增加280JN平行夹爪URDF模型、更新README.md说明

README.md

@@ -20,6 +20,7 @@ Control or simulate myCobot series robots in ROS.
    * Ubuntu 18.04 / ROS Melodic
    * Ubuntu 20.04 / ROS Noetic
 
+* The urdf model of a single gripper in this article is applicable to all machines that support this accessory.
 <!-- **If your `Atom` is 2.3 or before, or `pymycobot` is 1.\*, Please check branch [before](https://github.com/elephantrobotics/myCobotRos/tree/before)** -->
 
 ## Installation
@@ -183,6 +184,14 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md).
 
 ![280 jn](./demo_img/280jn/280jn.png)
 
+[mycobot 280 JetsonNano Adaptive gripper](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf)
+
+![280 jn](./demo_img/280jn/mycobot_280jn_adaptive_gripper.png)
+
+[mycobot 280 JetsonNano Parallel gripper](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf)
+
+![280 jn](./demo_img/280jn/mycobot_280jn_parallel_gripper.png)
+
 [mycobot 280 Arduino](./mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf)
 
 ![280 ar](./demo_img/280arduino/280_arduino.png)
@@ -247,6 +256,22 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md).
 
 ![pro630](./demo_img/pro630/pro630.png)
 
+## Single Gripper URDF Model Graph
+
+>> **This urdf model is applicable to all machines that support this accessory**
+
+[mycobot Adaptive gripper](./mycobot_description/urdf/adaptive_gripper/mycobot_adaptive_gripper.urdf)
+
+![280 jn](./demo_img/single_gripper/mycobot_adaptive_gripper.png)
+
+[mycobot Parallel gripper](./mycobot_description/urdf/parallel_gripper/mycobot_parallel_gripper.urdf)
+
+![280 jn](./demo_img/single_gripper/mycobot_adaptive_gripper.png)
+
+[mycobot Pro Adaptive gripper](./mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf)
+
+![280 jn](./demo_img/single_gripper/mycobot_pro_adaptive_gripper.png)
+
 ## Contributors
 
 Thanks goes to these people ([Emoji Key](https://allcontributors.org/docs/en/emoji-key)):

mycobot_280/mycobot_280jn/launch/slider_control_parallel_gripper.launch

@@ -0,0 +1,20 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyTHS1" />
+	<arg name="baud" default="1000000" /> -->
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.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>
+
+	<!-- Show in Rviz .显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mycobot_280/mycobot_280jn/launch/test_parallel_gripper.launch

@@ -0,0 +1,18 @@
+<launch>
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/parallel_gripper/mycobot_parallel_gripper.urdf"/> -->
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(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>
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>

mycobot_280/mycobot_280jn/scripts/slider_control_parallel_gripper.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+# encoding:utf-8
+"""[summary]
+This file obtains the joint angle of the manipulator in ROS,
+and then sends it directly to the real manipulator using `pymycobot` API.
+This file is [slider_control_parallel_gripper.launch] related script.
+Passable parameters:
+    port: serial prot string. Defaults is '/dev/ttyTHS1'
+    baud: serial prot baudrate. Defaults is 1000000.
+"""
+import time
+import math
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.mycobot import MyCobot
+
+
+mc = None
+
+
+def callback(data):
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+    data_list = []
+    for index, value in enumerate(data.position):
+        data_list.append(round(value,3))
+    # print(data_list[6:])
+
+    data_list = data_list[:7]
+    print("radians:%s"%data_list[:6])
+    mc.send_radians(data_list[:6], 25)
+    # 线性插值公式 gripper_value = (current_value - min_value) / (max_value - min_value) * 100
+    gripper_value = int((data_list[6] - (-0.007)) / (0 - (-0.007)) * 100)
+    print("gripper_value:%s"%gripper_value)
+    mc.set_gripper_value(gripper_value, 80, 3)
+
+
+def listener():
+    global mc
+    rospy.init_node("control_slider", anonymous=True)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+    port = rospy.get_param("~port", "/dev/ttyTHS1")
+    baud = rospy.get_param("~baud", 1000000)
+    print(port, baud)
+    mc = MyCobot(port, baud)
+    time.sleep(0.05)
+    mc.set_fresh_mode(1)
+    time.sleep(0.05)
+
+    # 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
+    print("spin ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()