From a3f45ad52c38e49194f8e52a51f53c8e95ae4f53 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 29 Aug 2023 09:39:27 +0800 Subject: [PATCH] add cobotx A450 ROS and moveit --- CobotX/cobotx_a450/CMakeLists.txt | 44 ++ CobotX/cobotx_a450/LICENSE | 25 + CobotX/cobotx_a450/config/cobotx_a450.rviz | 230 ++++++++ .../config/mycobot_with_marker.rviz | 216 ++++++++ .../cobotx_a450/launch/detect_marker.launch | 18 + .../launch/detect_marker_with_topic.launch | 30 ++ .../cobotx_a450/launch/mycobot_follow.launch | 13 + CobotX/cobotx_a450/launch/simple_gui.launch | 23 + .../cobotx_a450/launch/slider_control.launch | 24 + .../cobotx_a450/launch/teleop_keyboard.launch | 23 + CobotX/cobotx_a450/launch/test.launch | 17 + CobotX/cobotx_a450/package.xml | 47 ++ CobotX/cobotx_a450/scripts/detect_marker.py | 123 +++++ CobotX/cobotx_a450/scripts/follow_and_pump.py | 194 +++++++ CobotX/cobotx_a450/scripts/follow_display.py | 104 ++++ .../cobotx_a450/scripts/following_marker.py | 64 +++ CobotX/cobotx_a450/scripts/listen_real.py | 68 +++ .../scripts/listen_real_of_topic.py | 66 +++ CobotX/cobotx_a450/scripts/simple_gui.py | 501 ++++++++++++++++++ CobotX/cobotx_a450/scripts/slider_control.py | 51 ++ CobotX/cobotx_a450/scripts/teleop_keyboard.py | 174 ++++++ CobotX/cobotx_a450/src/camera_display.cpp | 29 + CobotX/cobotx_a450/src/opencv_camera.cpp | 60 +++ .../cobotx_a450_communication/CMakeLists.txt | 216 ++++++++ CobotX/cobotx_a450_communication/LICENSE | 25 + .../launch/communication_jsnn.launch | 11 + .../launch/communication_seeed.launch | 11 + .../launch/communication_service.launch | 13 + .../launch/communication_topic.launch | 11 + .../launch/communication_topic_pi.launch | 11 + .../msg/CobotXAngles.msg | 7 + .../msg/CobotXCoords.msg | 6 + .../msg/CobotXGripperStatus.msg | 1 + .../msg/CobotXPumpStatus.msg | 3 + .../msg/CobotXSetAngles.msg | 9 + .../msg/CobotXSetCoords.msg | 9 + CobotX/cobotx_a450_communication/package.xml | 66 +++ .../scripts/cobotx_services.py | 211 ++++++++ .../scripts/cobotx_topics.py | 220 ++++++++ .../scripts/cobotx_topics_jsnn.py | 224 ++++++++ .../scripts/cobotx_topics_pi.py | 218 ++++++++ .../scripts/cobotx_topics_seeed.py | 215 ++++++++ .../srv/GetAngles.srv | 10 + .../srv/GetCoords.srv | 9 + .../srv/GripperStatus.srv | 5 + .../srv/PumpStatus.srv | 7 + .../srv/SetAngles.srv | 13 + .../srv/SetCoords.srv | 13 + CobotX/cobotx_a450_moveit/.setup_assistant | 11 + CobotX/cobotx_a450_moveit/CMakeLists.txt | 10 + CobotX/cobotx_a450_moveit/LICENSE | 25 + .../config/cartesian_limits.yaml | 5 + .../config/chomp_planning.yaml | 18 + .../config/fake_controllers.yaml | 14 + .../config/firefighter.srdf | 63 +++ .../config/gazebo_controllers.yaml | 4 + .../config/joint_limits.yaml | 45 ++ .../cobotx_a450_moveit/config/kinematics.yaml | 7 + .../config/ompl_planning.yaml | 196 +++++++ .../config/ros_controllers.yaml | 46 ++ .../cobotx_a450_moveit/config/sensors_3d.yaml | 2 + .../config/simple_moveit_controllers.yaml | 13 + .../config/stomp_planning.yaml | 39 ++ .../launch/chomp_planning_pipeline.launch.xml | 21 + .../launch/default_warehouse_db.launch | 15 + CobotX/cobotx_a450_moveit/launch/demo.launch | 67 +++ .../launch/demo_gazebo.launch | 21 + .../fake_moveit_controller_manager.launch.xml | 12 + ...ghter_moveit_controller_manager.launch.xml | 10 + ...refighter_moveit_sensor_manager.launch.xml | 3 + .../cobotx_a450_moveit/launch/gazebo.launch | 34 ++ .../launch/joystick_control.launch | 17 + .../launch/move_group.launch | 105 ++++ CobotX/cobotx_a450_moveit/launch/moveit.rviz | 260 +++++++++ .../launch/moveit_rviz.launch | 15 + .../launch/mycobot_moveit.launch | 65 +++ .../ompl-chomp_planning_pipeline.launch.xml | 20 + .../launch/ompl_planning_pipeline.launch.xml | 24 + ...otion_planner_planning_pipeline.launch.xml | 15 + .../launch/planning_context.launch | 26 + .../launch/planning_pipeline.launch.xml | 10 + ...ntrol_moveit_controller_manager.launch.xml | 4 + .../launch/ros_controllers.launch | 11 + .../launch/run_benchmark_ompl.launch | 21 + .../launch/sensor_manager.launch.xml | 17 + .../launch/setup_assistant.launch | 16 + ...imple_moveit_controller_manager.launch.xml | 8 + .../launch/stomp_planning_pipeline.launch.xml | 23 + .../launch/trajectory_execution.launch.xml | 23 + .../launch/warehouse.launch | 15 + .../launch/warehouse_settings.launch.xml | 16 + CobotX/cobotx_a450_moveit/package.xml | 41 ++ .../scripts/obstacle_avoidance_demo.py | 163 ++++++ .../cobotx_a450_moveit/scripts/sync_plan.py | 52 ++ mycobot_description/urdf/cobotx_a450/base.dae | 294 ++++++++++ .../urdf/cobotx_a450/cobotx_a450.urdf | 204 +++++++ .../urdf/cobotx_a450/joint1.dae | 187 +++++++ .../urdf/cobotx_a450/joint2.dae | 187 +++++++ .../urdf/cobotx_a450/joint3.dae | 187 +++++++ .../urdf/cobotx_a450/joint4.dae | 187 +++++++ .../urdf/cobotx_a450/joint5.dae | 187 +++++++ .../urdf/cobotx_a450/joint6.dae | 238 +++++++++ .../urdf/cobotx_a450/joint7.dae | 187 +++++++ 103 files changed, 7194 insertions(+) create mode 100644 CobotX/cobotx_a450/CMakeLists.txt create mode 100755 CobotX/cobotx_a450/LICENSE create mode 100755 CobotX/cobotx_a450/config/cobotx_a450.rviz create mode 100755 CobotX/cobotx_a450/config/mycobot_with_marker.rviz create mode 100755 CobotX/cobotx_a450/launch/detect_marker.launch create mode 100755 CobotX/cobotx_a450/launch/detect_marker_with_topic.launch create mode 100755 CobotX/cobotx_a450/launch/mycobot_follow.launch create mode 100755 CobotX/cobotx_a450/launch/simple_gui.launch create mode 100755 CobotX/cobotx_a450/launch/slider_control.launch create mode 100755 CobotX/cobotx_a450/launch/teleop_keyboard.launch create mode 100755 CobotX/cobotx_a450/launch/test.launch create mode 100644 CobotX/cobotx_a450/package.xml create mode 100755 CobotX/cobotx_a450/scripts/detect_marker.py create mode 100755 CobotX/cobotx_a450/scripts/follow_and_pump.py create mode 100755 CobotX/cobotx_a450/scripts/follow_display.py create mode 100755 CobotX/cobotx_a450/scripts/following_marker.py create mode 100755 CobotX/cobotx_a450/scripts/listen_real.py create mode 100755 CobotX/cobotx_a450/scripts/listen_real_of_topic.py create mode 100755 CobotX/cobotx_a450/scripts/simple_gui.py create mode 100755 CobotX/cobotx_a450/scripts/slider_control.py create mode 100755 CobotX/cobotx_a450/scripts/teleop_keyboard.py create mode 100644 CobotX/cobotx_a450/src/camera_display.cpp create mode 100644 CobotX/cobotx_a450/src/opencv_camera.cpp create mode 100755 CobotX/cobotx_a450_communication/CMakeLists.txt create mode 100755 CobotX/cobotx_a450_communication/LICENSE create mode 100755 CobotX/cobotx_a450_communication/launch/communication_jsnn.launch create mode 100755 CobotX/cobotx_a450_communication/launch/communication_seeed.launch create mode 100755 CobotX/cobotx_a450_communication/launch/communication_service.launch create mode 100755 CobotX/cobotx_a450_communication/launch/communication_topic.launch create mode 100755 CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch create mode 100755 CobotX/cobotx_a450_communication/msg/CobotXAngles.msg create mode 100755 CobotX/cobotx_a450_communication/msg/CobotXCoords.msg create mode 100755 CobotX/cobotx_a450_communication/msg/CobotXGripperStatus.msg create mode 100755 CobotX/cobotx_a450_communication/msg/CobotXPumpStatus.msg create mode 100755 CobotX/cobotx_a450_communication/msg/CobotXSetAngles.msg create mode 100755 CobotX/cobotx_a450_communication/msg/CobotXSetCoords.msg create mode 100755 CobotX/cobotx_a450_communication/package.xml create mode 100755 CobotX/cobotx_a450_communication/scripts/cobotx_services.py create mode 100755 CobotX/cobotx_a450_communication/scripts/cobotx_topics.py create mode 100755 CobotX/cobotx_a450_communication/scripts/cobotx_topics_jsnn.py create mode 100755 CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py create mode 100755 CobotX/cobotx_a450_communication/scripts/cobotx_topics_seeed.py create mode 100755 CobotX/cobotx_a450_communication/srv/GetAngles.srv create mode 100755 CobotX/cobotx_a450_communication/srv/GetCoords.srv create mode 100755 CobotX/cobotx_a450_communication/srv/GripperStatus.srv create mode 100755 CobotX/cobotx_a450_communication/srv/PumpStatus.srv create mode 100755 CobotX/cobotx_a450_communication/srv/SetAngles.srv create mode 100755 CobotX/cobotx_a450_communication/srv/SetCoords.srv create mode 100644 CobotX/cobotx_a450_moveit/.setup_assistant create mode 100644 CobotX/cobotx_a450_moveit/CMakeLists.txt create mode 100644 CobotX/cobotx_a450_moveit/LICENSE create mode 100644 CobotX/cobotx_a450_moveit/config/cartesian_limits.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/chomp_planning.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/fake_controllers.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/firefighter.srdf create mode 100644 CobotX/cobotx_a450_moveit/config/gazebo_controllers.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/joint_limits.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/kinematics.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/ompl_planning.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/ros_controllers.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/sensors_3d.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/simple_moveit_controllers.yaml create mode 100644 CobotX/cobotx_a450_moveit/config/stomp_planning.yaml create mode 100644 CobotX/cobotx_a450_moveit/launch/chomp_planning_pipeline.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/default_warehouse_db.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/demo.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/demo_gazebo.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/fake_moveit_controller_manager.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/firefighter_moveit_controller_manager.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/firefighter_moveit_sensor_manager.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/gazebo.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/joystick_control.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/move_group.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/moveit.rviz create mode 100644 CobotX/cobotx_a450_moveit/launch/moveit_rviz.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/mycobot_moveit.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/ompl-chomp_planning_pipeline.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/ompl_planning_pipeline.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/planning_context.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/planning_pipeline.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/ros_control_moveit_controller_manager.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/ros_controllers.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/run_benchmark_ompl.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/sensor_manager.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/setup_assistant.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/simple_moveit_controller_manager.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/stomp_planning_pipeline.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/trajectory_execution.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/launch/warehouse.launch create mode 100644 CobotX/cobotx_a450_moveit/launch/warehouse_settings.launch.xml create mode 100644 CobotX/cobotx_a450_moveit/package.xml create mode 100755 CobotX/cobotx_a450_moveit/scripts/obstacle_avoidance_demo.py create mode 100755 CobotX/cobotx_a450_moveit/scripts/sync_plan.py create mode 100644 mycobot_description/urdf/cobotx_a450/base.dae create mode 100644 mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf create mode 100644 mycobot_description/urdf/cobotx_a450/joint1.dae create mode 100644 mycobot_description/urdf/cobotx_a450/joint2.dae create mode 100644 mycobot_description/urdf/cobotx_a450/joint3.dae create mode 100644 mycobot_description/urdf/cobotx_a450/joint4.dae create mode 100644 mycobot_description/urdf/cobotx_a450/joint5.dae create mode 100644 mycobot_description/urdf/cobotx_a450/joint6.dae create mode 100644 mycobot_description/urdf/cobotx_a450/joint7.dae diff --git a/CobotX/cobotx_a450/CMakeLists.txt b/CobotX/cobotx_a450/CMakeLists.txt new file mode 100644 index 00000000..3a89843c --- /dev/null +++ b/CobotX/cobotx_a450/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cobotx_a450) +add_compile_options(-std=c++11) + +## Find catkin and any catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + actionlib + image_transport + cv_bridge +) + +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS std_msgs actionlib +) + +## Build talker and listener +include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) + +catkin_install_python(PROGRAMS + scripts/follow_display.py + scripts/slider_control.py + scripts/teleop_keyboard.py + scripts/listen_real.py + scripts/listen_real_of_topic.py + scripts/detect_marker.py + scripts/following_marker.py + scripts/follow_and_pump.py + scripts/simple_gui.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +# find_package(OpenCV REQUIRED) +# add_executable(opencv_camera src/opencv_camera) +# target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +# add_executable(camera_display src/camera_display) +# target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) diff --git a/CobotX/cobotx_a450/LICENSE b/CobotX/cobotx_a450/LICENSE new file mode 100755 index 00000000..b8468e62 --- /dev/null +++ b/CobotX/cobotx_a450/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/CobotX/cobotx_a450/config/cobotx_a450.rviz b/CobotX/cobotx_a450/config/cobotx_a450.rviz new file mode 100755 index 00000000..68e72bcf --- /dev/null +++ b/CobotX/cobotx_a450/config/cobotx_a450.rviz @@ -0,0 +1,230 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Links1 + - /Axes1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 609 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 0.10000000149011612 + Name: Axes + Radius: 0.009999999776482582 + Reference Frame: + Show Trail: false + Value: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint7: + Value: true + Marker Alpha: 1 + Marker Scale: 0.20000000298023224 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint7: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - 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 + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.78243088722229 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6454010605812073 + Target Frame: + Yaw: 3.4754045009613037 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 906 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/CobotX/cobotx_a450/config/mycobot_with_marker.rviz b/CobotX/cobotx_a450/config/mycobot_with_marker.rviz new file mode 100755 index 00000000..8b0dc7f4 --- /dev/null +++ b/CobotX/cobotx_a450/config/mycobot_with_marker.rviz @@ -0,0 +1,216 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /Marker1 + - /Marker1/Namespaces1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + basic_shapes: + Value: true + joint1: + Value: true + joint2: + Value: true + joint3: + Value: true + joint4: + Value: true + joint5: + Value: true + joint6: + Value: true + joint6_flange: + Value: true + Marker Scale: 0.300000012 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + basic_shapes: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker + Name: Marker + Namespaces: + basic_cube: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: joint1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.11990476 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0706475973 + Y: -0.0814988762 + Z: 0.107583851 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.375398338 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.235389769 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/CobotX/cobotx_a450/launch/detect_marker.launch b/CobotX/cobotx_a450/launch/detect_marker.launch new file mode 100755 index 00000000..c6bf52e7 --- /dev/null +++ b/CobotX/cobotx_a450/launch/detect_marker.