diff --git a/Mercury/mercury_b1/CMakeLists.txt b/Mercury/mercury_b1/CMakeLists.txt
index 6db1aae1..d354f670 100644
--- a/Mercury/mercury_b1/CMakeLists.txt
+++ b/Mercury/mercury_b1/CMakeLists.txt
@@ -23,13 +23,13 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
catkin_install_python(PROGRAMS
scripts/follow_display.py
scripts/slider_control.py
- scripts/teleop_keyboard.py
- scripts/listen_real.py
- scripts/listen_real_of_topic.py
+ # scripts/teleop_keyboard.py
+ # scripts/listen_real.py
+ # scripts/listen_real_of_topic.py
# scripts/detect_marker.py
# scripts/following_marker.py
# scripts/follow_and_pump.py
- scripts/simple_gui.py
+ # scripts/simple_gui.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
diff --git a/Mercury/mercury_b1/launch/simple_gui.launch b/Mercury/mercury_b1/launch/simple_gui.launch
deleted file mode 100755
index 080f2f62..00000000
--- a/Mercury/mercury_b1/launch/simple_gui.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/Mercury/mercury_b1/launch/teleop_keyboard.launch b/Mercury/mercury_b1/launch/teleop_keyboard.launch
deleted file mode 100755
index ba910666..00000000
--- a/Mercury/mercury_b1/launch/teleop_keyboard.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/Mercury/mercury_b1/scripts/follow_display.py b/Mercury/mercury_b1/scripts/follow_display.py
index 3ef67df8..59111e08 100755
--- a/Mercury/mercury_b1/scripts/follow_display.py
+++ b/Mercury/mercury_b1/scripts/follow_display.py
@@ -13,17 +13,17 @@ def talker():
rospy.init_node("display", anonymous=True)
print("Try connect real Mercury...")
- port1 = rospy.get_param("~port1", "/dev/ttyS0")
- port2 = rospy.get_param("~port2", "/dev/ttyTHS1")
+ port1 = rospy.get_param("~port1", "/dev/ttyTHS1")
+ port2 = rospy.get_param("~port2", "/dev/ttyS0")
baud = rospy.get_param("~baud", 115200)
print("port1: {}, baud: {}\n".format(port1, baud))
print("port2: {}, baud: {}\n".format(port2, baud))
try:
# left arm
- cx1 = Mercury(port1, baud)
+ l = Mercury(port1, baud)
time.sleep(0.02)
# right arm
- cx2 = Mercury(port2, baud)
+ r = Mercury(port2, baud)
except Exception as e:
print(e)
print(
@@ -34,9 +34,9 @@ def talker():
"""
)
exit(1)
- cx1.release_all_servos()
+ l.release_all_servos()
time.sleep(0.02)
- cx2.release_all_servos()
+ r.release_all_servos()
time.sleep(0.1)
print("Rlease all servos over.\n")
@@ -79,11 +79,11 @@ def talker():
while not rospy.is_shutdown():
joint_state_send.header.stamp = rospy.Time.now()
- left_angles = cx1.get_angles()
- right_angles = cx2.get_angles()
- eye_angle = cx2.get_angle(11)
- head_angle = cx2.get_angle(12)
- body_angle = cx2.get_angle(13)
+ left_angles = l.get_angles()
+ right_angles = r.get_angles()
+ eye_angle = r.get_angle(11)
+ head_angle = r.get_angle(12)
+ body_angle = r.get_angle(13)
print('left:', left_angles)
print('right:', right_angles)
@@ -102,15 +102,15 @@ def talker():
pub.publish(joint_state_send)
- left_coords = cx1.get_coords()
+ left_coords = l.get_coords()
- right_coords = cx2.get_coords()
+ right_coords = r.get_coords()
- eye_coords = cx2.get_angle(11)
+ eye_coords = r.get_angle(11)
- head_coords = cx2.get_angle(12)
+ head_coords = r.get_angle(12)
- body_coords = cx2.get_angle(13)
+ body_coords = r.get_angle(13)
# marker
diff --git a/Mercury/mercury_b1/scripts/listen_real.py b/Mercury/mercury_b1/scripts/listen_real.py
deleted file mode 100755
index 056e67ea..00000000
--- a/Mercury/mercury_b1/scripts/listen_real.py
+++ /dev/null
@@ -1,68 +0,0 @@
-#!/usr/bin/env python3
-# encoding:utf-8
-# license removed for brevity
-import time
-import math
-
-import rospy
-from sensor_msgs.msg import JointState
-from std_msgs.msg import Header
-from mercury_a1_communication.srv import GetAngles
-
-
-def talker():
- rospy.loginfo("start ...")
