 选择连接设备
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baud = rospy.get_param("~baud", 1000000)
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print(port, baud)
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mc = MechArm270(port, baud)
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time.sleep(0.05)
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mc.set_fresh_mode(1)
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time.sleep(0.05)
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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("spin ...")
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rospy.spin()
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if __name__ == "__main__":
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listener()
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