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450/launch/detect_marker_with_topic.launch b/CobotX/cobotx_a450/launch/detect_marker_with_topic.launch new file mode 100755 index 00000000..c0ec2801 --- /dev/null +++ b/CobotX/cobotx_a450/launch/detect_marker_with_topic.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450/launch/mycobot_follow.launch b/CobotX/cobotx_a450/launch/mycobot_follow.launch new file mode 100755 index 00000000..e89b8cc1 --- /dev/null +++ b/CobotX/cobotx_a450/launch/mycobot_follow.launch @@ -0,0 +1,13 @@ + + + + + + + + + ["joint_states"] + + + + diff --git a/CobotX/cobotx_a450/launch/simple_gui.launch b/CobotX/cobotx_a450/launch/simple_gui.launch new file mode 100755 index 00000000..188e076f --- /dev/null +++ b/CobotX/cobotx_a450/launch/simple_gui.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450/launch/slider_control.launch b/CobotX/cobotx_a450/launch/slider_control.launch new file mode 100755 index 00000000..8bf71962 --- /dev/null +++ b/CobotX/cobotx_a450/launch/slider_control.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450/launch/teleop_keyboard.launch b/CobotX/cobotx_a450/launch/teleop_keyboard.launch new file mode 100755 index 00000000..c836dd4f --- /dev/null +++ b/CobotX/cobotx_a450/launch/teleop_keyboard.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450/launch/test.launch b/CobotX/cobotx_a450/launch/test.launch new file mode 100755 index 00000000..791050f0 --- /dev/null +++ b/CobotX/cobotx_a450/launch/test.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450/package.xml b/CobotX/cobotx_a450/package.xml new file mode 100644 index 00000000..d2a34ab7 --- /dev/null +++ b/CobotX/cobotx_a450/package.xml @@ -0,0 +1,47 @@ + + + cobotx_a450 + 0.3.0 + The cobotx_a450 package + + Wangweijian + Wangweijian + + BSD + + https://github.com/elephantrobotics/mycobot_ros + + catkin + + roscpp + rospy + std_msgs + actionlib + mycobot_description + cobotx_a450_communication + + cobotx_a450_communication + mycobot_description + + roscpp + rospy + std_msgs + actionlib + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + xacro + joy + rviz + controller_manager + python-tk + mycobot_description + cobotx_a450_communication + + + + + + + + diff --git a/CobotX/cobotx_a450/scripts/detect_marker.py b/CobotX/cobotx_a450/scripts/detect_marker.py new file mode 100755 index 00000000..4283ea1c --- /dev/null +++ b/CobotX/cobotx_a450/scripts/detect_marker.py @@ -0,0 +1,123 @@ +#!/usr/bin/env python +import rospy +import cv2 as cv +import numpy as np +from cv_bridge import CvBridge, CvBridgeError +from sensor_msgs.msg import Image +import tf +from tf.broadcaster import TransformBroadcaster +import tf_conversions +from mycobot_communication.srv import ( + GetCoords, + SetCoords, + GetAngles, + SetAngles, + GripperStatus, +) + + +class ImageConverter: + def __init__(self): + self.br = TransformBroadcaster() + self.bridge = CvBridge() + self.aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250) + self.aruo_params = cv.aruco.DetectorParameters_create() + calibrationParams = cv.FileStorage( + "calibrationFileName.xml", cv.FILE_STORAGE_READ + ) + self.dist_coeffs = calibrationParams.getNode("distCoeffs").mat() + self.camera_matrix = None + # subscriber, listen wether has img come in. 订阅者，监听是否有img + self.image_sub = rospy.Subscriber("/camera/image", Image, self.callback) + + def callback(self, data): + """Callback function. + + Process image with OpenCV, detect Mark to get the pose. Then acccording the + pose to transforming. + """ + try: + # trans `rgb` to `gbr` for opencv. 将 `rgb` 转换为 opencv 的 `gbr`。 + cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") + except CvBridgeError as e: + print(e) + size = cv_image.shape + focal_length = size[1] + center = [size[1] / 2, size[0] / 2] + if self.camera_matrix is None: + # calc the camera matrix, if don't have.如果没有，则计算相机矩阵 + self.camera_matrix = np.array( + [ + [focal_length, 0, center[0]], + [0, focal_length, center[1]], + [0, 0, 1], + ], + dtype=np.float32, + ) + gray = cv.cvtColor(cv_image, cv.COLOR_BGR2GRAY) + # detect aruco marker.检测 aruco 标记 + ret = cv.aruco.detectMarkers(gray, self.aruco_dict, parameters=self.aruo_params) + corners, ids = ret[0], ret[1] + # process marker data.处理标记数据 + if len(corners) > 0: + if ids is not None: + # print('corners:', corners, 'ids:', ids) + + # detect marker pose. 检测marker位姿。 + # argument: + # marker corners,标记角 + # marker size (meter),标记尺寸（米） + ret = cv.aruco.estimatePoseSingleMarkers( + corners, 0.05, self.camera_matrix, self.dist_coeffs + ) + (rvec, tvec) = (ret[0], ret[1]) + (rvec - tvec).any() + + print("rvec:", rvec, "tvec:", tvec) + + # just select first one detected marker.只需选择第一个检测到的标记。 + for i in range(rvec.shape[0]): + cv.aruco.drawDetectedMarkers(cv_image, corners) + cv.aruco.drawAxis( + cv_image, + self.camera_matrix, + self.dist_coeffs, + rvec[i, :, :], + tvec[i, :, :], + 0.03, + ) + + xyz = tvec[0, 0, :] + xyz = [xyz[0] - 0.045, xyz[1], xyz[2] - 0.03] + + # get quaternion for ros. 为ros获取四元数 + euler = rvec[0, 0, :] + tf_change = tf.transformations.quaternion_from_euler( + euler[0], euler[1], euler[2] + ) + print("tf_change:", tf_change) + + # trans pose according [joint1]，根据 [joint1] 变换姿势 + self.br.sendTransform( + xyz, tf_change, rospy.Time.now(), "basic_shapes", "joint6_flange" + ) + + # [x, y, z, -172, 3, -46.8] + cv.imshow("Image", cv_image) + + cv.waitKey(3) + try: + pass + except CvBridgeError as e: + print(e) + + +if __name__ == "__main__": + try: + rospy.init_node("detect_marker") + rospy.loginfo("Starting cv_bridge_test node") + ImageConverter() + rospy.spin() + except KeyboardInterrupt: + print("Shutting down cv_bridge_test node.") + cv.destroyAllWindows() diff --git a/CobotX/cobotx_a450/scripts/follow_and_pump.py b/CobotX/cobotx_a450/scripts/follow_and_pump.py new file mode 100755 index 00000000..d889bbb2 --- /dev/null +++ b/CobotX/cobotx_a450/scripts/follow_and_pump.py @@ -0,0 +1,194 @@ +#!/usr/bin/env python2 +# coding:utf-8 +import rospy +from visualization_msgs.msg import Marker +import time +import os + +# Type of message communicated with mycobot，与 mycobot 通信的消息类型 +from mycobot_communication.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus + + +rospy.init_node("gipper_subscriber", anonymous=True) + +# Control the topic of mycobot, followed by angle, coordinates, gripper +# 控制 mycobot 的 topic，依次是角度、坐标、夹爪 +angle_pub = rospy.Publisher("mycobot/angles_goal", + MycobotSetAngles, queue_size=5) +coord_pub = rospy.Publisher("mycobot/coords_goal", + MycobotSetCoords, queue_size=5) +# 判断设备：ttyUSB*为M5；ttyACM*为wio，Judging equipment: ttyUSB* is M5；ttyACM* is wio +robot = os.popen("ls /dev/ttyUSB*").readline() + +if "dev" in robot: + Pin = [2, 5] +else: + Pin = [20, 21] + +pump_pub = rospy.Publisher("mycobot/pump_status", + MycobotPumpStatus, queue_size=5) + +# instantiate the message object，实例化消息对象 +angles = MycobotSetAngles() +coords = MycobotSetCoords() +pump = MycobotPumpStatus() + +# Deviation value from mycobot's real position,与 mycobot 真实位置的偏差值 +x_offset = -20 +y_offset = 20 +z_offset = 110 + +# With this variable limit, the fetching behavior is only done once +# 通过该变量限制，抓取行为只做一次 +flag = False + +# In order to compare whether the QR code moves later,为了后面比较二维码是否移动 +temp_x = temp_y = temp_z = 0.0 + +temp_time = time.time() + + +def pub_coords(x, y, z, rx=-150, ry=10, rz=-90, sp=70, m=2): + """Post coordinates,发布坐标""" + coords.x = x + coords.y = y + coords.z = z + coords.rx = rx + coords.ry = ry + coords.rz = rz + coords.speed = 70 + coords.model = m + # print(coords) + coord_pub.publish(coords) + + +def pub_angles(a, b, c, d, e, f, sp): + """Publishing angle,发布角度""" + angles.joint_1 = float(a) + angles.joint_2 = float(b) + angles.joint_3 = float(c) + angles.joint_4 = float(d) + angles.joint_5 = float(e) + angles.joint_6 = float(f) + angles.speed = sp + angle_pub.publish(angles) + + +def pub_pump(flag, Pin): + """Publish gripper status,发布夹爪状态""" + pump.Status = flag + pump.Pin1 = Pin[0] + pump.Pin2 = Pin[1] + pump_pub.publish(pump) + + +def target_is_moving(x, y, z): + """Determine whether the target moves""" + """判断目标是否移动""" + count = 0 + for o, n in zip((x, y, z), (temp_x, temp_y, temp_z)): + print(o, n) + if abs(o - n) < 2: + count += 1 + print(count) + if count == 3: + return False + return True + + +def grippercallback(data): + """callback function,回调函数""" + global flag, temp_x, temp_y, temp_z + # rospy.loginfo('gripper_subscriber get date :%s', data) + if flag: + return + + # Parse out the coordinate value,解析出坐标值 + # pump length: 88mm + x = float(format(data.pose.position.x * 1000, ".2f")) + y = float(format(data.pose.position.y * 1000, ".2f")) + z = float(format(data.pose.position.z * 1000, ".2f")) + + # When the running time is less than 30s, or the target position is still changing, perform tracking behavior + # 当运行时间小于 30s，或目标位置还在改变时，进行追踪行为 + if ( + time.time() - temp_time < 30 + or (temp_x == temp_y == temp_z == 0.0) + or target_is_moving(x - x_offset, y - y_offset, z) + ): + + x -= x_offset + y -= y_offset + pub_coords(x - 20, y, 280) + time.sleep(0.1) + + temp_x, temp_y, temp_z = x, y, z + return + else: #Indicates that the target is stationary and can try to grab, 表示目标处于静止状态，可以尝试抓取 + + print(x, y, z) + + # detect heigth + pump height + limit height + offset + x += x_offset + y += y_offset + z = z + 88 + z_offset + + pub_coords(x, y, z) + time.sleep(2.5) + + # down + for i in range(1, 17): + pub_coords(x, y, z - i * 5, rx=-160, sp=10) + time.sleep(0.1) + + time.sleep(2) + + pub_pump(True, Pin) + # pump on + + pub_coords(x, y, z + 20, -165) + time.sleep(1.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + put_z = 140 + pub_coords(39.4, -174.7, put_z, -177.13, -4.13, -152.59, 70, 2) + time.sleep(1.5) + + for i in range(1, 8): + pub_coords(39.4, -174.7, put_z - i * 5, - + 177.13, -4.13, -152.59, 15, 2) + time.sleep(0.1) + + pub_pump(False, Pin) + + time.sleep(0.5) + + pub_angles(0, 30, -50, -40, 0, 0, 50) + time.sleep(1.5) + + # finally + flag = True + + +def main(): + for _ in range(10): + # pub_coords(150, 20, 220, -175, 0, -90, 70, 2) + pub_angles(0, 30, -50, -40, 0, 0, 50) + # pub_angles(random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), random.randint(-30, 30), 70) + time.sleep(0.5) + + pub_pump(False, Pin) + # time.sleep(2.5) + + # mark 信息的订阅者,subscribers to mark information + rospy.Subscriber("visualization_marker", Marker, + grippercallback, queue_size=1) + + print("gripper test") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/CobotX/cobotx_a450/scripts/follow_display.py b/CobotX/cobotx_a450/scripts/follow_display.py new file mode 100755 index 00000000..4cb34d17 --- /dev/null +++ b/CobotX/cobotx_a450/scripts/follow_display.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python3 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker + +from pymycobot.cobotx import CobotX + + +def talker(): + rospy.init_node("display", anonymous=True) + + print("Try connect real CobotX...") + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 115200) + print("port: {}, baud: {}\n".format(port, baud)) + try: + mc = CobotX(port, baud) + except Exception as e: + print(e) + print( + """\ + \rTry connect CobotX failed! + \rPlease check wether connected with CobotX. + \rPlease chckt wether the port or baud is right. + """ + ) + exit(1) + mc.release_all_servos(0) + time.sleep(0.1) + print("Rlease all servos over.\n") + + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint7_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + marker_ = Marker() + marker_.header.frame_id = "/base" + marker_.ns = "my_namespace" + + print("publishing ...") + while not rospy.is_shutdown(): + joint_state_send.header.stamp = rospy.Time.now() + + angles = mc.get_radians() + data_list = [] + for index, value in enumerate(angles): + data_list.append(value) + + # rospy.loginfo('{}'.format(data_list)) + joint_state_send.position = data_list + + pub.publish(joint_state_send) + + coords = mc.get_coords() + + # marker + marker_.header.stamp = rospy.Time.now() + marker_.type = marker_.SPHERE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial.标记位置初始 + # print(coords) + if not coords: + coords = [0, 0, 0, 0, 0, 0] + rospy.loginfo("error [101]: can not get coord values") + + marker_.pose.position.x = coords[1] / 1000 * -1 + marker_.pose.position.y = coords[0] / 1000 + marker_.pose.position.z = coords[2] / 1000 + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/CobotX/cobotx_a450/scripts/following_marker.py b/CobotX/cobotx_a450/scripts/following_marker.py new file mode 100755 index 00000000..8f59265c --- /dev/null +++ b/CobotX/cobotx_a450/scripts/following_marker.