- rospy.init_node("real_listener", anonymous=True)
- pub = rospy.Publisher("joint_states", JointState, queue_size=10)
- rate = rospy.Rate(30) # 30hz
-
- # pub joint state，发布关节状态
- joint_state_send = JointState()
- joint_state_send.header = Header()
-
- joint_state_send.name = [
- "joint1_to_base",
- "joint2_to_joint1",
- "joint3_to_joint2",
- "joint4_to_joint3",
- "joint5_to_joint4",
- "joint6_to_joint5",
- "joint7_to_joint6",
- ]
- joint_state_send.velocity = [0]
- joint_state_send.effort = []
-
- # waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用
- rospy.loginfo("wait service")
- rospy.wait_for_service("get_joint_angles")
- func = rospy.ServiceProxy("get_joint_angles", GetAngles)
-
- rospy.loginfo("start loop ...")
- while not rospy.is_shutdown():
- # get real angles from server.从服务器获得真实的角度。
- res = func()
- if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
- continue
- radians_list = [
- res.joint_1 * (math.pi / 180),
- res.joint_2 * (math.pi / 180),
- res.joint_3 * (math.pi / 180),
- res.joint_4 * (math.pi / 180),
- res.joint_5 * (math.pi / 180),
- res.joint_6 * (math.pi / 180),
- res.joint_7 * (math.pi / 180),
- ]
- rospy.loginfo("res: {}".format(radians_list))
-
- # publish angles.发布角度
- joint_state_send.header.stamp = rospy.Time.now()
- joint_state_send.position = radians_list
- pub.publish(joint_state_send)
- rate.sleep()
-
-
-if __name__ == "__main__":
- try:
- talker()
- except rospy.ROSInterruptException:
- pass
diff --git a/Mercury/mercury_b1/scripts/listen_real_of_topic.py b/Mercury/mercury_b1/scripts/listen_real_of_topic.py
deleted file mode 100755
index 0e319970..00000000
--- a/Mercury/mercury_b1/scripts/listen_real_of_topic.py
+++ /dev/null
@@ -1,66 +0,0 @@
-#!/usr/bin/env python3
-# encoding:utf-8
-
-import math
-import rospy
-from sensor_msgs.msg import JointState
-from std_msgs.msg import Header
-from mercury_a1_communication.msg import CobotXAngles
-
-
-class Listener(object):
- def __init__(self):
- super(Listener, self).__init__()
-
- rospy.loginfo("start ...")
- rospy.init_node("real_listener_1", anonymous=True)
- # init publisher.初始化发布者
- self.pub = rospy.Publisher("joint_states", JointState, queue_size=10)
- # init subscriber.初始化订阅者
- self.sub = rospy.Subscriber("mercury/angles_real", CobotXAngles, self.callback)
- rospy.spin()
-
- def callback(self, data):
- """`cobotx/angles_real` subscriber callback method.
-
- Args:
- data (CobotXAngles): callback argument.
