diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz index 0fbc40e8..25ce3339 100644 --- 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 @@ -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: - 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: 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+ QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000400000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: diff --git a/mycobot_280/mycobot_280/launch/simple_gui_pump.launch b/mycobot_280/mycobot_280/launch/simple_gui_pump.launch new file mode 100644 index 00000000..4497f463 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/simple_gui_pump.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch new file mode 100644 index 00000000..174448f4 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/test.launch b/mycobot_280/mycobot_280/launch/test.launch index 76ddd574..ec7c813a 100644 --- a/mycobot_280/mycobot_280/launch/test.launch +++ b/mycobot_280/mycobot_280/launch/test.launch @@ -1,5 +1,5 @@ - + diff --git a/mycobot_280/mycobot_280/launch/test_camera_flange.launch b/mycobot_280/mycobot_280/launch/test_camera_flange.launch new file mode 100644 index 00000000..3aea2d21 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/test_camera_flange.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/test_gripper.launch b/mycobot_280/mycobot_280/launch/test_gripper.launch new file mode 100644 index 00000000..d1524a60 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/test_gripper.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/test_pump.launch b/mycobot_280/mycobot_280/launch/test_pump.launch new file mode 100644 index 00000000..d08b12d7 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/test_pump.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/scripts/simple_gui.py b/mycobot_280/mycobot_280/scripts/simple_gui.py index b30c06ce..13bbc347 100644 --- a/mycobot_280/mycobot_280/scripts/simple_gui.py +++ b/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 diff --git a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py index fdf1d6ff..b0b48c7e 100644 --- a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py +++ b/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(): diff --git a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py index efde40c5..aa264f5a 100644 --- a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py +++ b/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": diff --git a/mycobot_280/mycobot_280pi/config/mycobot.rviz b/mycobot_280/mycobot_280pi/config/mycobot.rviz index 220b77ff..aadc6877 100644 --- a/mycobot_280/mycobot_280pi/config/mycobot.rviz +++ b/mycobot_280/mycobot_280pi/config/mycobot.rviz @@ -9,7 +9,7 @@ Panels: - /RobotModel1 - /TF1 Splitter Ratio: 0.5 - Tree Height: 642 + Tree Height: 609 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -18,17 +18,18 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679016 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time - Experimental: false Name: Time SyncMode: 0 SyncSource: "" +Preferences: + PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: @@ -40,7 +41,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -62,6 +63,16 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + camera_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + g_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true joint1: Alpha: 1 Show Axes: false @@ -105,9 +116,15 @@ Visualization Manager: Visual Enabled: true - Class: rviz/TF Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: true + camera_flange: + Value: true + g_base: + Value: true joint1: Value: true joint2: @@ -122,20 +139,23 @@ Visualization Manager: Value: true joint6_flange: Value: true - Marker Scale: 0.300000012 + Marker Alpha: 1 + Marker Scale: 0.10000000149011612 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: - joint1: - joint2: - joint3: - joint4: - joint5: - joint6: - joint6_flange: - {} + g_base: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + camera_flange: + {} Update Interval: 0 Value: true Enabled: true @@ -153,7 +173,10 @@ Visualization Manager: - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint @@ -163,33 +186,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.20289087 + Distance: 1.0585439205169678 Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: -0.0706475973 - Y: -0.0814988762 - Z: 0.107583851 + X: -0.07064759731292725 + Y: -0.0814988762140274 + Z: 0.10758385062217712 Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 + Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.085398227 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.48539817333221436 Target Frame: - Value: Orbit (rviz) - Yaw: 3.08857274 + Yaw: 4.103571891784668 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 923 + Height: 906 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -198,6 +221,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1851 - X: 65 - Y: 24 + Width: 1848 + X: 72 + Y: 27 diff --git a/mycobot_280/mycobot_280pi/launch/test_camera_flange.launch b/mycobot_280/mycobot_280pi/launch/test_camera_flange.launch new file mode 100644 index 00000000..de1785cd --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/test_camera_flange.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/test_pump.launch b/mycobot_280/mycobot_280pi/launch/test_pump.launch new file mode 100644 index 00000000..b5ff932b --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/test_pump.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_communication/scripts/mycobot_services.py b/mycobot_communication/scripts/mycobot_services.py index af4dbf7b..cd5fd000 100755 --- a/mycobot_communication/scripts/mycobot_services.py +++ b/mycobot_communication/scripts/mycobot_services.py @@ -145,11 +145,11 @@ def toggle_pump(req): if mc: lock = acquire("/tmp/mycobot_lock") if req.Status: - mc.set_basic_output(req.Pin1, 0) - mc.set_basic_output(req.Pin2, 0) + mc.set_basic_output(2, 0) + mc.set_basic_output(5, 0) else: - mc.set_basic_output(req.Pin1, 1) - mc.set_basic_output(req.Pin2, 1) + mc.set_basic_output(2, 1) + mc.set_basic_output(5, 1) release(lock) diff --git a/mycobot_description/urdf/mycobot/camera_flange.dae b/mycobot_description/urdf/mycobot/camera_flange.dae new file mode 100755 index 00000000..ed1e8686 --- /dev/null +++ b/mycobot_description/urdf/mycobot/camera_flange.dae @@ -0,0 +1,308 @@ + + + + + Rhinoceros 7.0.20314.3001 + Output from Rhinoceros COLLADA Exporter + + 2023-11-06T11:49:14Z + 2023-11-06T11:49:14Z + + Z_UP + + + + + + + 56.189974 + 2.224324 + 164.941575 + 233.830116 + + + + + + + + + 1.0 + 2.224324 + 2.712943 + 40.074826 + + + + + + + + + 1.0 + 2.224324 + 1.356116 + 18.956250 + + + + + + + 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