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python2 +import time + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from visualization_msgs.msg import Marker +import tf + + +def talker(): + rospy.init_node("following_marker", anonymous=True) + + pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10) + rate = rospy.Rate(20) + + listener = tf.TransformListener() + + marker_ = Marker() + marker_.header.frame_id = "/base" + marker_.ns = "basic_cube" + + print("publishing ...") + while not rospy.is_shutdown(): + now = rospy.Time.now() - rospy.Duration(0.1) + + try: + trans, rot = listener.lookupTransform("base", "basic_shapes", now) + except Exception as e: + print(e) + continue + + print(type(trans), trans) + print(type(rot), rot) + + # marker + marker_.header.stamp = now + marker_.type = marker_.CUBE + marker_.action = marker_.ADD + marker_.scale.x = 0.04 + marker_.scale.y = 0.04 + marker_.scale.z = 0.04 + + # marker position initial,标记位置初始化 + marker_.pose.position.x = trans[0] + marker_.pose.position.y = trans[1] + marker_.pose.position.z = trans[2] + marker_.pose.orientation.x = rot[0] + marker_.pose.orientation.y = rot[1] + marker_.pose.orientation.z = rot[2] + marker_.pose.orientation.w = rot[3] + + marker_.color.a = 1.0 + marker_.color.g = 1.0 + pub_marker.publish(marker_) + + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/CobotX/cobotx_a450/scripts/listen_real.py b/CobotX/cobotx_a450/scripts/listen_real.py new file mode 100755 index 00000000..abe9f38f --- /dev/null +++ b/CobotX/cobotx_a450/scripts/listen_real.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +# encoding:utf-8 +# license removed for brevity +import time +import math + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from cobotx_a450_communication.srv import GetAngles + + +def talker(): + rospy.loginfo("start ...") + rospy.init_node("real_listener", anonymous=True) + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + rate = rospy.Rate(30) # 30hz + + # pub joint state，发布关节状态 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint7_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + + # waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用 + rospy.loginfo("wait service") + rospy.wait_for_service("get_joint_angles") + func = rospy.ServiceProxy("get_joint_angles", GetAngles) + + rospy.loginfo("start loop ...") + while not rospy.is_shutdown(): + # get real angles from server.从服务器获得真实的角度。 + res = func() + if res.joint_1 == res.joint_2 == res.joint_3 == 0.0: + continue + radians_list = [ + res.joint_1 * (math.pi / 180), + res.joint_2 * (math.pi / 180), + res.joint_3 * (math.pi / 180), + res.joint_4 * (math.pi / 180), + res.joint_5 * (math.pi / 180), + res.joint_6 * (math.pi / 180), + res.joint_7 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + # publish angles.发布角度 + joint_state_send.header.stamp = rospy.Time.now() + joint_state_send.position = radians_list + pub.publish(joint_state_send) + rate.sleep() + + +if __name__ == "__main__": + try: + talker() + except rospy.ROSInterruptException: + pass diff --git a/CobotX/cobotx_a450/scripts/listen_real_of_topic.py b/CobotX/cobotx_a450/scripts/listen_real_of_topic.py new file mode 100755 index 00000000..07272f31 --- /dev/null +++ b/CobotX/cobotx_a450/scripts/listen_real_of_topic.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +# encoding:utf-8 + +import math +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from cobotx_a450_communication.msg import CobotXAngles + + +class Listener(object): + def __init__(self): + super(Listener, self).__init__() + + rospy.loginfo("start ...") + rospy.init_node("real_listener_1", anonymous=True) + # init publisher.初始化发布者 + self.pub = rospy.Publisher("joint_states", JointState, queue_size=10) + # init subscriber.初始化订阅者 + self.sub = rospy.Subscriber("myarm/angles_real", CobotXAngles, self.callback) + rospy.spin() + + def callback(self, data): + """`cobotx/angles_real` subscriber callback method. + + Args: + data (CobotXAngles): callback argument. + """ + # ini publisher object. 初始化发布者对象 + joint_state_send = JointState() + joint_state_send.header = Header() + + joint_state_send.name = [ + "joint1_to_base", + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint7_to_joint6", + ] + joint_state_send.velocity = [0] + joint_state_send.effort = [] + joint_state_send.header.stamp = rospy.Time.now() + + # process callback data. 处理回调数据。 + radians_list = [ + data.joint_1 * (math.pi / 180), + data.joint_2 * (math.pi / 180), + data.joint_3 * (math.pi / 180), + data.joint_4 * (math.pi / 180), + data.joint_5 * (math.pi / 180), + data.joint_6 * (math.pi / 180), + data.joint_7 * (math.pi / 180), + ] + rospy.loginfo("res: {}".format(radians_list)) + + joint_state_send.position = radians_list + self.pub.publish(joint_state_send) + + +if __name__ == "__main__": + try: + Listener() + except rospy.ROSInterruptException: + pass diff --git a/CobotX/cobotx_a450/scripts/simple_gui.py b/CobotX/cobotx_a450/scripts/simple_gui.py new file mode 100755 index 00000000..703f3c34 --- /dev/null +++ b/CobotX/cobotx_a450/scripts/simple_gui.py @@ -0,0 +1,501 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +try: + import tkinter as tk +except ImportError: + import Tkinter as tk +from cobotx_a450_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import time +from rospy import ServiceException + + +class Window: + def __init__(self, handle): + self.win = handle + self.win.resizable(0, 0) # fixed window size，固定窗口大小 + + self.model = 0 + self.speed = rospy.get_param("~speed", 50) + + # set default speed，设置默认速度 + self.speed_d = tk.StringVar() + self.speed_d.set(str(self.speed)) + # print(self.speed) + self.connect_ser() + + # Get the data of the robotic arm，获取机械臂数据 + self.record_coords = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.res_angles = [0, 0, 0, 0, 0, 0, self.speed, self.model] + self.get_date() + + # get screen width and height.获取屏幕宽度和高度 + self.ws = self.win.winfo_screenwidth() # width of the screen + self.hs = self.win.winfo_screenheight() # height of the screen + # calculate x and y coordinates for the Tk root window + # 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("430x450+{}+{}".format(x, y)) + # layout,布局 + self.set_layout() + # input section,输入部分 + self.need_input() + # Show part,展示部分 + self.show_init() + + # Set the joint buttons 设置joint按钮 + tk.Button(self.frmLT, text="设置", width=5, command=self.get_joint_input).grid( + row=7, column=1, sticky="w", padx=3, pady=2 + ) + + # coordination settings button,coordination 设置按钮 + tk.Button(self.frmRT, text="设置", width=5, command=self.get_coord_input).grid( + row=7, column=1, sticky="w", padx=3, pady=2 + ) + + # 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 + ) + 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 + ) + + def connect_ser(self): + rospy.init_node("simple_gui", anonymous=True, disable_signals=True) + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + try: + self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + self.get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + self.set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + self.switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus + ) + except: + print("start error ...") + exit(1) + + print("Connect service success.") + + def set_layout(self): + self.frmLT = tk.Frame(width=200, height=200) + self.frmLC = tk.Frame(width=200, height=200) + self.frmLB = tk.Frame(width=200, height=200) + self.frmRT = tk.Frame(width=200, height=200) + self.frmLT.grid(row=0, column=0, padx=1, pady=3) + self.frmLC.grid(row=1, column=0, padx=1, pady=3) + self.frmLB.grid(row=1, column=1, padx=2, pady=3) + self.frmRT.grid(row=0, column=1, padx=2, pady=3) + + def need_input(self): + # input hint,输入提示 + tk.Label(self.frmLT, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLT, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLT, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLT, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLT, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLT, text="Joint 6 ").grid(row=5) + tk.Label(self.frmLT, text="Joint 7 ").grid(row=6) + + tk.Label(self.frmRT, text=" x ").grid(row=0) + tk.Label(self.frmRT, text=" y ").grid(row=1) # the second row,第二行 + tk.Label(self.frmRT, text=" z ").grid(row=2) + tk.Label(self.frmRT, text=" rx ").grid(row=3) + tk.Label(self.frmRT, text=" ry ").grid(row=4) + tk.Label(self.frmRT, text=" rz ").grid(row=5) + + # Set the default value of the input box,设置输入框的默认值 + self.j1_default = tk.StringVar() + self.j1_default.set(self.res_angles[0]) + self.j2_default = tk.StringVar() + self.j2_default.set(self.res_angles[1]) + self.j3_default = tk.StringVar() + self.j3_default.set(self.res_angles[2]) + self.j4_default = tk.StringVar() + self.j4_default.set(self.res_angles[3]) + self.j5_default = tk.StringVar() + self.j5_default.set(self.res_angles[4]) + self.j6_default = tk.StringVar() + self.j6_default.set(self.res_angles[5]) + self.j7_default = tk.StringVar() + self.j7_default.set(self.res_angles[6]) + + + self.x_default = tk.StringVar() + self.x_default.set(self.record_coords[0]) + self.y_default = tk.StringVar() + self.y_default.set(self.record_coords[1]) + self.z_default = tk.StringVar() + self.z_default.set(self.record_coords[2]) + self.rx_default = tk.StringVar() + self.rx_default.set(self.record_coords[3]) + self.ry_default = tk.StringVar() + self.ry_default.set(self.record_coords[4]) + self.rz_default = tk.StringVar() + self.rz_default.set(self.record_coords[5]) + + # joint input box,joint 输入框 + self.J_1 = tk.Entry(self.frmLT, textvariable=self.j1_default) + self.J_1.grid(row=0, column=1, pady=3) + self.J_2 = tk.Entry(self.frmLT, textvariable=self.j2_default) + self.J_2.grid(row=1, column=1, pady=3) + self.J_3 = tk.Entry(self.frmLT, textvariable=self.j3_default) + self.J_3.grid(row=2, column=1, pady=3) + self.J_4 = tk.Entry(self.frmLT, textvariable=self.j4_default) + self.J_4.grid(row=3, column=1, pady=3) + self.J_5 = tk.Entry(self.frmLT, textvariable=self.j5_default) + self.J_5.grid(row=4, column=1, pady=3) + self.J_6 = tk.Entry(self.frmLT, textvariable=self.j6_default) + self.J_6.grid(row=5, column=1, pady=3) + self.J_7 = tk.Entry(self.frmLT, textvariable=self.j7_default) + self.J_7.grid(row=6, column=1, pady=3) + + # coord input box,coord 输入框 + self.x = tk.Entry(self.frmRT, textvariable=self.x_default) + self.x.grid(row=0, column=1, pady=3, padx=0) + self.y = tk.Entry(self.frmRT, textvariable=self.y_default) + self.y.grid(row=1, column=1, pady=3) + self.z = tk.Entry(self.frmRT, textvariable=self.z_default) + self.z.grid(row=2, column=1, pady=3) + self.rx = tk.Entry(self.frmRT, textvariable=self.rx_default) + self.rx.grid(row=3, column=1, pady=3) + self.ry = tk.Entry(self.frmRT, textvariable=self.ry_default) + self.ry.grid(row=4, column=1, pady=3) + self.rz = tk.Entry(self.frmRT, textvariable=self.rz_default) + self.rz.grid(row=5, column=1, pady=3) + + # All input boxes, used to get the input data,所有输入框，用于拿输入的数据 + self.all_j = [self.J_1, self.J_2, self.J_3, self.J_4, self.J_5, self.J_6, self.J_7] + self.all_c = [self.x, self.y, self.z, self.rx, self.ry, self.rz] + + # speed input box,速度输入框 + tk.Label( + self.frmLB, + text="speed", + ).grid(row=0, column=0) + self.get_speed = tk.Entry(self.frmLB, textvariable=self.speed_d, width=10) + self.get_speed.grid(row=0, column=1) + + def show_init(self): + # show,显示 + tk.Label(self.frmLC, text="Joint 1 ").grid(row=0) + tk.Label(self.frmLC, text="Joint 2 ").grid(row=1) # the second row,第二行 + tk.Label(self.frmLC, text="Joint 3 ").grid(row=2) + tk.Label(self.frmLC, text="Joint 4 ").grid(row=3) + tk.Label(self.frmLC, text="Joint 5 ").grid(row=4) + tk.Label(self.frmLC, text="Joint 6 ").grid(row=5) + tk.Label(self.frmLC, text="Joint 7 ").grid(row=6) + + # get数据 + + # show,展示出来 + self.cont_1 = tk.StringVar(self.frmLC) + self.cont_1.set(str(self.res_angles[0]) + "°") + self.cont_2 = tk.StringVar(self.frmLC) + self.cont_2.set(str(self.res_angles[1]) + "°") + self.cont_3 = tk.StringVar(self.frmLC) + self.cont_3.set(str(self.res_angles[2]) + "°") + self.cont_4 = tk.StringVar(self.frmLC) + self.cont_4.set(str(self.res_angles[3]) + "°") + self.cont_5 = tk.StringVar(self.frmLC) + self.cont_5.set(str(self.res_angles[4]) + "°") + self.cont_6 = tk.StringVar(self.frmLC) + self.cont_6.set(str(self.res_angles[5]) + "°") + self.cont_7 = tk.StringVar(self.frmLC) + self.cont_7.set(str(self.res_angles[6]) + "°") + self.cont_all = [ + self.cont_1, + self.cont_2, + self.cont_3, + self.cont_4, + self.cont_5, + self.cont_6, + self.cont_7, + self.speed, + self.model, + ] + + self.show_j1 = tk.Label( + self.frmLC, + textvariable=self.cont_1, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=1, padx=0, pady=5) + + self.show_j2 = tk.Label( + self.frmLC, + textvariable=self.cont_2, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=1, padx=0, pady=5) + self.show_j3 = tk.Label( + self.frmLC, + textvariable=self.cont_3, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=1, padx=0, pady=5) + self.show_j4 = tk.Label( + self.frmLC, + textvariable=self.cont_4, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=1, padx=0, pady=5) + self.show_j5 = tk.Label( + self.frmLC, + textvariable=self.cont_5, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=1, padx=0, pady=5) + self.show_j6 = tk.Label( + self.frmLC, + textvariable=self.cont_6, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=1, padx=5, pady=5) + self.show_j7 = tk.Label( + self.frmLC, + textvariable=self.cont_7, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=6, column=1, padx=5, pady=5) + + self.all_jo = [ + self.show_j1, + self.show_j2, + self.show_j3, + self.show_j4, + self.show_j5, + self.show_j6, + self.show_j7, + ] + + # show,显示 + tk.Label(self.frmLC, text=" x ").grid(row=0, column=3) + tk.Label(self.frmLC, text=" y ").grid(row=1, column=3) + tk.Label(self.frmLC, text=" z ").grid(row=2, column=3) + tk.Label(self.frmLC, text=" rx ").grid(row=3, column=3) + tk.Label(self.frmLC, text=" ry ").grid(row=4, column=3) + tk.Label(self.frmLC, text=" rz ").grid(row=5, column=3) + self.coord_x = tk.StringVar() + self.coord_x.set(str(self.record_coords[0])) + self.coord_y = tk.StringVar() + self.coord_y.set(str(self.record_coords[1])) + self.coord_z = tk.StringVar() + self.coord_z.set(str(self.record_coords[2])) + self.coord_rx = tk.StringVar() + self.coord_rx.set(str(self.record_coords[3])) + self.coord_ry = tk.StringVar() + self.coord_ry.set(str(self.record_coords[4])) + self.coord_rz = tk.StringVar() + self.coord_rz.set(str(self.record_coords[5])) + + self.coord_all = [ + self.coord_x, + self.coord_y, + self.coord_z, + self.coord_rx, + self.coord_ry, + self.coord_rz, + self.speed, + self.model, + ] + + self.show_x = tk.Label( + self.frmLC, + textvariable=self.coord_x, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=0, column=4, padx=5, pady=5) + self.show_y = tk.Label( + self.frmLC, + textvariable=self.coord_y, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=1, column=4, padx=5, pady=5) + self.show_z = tk.Label( + self.frmLC, + textvariable=self.coord_z, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=2, column=4, padx=5, pady=5) + self.show_rx = tk.Label( + self.frmLC, + textvariable=self.coord_rx, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=3, column=4, padx=5, pady=5) + self.show_ry = tk.Label( + self.frmLC, + textvariable=self.coord_ry, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=4, column=4, padx=5, pady=5) + self.show_rz = tk.Label( + self.frmLC, + textvariable=self.coord_rz, + font=("Arial", 9), + width=7, + height=1, + bg="white", + ).grid(row=5, column=4, padx=5, pady=5) + + # mm， Unit show，单位展示 + self.unit = tk.StringVar() + self.unit.set("mm") + for i in range(6): + tk.Label(self.frmLC, textvariable=self.unit, font=("Arial", 9)).grid( + row=i, column=5 + ) + + def gripper_open(self): + try: + self.switch_gripper(True) + 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 gripper_close(self): + try: + self.switch_gripper(False) + except ServiceException: + pass + + def get_coord_input(self): + # Get the data input by coord and send it to the robotic arm + # 获取 coord 输入的数据，发送给机械臂 + c_value = [] + for i in self.all_c: + # print(type(i.get())) + c_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + c_value.append(self.speed) + c_value.append(self.model) + # print(c_value) + try: + self.set_coords(*c_value) + except ServiceException: + pass + self.show_j_date(c_value[:-2], "coord") + + def get_joint_input(self): + # Get the data input by the joint and send it to the robotic arm + # 获取joint输入的数据，发送给机械臂 + j_value = [] + for i in self.all_j: + # print(type(i.get())) + j_value.append(float(i.get())) + self.speed = ( + int(float(self.get_speed.get())) if self.get_speed.get() else self.speed + ) + j_value.append(self.speed) + + try: + self.set_angles(*j_value) + except ServiceException: + pass + self.show_j_date(j_value[:-1]) + # return j_value,c_value,speed + + def get_date(self): + # Take the data of the robotic arm for display.