From 8a5b5d55a036a06925d7534096ef8d5e541d9630 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Nov 2023 15:55:19 +0800 Subject: [PATCH 1/4] =?UTF-8?q?=E5=A2=9E=E5=8A=A0280=20M5=E5=92=8CPI=20ROS?= =?UTF-8?q?=20=E6=91=84=E5=83=8F=E5=A4=B4=E6=A8=A1=E7=BB=84=E5=92=8C?= =?UTF-8?q?=E5=90=B8=E6=B3=B5=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- mycobot_280/mycobot_280/config/mycobot.rviz | 15 +- .../mycobot_280/launch/simple_gui_pump.launch | 23 ++ .../launch/teleop_keyboard_pump.launch | 23 ++ mycobot_280/mycobot_280/launch/test.launch | 2 +- .../launch/test_camera_flange.launch | 25 ++ .../mycobot_280/launch/test_gripper.launch | 16 + .../mycobot_280/launch/test_pump.launch | 25 ++ mycobot_280/mycobot_280/scripts/simple_gui.py | 31 +- .../scripts/slider_control_gripper.py | 2 +- .../mycobot_280/scripts/teleop_keyboard.py | 13 +- mycobot_280/mycobot_280pi/config/mycobot.rviz | 79 ++-- .../launch/test_camera_flange.launch | 25 ++ .../mycobot_280pi/launch/test_pump.launch | 25 ++ .../scripts/mycobot_services.py | 8 +- .../urdf/mycobot/camera_flange.dae | 308 +++++++++++++++ .../urdf/mycobot/mycobot_urdf.urdf | 23 +- .../mycobot/mycobot_with_camera_flange.urdf | 222 +++++++++++ .../urdf/mycobot/mycobot_with_pump.urdf | 250 ++++++++++++ .../mycobot/mycobot_with_vision_copy.urdf | 29 -- mycobot_description/urdf/mycobot/pump_box.dae | 374 ++++++++++++++++++ .../urdf/mycobot/pump_head.dae | 317 +++++++++++++++ .../urdf/mycobot_pi/G_base.dae | 260 ++++++++++++ .../urdf/mycobot_pi/camera_flange.dae | 308 +++++++++++++++ .../urdf/mycobot_pi/mycobot_urdf.urdf | 25 +- .../mycobot_with_camera_flange.urdf | 234 +++++++++++ .../urdf/mycobot_pi/mycobot_with_pump.urdf | 259 ++++++++++++ .../urdf/mycobot_pi/pump_box.dae | 374 ++++++++++++++++++ .../urdf/mycobot_pi/pump_head.dae | 317 +++++++++++++++ 28 files changed, 3535 insertions(+), 77 deletions(-) create mode 100644 mycobot_280/mycobot_280/launch/simple_gui_pump.launch create mode 100644 mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch create mode 100644 mycobot_280/mycobot_280/launch/test_camera_flange.launch create mode 100644 mycobot_280/mycobot_280/launch/test_gripper.launch create mode 100644 mycobot_280/mycobot_280/launch/test_pump.launch create mode 100644 mycobot_280/mycobot_280pi/launch/test_camera_flange.launch create mode 100644 mycobot_280/mycobot_280pi/launch/test_pump.launch create mode 100755 mycobot_description/urdf/mycobot/camera_flange.dae create mode 100644 mycobot_description/urdf/mycobot/mycobot_with_camera_flange.urdf create mode 100644 mycobot_description/urdf/mycobot/mycobot_with_pump.urdf delete mode 100755 mycobot_description/urdf/mycobot/mycobot_with_vision_copy.urdf create mode 100755 mycobot_description/urdf/mycobot/pump_box.dae create mode 100755 mycobot_description/urdf/mycobot/pump_head.dae create mode 100644 mycobot_description/urdf/mycobot_pi/G_base.dae create mode 100755 mycobot_description/urdf/mycobot_pi/camera_flange.dae create mode 100644 mycobot_description/urdf/mycobot_pi/mycobot_with_camera_flange.urdf create mode 100644 mycobot_description/urdf/mycobot_pi/mycobot_with_pump.urdf create mode 100755 mycobot_description/urdf/mycobot_pi/pump_box.dae create mode 100755 mycobot_description/urdf/mycobot_pi/pump_head.dae diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz index 0fbc40e8..25ce3339 100644 --- a/mycobot_280/mycobot_280/config/mycobot.rviz +++ b/mycobot_280/mycobot_280/config/mycobot.rviz @@ -8,9 +8,10 @@ Panels: - /Status1 - /RobotModel1 - /TF1 - - /Marker1 + - /TF1/Frames1 + - /TF1/Tree1 Splitter Ratio: 0.5 - Tree Height: 657 + Tree Height: 609 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -246,7 +247,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.2028908729553223 + Distance: 1.1026314496994019 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -262,17 +263,17 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.32539835572242737 + Pitch: 0.7153984904289246 Target Frame: - Yaw: 3.0853891372680664 + Yaw: 3.8853836059570312 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 954 + Height: 906 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c20000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000400000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: diff --git a/mycobot_280/mycobot_280/launch/simple_gui_pump.launch b/mycobot_280/mycobot_280/launch/simple_gui_pump.launch new file mode 100644 index 00000000..4497f463 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/simple_gui_pump.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch new file mode 100644 index 00000000..174448f4 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_pump.