- """
- # ini publisher object. 初始化发布者对象
- joint_state_send = JointState()
- joint_state_send.header = Header()
-
- joint_state_send.name = [
- "joint1_to_base",
- "joint2_to_joint1",
- "joint3_to_joint2",
- "joint4_to_joint3",
- "joint5_to_joint4",
- "joint6_to_joint5",
- "joint7_to_joint6",
- ]
- joint_state_send.velocity = [0]
- joint_state_send.effort = []
- joint_state_send.header.stamp = rospy.Time.now()
-
- # process callback data. 处理回调数据。
- radians_list = [
- data.joint_1 * (math.pi / 180),
- data.joint_2 * (math.pi / 180),
- data.joint_3 * (math.pi / 180),
- data.joint_4 * (math.pi / 180),
- data.joint_5 * (math.pi / 180),
- data.joint_6 * (math.pi / 180),
- data.joint_7 * (math.pi / 180),
- ]
- rospy.loginfo("res: {}".format(radians_list))
-
- joint_state_send.position = radians_list
- self.pub.publish(joint_state_send)
-
-
-if __name__ == "__main__":
- try:
- Listener()
- except rospy.ROSInterruptException:
- pass
diff --git a/Mercury/mercury_b1/scripts/simple_gui.py b/Mercury/mercury_b1/scripts/simple_gui.py
deleted file mode 100755
index b5fd09cf..00000000
--- a/Mercury/mercury_b1/scripts/simple_gui.py
+++ /dev/null
@@ -1,501 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-try:
- import tkinter as tk
-except ImportError:
- import Tkinter as tk
-from mercury_a1_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
-import rospy
-import time
-from rospy import ServiceException
-
-
-class Window:
- def __init__(self, handle):
- self.win = handle
- self.win.resizable(0, 0) # fixed window size，固定窗口大小
-
- self.model = 0
- self.speed = rospy.get_param("~speed", 50)
-
- # set default speed，设置默认速度
- self.speed_d = tk.StringVar()
- self.speed_d.set(str(self.speed))
- # print(self.speed)
- self.connect_ser()
-
- # Get the data of the robotic arm，获取机械臂数据
- self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model]
- self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model]
- self.get_date()
-
- # get screen width and height.获取屏幕宽度和高度
- self.ws = self.win.winfo_screenwidth() # width of the screen
- self.hs = self.win.winfo_screenheight() # height of the screen
- # calculate x and y coordinates for the Tk root window
- # 计算 Tk 根窗口的 x 和 y 坐标
- x = int((self.ws / 2) - 190)
- y = int((self.hs / 2) - 250)
- self.win.geometry("430x450+{}+{}".format(x, y))
- # layout,布局
- self.set_layout()
- # input section,输入部分
- self.need_input()
- # Show part,展示部分
- self.show_init()
-
- # Set the joint buttons 设置joint按钮
- tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid(
- row=7, column=1, sticky="w", padx=3, pady=2
- )
-
- # coordination settings button,coordination 设置按钮
- tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid(
- row=7, column=1, sticky="w", padx=3, pady=2
- )
-
- # Gripper switch button,夹爪开关按钮
- tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid(
- row=1, column=0, sticky="w", padx=3, pady=50
- )
- tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid(
- row=1, column=1, sticky="w", padx=3, pady=2
- )
-
- def connect_ser(self):
- rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
-
- rospy.wait_for_service("get_joint_angles")
- rospy.wait_for_service("set_joint_angles")
- rospy.wait_for_service("get_joint_coords")
- rospy.wait_for_service("set_joint_coords")
- rospy.wait_for_service("switch_gripper_status")
- try:
- self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
- self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
- self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
- self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
- self.switch_gripper = rospy.ServiceProxy(
- "switch_gripper_status", GripperStatus
- )
- except:
- print("start error ...")
- exit(1)
-
- print("Connect service success.")