拿机械臂的数据，用于展示 + t = time.time() + while time.time() - t < 2: + self.res = self.get_coords() + if self.res.x > 1: + break + time.sleep(0.1) + + t = time.time() + while time.time() - t < 2: + self.angles = self.get_angles() + if self.angles.joint_1 > 1: + break + time.sleep(0.1) + # print(self.angles.joint_1) + self.record_coords = [ + round(self.res.x, 2), + round(self.res.y, 2), + round(self.res.z, 2), + round(self.res.rx, 2), + round(self.res.ry, 2), + round(self.res.rz, 2), + self.speed, + self.model, + ] + self.res_angles = [ + round(self.angles.joint_1, 2), + round(self.angles.joint_2, 2), + round(self.angles.joint_3, 2), + round(self.angles.joint_4, 2), + round(self.angles.joint_5, 2), + round(self.angles.joint_6, 2), + round(self.angles.joint_7, 2), + ] + # print('coord:',self.record_coords) + # print('angles:',self.res_angles) + + # def send_input(self,dates): + def show_j_date(self, date, way=""): + # Show data,展示数据 + if way == "coord": + for i, j in zip(date, self.coord_all): + # print(i) + j.set(str(i)) + else: + for i, j in zip(date, self.cont_all): + j.set(str(i) + "°") + + def run(self): + while True: + try: + self.win.update() + time.sleep(0.001) + except tk.TclError as e: + if "application has been destroyed" in str(e): + break + else: + raise + + +def main(): + window = tk.Tk() + window.title("myarm ros GUI") + Window(window).run() + + +if __name__ == "__main__": + main() diff --git a/CobotX/cobotx_a450/scripts/slider_control.py b/CobotX/cobotx_a450/scripts/slider_control.py new file mode 100755 index 00000000..2cac7895 --- /dev/null +++ b/CobotX/cobotx_a450/scripts/slider_control.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python3 + +"""[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.launch] related script. +Passable parameters: + port: serial prot string. Defaults is '/dev/ttyUSB0' + baud: serial prot baudrate. Defaults is 115200. +""" +import math +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.cobotx import CobotX + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print(data.position) + data_list = [] + for index, value in enumerate(data.position): + radians_to_angles = math.degrees(value) + data_list.append(radians_to_angles) + + # mc.send_radians(data_list, 80) + mc.send_angles(data_list, 80) + # time.sleep(0.5) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = CobotX(port, baud) + + # 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() diff --git a/CobotX/cobotx_a450/scripts/teleop_keyboard.py b/CobotX/cobotx_a450/scripts/teleop_keyboard.py new file mode 100755 index 00000000..e093e9b0 --- /dev/null +++ b/CobotX/cobotx_a450/scripts/teleop_keyboard.py @@ -0,0 +1,174 @@ +#!/usr/bin/env python +from __future__ import print_function +from cobotx_a450_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +import rospy +import sys +import select +import termios +import tty +import time + +import roslib + +# Terminal output prompt information. 终端输出提示信息 +msg = """\ +CobotX Teleop Keyboard Controller +--------------------------- +Movimg options(control coordinations [x,y,z,rx,ry,rz]): + w(x+) + + a(y-) s(x-) d(y+) + + z(z-) x(z+) + +u(rx+) i(ry+) o(rz+) +j(rx-) k(ry-) l(rz-) + +Gripper control: + g - open + h - close + +Other: + 1 - Go to init pose + 2 - Go to home pose + 3 - Resave home pose + q - Quit +""" + + +def vels(speed, turn): + return "currently:\tspeed: %s\tchange percent: %s " % (speed, turn) + + +class Raw(object): + def __init__(self, stream): + self.stream = stream + self.fd = self.stream.fileno() + + def __enter__(self): + self.original_stty = termios.tcgetattr(self.stream) + tty.setcbreak(self.stream) + + def __exit__(self, type, value, traceback): + termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty) + + +def teleop_keyboard(): + rospy.init_node("teleop_keyboard") + + model = 0 + speed = rospy.get_param("~speed", 50) + change_percent = rospy.get_param("~change_percent", 5) + + change_angle = 180 * change_percent / 100 + change_len = 250 * change_percent / 100 + + rospy.wait_for_service("get_joint_angles") + rospy.wait_for_service("set_joint_angles") + rospy.wait_for_service("get_joint_coords") + rospy.wait_for_service("set_joint_coords") + rospy.wait_for_service("switch_gripper_status") + print("service ready.") + try: + get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) + set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) + get_angles = rospy.ServiceProxy("get_joint_angles", GetAngles) + set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) + switch_gripper = rospy.ServiceProxy( + "switch_gripper_status", GripperStatus) + except: + print("start error ...") + exit(1) + + init_pose = [0, 0, 0, 0, 0, 0, 0, speed] + home_pose = [0, 0, 0, -90, 0, 0, 0, speed] + + # rsp = set_angles(*init_pose) + + while True: + res = get_coords() + if res.x > 1: + break + time.sleep(0.1) + + record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model] + print(record_coords) + + try: + print(msg) + print(vels(speed, change_percent)) + # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能 + while 1: + try: + # print("\r current coords: %s" % record_coords, end="") + with Raw(sys.stdin): + key = sys.stdin.read(1) + if key == "q": + break + elif key in ["w", "W"]: + record_coords[0] += change_len + set_coords(*record_coords) + elif key in ["s", "S"]: + record_coords[0] -= change_len + set_coords(*record_coords) + elif key in ["a", "A"]: + record_coords[1] -= change_len + set_coords(*record_coords) + elif key in ["d", "D"]: + record_coords[1] += change_len + set_coords(*record_coords) + elif key in ["z", "Z"]: + record_coords[2] -= change_len + set_coords(*record_coords) + elif key in ["x", "X"]: + record_coords[2] += change_len + set_coords(*record_coords) + elif key in ["u", "U"]: + record_coords[3] += change_angle + set_coords(*record_coords) + elif key in ["j", "J"]: + record_coords[3] -= change_angle + set_coords(*record_coords) + elif key in ["i", "I"]: + record_coords[4] += change_angle + set_coords(*record_coords) + elif key in ["k", "K"]: + record_coords[4] -= change_angle + set_coords(*record_coords) + elif key in ["o", "O"]: + record_coords[5] += change_angle + set_coords(*record_coords) + elif key in ["l", "L"]: + record_coords[5] -= change_angle + set_coords(*record_coords) + elif key in ["g", "G"]: + switch_gripper(True) + elif key in ["h", "H"]: + switch_gripper(False) + elif key == "1": + rsp = set_angles(*init_pose) + elif key in "2": + rsp = set_angles(*home_pose) + elif key in "3": + rep = get_angles() + home_pose[0] = rep.joint_1 + home_pose[1] = rep.joint_2 + home_pose[2] = rep.joint_3 + home_pose[3] = rep.joint_4 + home_pose[5] = rep.joint_5 + else: + continue + + except Exception as e: + # print(e) + continue + + except Exception as e: + print(e) + + +if __name__ == "__main__": + try: + teleop_keyboard() + except rospy.ROSInterruptException: + pass diff --git a/CobotX/cobotx_a450/src/camera_display.cpp b/CobotX/cobotx_a450/src/camera_display.cpp new file mode 100644 index 00000000..1f3abebf --- /dev/null +++ b/CobotX/cobotx_a450/src/camera_display.cpp @@ -0,0 +1,29 @@ +#include +#include +#include +#include + +void imageCallback(const sensor_msgs::ImageConstPtr &msg) +{ + try + { + cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image); + cv::waitKey(30); + } + catch (cv_bridge::Exception &e) + { + ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str()); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "image_listener"); + ros::NodeHandle nh; + cv::namedWindow("view"); + cv::startWindowThread(); + image_transport::ImageTransport it(nh); + image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback); + ros::spin(); + cv::destroyWindow("view"); +} diff --git a/CobotX/cobotx_a450/src/opencv_camera.cpp b/CobotX/cobotx_a450/src/opencv_camera.cpp new file mode 100644 index 00000000..65018142 --- /dev/null +++ b/CobotX/cobotx_a450/src/opencv_camera.cpp @@ -0,0 +1,60 @@ +#include +#include +#include +#include +#include // for converting the command line parameter to integer,用于将命令行参数转换为整数 + +int main(int argc, char **argv) +{ + // Check if video source has been passed as a parameter,检查视频源是否已作为参数传递 + if (argv[1] == NULL) + { + ROS_INFO("argv[1]=NULL\n"); + return 1; + } + + ros::init(argc, argv, "image_publisher"); // Initialize node,初始化节点 + ros::NodeHandle nh; + image_transport::ImageTransport it(nh); + image_transport::Publisher pub = it.advertise("camera/image", 1); // Publish topic，发布话题 + + ros::Rate loop_rate(200); // refresh Hz. + + // Convert the passed as command line parameter index for the video device to an integer， + // 将作为命令行参数传递的视频设备索引转换为整数 + std::istringstream video_sourceCmd(argv[1]); + int video_source; + // Check if it is indeed a number，检查它是否确实是一个数字 + if (!(video_sourceCmd >> video_source)) + { + ROS_INFO("video_sourceCmd is %d\n", video_source); + return 1; + } + + cv::VideoCapture cap(video_source); + // Check if video device can be opened with the given index，检查是否可以使用给定的索引打开视频设备 + if (!cap.isOpened()) + { + ROS_INFO("can not opencv video device\n"); + return 1; + } + cv::Mat frame; + sensor_msgs::ImagePtr msg; + + while (nh.ok()) + { + cap >> frame; + // cv::imshow("veiwer", frame); + // Check if grabbed frame is actually full with some content，检查抓取的帧是否实际上充满了一些内容 + if (!frame.empty()) + { + msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg(); + pub.publish(msg); + //cv::Wait(1); + } + ros::spinOnce(); + loop_rate.sleep(); + // if(cv::waitKey(2) >= 0) + // break; + } +} diff --git a/CobotX/cobotx_a450_communication/CMakeLists.txt b/CobotX/cobotx_a450_communication/CMakeLists.txt new file mode 100755 index 00000000..0662b54a --- /dev/null +++ b/CobotX/cobotx_a450_communication/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 2.8.3) +project(cobotx_a450_communication) +add_compile_options(-std=c++11) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs + genmsg + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files(FILES + CobotXAngles.msg + CobotXCoords.msg + CobotXSetAngles.msg + CobotXSetCoords.msg + CobotXGripperStatus.msg + CobotXPumpStatus.msg +) + +## Generate services in the 'srv' folder +add_service_files(FILES + GetAngles.srv + SetAngles.srv + GetCoords.srv + SetCoords.srv + GripperStatus.srv + PumpStatus.srv +) + +## Generate added messages and services +generate_messages(DEPENDENCIES std_msgs) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mycobot_commuication.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mycobot_commuication_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + scripts/cobotx_services.py + scripts/cobotx_topics.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_commuication.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/CobotX/cobotx_a450_communication/LICENSE b/CobotX/cobotx_a450_communication/LICENSE new file mode 100755 index 00000000..b8468e62 --- /dev/null +++ b/CobotX/cobotx_a450_communication/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/CobotX/cobotx_a450_communication/launch/communication_jsnn.launch b/CobotX/cobotx_a450_communication/launch/communication_jsnn.launch new file mode 100755 index 00000000..3472501f --- /dev/null +++ b/CobotX/cobotx_a450_communication/launch/communication_jsnn.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_communication/launch/communication_seeed.launch b/CobotX/cobotx_a450_communication/launch/communication_seeed.launch new file mode 100755 index 00000000..a0c66d31 --- /dev/null +++ b/CobotX/cobotx_a450_communication/launch/communication_seeed.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_communication/launch/communication_service.launch b/CobotX/cobotx_a450_communication/launch/communication_service.launch new file mode 100755 index 00000000..c086484f --- /dev/null +++ b/CobotX/cobotx_a450_communication/launch/communication_service.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_communication/launch/communication_topic.launch b/CobotX/cobotx_a450_communication/launch/communication_topic.launch new file mode 100755 index 00000000..07ae5491 --- /dev/null +++ b/CobotX/cobotx_a450_communication/launch/communication_topic.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch b/CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch new file mode 100755 index 00000000..9b43b9fd --- /dev/null +++ b/CobotX/cobotx_a450_communication/launch/communication_topic_pi.