增加280 M5和PI ROS 摄像头模组和吸泵配置

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
@@ -246,7 +247,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.2028908729553223
+      Distance: 1.1026314496994019
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -262,17 +263,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.32539835572242737
+      Pitch: 0.7153984904289246
       Target Frame: <Fixed Frame>
-      Yaw: 3.0853891372680664
+      Yaw: 3.8853836059570312
     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:

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>

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>

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" />
 

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>

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>

mycobot_280/mycobot_280/launch/test_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="$(find mycobot_description)/urdf/mycobot/mycobot_with_pump.urdf"/>
+
+	<arg name="rvizconfig" default="$(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>

mycobot_280/mycobot_280/scripts/simple_gui.py

@@ -4,7 +4,7 @@
     import tkinter as tk
 except ImportError:
     import Tkinter as tk
-from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus, PumpStatus
 import rospy
 import time
 from rospy import ServiceException
@@ -36,7 +36,7 @@ def __init__(self, handle):
         # 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("430x400+{}+{}".format(x, y))
+        self.win.geometry("440x440+{}+{}".format(x, y))
         # layout,布局
         self.set_layout()
         # input section,输入部分
@@ -56,11 +56,18 @@ def __init__(self, handle):
 
         # 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
+            row=1, column=0, sticky="w", padx=3, pady=20
         )
         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
         )
+
+        tk.Button(self.frmLB, text=" 吸泵(开)", command=self.pump_open, width=5).grid(
+            row=2, column=0, sticky="w", padx=3, pady=20
+        )
+        tk.Button(self.frmLB, text="吸泵(关)", command=self.pump_close, width=5).grid(
+            row=2, column=1, sticky="w", padx=3, pady=2
+        )
 
     def connect_ser(self):
         rospy.init_node("simple_gui", anonymous=True, disable_signals=True)
@@ -70,6 +77,7 @@ def connect_ser(self):
         rospy.wait_for_service("get_joint_coords")
         rospy.wait_for_service("set_joint_coords")
         rospy.wait_for_service("switch_gripper_status")
+        rospy.wait_for_service("switch_pump_status")
         try:
             self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
             self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords)
@@ -78,6 +86,9 @@ def connect_ser(self):
             self.switch_gripper = rospy.ServiceProxy(
                 "switch_gripper_status", GripperStatus
             )
+            self.switch_pump = rospy.ServiceProxy(
+                "switch_pump_status", PumpStatus
+            )
         except:
             print("start error ...")
             exit(1)
@@ -372,6 +383,20 @@ def gripper_close(self):
             self.switch_gripper(False)
         except ServiceException:
             pass
+
+    def pump_open(self):
+        try:
+            self.switch_pump(True,2, 5)
+        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 pump_close(self):
+        try:
+            self.switch_pump(False, 2, 5)
+        except ServiceException:
+            pass
 
     def get_coord_input(self):
         # Get the data input by coord and send it to the robotic arm

mycobot_280/mycobot_280/scripts/slider_control_gripper.py

@@ -30,7 +30,7 @@ def callback(data):
     mc.send_radians(data_list[:6], 80)
     gripper_value = int(abs(-0.7-data_list[6])* 117)
     print("gripper_value:%s"%gripper_value)
-    mc.set_gripper_value(gripper_value, 80)
+    mc.set_gripper_value(gripper_value, 80, 1)
 
 
 def listener():

mycobot_280/mycobot_280/scripts/teleop_keyboard.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from __future__ import print_function
-from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus, PumpStatus
 import rospy
 import sys
 import select
@@ -28,6 +28,10 @@
     g - open
     h - close
 
+Pump control:
+    b - open
+    m - close
+
 Other:
     1 - Go to init pose
     2 - Go to home pose
@@ -68,6 +72,7 @@ def teleop_keyboard():
     rospy.wait_for_service("get_joint_coords")
     rospy.wait_for_service("set_joint_coords")
     rospy.wait_for_service("switch_gripper_status")
+    rospy.wait_for_service("switch_pump_status")
     print("service ready.")
     try:
         get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords)
@@ -76,6 +81,8 @@ def teleop_keyboard():
         set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles)
         switch_gripper = rospy.ServiceProxy(
             "switch_gripper_status", GripperStatus)
+        switch_pump = rospy.ServiceProxy(
+            "switch_pump_status", PumpStatus)
     except:
         print("start error ...")
         exit(1)
@@ -145,6 +152,10 @@ def teleop_keyboard():
                     switch_gripper(True)
                 elif key in ["h", "H"]:
                     switch_gripper(False)
+                elif key in ["b", "B"]:
+                    switch_pump(True, 2, 5)
+                elif key in ["m", "M"]:
+                    switch_pump(False, 2, 5)
                 elif key == "1":
                     rsp = set_angles(*init_pose)
                 elif key in "2":