-
- def set_layout(self):
- self.frmLT = tk.Frame(width=200, height=200)
- self.frmLC = tk.Frame(width=200, height=200)
- self.frmLB = tk.Frame(width=200, height=200)
- self.frmRT = tk.Frame(width=200, height=200)
- self.frmLT.grid(row=0, column=0, padx=1, pady=3)
- self.frmLC.grid(row=1, column=0, padx=1, pady=3)
- self.frmLB.grid(row=1, column=1, padx=2, pady=3)
- self.frmRT.grid(row=0, column=1, padx=2, pady=3)
-
- def need_input(self):
- # input hint,输入提示
- tk.Label(self.frmLT, text="Joint 1 ").grid(row=0)
- tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行
- tk.Label(self.frmLT, text="Joint 3 ").grid(row=2)
- tk.Label(self.frmLT, text="Joint 4 ").grid(row=3)
- tk.Label(self.frmLT, text="Joint 5 ").grid(row=4)
- tk.Label(self.frmLT, text="Joint 6 ").grid(row=5)
- tk.Label(self.frmLT, text="Joint 7 ").grid(row=6)
-
- tk.Label(self.frmRT, text=" x ").grid(row=0)
- tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行
- tk.Label(self.frmRT, text=" z ").grid(row=2)
- tk.Label(self.frmRT, text=" rx ").grid(row=3)
- tk.Label(self.frmRT, text=" ry ").grid(row=4)
- tk.Label(self.frmRT, text=" rz ").grid(row=5)
-
- # Set the default value of the input box,设置输入框的默认值
- self.j1_default = tk.StringVar()
- self.j1_default.set(self.res_angles[0])
- self.j2_default = tk.StringVar()
- self.j2_default.set(self.res_angles[1])
- self.j3_default = tk.StringVar()
- self.j3_default.set(self.res_angles[2])
- self.j4_default = tk.StringVar()
- self.j4_default.set(self.res_angles[3])
- self.j5_default = tk.StringVar()
- self.j5_default.set(self.res_angles[4])
- self.j6_default = tk.StringVar()
- self.j6_default.set(self.res_angles[5])
- self.j7_default = tk.StringVar()
- self.j7_default.set(self.res_angles[6])
-
-
- self.x_default = tk.StringVar()
- self.x_default.set(self.record_coords[0])
- self.y_default = tk.StringVar()
- self.y_default.set(self.record_coords[1])
- self.z_default = tk.StringVar()
- self.z_default.set(self.record_coords[2])
- self.rx_default = tk.StringVar()
- self.rx_default.set(self.record_coords[3])
- self.ry_default = tk.StringVar()
- self.ry_default.set(self.record_coords[4])
- self.rz_default = tk.StringVar()
- self.rz_default.set(self.record_coords[5])
-
- # joint input box,joint 输入框
- self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default)
- self.J_1.grid(row=0, column=1, pady=3)
- self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default)
- self.J_2.grid(row=1, column=1, pady=3)
- self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default)
- self.J_3.grid(row=2, column=1, pady=3)
- self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default)
- self.J_4.grid(row=3, column=1, pady=3)
- self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default)
- self.J_5.grid(row=4, column=1, pady=3)
- self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default)
- self.J_6.grid(row=5, column=1, pady=3)
- self.J_7 = tk.Entry(self.frmLT, textvariable=self.j7_default)
- self.J_7.grid(row=6, column=1, pady=3)
-
- # coord input box,coord 输入框
- self.x = tk.Entry(self.frmRT, textvariable=self.x_default)
- self.x.grid(row=0, column=1, pady=3, padx=0)
- self.y = tk.Entry(self.frmRT, textvariable=self.y_default)
- self.y.grid(row=1, column=1, pady=3)
- self.z = tk.Entry(self.frmRT, textvariable=self.z_default)
- self.z.grid(row=2, column=1, pady=3)
- self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default)
- self.rx.grid(row=3, column=1, pady=3)
- self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default)
- self.ry.grid(row=4, column=1, pady=3)
- self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default)
- self.rz.grid(row=5, column=1, pady=3)
-
- # All input boxes, used to get the input data,所有输入框，用于拿输入的数据