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_communication/msg/CobotXAngles.msg b/CobotX/cobotx_a450_communication/msg/CobotXAngles.msg new file mode 100755 index 00000000..ded0d74e --- /dev/null +++ b/CobotX/cobotx_a450_communication/msg/CobotXAngles.msg @@ -0,0 +1,7 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 diff --git a/CobotX/cobotx_a450_communication/msg/CobotXCoords.msg b/CobotX/cobotx_a450_communication/msg/CobotXCoords.msg new file mode 100755 index 00000000..08f6dbda --- /dev/null +++ b/CobotX/cobotx_a450_communication/msg/CobotXCoords.msg @@ -0,0 +1,6 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz \ No newline at end of file diff --git a/CobotX/cobotx_a450_communication/msg/CobotXGripperStatus.msg b/CobotX/cobotx_a450_communication/msg/CobotXGripperStatus.msg new file mode 100755 index 00000000..18d62772 --- /dev/null +++ b/CobotX/cobotx_a450_communication/msg/CobotXGripperStatus.msg @@ -0,0 +1 @@ +bool Status \ No newline at end of file diff --git a/CobotX/cobotx_a450_communication/msg/CobotXPumpStatus.msg b/CobotX/cobotx_a450_communication/msg/CobotXPumpStatus.msg new file mode 100755 index 00000000..2373241c --- /dev/null +++ b/CobotX/cobotx_a450_communication/msg/CobotXPumpStatus.msg @@ -0,0 +1,3 @@ +bool Status +int8 Pin1 +int8 Pin2 diff --git a/CobotX/cobotx_a450_communication/msg/CobotXSetAngles.msg b/CobotX/cobotx_a450_communication/msg/CobotXSetAngles.msg new file mode 100755 index 00000000..49d3ac36 --- /dev/null +++ b/CobotX/cobotx_a450_communication/msg/CobotXSetAngles.msg @@ -0,0 +1,9 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 + +int8 speed diff --git a/CobotX/cobotx_a450_communication/msg/CobotXSetCoords.msg b/CobotX/cobotx_a450_communication/msg/CobotXSetCoords.msg new file mode 100755 index 00000000..d4c7e546 --- /dev/null +++ b/CobotX/cobotx_a450_communication/msg/CobotXSetCoords.msg @@ -0,0 +1,9 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz + +int8 speed +int8 model diff --git a/CobotX/cobotx_a450_communication/package.xml b/CobotX/cobotx_a450_communication/package.xml new file mode 100755 index 00000000..6f88f5ab --- /dev/null +++ b/CobotX/cobotx_a450_communication/package.xml @@ -0,0 +1,66 @@ + + + cobotx_a450_communication + 0.1.0 + The cobotx_a450_communication package + + + + + wangweijian + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + rospy + std_msgs + message_generation + + rospy + std_msgs + message_runtime + + + + + + diff --git a/CobotX/cobotx_a450_communication/scripts/cobotx_services.py b/CobotX/cobotx_a450_communication/scripts/cobotx_services.py new file mode 100755 index 00000000..ac43149b --- /dev/null +++ b/CobotX/cobotx_a450_communication/scripts/cobotx_services.py @@ -0,0 +1,211 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -* +import time +import rospy +import os +import fcntl +from cobotx_a450_communication.srv import * + +from pymycobot.cobotx import CobotX + +mc = None + +# Avoid serial port conflicts and need to be locked +def acquire(lock_file): + open_mode = os.O_RDWR | os.O_CREAT | os.O_TRUNC + fd = os.open(lock_file, open_mode) + + pid = os.getpid() + lock_file_fd = None + + timeout = 50.0 + start_time = current_time = time.time() + while current_time < start_time + timeout: + try: + # The LOCK_EX means that only one process can hold the lock + # The LOCK_NB means that the fcntl.flock() is not blocking + # and we are able to implement termination of while loop, + # when timeout is reached. + fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB) + except (IOError, OSError): + pass + else: + lock_file_fd = fd + break + + # print('pid waiting for lock:%d'% pid) + + + time.sleep(1.0) + current_time = time.time() + if lock_file_fd is None: + os.close(fd) + return lock_file_fd + + +def release(lock_file_fd): + # Do not remove the lockfile: + fcntl.flock(lock_file_fd, fcntl.LOCK_UN) + os.close(lock_file_fd) + return None + +def create_handle(): + global mc + rospy.init_node("cobotx") + rospy.loginfo("start ...") + port = rospy.get_param("~port") + baud = rospy.get_param("~baud") + rospy.loginfo("%s,%s" % (port, baud)) + mc = CobotX(port, baud) + + +def create_services(): + rospy.Service("set_joint_angles", SetAngles, set_angles) + rospy.Service("get_joint_angles", GetAngles, get_angles) + rospy.Service("set_joint_coords", SetCoords, set_coords) + rospy.Service("get_joint_coords", GetCoords, get_coords) + rospy.Service("switch_gripper_status", GripperStatus, switch_status) + rospy.Service("switch_pump_status", PumpStatus, toggle_pump) + rospy.loginfo("ready") + rospy.spin() + + +def set_angles(req): + """set angles，设置角度""" + angles = [ + req.joint_1, + req.joint_2, + req.joint_3, + req.joint_4, + req.joint_5, + req.joint_6, + req.joint_7, + ] + sp = req.speed + + if mc: + lock = acquire("/tmp/cobotx_lock") + mc.send_angles(angles, sp) + release(lock) + + return SetAnglesResponse(True) + + +def get_angles(req): + """get angles,获取角度""" + if mc: + lock = acquire("/tmp/cobotx_lock") + angles = mc.get_angles() + release(lock) + return GetAnglesResponse(*angles) + + +def set_coords(req): + coords = [ + req.x, + req.y, + req.z, + req.rx, + req.ry, + req.rz, + ] + sp = req.speed + mod = req.model + + if mc: + lock = acquire("/tmp/cobotx_lock") + mc.send_coords(coords, sp, mod) + release(lock) + + return SetCoordsResponse(True) + + +def get_coords(req): + if mc: + lock = acquire("/tmp/cobotx_lock") + coords = mc.get_coords() + release(lock) + return GetCoordsResponse(*coords) + + +def switch_status(req): + """Gripper switch status""" + """夹爪开关状态""" + if mc: + lock = acquire("/tmp/cobotx_lock") + if req.Status: + mc.set_gripper_state(0, 80) + else: + mc.set_gripper_state(1, 80) + release(lock) + + return GripperStatusResponse(True) + + +def toggle_pump(req): + if mc: + lock = acquire("/tmp/cobotx_lock") + if req.Status: + mc.set_basic_output(req.Pin1, 0) + mc.set_basic_output(req.Pin2, 0) + else: + mc.set_basic_output(req.Pin1, 1) + mc.set_basic_output(req.Pin2, 1) + release(lock) + + + return PumpStatusResponse(True) + + +robot_msg = """ +Cobotx Status +-------------------------------- +Joint Limit: + joint 1: -165 ~ +165 + joint 2: -100 ~ +100 + joint 3: -165 ~ +165 + joint 4: -175 ~ +4 + joint 5: -165 ~ +165 + joint 6: -1 ~ +180 + joint 7: -165 ~ +165 + +Connect Status: %s + +Servo Infomation: %s + +Servo Temperature: %s + +Atom Version: %s +""" + + +def output_robot_message(): + connect_status = False + servo_infomation = "unknown" + servo_temperature = "unknown" + atom_version = "unknown" + + if mc: + lock = acquire("/tmp/cobotx_lock") + cn = mc.is_controller_connected() + release(lock) + if cn == 1: + connect_status = True + time.sleep(0.1) + lock = acquire("/tmp/cobotx_lock") + si = mc.is_all_servo_enable() + release(lock) + if si == 1: + servo_infomation = "all connected" + + print( + robot_msg % (connect_status, servo_infomation, + servo_temperature, atom_version) + ) + + +if __name__ == "__main__": + # print(MyArm.__dict__) + create_handle() + output_robot_message() + create_services() diff --git a/CobotX/cobotx_a450_communication/scripts/cobotx_topics.py b/CobotX/cobotx_a450_communication/scripts/cobotx_topics.py new file mode 100755 index 00000000..35324ad8 --- /dev/null +++ b/CobotX/cobotx_a450_communication/scripts/cobotx_topics.py @@ -0,0 +1,220 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from cobotx_a450_communication.msg import ( + CobotXAngles, + CobotXCoords, + CobotXSetAngles, + CobotXSetCoords, + CobotXGripperStatus, + CobotXPumpStatus, +) + +from pymycobot.cobotx import CobotX + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class CobotXTopics(object): + def __init__(self): + super(CobotXTopics, self).__init__() + + rospy.init_node("cobotx_topics") + rospy.loginfo("start ...") + port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]) + if not port: + port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1]) + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = CobotX(port, baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("cobotx/angles_real", + CobotXAngles, queue_size=5) + ma = CobotXAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + ma.joint_7 = angles[6] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("cobotx/coords_real", + CobotXCoords, queue_size=5) + ma = CobotXCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + data.joint_7, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "cobotx/angles_goal", CobotXSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "cobotx/coords_goal", CobotXSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "cobotx/gripper_status", CobotXGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "cobotx/pump_status", CobotXPumpStatus, callback=callback + ) + rospy.spin() + + +if __name__ == "__main__": + Watcher() + mc_topics = CobotXTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/CobotX/cobotx_a450_communication/scripts/cobotx_topics_jsnn.py b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_jsnn.py new file mode 100755 index 00000000..62b09a88 --- /dev/null +++ b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_jsnn.py @@ -0,0 +1,224 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + +# from pymycobot import MyCobot + +from pymycobot import MyCobotSocket # pi + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can# + # 我把大写的 B 放在 KeyBoardInterrupt 中，这样我就可以了 + # tell when the Watcher gets the SIGINT，告诉 Watcher 何时收到 SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + # Select connected device，选择连接设备 + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 1000000) + rospy.loginfo("%s,%s" % (port, baud)) + # self.mc = MyCobot(port,baud) + self.mc = MyCobotSocket(port, baud) # port + self.mc.connect() + + + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + """Subscribe to coordinates""" + """订阅坐标""" + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py new file mode 100755 index 00000000..0368721f --- /dev/null +++ b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_pi.py @@ -0,0 +1,218 @@ +#!/usr/bin/env python3 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from cobotx_a450_communication.msg import ( + CobotXAngles, + CobotXCoords, + CobotXSetAngles, + CobotXSetCoords, + CobotXGripperStatus, + CobotXPumpStatus, +) + + +from pymycobot import CobotX + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread.创建一个返回的子线程。 父线程等待 KeyboardInterrupt + 然后杀死子线程。 + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class CobotXTopics(object): + def __init__(self): + super(CobotXTopics, self).__init__() + + rospy.init_node("cobotx_topics_pi") + rospy.loginfo("start ...") + # problem + port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]) + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = CobotX(port, baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("cobotx/angles_real", CobotXAngles, queue_size=5) + ma = CobotXAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + ma.joint_7 = angles[6] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("cobotx/coords_real", CobotXCoords, queue_size=5) + ma = CobotXCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + data.joint_7, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "cobotx/angles_goal", CobotXSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "cobotx/coords_goal", CobotXSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "cobotx/gripper_status", CobotXGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "cobotx/pump_status", CobotXPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = CobotXTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/CobotX/cobotx_a450_communication/scripts/cobotx_topics_seeed.py b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_seeed.py new file mode 100755 index 00000000..d1e8154d --- /dev/null +++ b/CobotX/cobotx_a450_communication/scripts/cobotx_topics_seeed.py @@ -0,0 +1,215 @@ +#!/usr/bin/env python2 +# -*- coding:utf-8 -*- +import time +import os +import sys +import signal +import threading + +import rospy + +from mycobot_communication.msg import ( + MycobotAngles, + MycobotCoords, + MycobotSetAngles, + MycobotSetCoords, + MycobotGripperStatus, + MycobotPumpStatus, +) + + +from pymycobot import MyCobot + + +class Watcher: + """this class solves two problems with multithreaded + programs in Python, (1) a signal might be delivered + to any thread (which is just a malfeature) and (2) if + the thread that gets the signal is waiting, the signal + is ignored (which is a bug). + + The watcher is a concurrent process (not thread) that + waits for a signal and the process that contains the + threads. See Appendix A of The Little Book of Semaphores. + http://greenteapress.com/semaphores/ + + I have only tested this on Linux. I would expect it to + work on the Macintosh and not work on Windows. + """ + + def __init__(self): + """Creates a child thread, which returns. The parent + thread waits for a KeyboardInterrupt and then kills + the child thread. + """ + self.child = os.fork() + if self.child == 0: + return + else: + self.watch() + + def watch(self): + try: + os.wait() + except KeyboardInterrupt: + # I put the capital B in KeyBoardInterrupt so I can + # tell when the Watcher gets the SIGINT + print("KeyBoardInterrupt") + self.kill() + sys.exit() + + def kill(self): + try: + os.kill(self.child, signal.SIGKILL) + except OSError: + pass + + +class MycobotTopics(object): + def __init__(self): + super(MycobotTopics, self).