From 9f27a3f5e13b584cf86baf4e0779cbf06ba24874 Mon Sep 17 00:00:00 2001
From: Johnkey00 <1176023870@qq.com>
Date: Fri, 26 Jul 2024 10:03:10 +0800
Subject: [PATCH] 20240726
---
.../launch/slider_control_gazebo.launch | 26 +++
.../scripts/slider_control_gazebo.py | 19 +--
.../{mycobot_630 => mycobot_pro_630}/base.dae | 0
.../link1.dae | 0
.../link2.dae | 0
.../link3.dae | 0
.../link4.dae | 0
.../link5.dae | 0
.../link6.dae | 0
.../urdf/mycobot_pro_630/mycobot_630.urdf | 155 ++++++++++++++++++
.../mycobot_630_gazebo.urdf | 0
.../launch/mycobot_630_slider.launch | 2 +-
12 files changed, 191 insertions(+), 11 deletions(-)
create mode 100644 mycobot_280/mycobot_280_gazebo_moveit/launch/slider_control_gazebo.launch
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/base.dae (100%)
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/link1.dae (100%)
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/link2.dae (100%)
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/link3.dae (100%)
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/link4.dae (100%)
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/link5.dae (100%)
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/link6.dae (100%)
create mode 100755 mycobot_description/urdf/mycobot_pro_630/mycobot_630.urdf
rename mycobot_description/urdf/{mycobot_630 => mycobot_pro_630}/mycobot_630_gazebo.urdf (100%)
diff --git a/mycobot_280/mycobot_280_gazebo_moveit/launch/slider_control_gazebo.launch b/mycobot_280/mycobot_280_gazebo_moveit/launch/slider_control_gazebo.launch
new file mode 100644
index 00000000..066bea13
--- /dev/null
+++ b/mycobot_280/mycobot_280_gazebo_moveit/launch/slider_control_gazebo.launch
@@ -0,0 +1,26 @@
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diff --git a/mycobot_280/mycobot_280_gazebo_moveit/scripts/slider_control_gazebo.py b/mycobot_280/mycobot_280_gazebo_moveit/scripts/slider_control_gazebo.py
index 64e1b997..61117ec8 100755
--- a/mycobot_280/mycobot_280_gazebo_moveit/scripts/slider_control_gazebo.py
+++ b/mycobot_280/mycobot_280_gazebo_moveit/scripts/slider_control_gazebo.py
@@ -14,8 +14,7 @@
import rospy
from sensor_msgs.msg import JointState
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
-from pymycobot.mycobot import MyCobot
-import copy
+# from pymycobot.mycobot import MyCobot
mc, pub_command = None, None
@@ -37,7 +36,7 @@ def callback(data):
joint_trajectory.points.append(point)
pub_command.publish(joint_trajectory) # Publish the joint trajectory
- mc.send_angles(data_list, 25)
+ # mc.send_angles(data_list, 25)
# rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
def listener():
@@ -45,17 +44,17 @@ def listener():
rospy.init_node("control_slider", anonymous=True)
- port = rospy.get_param("~port", "/dev/ttyUSB0")
- baud = rospy.get_param("~baud", 115200)
- print(port, baud)
- mc = MyCobot(port, baud)
+ # port = rospy.get_param("~port", "/dev/ttyUSB0")
+ # baud = rospy.get_param("~baud", 115200)
+ # print(port, baud)
+ # mc = MyCobot(port, baud)
pub_command = rospy.Publisher("/mycobot_position_controller/command", JointTrajectory, queue_size=10)
rospy.Subscriber("/joint_states", JointState, callback)
- time.sleep(0.05)
- mc.set_fresh_mode(1)
- time.sleep(0.05)
+ # 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
diff --git a/mycobot_description/urdf/mycobot_630/base.dae b/mycobot_description/urdf/mycobot_pro_630/base.dae
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/base.dae
rename to mycobot_description/urdf/mycobot_pro_630/base.dae
diff --git a/mycobot_description/urdf/mycobot_630/link1.dae b/mycobot_description/urdf/mycobot_pro_630/link1.dae
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/link1.dae
rename to mycobot_description/urdf/mycobot_pro_630/link1.dae
diff --git a/mycobot_description/urdf/mycobot_630/link2.dae b/mycobot_description/urdf/mycobot_pro_630/link2.dae
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/link2.dae
rename to mycobot_description/urdf/mycobot_pro_630/link2.dae
diff --git a/mycobot_description/urdf/mycobot_630/link3.dae b/mycobot_description/urdf/mycobot_pro_630/link3.dae
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/link3.dae
rename to mycobot_description/urdf/mycobot_pro_630/link3.dae
diff --git a/mycobot_description/urdf/mycobot_630/link4.dae b/mycobot_description/urdf/mycobot_pro_630/link4.dae
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/link4.dae
rename to mycobot_description/urdf/mycobot_pro_630/link4.dae
diff --git a/mycobot_description/urdf/mycobot_630/link5.dae b/mycobot_description/urdf/mycobot_pro_630/link5.dae
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/link5.dae
rename to mycobot_description/urdf/mycobot_pro_630/link5.dae
diff --git a/mycobot_description/urdf/mycobot_630/link6.dae b/mycobot_description/urdf/mycobot_pro_630/link6.dae
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/link6.dae
rename to mycobot_description/urdf/mycobot_pro_630/link6.dae
diff --git a/mycobot_description/urdf/mycobot_pro_630/mycobot_630.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_630.urdf
new file mode 100755
index 00000000..464a9422
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_630/mycobot_630.urdf
@@ -0,0 +1,155 @@
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diff --git a/mycobot_description/urdf/mycobot_630/mycobot_630_gazebo.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gazebo.urdf
similarity index 100%
rename from mycobot_description/urdf/mycobot_630/mycobot_630_gazebo.urdf
rename to mycobot_description/urdf/mycobot_pro_630/mycobot_630_gazebo.urdf
diff --git a/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch b/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch
index edf5a4fc..5b537013 100644
--- a/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch
+++ b/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch
@@ -1,6 +1,6 @@
-
+