- self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6, self.J_7]
- self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz]
-
- # speed input box,速度输入框
- tk.Label(
- self.frmLB,
- text="speed",
- ).grid(row=0, column=0)
- self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10)
- self.get_speed.grid(row=0, column=1)
-
- def show_init(self):
- # show,显示
- tk.Label(self.frmLC, text="Joint 1 ").grid(row=0)
- tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行
- tk.Label(self.frmLC, text="Joint 3 ").grid(row=2)
- tk.Label(self.frmLC, text="Joint 4 ").grid(row=3)
- tk.Label(self.frmLC, text="Joint 5 ").grid(row=4)
- tk.Label(self.frmLC, text="Joint 6 ").grid(row=5)
- tk.Label(self.frmLC, text="Joint 7 ").grid(row=6)
-
- # get数据
-
- # show,展示出来
- self.cont_1 = tk.StringVar(self.frmLC)
- self.cont_1.set(str(self.res_angles[0]) + "°")
- self.cont_2 = tk.StringVar(self.frmLC)
- self.cont_2.set(str(self.res_angles[1]) + "°")
- self.cont_3 = tk.StringVar(self.frmLC)
- self.cont_3.set(str(self.res_angles[2]) + "°")
- self.cont_4 = tk.StringVar(self.frmLC)
- self.cont_4.set(str(self.res_angles[3]) + "°")
- self.cont_5 = tk.StringVar(self.frmLC)
- self.cont_5.set(str(self.res_angles[4]) + "°")
- self.cont_6 = tk.StringVar(self.frmLC)
- self.cont_6.set(str(self.res_angles[5]) + "°")
- self.cont_7 = tk.StringVar(self.frmLC)
- self.cont_7.set(str(self.res_angles[6]) + "°")
- self.cont_all = [
- self.cont_1,
- self.cont_2,
- self.cont_3,
- self.cont_4,
- self.cont_5,
- self.cont_6,
- self.cont_7,
- self.speed,
- self.model,
- ]
-
- self.show_j1 = tk.Label(
- self.frmLC,
- textvariable=self.cont_1,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=0, column=1, padx=0, pady=5)
-
- self.show_j2 = tk.Label(
- self.frmLC,
- textvariable=self.cont_2,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=1, column=1, padx=0, pady=5)
- self.show_j3 = tk.Label(
- self.frmLC,
- textvariable=self.cont_3,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=2, column=1, padx=0, pady=5)
- self.show_j4 = tk.Label(
- self.frmLC,
- textvariable=self.cont_4,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=3, column=1, padx=0, pady=5)
- self.show_j5 = tk.Label(
- self.frmLC,
- textvariable=self.cont_5,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=4, column=1, padx=0, pady=5)
- self.show_j6 = tk.Label(
- self.frmLC,
- textvariable=self.cont_6,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=5, column=1, padx=5, pady=5)
- self.show_j7 = tk.Label(
- self.frmLC,
- textvariable=self.cont_7,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=6, column=1, padx=5, pady=5)
-
- self.all_jo = [
- self.show_j1,
- self.show_j2,
- self.show_j3,
- self.show_j4,
- self.show_j5,
- self.show_j6,
- self.show_j7,
- ]
-
- # show,显示
- tk.Label(self.frmLC, text=" x ").grid(row=0, column=3)
- tk.Label(self.frmLC, text=" y ").grid(row=1, column=3)
- tk.Label(self.frmLC, text=" z ").grid(row=2, column=3)
- tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3)
- tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3)
- tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3)
- self.coord_x = tk.StringVar()
- self.coord_x.set(str(self.record_coords[0]))
- self.coord_y = tk.StringVar()
- self.coord_y.set(str(self.record_coords[1]))
- self.coord_z = tk.StringVar()
- self.coord_z.set(str(self.record_coords[2]))
- self.coord_rx = tk.StringVar()
- self.coord_rx.set(str(self.record_coords[3]))
- self.coord_ry = tk.StringVar()
- self.coord_ry.set(str(self.record_coords[4]))
- self.coord_rz = tk.StringVar()
- self.coord_rz.set(str(self.record_coords[5]))
-
- self.coord_all = [
- self.coord_x,
- self.coord_y,
- self.coord_z,
- self.coord_rx,