__init__() + + rospy.init_node("mycobot_topics") + rospy.loginfo("start ...") + # problem + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + rospy.loginfo("%s,%s" % (port, baud)) + self.mc = MyCobot(port,baud) + self.lock = threading.Lock() + + def start(self): + pa = threading.Thread(target=self.pub_real_angles) + pb = threading.Thread(target=self.pub_real_coords) + sa = threading.Thread(target=self.sub_set_angles) + sb = threading.Thread(target=self.sub_set_coords) + sg = threading.Thread(target=self.sub_gripper_status) + sp = threading.Thread(target=self.sub_pump_status) + + pa.setDaemon(True) + pa.start() + pb.setDaemon(True) + pb.start() + sa.setDaemon(True) + sa.start() + sb.setDaemon(True) + sb.start() + sg.setDaemon(True) + sg.start() + sp.setDaemon(True) + sp.start() + + pa.join() + pb.join() + sa.join() + sb.join() + sg.join() + sp.join() + + def pub_real_angles(self): + """Publish real angle""" + """发布真实角度""" + pub = rospy.Publisher("mycobot/angles_real", MycobotAngles, queue_size=5) + ma = MycobotAngles() + while not rospy.is_shutdown(): + self.lock.acquire() + angles = self.mc.get_angles() + self.lock.release() + if angles: + ma.joint_1 = angles[0] + ma.joint_2 = angles[1] + ma.joint_3 = angles[2] + ma.joint_4 = angles[3] + ma.joint_5 = angles[4] + ma.joint_6 = angles[5] + pub.publish(ma) + time.sleep(0.25) + + def pub_real_coords(self): + """publish real coordinates""" + """发布真实坐标""" + pub = rospy.Publisher("mycobot/coords_real", MycobotCoords, queue_size=5) + ma = MycobotCoords() + + while not rospy.is_shutdown(): + self.lock.acquire() + coords = self.mc.get_coords() + self.lock.release() + if coords: + ma.x = coords[0] + ma.y = coords[1] + ma.z = coords[2] + ma.rx = coords[3] + ma.ry = coords[4] + ma.rz = coords[5] + pub.publish(ma) + time.sleep(0.25) + + def sub_set_angles(self): + """subscription angles""" + """订阅角度""" + def callback(data): + angles = [ + data.joint_1, + data.joint_2, + data.joint_3, + data.joint_4, + data.joint_5, + data.joint_6, + ] + sp = int(data.speed) + self.mc.send_angles(angles, sp) + + sub = rospy.Subscriber( + "mycobot/angles_goal", MycobotSetAngles, callback=callback + ) + rospy.spin() + + def sub_set_coords(self): + def callback(data): + angles = [data.x, data.y, data.z, data.rx, data.ry, data.rz] + sp = int(data.speed) + model = int(data.model) + self.mc.send_coords(angles, sp, model) + + sub = rospy.Subscriber( + "mycobot/coords_goal", MycobotSetCoords, callback=callback + ) + rospy.spin() + + def sub_gripper_status(self): + """Subscribe to Gripper Status""" + """订阅夹爪状态""" + def callback(data): + if data.Status: + self.mc.set_gripper_state(0, 80) + else: + self.mc.set_gripper_state(1, 80) + + sub = rospy.Subscriber( + "mycobot/gripper_status", MycobotGripperStatus, callback=callback + ) + rospy.spin() + + def sub_pump_status(self): + def callback(data): + if data.Status: + self.mc.set_basic_output(data.Pin1, 0) + self.mc.set_basic_output(data.Pin2, 0) + else: + self.mc.set_basic_output(data.Pin1, 1) + self.mc.set_basic_output(data.Pin2, 1) + + sub = rospy.Subscriber( + "mycobot/pump_status", MycobotPumpStatus, callback=callback + ) + rospy.spin() + +if __name__ == "__main__": + Watcher() + mc_topics = MycobotTopics() + mc_topics.start() + # while True: + # mc_topics.pub_real_coords() + # mc_topics.sub_set_angles() + pass diff --git a/CobotX/cobotx_a450_communication/srv/GetAngles.srv b/CobotX/cobotx_a450_communication/srv/GetAngles.srv new file mode 100755 index 00000000..b9767ef4 --- /dev/null +++ b/CobotX/cobotx_a450_communication/srv/GetAngles.srv @@ -0,0 +1,10 @@ + +--- + +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 diff --git a/CobotX/cobotx_a450_communication/srv/GetCoords.srv b/CobotX/cobotx_a450_communication/srv/GetCoords.srv new file mode 100755 index 00000000..c1f9bbcc --- /dev/null +++ b/CobotX/cobotx_a450_communication/srv/GetCoords.srv @@ -0,0 +1,9 @@ + +--- + +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz \ No newline at end of file diff --git a/CobotX/cobotx_a450_communication/srv/GripperStatus.srv b/CobotX/cobotx_a450_communication/srv/GripperStatus.srv new file mode 100755 index 00000000..3887d75b --- /dev/null +++ b/CobotX/cobotx_a450_communication/srv/GripperStatus.srv @@ -0,0 +1,5 @@ +bool Status + +--- + +bool Flag \ No newline at end of file diff --git a/CobotX/cobotx_a450_communication/srv/PumpStatus.srv b/CobotX/cobotx_a450_communication/srv/PumpStatus.srv new file mode 100755 index 00000000..8bd4b530 --- /dev/null +++ b/CobotX/cobotx_a450_communication/srv/PumpStatus.srv @@ -0,0 +1,7 @@ +bool Status +int8 Pin1 +int8 Pin2 + +--- + +bool Flag \ No newline at end of file diff --git a/CobotX/cobotx_a450_communication/srv/SetAngles.srv b/CobotX/cobotx_a450_communication/srv/SetAngles.srv new file mode 100755 index 00000000..e5f4b423 --- /dev/null +++ b/CobotX/cobotx_a450_communication/srv/SetAngles.srv @@ -0,0 +1,13 @@ +float32 joint_1 +float32 joint_2 +float32 joint_3 +float32 joint_4 +float32 joint_5 +float32 joint_6 +float32 joint_7 + +int8 speed + +--- + +bool Flag diff --git a/CobotX/cobotx_a450_communication/srv/SetCoords.srv b/CobotX/cobotx_a450_communication/srv/SetCoords.srv new file mode 100755 index 00000000..e5b1e528 --- /dev/null +++ b/CobotX/cobotx_a450_communication/srv/SetCoords.srv @@ -0,0 +1,13 @@ +float32 x +float32 y +float32 z +float32 rx +float32 ry +float32 rz + +int8 speed +int8 model + +--- + +bool Flag \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/.setup_assistant b/CobotX/cobotx_a450_moveit/.setup_assistant new file mode 100644 index 00000000..fcbc1d71 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/.setup_assistant @@ -0,0 +1,11 @@ +moveit_setup_assistant_config: + URDF: + package: mycobot_description + relative_path: urdf/cobotx_a450/cobotx_a450.urdf + xacro_args: "--inorder " + SRDF: + relative_path: config/firefighter.srdf + CONFIG: + author_name: zachary + author_email: lijun.zhang@elephantrobotics.com + generated_timestamp: 1687660389 \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/CMakeLists.txt b/CobotX/cobotx_a450_moveit/CMakeLists.txt new file mode 100644 index 00000000..b446544f --- /dev/null +++ b/CobotX/cobotx_a450_moveit/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.1.3) +project(cobotx_a450_moveit) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "setup_assistant.launch" EXCLUDE) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/CobotX/cobotx_a450_moveit/LICENSE b/CobotX/cobotx_a450_moveit/LICENSE new file mode 100644 index 00000000..b8468e62 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/LICENSE @@ -0,0 +1,25 @@ +BSD 2-Clause License + +Copyright (c) 2020, Elephant Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/CobotX/cobotx_a450_moveit/config/cartesian_limits.yaml b/CobotX/cobotx_a450_moveit/config/cartesian_limits.yaml new file mode 100644 index 00000000..7df72f69 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/cartesian_limits.yaml @@ -0,0 +1,5 @@ +cartesian_limits: + max_trans_vel: 1 + max_trans_acc: 2.25 + max_trans_dec: -5 + max_rot_vel: 1.57 diff --git a/CobotX/cobotx_a450_moveit/config/chomp_planning.yaml b/CobotX/cobotx_a450_moveit/config/chomp_planning.yaml new file mode 100644 index 00000000..eb9c9122 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/chomp_planning.yaml @@ -0,0 +1,18 @@ +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +ridge_factor: 0.0 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +joint_update_limit: 0.1 +collision_clearance: 0.2 +collision_threshold: 0.07 +use_stochastic_descent: true +enable_failure_recovery: false +max_recovery_attempts: 5 diff --git a/CobotX/cobotx_a450_moveit/config/fake_controllers.yaml b/CobotX/cobotx_a450_moveit/config/fake_controllers.yaml new file mode 100644 index 00000000..0f74054a --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/fake_controllers.yaml @@ -0,0 +1,14 @@ +controller_list: + - name: fake_arm_group_controller + type: $(arg fake_execution_type) + joints: + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + - joint7_to_joint6 +initial: # Define initial robot poses per group + - group: arm_group + pose: init_pose \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/config/firefighter.srdf b/CobotX/cobotx_a450_moveit/config/firefighter.srdf new file mode 100644 index 00000000..e265d627 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/firefighter.srdf @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/config/gazebo_controllers.yaml b/CobotX/cobotx_a450_moveit/config/gazebo_controllers.yaml new file mode 100644 index 00000000..e4d2eb00 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/gazebo_controllers.yaml @@ -0,0 +1,4 @@ +# Publish joint_states +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/CobotX/cobotx_a450_moveit/config/joint_limits.yaml b/CobotX/cobotx_a450_moveit/config/joint_limits.yaml new file mode 100644 index 00000000..46a4ed3d --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/joint_limits.yaml @@ -0,0 +1,45 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed + +# For beginners, we downscale velocity and acceleration limits. +# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. +default_velocity_scaling_factor: 0.1 +default_acceleration_scaling_factor: 0.1 + +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] +joint_limits: + joint1_to_base: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint2_to_joint1: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint3_to_joint2: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint4_to_joint3: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint5_to_joint4: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint6_to_joint5: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 + joint7_to_joint6: + has_velocity_limits: false + max_velocity: 0 + has_acceleration_limits: false + max_acceleration: 0 \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/config/kinematics.yaml b/CobotX/cobotx_a450_moveit/config/kinematics.yaml new file mode 100644 index 00000000..2f06d6ea --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/kinematics.yaml @@ -0,0 +1,7 @@ +arm_group: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + goal_joint_tolerance: 0.0001 + goal_position_tolerance: 0.0001 + goal_orientation_tolerance: 0.001 \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/config/ompl_planning.yaml b/CobotX/cobotx_a450_moveit/config/ompl_planning.yaml new file mode 100644 index 00000000..c6172caa --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/ompl_planning.yaml @@ -0,0 +1,196 @@ +planner_configs: + AnytimePathShortening: + type: geometric::AnytimePathShortening + shortcut: true # Attempt to shortcut all new solution paths + hybridize: true # Compute hybrid solution trajectories + max_hybrid_paths: 24 # Number of hybrid paths generated per iteration + num_planners: 4 # The number of default planners to use for planning + planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" + SBL: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + EST: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECE: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECE: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECE: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRT: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnect: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstar: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRT: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRM: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstar: + type: geometric::PRMstar + FMT: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMT: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDST: + type: geometric::PDST + STRIDE: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRT: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRT: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiEST: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjEST: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRM: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstar: + type: geometric::LazyPRMstar + SPARS: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwo: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 + AITstar: + type: geometric::AITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 + set_max_num_goals: 1 # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1 + ABITstar: + type: geometric::ABITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1 + delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0 + use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0 + drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0 + stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 + use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 + initial_inflation_factor: 1000000 # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000 + inflation_scaling_parameter: 10 # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0 + truncation_scaling_parameter: 5.0 # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0 + BITstar: + type: geometric::BITstar + use_k_nearest: 1 # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1 + rewire_factor: 1.001 # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001 + samples_per_batch: 100 # batch size. Valid values: [1:1:1000]. Default: 100 + use_graph_pruning: 1 # enable graph pruning (1) or not (0). Default: 1 + prune_threshold_as_fractional_cost_change: 0.1 # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1 + delay_rewiring_to_first_solution: 0 # delay (1) or not (0) rewiring until a solution is found. Default: 0 + use_just_in_time_sampling: 0 # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0 + drop_unconnected_samples_on_prune: 0 # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0 + stop_on_each_solution_improvement: 0 # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0 + use_strict_queue_ordering: 0 # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0 + find_approximate_solutions: 0 # track approximate solutions (1) or not (0). Default: 0 +arm_group: + default_planner_config: RRTConnect + planner_configs: + - AnytimePathShortening + - SBL + - EST + - LBKPIECE + - BKPIECE + - KPIECE + - RRT + - RRTConnect + - RRTstar + - TRRT + - PRM + - PRMstar + - FMT + - BFMT + - PDST + - STRIDE + - BiTRRT + - LBTRRT + - BiEST + - ProjEST + - LazyPRM + - LazyPRMstar + - SPARS + - SPARStwo + - AITstar + - ABITstar + - BITstar diff --git a/CobotX/cobotx_a450_moveit/config/ros_controllers.yaml b/CobotX/cobotx_a450_moveit/config/ros_controllers.yaml new file mode 100644 index 00000000..2fca3e63 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/ros_controllers.yaml @@ -0,0 +1,46 @@ +arm_group_controller: + type: effort_controllers/JointTrajectoryController + joints: + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + - joint7_to_joint6 + gains: + joint1_to_base: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint2_to_joint1: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint3_to_joint2: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint4_to_joint3: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint5_to_joint4: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint6_to_joint5: + p: 100 + d: 1 + i: 1 + i_clamp: 1 + joint7_to_joint6: + p: 100 + d: 1 + i: 1 + i_clamp: 1 \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/config/sensors_3d.yaml b/CobotX/cobotx_a450_moveit/config/sensors_3d.yaml new file mode 100644 index 00000000..51010a36 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/sensors_3d.yaml @@ -0,0 +1,2 @@ +sensors: + [] \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/config/simple_moveit_controllers.yaml b/CobotX/cobotx_a450_moveit/config/simple_moveit_controllers.yaml new file mode 100644 index 00000000..3f59a118 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/simple_moveit_controllers.yaml @@ -0,0 +1,13 @@ +controller_list: + - name: arm_group_controller + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: True + joints: + - joint1_to_base + - joint2_to_joint1 + - joint3_to_joint2 + - joint4_to_joint3 + - joint5_to_joint4 + - joint6_to_joint5 + - joint7_to_joint6 \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/config/stomp_planning.yaml b/CobotX/cobotx_a450_moveit/config/stomp_planning.yaml new file mode 100644 index 00000000..75d7e7a1 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/config/stomp_planning.yaml @@ -0,0 +1,39 @@ +stomp/arm_group: + group_name: arm_group + optimization: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] + control_cost_weight: 0.0 + task: + noise_generator: + - class: stomp_moveit/NormalDistributionSampling + stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05] + cost_functions: + - class: stomp_moveit/CollisionCheck + collision_penalty: 1.0 + cost_weight: 1.0 + kernel_window_percentage: 0.2 + longest_valid_joint_move: 0.05 + noisy_filters: + - class: stomp_moveit/JointLimits + lock_start: True + lock_goal: True + - class: stomp_moveit/MultiTrajectoryVisualization + line_width: 0.02 + rgb: [255, 255, 0] + marker_array_topic: stomp_trajectories + marker_namespace: noisy + update_filters: + - class: stomp_moveit/PolynomialSmoother + poly_order: 6 + - class: stomp_moveit/TrajectoryVisualization + line_width: 0.05 + rgb: [0, 191, 255] + error_rgb: [255, 0, 0] + publish_intermediate: True + marker_topic: stomp_trajectory + marker_namespace: optimized \ No newline at end of file diff --git a/CobotX/cobotx_a450_moveit/launch/chomp_planning_pipeline.launch.xml b/CobotX/cobotx_a450_moveit/launch/chomp_planning_pipeline.launch.xml new file mode 100644 index 00000000..b08127aa --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/chomp_planning_pipeline.