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Update pro600 ros to support python3
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@wangWking
wangWking committed Sep 9, 2023
1 parent 8e3e882 commit 58554e7
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Showing 3 changed files with 21 additions and 488 deletions.
12 changes: 5 additions & 7 deletions mycobot_pro/mycobot_600/launch/test.launch
100644 → 100755
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,15 @@
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
<!-- <arg name="gui" default="true" /> -->
<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_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" /> -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<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" />

<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>
</launch>
247 changes: 7 additions & 240 deletions mycobot_pro/mycobot_600/scripts/slider_600.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
#!/usr/bin/env python2
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
from socket import *
import math
Expand All @@ -9,239 +9,9 @@
import rospy
from sensor_msgs.msg import JointState

global mc
mutex = Lock()


class ElephantRobot(object):
def __init__(self, host, port):
# setup connection
# 建立连接
self.BUFFSIZE = 2048
self.ADDR = (host, port)
self.tcp_client = socket(AF_INET, SOCK_STREAM)

def start_client(self):
try:
self.tcp_client.connect(self.ADDR)
return ""
except error, e:
return e

def stop_client(self):
self.tcp_client.close()

def send_command(self, command):
with mutex:
self.tcp_client.send(command.encode())
recv_data = self.tcp_client.recv(self.BUFFSIZE).decode()
res_str = str(recv_data)
print "recv = " + res_str
res_arr = res_str.split(":")
if len(res_arr) == 2:
return res_arr[1]
else:
return ""

def string_to_coords(self, data):
data = data.replace("[", "")
data = data.replace("]", "")
data_arr = data.split(",")
if len(data_arr) == 6:
try:
coords_1 = float(data_arr[0])
coords_2 = float(data_arr[1])
coords_3 = float(data_arr[2])
coords_4 = float(data_arr[3])
coords_5 = float(data_arr[4])
coords_6 = float(data_arr[5])
coords = [coords_1, coords_2, coords_3, coords_4, coords_5, coords_6]
return coords
except:
return invalid_coords()
return invalid_coords()

def string_to_double(self, data):
try:
val = float(data)
return val
except:
return -9999.99

def string_to_int(self, data):
try:
val = int(data)
return val
except:
return -9999

def invalid_coords(self):
coords = [-1, -2, -3, -4, -1, -1]
return coords

def get_angles(self):
command = "get_angles()\n"
res = self.send_command(command)
return self.string_to_coords(res)

def get_coords(self):
command = "get_coords()\n"
res = self.send_command(command)
return self.string_to_coords(res)

def get_speed(self):
command = "get_speed()\n"
res = self.send_command(command)
return self.string_to_double(res)

def power_on(self):
command = "power_on()\n"
res = self.send_command(command)
return True

def power_off(self):
command = "power_off()\n"
res = self.send_command(command)
return True

def check_running(self):
command = "check_running()\n"
res = self.send_command(command)
return res == "1"

def state_check(self):
command = "state_check()\n"
res = self.send_command(command)
return res == "1"

def program_open(self, file_path):
command = "program_open(" + file_path + ")\n"
res = self.send_command(command)
return self.string_to_int(res)

def program_run(self, start_line):
"""run program，运行程序"""
command = "program_run(" + str(start_line) + ")\n"
res = self.send_command(command)
return self.string_to_int(res)

def read_next_error(self):
command = "read_next_error()\n"
res = self.send_command(command)
return res

def write_coords(self, coords, speed):
"""set coords,设置坐标"""
command = "set_coords("
for item in coords:
command += str(item) + ","
command += str(speed) + ")\n"
self.send_command(command)

def write_coord(self, axis, value, speed):
coords = self.get_coords()
if coords != self.invalid_coords():
coords[axis] = value
self.write_coords(coords, speed)

def write_angles(self, angles, speed):
"""set angles,设置角度"""
command = "set_angles("
for item in angles:
command += str(item) + ","
command += str(speed) + ")\n"
self.send_command(command)

def write_angle(self, joint, value, speed):
angles = self.get_angles()
if angles != self.invalid_coords():
angles[joint] = value
self.write_angles(angles, speed)

def set_speed(self, percentage):
command = "set_speed(" + str(percentage) + ")\n"
self.send_command(command)

def set_carte_torque_limit(self, axis_str, value):
command = "set_torque_limit(" + axis_str + "," + str(value) + ")\n"
self.send_command(command)

def set_upside_down(self, up_down):
up = "1"
if up_down:
up = "0"
command = "set_upside_down(" + up + ")\n"
self.send_command(command)

def set_payload(self, payload):
command = "set_speed(" + str(payload) + ")\n"
self.send_command(command)

def state_on(self):
command = "state_on()\n"
self.send_command(command)

def state_off(self):
command = "state_off()\n"
self.send_command(command)

def task_stop(self):
command = "task_stop()\n"
self.send_command(command)

def jog_angle(self, joint_str, direction, speed):
command = (
"jog_angle(" + joint_str + "," + str(direction) + "," + str(speed) + ")\n"
)
self.send_command(command)

def jog_coord(self, axis_str, direction, speed):
command = (
"jog_coord(" + axis_str + "," + str(direction) + "," + str(speed) + ")\n"
)
self.send_command(command)

def get_digital_in(self, pin_number):
command = "get_digital_in(" + str(pin_number) + ")\n"
self.send_command(command)

def get_digital_out(self, pin_number):
command = "get_digital_out(" + str(pin_number) + ")\n"
self.send_command(command)

def set_digital_out(self, pin_number, pin_signal):
command = "set_digital_out(" + str(pin_number) + "," + str(pin_signal) + ")\n"
self.send_command(command)

def set_analog_out(self, pin_number, pin_signal):
command = "set_analog_out(" + str(pin_number) + "," + str(pin_signal) + ")\n"
self.send_command(command)

def get_acceleration(self):
command = "get_acceleration()\n"
res = self.send_command(command)
return self.string_to_int(res)

def set_acceleration(self, acceleration):
command = "set_acceleration(" + str(acceleration) + ")\n"
self.send_command(command)

def command_wait_done(self):
command = "wait_command_done()\n"
self.send_command(command)

def wait(self, seconds):
command = "wait(" + str(seconds) + ")\n"
self.send_command(command)

def assign_variable(self, var_name, var_value):
command = 'assign_variable("' + str(var_name) + '",' + str(var_value) + ")\n"
self.send_command(command)

def get_variable(self, var_name):
command = 'get_variable("' + str(var_name) + '")\n'
return self.send_command(command)
from pymycobot.elephantrobot import ElephantRobot

global mc

old_list = []

Expand All @@ -251,7 +21,7 @@ def callback(data):
satrt_time=time.time()
global old_list
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
print ("position", data.position)
print("position:", data.position)
data_list = []
for index, value in enumerate(data.position):
value = value * 180 / math.pi
Expand All @@ -276,21 +46,18 @@ def listener():
global mc
rospy.init_node("control_slider", anonymous=True)

ip = rospy.get_param("~ip", "192.168.10.159")
ip = rospy.get_param("~ip", "192.168.1.159")
print (ip)
mc = ElephantRobot(ip, 5001)
# START CLIENT,启动客户端
res = mc.start_client()
if res != "":
sys.exit(1)
# print ep.wait(5)
# print mc.get_angles()
# print mc.get_coords()

mc.set_speed(90)
# print mc.get_speed()

rospy.Subscriber("joint_states", JointState, callback)
end_time=time.time()

# 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 ("sping ...")
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