- self.coord_ry,
- self.coord_rz,
- self.speed,
- self.model,
- ]
-
- self.show_x = tk.Label(
- self.frmLC,
- textvariable=self.coord_x,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=0, column=4, padx=5, pady=5)
- self.show_y = tk.Label(
- self.frmLC,
- textvariable=self.coord_y,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=1, column=4, padx=5, pady=5)
- self.show_z = tk.Label(
- self.frmLC,
- textvariable=self.coord_z,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=2, column=4, padx=5, pady=5)
- self.show_rx = tk.Label(
- self.frmLC,
- textvariable=self.coord_rx,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=3, column=4, padx=5, pady=5)
- self.show_ry = tk.Label(
- self.frmLC,
- textvariable=self.coord_ry,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=4, column=4, padx=5, pady=5)
- self.show_rz = tk.Label(
- self.frmLC,
- textvariable=self.coord_rz,
- font=("Arial", 9),
- width=7,
- height=1,
- bg="white",
- ).grid(row=5, column=4, padx=5, pady=5)
-
- # mm， Unit show，单位展示
- self.unit = tk.StringVar()
- self.unit.set("mm")
- for i in range(6):
- tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid(
- row=i, column=5
- )
-
- def gripper_open(self):
- try:
- self.switch_gripper(True)
- except ServiceException:
- # Probably because the method has no return value, the service throws an unhandled error
- # 可能由于该方法没有返回值，服务抛出无法处理的错误
- pass
-
- def gripper_close(self):
- try:
- self.switch_gripper(False)
- except ServiceException:
- pass
-
- def get_coord_input(self):
- # Get the data input by coord and send it to the robotic arm
- # 获取 coord 输入的数据，发送给机械臂
- c_value = []
- for i in self.all_c:
- # print(type(i.get()))
- c_value.append(float(i.get()))
- self.speed = (
- int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
- )
- c_value.append(self.speed)
- c_value.append(self.model)
- # print(c_value)
- try:
- self.set_coords(*c_value)
- except ServiceException:
- pass
- self.show_j_date(c_value[:-2], "coord")
-
- def get_joint_input(self):
- # Get the data input by the joint and send it to the robotic arm
- # 获取joint输入的数据，发送给机械臂
- j_value = []
- for i in self.all_j:
- # print(type(i.get()))
- j_value.append(float(i.get()))
- self.speed = (
- int(float(self.get_speed.get())) if self.get_speed.get() else self.speed
- )
- j_value.append(self.speed)
-
- try:
- self.set_angles(*j_value)
- except ServiceException:
- pass
- self.show_j_date(j_value[:-1])
- # return j_value,c_value,speed
-
- def get_date(self):
- # Take the data of the robotic arm for display.拿机械臂的数据，用于展示
- t = time.time()
- while time.time() - t < 2:
- self.res = self.get_coords()
- if self.res.x > 1:
- break
- time.sleep(0.1)
-
- t = time.time()
- while time.time() - t < 2:
- self.angles = self.get_angles()
- if self.angles.joint_1 > 1:
- break
- time.sleep(0.1)
- # print(self.angles.joint_1)
- self.record_coords = [
- round(self.res.x, 2),
- round(self.res.y, 2),
- round(self.res.z, 2),
- round(self.res.rx, 2),
- round(self.res.ry, 2),
- round(self.res.rz, 2),
- self.speed,
- self.model,
- ]
- self.res_angles = [
- round(self.angles.joint_1, 2),
- round(self.angles.joint_2, 2),
- round(self.angles.joint_3, 2),
- round(self.angles.joint_4, 2),
- round(self.angles.joint_5, 2),
- round(self.angles.joint_6, 2),
- round(self.angles.joint_7, 2),
- ]
- # print('coord:',self.record_coords)
- # print('angles:',self.res_angles)
-
- # def send_input(self,dates):
- def show_j_date(self, date, way=""):
- # Show data,展示数据
- if way == "coord":
- for i, j in zip(date, self.coord_all):
- # print(i)
- j.set(str(i))
- else:
- for i, j in zip(date, self.cont_all):
- j.set(str(i) + "°")
-
- def run(self):
- while True:
- try:
- self.win.update()
- time.sleep(0.001)
