mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
56 lines
1.6 KiB
Python
56 lines
1.6 KiB
Python
#!/usr/bin/env python
|
|
# encoding=utf-8
|
|
import time
|
|
import math
|
|
import rospy
|
|
from sensor_msgs.msg import JointState
|
|
|
|
import pymycobot
|
|
from packaging import version
|
|
# min low version require
|
|
MIN_REQUIRE_VERSION = '3.6.1'
|
|
|
|
current_verison = pymycobot.__version__
|
|
print('current pymycobot library version: {}'.format(current_verison))
|
|
if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
|
|
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))
|
|
else:
|
|
print('pymycobot library version meets the requirements!')
|
|
from pymycobot import MyCobot280
|
|
|
|
|
|
mc = None
|
|
|
|
|
|
def callback(data):
|
|
# rospy.loginfo(rospy.get_caller_id() + "%s", data)
|
|
data_list = []
|
|
for index, value in enumerate(data.position):
|
|
radians_to_angles = round(math.degrees(value), 2)
|
|
data_list.append(radians_to_angles)
|
|
|
|
rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
|
|
mc.send_angles(data_list, 25)
|
|
|
|
|
|
def listener():
|
|
global mc
|
|
rospy.init_node("mycobot_reciver", anonymous=True)
|
|
|
|
port = rospy.get_param("~port", "/dev/ttyAMA0")
|
|
baud = rospy.get_param("~baud", 1000000)
|
|
print(port, baud)
|
|
mc = MyCobot280(port, baud)
|
|
time.sleep(0.05)
|
|
mc.set_fresh_mode(1)
|
|
time.sleep(0.05)
|
|
|
|
rospy.Subscriber("joint_states", JointState, callback)
|
|
|
|
# spin() simply keeps python from exiting until this node is stopped
|
|
# spin() 只是阻止 python 退出，直到该节点停止
|
|
rospy.spin()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
listener()
|