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/default_warehouse_db.launch b/CobotX/cobotx_a450_moveit/launch/default_warehouse_db.launch new file mode 100644 index 00000000..1af47f24 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/demo.launch b/CobotX/cobotx_a450_moveit/launch/demo.launch new file mode 100644 index 00000000..cd9b3457 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/demo.launch @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/demo_gazebo.launch b/CobotX/cobotx_a450_moveit/launch/demo_gazebo.launch new file mode 100644 index 00000000..0ef8f954 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/demo_gazebo.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/fake_moveit_controller_manager.launch.xml b/CobotX/cobotx_a450_moveit/launch/fake_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..f087433e --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/fake_moveit_controller_manager.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/CobotX/cobotx_a450_moveit/launch/firefighter_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..1f1adb0d --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/firefighter_moveit_controller_manager.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/CobotX/cobotx_a450_moveit/launch/firefighter_moveit_sensor_manager.launch.xml new file mode 100644 index 00000000..5d02698d --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/firefighter_moveit_sensor_manager.launch.xml @@ -0,0 +1,3 @@ + + + diff --git a/CobotX/cobotx_a450_moveit/launch/gazebo.launch b/CobotX/cobotx_a450_moveit/launch/gazebo.launch new file mode 100644 index 00000000..4ea4ac11 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/gazebo.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/joystick_control.launch b/CobotX/cobotx_a450_moveit/launch/joystick_control.launch new file mode 100644 index 00000000..9411f6e6 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/joystick_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/move_group.launch b/CobotX/cobotx_a450_moveit/launch/move_group.launch new file mode 100644 index 00000000..2330bcb1 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/move_group.launch @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/moveit.rviz b/CobotX/cobotx_a450_moveit/launch/moveit.rviz new file mode 100644 index 00000000..ef4ff4c2 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/moveit.rviz @@ -0,0 +1,260 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planning Metrics1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.5 + Tree Height: 215 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Acceleration_Scaling_Factor: 0.1 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: true + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: move_group/display_planned_path + Use Sim Time: false + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0.11999999731779099 + Joint Violation Color: 255; 0; 255 + Planning Group: arm_group + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 1 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + joint7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.75 + Focal Point: + X: -0.10000000149011612 + Y: 0.25 + Z: 0.30000001192092896 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.2697961628437042 + Target Frame: base + Yaw: 4.226308822631836 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 848 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1291 + X: 454 + Y: 27 diff --git a/CobotX/cobotx_a450_moveit/launch/moveit_rviz.launch b/CobotX/cobotx_a450_moveit/launch/moveit_rviz.launch new file mode 100644 index 00000000..a4605c03 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/moveit_rviz.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/mycobot_moveit.launch b/CobotX/cobotx_a450_moveit/launch/mycobot_moveit.launch new file mode 100644 index 00000000..6e02d30d --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/mycobot_moveit.launch @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [move_group/fake_controller_joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/CobotX/cobotx_a450_moveit/launch/ompl-chomp_planning_pipeline.launch.xml new file mode 100644 index 00000000..600db76b --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/ompl-chomp_planning_pipeline.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/ompl_planning_pipeline.launch.xml b/CobotX/cobotx_a450_moveit/launch/ompl_planning_pipeline.launch.xml new file mode 100644 index 00000000..8c7b0112 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/ompl_planning_pipeline.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/CobotX/cobotx_a450_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml new file mode 100644 index 00000000..c7c4cf50 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/planning_context.launch b/CobotX/cobotx_a450_moveit/launch/planning_context.launch new file mode 100644 index 00000000..28c831fe --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/planning_context.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/planning_pipeline.launch.xml b/CobotX/cobotx_a450_moveit/launch/planning_pipeline.launch.xml new file mode 100644 index 00000000..4b4d0d66 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/planning_pipeline.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/CobotX/cobotx_a450_moveit/launch/ros_control_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..9ebc91c1 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/ros_control_moveit_controller_manager.launch.xml @@ -0,0 +1,4 @@ + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/ros_controllers.launch b/CobotX/cobotx_a450_moveit/launch/ros_controllers.launch new file mode 100644 index 00000000..4fc6ece2 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/ros_controllers.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/run_benchmark_ompl.launch b/CobotX/cobotx_a450_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 00000000..86746854 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/sensor_manager.launch.xml b/CobotX/cobotx_a450_moveit/launch/sensor_manager.launch.xml new file mode 100644 index 00000000..abdf6fde --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/sensor_manager.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/setup_assistant.launch b/CobotX/cobotx_a450_moveit/launch/setup_assistant.launch new file mode 100644 index 00000000..22c6423c --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/setup_assistant.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/simple_moveit_controller_manager.launch.xml b/CobotX/cobotx_a450_moveit/launch/simple_moveit_controller_manager.launch.xml new file mode 100644 index 00000000..0ca82d80 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/simple_moveit_controller_manager.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/stomp_planning_pipeline.launch.xml b/CobotX/cobotx_a450_moveit/launch/stomp_planning_pipeline.launch.xml new file mode 100644 index 00000000..ec560507 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/stomp_planning_pipeline.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/trajectory_execution.launch.xml b/CobotX/cobotx_a450_moveit/launch/trajectory_execution.launch.xml new file mode 100644 index 00000000..20c3dfc4 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/trajectory_execution.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/warehouse.launch b/CobotX/cobotx_a450_moveit/launch/warehouse.launch new file mode 100644 index 00000000..0712e670 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/launch/warehouse_settings.launch.xml b/CobotX/cobotx_a450_moveit/launch/warehouse_settings.launch.xml new file mode 100644 index 00000000..e473b083 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/launch/warehouse_settings.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/CobotX/cobotx_a450_moveit/package.xml b/CobotX/cobotx_a450_moveit/package.xml new file mode 100644 index 00000000..56834240 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/package.xml @@ -0,0 +1,41 @@ + + + cobotx_a450_moveit + 0.3.0 + + An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework + + wangweijian + wangweijian + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit/issues + https://github.com/ros-planning/moveit + + catkin + + moveit_ros_move_group + moveit_fake_controller_manager + moveit_kinematics + moveit_planners + moveit_ros_visualization + moveit_setup_assistant + moveit_simple_controller_manager + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz + tf2_ros + xacro + + + + + + mycobot_description + + + diff --git a/CobotX/cobotx_a450_moveit/scripts/obstacle_avoidance_demo.py b/CobotX/cobotx_a450_moveit/scripts/obstacle_avoidance_demo.py new file mode 100755 index 00000000..813b4d19 --- /dev/null +++ b/CobotX/cobotx_a450_moveit/scripts/obstacle_avoidance_demo.py @@ -0,0 +1,163 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +import sys +import rospy +import moveit_commander +import moveit_msgs.msg +import geometry_msgs.msg +import tf + + +class MoveItPlanningDemo: + def __init__(self): + rospy.init_node('moveit_avoid_obstacles', anonymous=True) + # 初始化MoveIt + moveit_commander.roscpp_initialize(sys.argv) + + # 创建RobotCommander对象 + self.robot = moveit_commander.RobotCommander() + + # 创建PlanningSceneInterface对象 + self.scene = moveit_commander.PlanningSceneInterface() + + # 创建MoveGroupCommander对象 + self.arm_group = moveit_commander.MoveGroupCommander("arm_group") + + # 获取末端关节的名称 + self.end_effector_link = self.arm_group.get_end_effector_link() + + # 设置目标位置所使用的坐标参考系 + self.reference_frame = 'base' + self.arm_group.set_pose_reference_frame(self.reference_frame) + + # 设置位置(单位：米)和姿态（单位：弧度）的允许误差 + self.arm_group.set_goal_position_tolerance(0.01) + self.arm_group.set_goal_orientation_tolerance(0.05) + + # 当运动规划失败后，允许重新规划 + self.arm_group.allow_replanning(True) + # 设置规划的最大时间为20秒 + self.arm_group.set_planning_time(20) + # 设置规划尝试次数为10次（或者更大的值） + self.arm_group.set_num_planning_attempts(20) + + + def add_scene(self): + # 添加第一个圆柱作为障碍物（垂直于平面） + cylinder1_pose = geometry_msgs.msg.PoseStamped() + cylinder1_pose.header.frame_id = self.robot.get_planning_frame() + cylinder1_pose.pose.position.x = 0.15 + cylinder1_pose.pose.position.y = 0 + cylinder1_pose.pose.position.z = 0.30 + cylinder1_pose.pose.orientation.w = 1.0 + self.scene.add_cylinder("cylinder1", cylinder1_pose, height=0.6, radius=0.01) + + # 添加第二个圆柱作为障碍物（水平于平面，构成十字架） + cylinder2_pose = geometry_msgs.msg.PoseStamped() + cylinder2_pose.header.frame_id = self.robot.get_planning_frame() + cylinder2_pose.pose.position.x = 0.15 + cylinder2_pose.pose.position.y = 0 + cylinder2_pose.pose.position.z = 0.40 + cylinder2_pose.pose.orientation.w = 1.0 + cylinder2_pose.pose.orientation.x = 0.707 # 围绕x轴旋转90度（水平方向） + cylinder2_pose.pose.orientation.y = 0.0 + cylinder2_pose.pose.orientation.z = 0.0 + cylinder2_pose.pose.orientation.w = 0.707 + self.scene.add_cylinder("cylinder2", cylinder2_pose, height=0.6, radius=0.02) + # 发布当前场景信息 + planning_scene = moveit_msgs.msg.PlanningScene() + planning_scene.world.collision_objects.extend(self.scene.get_objects().values()) + planning_scene.is_diff = True + + planning_scene_publisher = rospy.Publisher('/planning_scene', moveit_msgs.msg.PlanningScene, queue_size=1) + planning_scene_publisher.publish(planning_scene) + rospy.sleep(2) + + def robot_move(self): + + # 控制机械臂回到初始化位置 + self.arm_group.set_named_target('init_pose') + self.arm_group.go() + rospy.sleep(3) + + + # 设置机械臂运动的目标点，使用笛卡尔空间坐标位置表示（单位：米），姿态使用四元数表示 + target_pose = geometry_msgs.msg.PoseStamped() + target_pose.header.frame_id = self.reference_frame + target_pose.header.stamp = rospy.Time.now() + target_pose.pose.position.x = 0.142 # 设置目标点的x坐标 + target_pose.pose.position.y = -0.140 # 设置目标点的y坐标 + target_pose.pose.position.z = 0.075 # 设置目标点的z坐标 + target_pose.pose.orientation.x = 0.026 + target_pose.pose.orientation.y = 1.0 + target_pose.pose.orientation.z = 0.0 + target_pose.pose.orientation.w = 0.014 + + # 更新当前的位姿 + self.arm_group.set_start_state_to_current_state() + + # 获取机械臂当前的关节状态 + current_joint_values = self.arm_group.get_current_joint_values() + + # 打印当前关节状态 + print("Current Joint Values:", current_joint_values) + print("end Joint Values:", self.end_effector_link) + # 设置机械臂的目标姿态 + self.arm_group.set_pose_target(target_pose, self.end_effector_link) + # 进行运动规划 + plan = self.arm_group.plan() + # print('plan point:', plan[1]) + # 执行运动 + self.arm_group.execute(plan[1]) + rospy.sleep(3) + # 获取末端执行器的姿态 + end_effector_pose = self.arm_group.get_current_pose().pose + + # 打印末端执行器的坐标位置 + print("End Effector Position:", end_effector_pose.position) + print("End Effector Orientation:", end_effector_pose.orientation) + # 控制机械臂末端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy + # self.arm_group.shift_pose_target(1, 0.22, self.end_effector_link) + # self.arm_group.go() + # rospy.sleep(5) + + # 设置机械臂的目标位置，使用7轴的位置数据进行描述（单位：弧度） + # joint_pose = [0.2967, 0, 0, -1.57000, 0, -1.3439, 0] + # joint_pose = [0.2967, 0, 0, 0, 0, -1.3439, 0] + # arm_group.set_joint_value_target(joint_pose) + + # 控制机械臂完成运动 + # arm_group.go() + # rospy.sleep(10) + # 控制机械臂回到初始化位置 + # arm_group.set_named_target('init_pose') + # arm_group.go() + + def run(self): + # 移除所有障碍物 + # self.scene.remove_world_object("cylinder1") + # self.scene.remove_world_object("cylinder2") + # 没有障碍物运行一次 + # self.robot_move() + + # 增加障碍物 + self.add_scene() + rospy.sleep(3) + # 获取当前场景中的所有障碍物 + current_obstacles = self.scene.get_known_object_names() + rospy.loginfo("Current obstacles in the scene: %s", current_obstacles) + rospy.sleep(2) + # 有障碍物后再运行一次 + self.robot_move() + # 关闭MoveIt + moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) + + +if __name__ == '__main__': + try: + obstacle = MoveItPlanningDemo() + obstacle.run() + except rospy.ROSInterruptException: + pass diff --git a/CobotX/cobotx_a450_moveit/scripts/sync_plan.py b/CobotX/cobotx_a450_moveit/scripts/sync_plan.py new file mode 100755 index 00000000..b160cb9a --- /dev/null +++ b/CobotX/cobotx_a450_moveit/scripts/sync_plan.