- except tk.TclError as e:
- if "application has been destroyed" in str(e):
- break
- else:
- raise
-
-
-def main():
- window = tk.Tk()
- window.title("CobotX ros GUI")
- Window(window).run()
-
-
-if __name__ == "__main__":
- main()
diff --git a/Mercury/mercury_b1/scripts/slider_control.py b/Mercury/mercury_b1/scripts/slider_control.py
index 33d3f017..c2f6027b 100755
--- a/Mercury/mercury_b1/scripts/slider_control.py
+++ b/Mercury/mercury_b1/scripts/slider_control.py
@@ -16,10 +16,10 @@
from pymycobot.mercury import Mercury
# left arm port
-cx1 = None
+l = None
# right arm port
-cx2 = None
+r = None
def callback(data):
@@ -39,33 +39,30 @@ def callback(data):
print('right_arm:', right_arm)
print('middle_arm:', middle_arm)
- cx1.send_angles(left_arm, 50)
+ l.send_angles(left_arm, 50)
time.sleep(0.02)
- cx2.send_angles(right_arm, 50)
+ r.send_angles(right_arm, 50)
time.sleep(0.02)
- cx2.send_angle(11, middle_arm[0], 50)
+ r.send_angle(11, middle_arm[0], 50)
time.sleep(0.02)
- cx2.send_angle(12, middle_arm[1], 50)
+ r.send_angle(12, middle_arm[1], 50)
time.sleep(0.02)
- cx2.send_angle(13, middle_arm[2], 50)
+ r.send_angle(13, middle_arm[2], 50)
time.sleep(0.02)
- # mc.send_radians(data_list, 80)
- # mc.send_angles(data_list, 80)
- # time.sleep(0.5)
def listener():
- global cx1, cx2
+ global l, r
rospy.init_node("control_slider", anonymous=True)
rospy.Subscriber("joint_states", JointState, callback)
- port1 = rospy.get_param("~port1", "/dev/ttyS0")
- port2 = rospy.get_param("~port2", "/dev/ttyTHS1")
+ port1 = rospy.get_param("~port1", "/dev/ttyTHS1")
+ port2 = rospy.get_param("~port2", "/dev/ttyS0")
baud = rospy.get_param("~baud", 115200)
print(port1, baud)
print(port2, baud)
- cx1 = Mercury(port1, baud)
- cx2 = Mercury(port2, baud)
+ l = Mercury(port1, baud)
+ r = Mercury(port2, baud)
# 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
diff --git a/Mercury/mercury_b1/scripts/teleop_keyboard.py b/Mercury/mercury_b1/scripts/teleop_keyboard.py
deleted file mode 100755
index 48a95863..00000000
--- a/Mercury/mercury_b1/scripts/teleop_keyboard.py
+++ /dev/null
@@ -1,179 +0,0 @@
-#!/usr/bin/env python3
-from __future__ import print_function
-from mercury_a1_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
-import rospy
-import sys
-import select
-import termios
-import tty
-import time
-
-import roslib
-
-# Terminal output prompt information. 终端输出提示信息
-msg = """\
-CobotX Teleop Keyboard Controller
----------------------------
-Movimg options(control coordinations [x,y,z,rx,ry,rz]):
- w(x+)
-
- a(y-) s(x-) d(y+)
-
- z(z-) x(z+)
-
-u(rx+) i(ry+) o(rz+)
-j(rx-) k(ry-) l(rz-)
-
-Gripper control:
- g - open
- h - close
-
-Other:
- 1 - Go to init pose
- 2 - Go to home pose
- 3 - Resave home pose
- q - Quit
-"""
-
-
-def vels(speed, turn):
- return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn)
-
-
-class Raw(object):
- def __init__(self, stream):
- self.stream = stream
- self.fd = self.stream.fileno()
-
- def __enter__(self):
- self.original_stty = termios.tcgetattr(self.stream)
- tty.setcbreak(self.stream)
-
- def __exit__(self, type, value, traceback):
- termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty)
-
-
-def teleop_keyboard():
- rospy.init_node("teleop_keyboard")
-
- model = 1
- speed = rospy.get_param("~speed", 50)
- change_percent = rospy.get_param("~change_percent", 5)
-
- change_angle = 180 * change_percent / 100
- change_len = 250 * change_percent / 100
-
- rospy.wait_for_service("get_joint_angles")
- rospy.wait_for_service("set_joint_angles")
- rospy.wait_for_service("get_joint_coords")
- rospy.wait_for_service("set_joint_coords")
- rospy.wait_for_service("switch_gripper_status")
- print("service ready.")
