Merge branch 'noetic' of github.com:elephantrobotics/mycobot_ros into…

… cobotx_b450
elephantrobotics · Nov 15, 2023 · 406ab9d · 406ab9d
2 parents 207356b + 79ba991
commit 406ab9d
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diff --git a/mycobot_280/mycobot_280/CMakeLists.txt b/mycobot_280/mycobot_280/CMakeLists.txt
@@ -32,6 +32,7 @@ catkin_install_python(PROGRAMS
   scripts/simple_gui.py
   scripts/follow_display_gripper.py
   scripts/slider_control_gripper.py
+  scripts/listen_real_gripper.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz
@@ -8,9 +8,10 @@ Panels:
         - /Status1
         - /RobotModel1
         - /TF1
-        - /Marker1
+        - /TF1/Frames1
+        - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 657
+    Tree Height: 609
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -64,77 +65,57 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        g_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left3:
+        camera_flange:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        gripper_right1:
+        g_base:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        gripper_right2:
+        joint1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        gripper_right3:
+        joint2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint1:
+        joint3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint2:
+        joint4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint3:
+        joint5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint4:
+        joint6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint5:
+        joint6_flange:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint6:
+        pump_box:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint6_flange:
+        pump_head:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -152,21 +133,9 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        g_base:
+        camera_flange:
           Value: true
-        gripper_base:
-          Value: true
-        gripper_left1:
-          Value: true
-        gripper_left2:
-          Value: true
-        gripper_left3:
-          Value: true
-        gripper_right1:
-          Value: true
-        gripper_right2:
-          Value: true
-        gripper_right3:
+        g_base:
           Value: true
         joint1:
           Value: true
@@ -182,6 +151,10 @@ Visualization Manager:
           Value: true
         joint6_flange:
           Value: true
+        pump_box:
+          Value: true
+        pump_head:
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.10000000149011612
       Name: TF
@@ -197,17 +170,11 @@ Visualization Manager:
                   joint5:
                     joint6:
                       joint6_flange:
-                        gripper_base:
-                          gripper_left2:
-                            {}
-                          gripper_left3:
-                            gripper_left1:
-                              {}
-                          gripper_right2:
+                        camera_flange:
+                          pump_head:
                             {}
-                          gripper_right3:
-                            gripper_right1:
-                              {}
+          pump_box:
+            {}
       Update Interval: 0
       Value: true
     - Class: rviz/Marker
@@ -246,7 +213,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.2028908729553223
+      Distance: 1.0996487140655518
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -262,17 +229,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.32539835572242737
+      Pitch: 0.5753980875015259
       Target Frame: <Fixed Frame>
-      Yaw: 3.0853891372680664
+      Yaw: 3.950380325317383
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 954
+  Height: 906
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c20000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000400000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
@@ -20,6 +20,10 @@
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+	<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
+        <param name="port" value="$(arg port)" />
+        <param name="baud" value="$(arg baud)" />
+    </node>
 	<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
 </launch>
diff --git a/mycobot_280/mycobot_280/launch/simple_gui_pump.launch b/mycobot_280/mycobot_280/launch/simple_gui_pump.launch
@@ -0,0 +1,23 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="false" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ,将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+    <include file="$(find mycobot_communication)/launch/communication_service.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+	<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch b/mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch
@@ -0,0 +1,25 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+	<!-- Load file model ，加载文件模型-->	
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange.urdf"/>
+
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Open control script -->
+	<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/slider_control_pump.launch b/mycobot_280/mycobot_280/launch/slider_control_pump.launch
@@ -0,0 +1,24 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+	<!-- Load file model ，加载文件模型-->	
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Open control script -->
+	<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
@@ -21,5 +21,9 @@
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实角度-->
-	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+	<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
+        <param name="port" value="$(arg port)" />
+        <param name="baud" value="$(arg baud)" />
+    </node>
 </launch>
diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch
@@ -0,0 +1,23 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="false" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ，将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+    <include file="$(find mycobot_communication)/launch/communication_service.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+	<!-- listen and pub the real angles ，监听并发布真实角度-->
+	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/test.launch b/mycobot_280/mycobot_280/launch/test.launch
@@ -1,5 +1,5 @@
 <launch>
-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_vision.urdf"/>
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
 	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
 	<arg name="gui" default="true" />
 

diff --git a/mycobot_280/mycobot_280/launch/test_camera_flange.launch b/mycobot_280/mycobot_280/launch/test_camera_flange.launch
@@ -0,0 +1,25 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+	<!-- Load file model ，加载文件模型-->	
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange.urdf"/>
+
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Open control script -->
+	<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/test_camera_flange_pump.launch b/mycobot_280/mycobot_280/launch/test_camera_flange_pump.launch
@@ -0,0 +1,25 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+	<!-- Load file model ，加载文件模型-->	
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange_pump.urdf"/>
+
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Open control script -->
+	<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/test_gripper.launch b/mycobot_280/mycobot_280/launch/test_gripper.launch
@@ -0,0 +1,16 @@
+<launch>
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+		<param name="use_gui" value="$(arg gui)" />
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>