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python3 +# -*- coding: 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.launch] related script. +Passable parameters: + port: serial prot string. Defaults is '/dev/ttyAMA0' + baud: serial prot baudrate. Defaults is 115200. +""" +import math +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.cobotx import CobotX + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + print(data.position) + data_list = [] + for index, value in enumerate(data.position): + radians_to_angles = math.degrees(value) + data_list.append(radians_to_angles) + + # mc.send_radians(data_list, 80) + mc.send_angles(data_list, 80) + # time.sleep(0.5) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyAMA0") + baud = rospy.get_param("~baud", 115200) + print(port, baud) + mc = CobotX(port, baud) + + # 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() diff --git 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4 4 4 1 1 1 3 3 3 5 5 5 2 2 2 4 4 4 7 7 7 4 4 4 6 6 6 8 8 8 5 5 5 7 7 7 10 10 10 7 7 7 9 9 9 11 11 11 8 8 8 10 10 10 13 13 13 10 10 10 12 12 12 14 14 14 11 11 11 13 13 13 16 16 16 13 13 13 15 15 15 17 17 17 14 14 14 16 16 16 19 19 19 16 16 16 18 18 18 20 20 20 17 17 17 16 16 16 22 22 22 19 19 19 18 18 18 23 23 23 20 20 20 22 22 22 26 26 26 22 22 22 25 25 25 27 27 27 23 23 23 22 22 22 29 29 29 26 26 26 25 25 25 30 30 30 27 27 27 29 29 29 32 32 32 29 29 29 28 28 28 33 33 33 30 30 30 32 32 32 35 35 35 32 32 32 31 31 31 36 36 36 33 33 33 35 35 35 38 38 38 35 35 35 34 34 34 39 39 39 36 36 36 38 38 38 41 41 41 38 38 38 37 37 37 42 42 42 39 39 39 41 41 41 44 44 44 41 41 41 43 43 43 45 45 45 42 42 42 41 41 41 72 72 72 48 48 48 49 49 49 3 3 3 50 50 50 51 51 51 51 51 51 52 52 52 6 6 6 0 0 0 49 49 49 50 50 50 71 71 71 72 72 72 0 0 0 0 0 0 72 72 72 49 49 49 50 50 50 3 3 3 0 0 0 9 9 9 6 6 6 53 53 53 12 12 12 54 54 54 55 55 55 56 56 56 57 57 57 15 15 15 18 18 18 57 57 57 58 58 58 55 55 55 56 56 56 15 15 15 12 12 12 9 9 9 54 54 54 58 58 58 21 21 21 18 18 18 21 21 21 58 58 58 59 59 59 1 1 1 70 70 70 71 71 71 92 92 92 70 70 70 2 2 2 70 70 70 1 1 1 2 2 2 1 1 1 71 71 71 0 0 0 2 2 2 5 5 5 91 91 91 70 70 70 92 92 92 69 69 69 89 89 89 90 90 90 8 8 8 91 91 91 92 92 92 2 2 2 8 8 8 11 11 11 88 88 88 14 14 14 17 17 17 85 85 85 17 17 17 20 20 20 84 84 84 11 11 11 14 14 14 87 87 87 11 11 11 87 87 87 88 88 88 20 20 20 83 83 83 84 84 84 20 20 20 23 23 23 83 83 83 59 59 59 60 60 60 25 25 25 61 61 61 62 62 62 28 28 28 31 31 31 62 62 62 63 63 63 60 60 60 61 61 61 28 28 28 34 34 34 31 31 31 63 63 63 37 37 37 34 34 34 64 64 64 65 65 65 66 66 66 37 37 37 43 43 43 67 67 67 68 68 68 93 93 93 68 68 68 46 46 46 40 40 40 66 66 66 67 67 67 43 43 43 40 40 40 67 67 67 93 93 93 94 94 94 44 44 44 45 45 45 44 44 44 94 94 94 68 68 68 93 93 93 43 43 43 82 82 82 24 24 24 23 23 23 27 27 27 30 30 30 81 81 81 30 30 30 33 33 33 80 80 80 27 27 27 81 81 81 82 82 82 78 78 78 79 79 79 33 33 33 36 36 36 39 39 39 77 77 77 42 42 42 45 45 45 74 74 74 39 39 39 42 42 42 75 75 75 73 73 73 45 45 45 95 95 95 45 45 45 73 73 73 74 74 74 95 95 95 47 47 47 73 73 73 78 78 78 36 36 36 77 77 77 128 128 128 153 153 153 129 129 129 130 130 130 152 152 152 131 131 131 130 130 130 129 129 129 153 153 153 128 128 128 127 127 127 153 153 153 124 124 124 123 123 123 153 153 153 127 127 127 126 126 126 153 153 153 126 126 126 125 125 125 153 153 153 125 125 125 124 124 124 153 153 153 132 132 132 131 131 131 152 152 152 110 110 110 138 138 138 137 137 137 140 140 140 106 106 106 141 141 141 140 140 140 139 139 139 108 108 108 138 138 138 109 109 109 139 139 139 133 133 133 152 152 152 134 134 134 134 134 134 152 152 152 135 135 135 137 137 137 136 136 136 152 152 152 136 136 136 135 135 135 152 152 152 152 152 152 111 111 111 137 137 137 133 133 133 132 132 132 152 152 152 141 141 141 105 105 105 142 142 142 153 153 153 155 155 155 154 154 154 153 153 153 121 121 121 120 120 120 153 153 153 120 120 120 119 119 119 153 153 153 157 157 157 156 156 156 118 118 118 158 158 158 153 153 153 157 157 157 153 153 153 158 158 158 119 119 119 118 118 118 153 153 153 155 155 155 153 153 153 156 156 156 153 153 153 122 122 122 121 121 121 122 122 122 153 153 153 123 123 123 148 148 148 152 152 152 149 149 149 151 151 151 150 150 150 152 152 152 149 149 149 152 152 152 150 150 150 153 153 153 152 152 152 130 130 130 147 147 147 146 146 146 152 152 152 152 152 152 148 148 148 147 147 147 144 144 144 171 171 171 145 145 145 152 152 152 146 146 146 145 145 145 143 143 143 174 174 174 144 144 144 152 152 152 145 145 145 170 170 170 96 96 96 142 142 142 102 102 102 96 96 96 99 99 99 98 98 98 100 100 100 96 96 96 101 101 101 100 100 100 99 99 99 96 96 96 96 96 96 102 102 102 101 101 101 103 103 103 142 142 142 104 104 104 106 106 106 105 105 105 141 141 141 142 142 142 105 105 105 104 104 104 102 102 102 142 142 142 103 103 103 140 140 140 107 107 107 106 106 106 108 108 108 139 139 139 109 109 109 111 111 111 110 110 110 137 137 137 138 138 138 110 110 110 109 109 109 111 111 111 152 152 152 112 112 112 114 114 114 113 113 113 152 152 152 115 115 115 114 114 114 152 152 152 152 152 152 117 117 117 116 116 116 115 115 115 152 152 152 116 116 116 152 152 152 113 113 113 112 112 112 107 107 107 140 140 140 108 108 108 117 117 117 152 152 152 159 159 159 173 173 173 144 144 144 174 174 174 173 173 173 172 172 172 144 144 144 171 171 171 144 144 144 172 172 172 175 175 175 174 174 174 143 143 143 178 178 178 143 143 143 179 179 179 143 143 143 178 178 178 177 177 177 177 177 177 176 176 176 143 143 143 143 143 143 176 176 176 175 175 175 171 171 171 170 170 170 145 145 145 164 164 164 163 163 163 152 152 152 152 152 152 163 163 163 162 162 162 162 162 162 161 161 161 152 152 152 152 152 152 165 165 165 164 164 164 152 152 152 170 170 170 169 169 169 152 152 152 169 169 169 168 168 168 167 167 167 152 152 152 168 168 168 152 152 152 167 167 167 166 166 166 165 165 165 152 152 152 166 166 166 161 161 161 160 160 160 152 152 152 152 152 152 160 160 160 159 159 159 98 98 98 97 97 97 96 96 96 186 186 186 181 181 181 185 185 185 187 187 187 182 182 182 186 186 186 188 188 188 183 183 183 187 187 187 189 189 189 184 184 184 188 188 188 191 191 191 186 186 186 185 185 185 192 192 192 187 187 187 186 186 186 193 193 193 188 188 188 187 187 187 194 194 194 189 189 189 188 188 188 196 196 196 191 191 191 190 190 190 197 197 197 192 192 192 191 191 191 198 198 198 193 193 193 192 192 192 199 199 199 194 194 194 193 193 193 201 201 201 196 196 196 195 195 195 202 202 202 197 197 197 196 196 196 203 203 203 198 198 198 197 197 197 204 204 204 199 199 199 198 198 198 206 206 206 201 201 201 200 200 200 207 207 207 202 202 202 201 201 201 208 208 208 203 203 203 202 202 202 209 209 209 204 204 204 203 203 203 211 211 211 206 206 206 205 205 205 212 212 212 207 207 207 206 206 206 213 213 213 208 208 208 207 207 207 214 214 214 209 209 209 208 208 208 216 216 216 211 211 211 210 210 210 217 217 217 212 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4 4 4 1 1 1 3 3 3 5 5 5 2 2 2 4 4 4 7 7 7 4 4 4 6 6 6 8 8 8 5 5 5 7 7 7 12 12 12 13 13 13 26 26 26 0 0 0 11 11 11 12 12 12 26 26 26 0 0 0 12 12 12 0 0 0 26 26 26 27 27 27 0 0 0 28 28 28 3 3 3 3 3 3 28 28 28 29 29 29 28 28 28 0 0 0 27 27 27 1 1 1 11 11 11 0 0 0 2 2 2 21 21 21 10 10 10 10 10 10 21 21 21 9 9 9 10 10 10 11 11 11 1 1 1 19 19 19 2 2 2 5 5 5 2 2 2 10 10 10 1 1 1 2 2 2 19 19 19 20 20 20 19 19 19 5 5 5 18 18 18 21 21 21 2 2 2 20 20 20 3 3 3 30 30 30 6 6 6 30 30 30 31 31 31 6 6 6 32 32 32 6 6 6 31 31 31 23 23 23 32 32 32 22 22 22 6 6 6 23 23 23 7 7 7 32 32 32 23 23 23 6 6 6 24 24 24 7 7 7 23 23 23 8 8 8 17 17 17 5 5 5 25 25 25 8 8 8 7 7 7 17 17 17 18 18 18 5 5 5 17 17 17 8 8 8 16 16 16 16 16 16 8 8 8 15 15 15 25 25 25 15 15 15 8 8 8 25 25 25 14 14 14 15 15 15 25 25 25 7 7 7 24 24 24 3 3 3 29 29 29 30 30 30 40 40 40 37 37 37 36 36 36 41 41 41 38 38 38 40 40 40 43 43 43 40 40 40 42 42 42 44 44 44 41 41 41 40 40 40 46 46 46 43 43 43 42 42 42 47 47 47 44 44 44 46 46 46 49 49 49 46 46 46 45 45 45 50 50 50 47 47 47 49 49 49 52 52 52 49 49 49 51 51 51 53 53 53 50 50 50 49 49 49 55 55 55 52 52 52 54 54 54 56 56 56 53 53 53 52 52 52 58 58 58 55 55 55 57 57 57 59 59 59 56 56 56 58 58 58 62 62 62 58 58 58 57 57 57 63 63 63 59 59 59 58 58 58 65 65 65 62 62 62 61 61 61 66 66 66 63 63 63 65 65 65 68 68 68 65 65 65 64 64 64 69 69 69 66 66 66 68 68 68 71 71 71 68 68 68 70 70 70 72 72 72 69 69 69 68 68 68 74 74 74 71 71 71 73 73 73 75 75 75 72 72 72 71 71 71 77 77 77 74 74 74 73 73 73 78 78 78 75 75 75 77 77 77 80 80 80 77 77 77 79 79 79 81 81 81 78 78 78 77 77 77 84 84 84 80 80 80 83 83 83 85 85 85 81 81 81 84 84 84 88 88 88 84 84 84 83 83 83 89 89 89 85 85 85 84 84 84 91 91 91 88 88 88 87 87 87 92 92 92 89 89 89 91 91 91 94 94 94 91 91 91 93 93 93 95 95 95 92 92 92 91 91 91 97 97 97 94 94 94 93 93 93 98 98 98 95 95 95 97 97 97 100 100 100 97 97 97 96 96 96 101 101 101 98 98 98 100 100 100 103 103 103 100 100 100 102 102 102 104 104 104 101 101 101 100 100 100 106 106 106 103 103 103 105 105 105 107 107 107 104 104 104 103 103 103 109 109 109 106 106 106 108 108 108 110 110 110 107 107 107 109 109 109 112 112 112 109 109 109 108 108 108 113 113 113 110 110 110 109 109 109 115 115 115 112 112 112 111 111 111 116 116 116 113 113 113 115 115 115 118 118 118 115 115 115 114 114 114 119 119 119 116 116 116 118 118 118 121 121 121 118 118 118 120 120 120 122 122 122 119 119 119 118 118 118 124 124 124 121 121 121 123 123 123 125 125 125 122 122 122 121 121 121 127 127 127 124 124 124 123 123 123 128 128 128 125 125 125 127 127 127 130 130 130 127 127 127 129 129 129 131 131 131 128 128 128 127 127 127 136 136 136 33 33 33 159 159 159 39 39 39 160 160 160 161 161 161 36 36 36 159 159 159 160 160 160 162 162 162 163 163 163 42 42 42 48 48 48 164 164 164 165 165 165 165 165 165 166 166 166 51 51 51 45 45 45 163 163 163 164 164 164 161 161 161 162 162 162 42 42 42 36 36 36 37 37 37 136 136 136 39 39 39 36 36 36 160 160 160 36 36 36 136 136 136 159 159 159 167 167 167 168 168 168 54 54 54 54 54 54 51 51 51 167 167 167 164 164 164 48 48 48 45 45 45 169 169 169 170 170 170 61 61 61 171 171 171 172 172 172 64 64 64 67 67 67 172 172 172 173 173 173 170 170 170 171 171 171 64 64 64 174 174 174 175 175 175 73 73 73 76 76 76 176 176 176 177 177 177 79 79 79 177 177 177 178 178 178 175 175 175 176 176 176 73 73 73 70 70 70 173 173 173 174 174 174 70 70 70 67 67 67 173 173 173 79 79 79 76 76 76 177 177 177 83 83 83 79 79 79 178 178 178 82 82 82 139 139 139 83 83 83 168 168 168 169 169 169 57 57 57 34 34 34 135 135 135 38 38 38 34 34 34 38 38 38 198 198 198 38 38 38 41 41 41 197 197 197 44 44 44 47 47 47 194 194 194 50 50 50 53 53 53 191 191 191 53 53 53 56 56 56 190 190 190 47 47 47 50 50 50 193 193 193 41 41 41 44 44 44 196 196 196 197 197 197 198 198 198 38 38 38 47 47 47 193 193 193 194 194 194 190 190 190 56 56 56 189 189 189 188 188 188 60 60 60 59 59 59 60 60 60 189 189 189 59 59 59 63 63 63 66 66 66 187 187 187 66 66 66 69 69 69 186 186 186 72 72 72 75 75 75 183 183 183 75 75 75 78 78 78 181 181 181 69 69 69 72 72 72 184 184 184 78 78 78 81 81 81 180 180 180 63 63 63 187 187 187 188 188 188 81 81 81 179 179 179 180 180 180 183 183 183 184 184 184 72 72 72 81 81 81 85 85 85 179 179 179 87 87 87 139 139 139 140 140 140 141 141 141 142 142 142 93 93 93 90 90 90 140 140 140 141 141 141 96 96 96 143 143 143 144 144 144 145 145 145 146 146 146 102 102 102 146 146 146 147 147 147 102 102 102 99 99 99 144 144 144 145 145 145 142 142 142 143 143 143 93 93 93 90 90 90 87 87 87 140 140 140 99 99 99 96 96 96 144 144 144 108 108 108 148 148 148 149 149 149 108 108 108 105 105 105 148 148 148 111 111 111 108 108 108 149 149 149 150 150 150 151 151 151 114 114 114 117 117 117 152 152 152 153 153 153 120 120 120 153 153 153 154 154 154 151 151 151 152 152 152 114 114 114 155 155 155 156 156 156 123 123 123 129 129 129 157 157 157 158 158 158 137 137 137 158 158 158 132 132 132 126 126 126 156 156 156 157 157 157 154 154 154 155 155 155 123 123 123 153 153 153 120 120 120 117 117 117 157 157 157 129 129 129 126 126 126 137 137 137 138 138 138 130 130 130 138 138 138 133 133 133 131 131 131 137 137 137 129 129 129 158 158 158 219 219 219 86 86 86 85 85 85 89 89 89 92 92 92 218 218 218 92 92 92 95 95 95 217 217 217 95 95 95 98 98 98 215 215 215 101 101 101 104 104 104 212 212 212 104 104 104 107 107 107 211 211 211 98 98 98 101 101 101 214 214 214 107 107 107 110 110 110 210 210 210 89 89 89 218 218 218 219 219 219 107 107 107 210 210 210 211 211 211 214 214 214 215 215 215 98 98 98 207 207 207 208 208 208 113 113 113 208 208 208 209 209 209 110 110 110 113 113 113 116 116 116 207 207 207 116 116 116 119 119 119 206 206 206 119 119 119 122 122 122 204 204 204 125 125 125 128 128 128 201 201 201 128 128 128 131 131 131 200 200 200 122 122 122 125 125 125 203 203 203 131 131 131 133 133 133 199 199 199 122 122 122 203 203 203 204 204 204 131 131 131 199 199 199 200 200 200 319 319 319 220 220 220 295 295 295 315 315 315 316 316 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