- try:
- get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
- set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
- get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles)
- set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
- switch_gripper = rospy.ServiceProxy(
- "switch_gripper_status", GripperStatus)
- except:
- print("start error ...")
- exit(1)
-
- init_pose = [0, 0, 0, 0, 0, 0, 0, speed]
- home_pose = [0, 0, 0, -90, 0, 90, 0, speed]
-
- rsp = set_angles(*home_pose)
-
- while True:
- res = get_coords()
- if res.x > 1:
- break
- time.sleep(0.1)
-
- record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
- print('init_coords:', record_coords)
-
- try:
- print(msg)
- print(vels(speed, change_percent))
- # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能
- while 1:
- try:
- # print("\r current coords: %s" % record_coords, end="")
- with Raw(sys.stdin):
- key = sys.stdin.read(1)
- if key == "q":
- break
- elif key in ["w", "W"]:
- record_coords[0] += change_len
- set_coords(*record_coords)
- elif key in ["s", "S"]:
- record_coords[0] -= change_len
- set_coords(*record_coords)
- elif key in ["a", "A"]:
- record_coords[1] -= change_len
- set_coords(*record_coords)
- elif key in ["d", "D"]:
- record_coords[1] += change_len
- set_coords(*record_coords)
- elif key in ["z", "Z"]:
- record_coords[2] -= change_len
- set_coords(*record_coords)
- elif key in ["x", "X"]:
- record_coords[2] += change_len
- set_coords(*record_coords)
- elif key in ["u", "U"]:
- record_coords[3] += change_angle
- set_coords(*record_coords)
- elif key in ["j", "J"]:
- record_coords[3] -= change_angle
- set_coords(*record_coords)
- elif key in ["i", "I"]:
- record_coords[4] += change_angle
- set_coords(*record_coords)
- elif key in ["k", "K"]:
- record_coords[4] -= change_angle
- set_coords(*record_coords)
- elif key in ["o", "O"]:
- record_coords[5] += change_angle
- set_coords(*record_coords)
- elif key in ["l", "L"]:
- record_coords[5] -= change_angle
- set_coords(*record_coords)
- elif key in ["g", "G"]:
- switch_gripper(True)
- elif key in ["h", "H"]:
- switch_gripper(False)
- elif key == "1":
- rsp = set_angles(*init_pose)
- elif key in "2":
- rsp = set_angles(*home_pose)
- time.sleep(3)
- res = get_coords()
- time.sleep(0.1)
- record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
- print('home_coords:', record_coords)
- elif key in "3":
- rep = get_angles()
- home_pose[0] = rep.joint_1
- home_pose[1] = rep.joint_2
- home_pose[2] = rep.joint_3
- home_pose[3] = rep.joint_4
- home_pose[5] = rep.joint_5
- else:
- continue
-
- except Exception as e:
- # print(e)
- continue
-
- except Exception as e:
- print(e)
-
-
-if __name__ == "__main__":
- try:
- teleop_keyboard()
- except rospy.ROSInterruptException:
- pass