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/test.launch b/mycobot_280/mycobot_280/launch/test.launch index 76ddd574..ec7c813a 100644 --- a/mycobot_280/mycobot_280/launch/test.launch +++ b/mycobot_280/mycobot_280/launch/test.launch @@ -1,5 +1,5 @@ - + diff --git a/mycobot_280/mycobot_280/launch/test_camera_flange.launch b/mycobot_280/mycobot_280/launch/test_camera_flange.launch new file mode 100644 index 00000000..3aea2d21 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/test_camera_flange.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/test_gripper.launch b/mycobot_280/mycobot_280/launch/test_gripper.launch new file mode 100644 index 00000000..d1524a60 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/test_gripper.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/test_pump.launch b/mycobot_280/mycobot_280/launch/test_pump.launch new file mode 100644 index 00000000..d08b12d7 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/test_pump.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/scripts/simple_gui.py b/mycobot_280/mycobot_280/scripts/simple_gui.py index b30c06ce..13bbc347 100644 --- a/mycobot_280/mycobot_280/scripts/simple_gui.py +++ b/mycobot_280/mycobot_280/scripts/simple_gui.py @@ -4,7 +4,7 @@ import tkinter as tk except ImportError: import Tkinter as tk -from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus, PumpStatus import rospy import time from rospy import ServiceException @@ -36,7 +36,7 @@ def __init__(self, handle): # 计算 Tk 根窗口的 x 和 y 坐标 x = int((self.ws / 2) - 190) y = int((self.hs / 2) - 250) - self.win.geometry("430x400+{}+{}".format(x, y)) + self.win.geometry("440x440+{}+{}".format(x, y)) # layout,布局 self.set_layout() # input section,输入部分 @@ -56,11 +56,18 @@ def __init__(self, handle): # Gripper switch button,夹爪开关按钮 tk.Button(self.frmLB, text="夹爪(开)", command=self.gripper_open, width=5).grid( - row=1, column=0, sticky="w", padx=3, pady=50 + row=1, column=0, sticky="w", padx=3, pady=20 ) tk.Button(self.frmLB, text="夹爪(关)", command=self.gripper_close, width=5).grid( row=1, column=1, sticky="w", padx=3, pady=2 ) + + tk.Button(self.frmLB, text=" 吸泵(开)", command=self.pump_open, width=5).grid( + row=2, column=0, sticky="w", padx=3, pady=20 + ) + tk.Button(self.frmLB, text="吸泵(关)", command=self.pump_close, width=5).grid( + row=2, column=1, sticky="w", padx=3, pady=2 + ) def connect_ser(self): rospy.init_node("simple_gui", anonymous=True, disable_signals=True) @@ -70,6 +77,7 @@ def connect_ser(self): rospy.wait_for_service("get_joint_coords") rospy.wait_for_service("set_joint_coords") rospy.wait_for_service("switch_gripper_status") + rospy.wait_for_service("switch_pump_status") try: self.get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) self.set_coords = rospy.ServiceProxy("set_joint_coords", SetCoords) @@ -78,6 +86,9 @@ def connect_ser(self): self.switch_gripper = rospy.ServiceProxy( "switch_gripper_status", GripperStatus ) + self.switch_pump = rospy.ServiceProxy( + "switch_pump_status", PumpStatus + ) except: print("start error ...") exit(1) @@ -372,6 +383,20 @@ def gripper_close(self): self.switch_gripper(False) except ServiceException: pass + + def pump_open(self): + try: + self.switch_pump(True,2, 5) + except ServiceException: + # Probably because the method has no return value, the service throws an unhandled error + # 可能由于该方法没有返回值，服务抛出无法处理的错误 + pass + + def pump_close(self): + try: + self.switch_pump(False, 2, 5) + except ServiceException: + pass def get_coord_input(self): # Get the data input by coord and send it to the robotic arm diff --git a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py index fdf1d6ff..b0b48c7e 100644 --- a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py +++ b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py @@ -30,7 +30,7 @@ def callback(data): mc.send_radians(data_list[:6], 80) gripper_value = int(abs(-0.7-data_list[6])* 117) print("gripper_value:%s"%gripper_value) - mc.set_gripper_value(gripper_value, 80) + mc.set_gripper_value(gripper_value, 80, 1) def listener(): diff --git a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py index efde40c5..aa264f5a 100644 --- a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py +++ b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from __future__ import print_function -from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus +from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus, PumpStatus import rospy import sys import select @@ -28,6 +28,10 @@ g - open h - close +Pump control: + b - open + m - close + Other: 1 - Go to init pose 2 - Go to home pose @@ -68,6 +72,7 @@ def teleop_keyboard(): rospy.wait_for_service("get_joint_coords") rospy.wait_for_service("set_joint_coords") rospy.wait_for_service("switch_gripper_status") + rospy.wait_for_service("switch_pump_status") print("service ready.") try: get_coords = rospy.ServiceProxy("get_joint_coords", GetCoords) @@ -76,6 +81,8 @@ def teleop_keyboard(): set_angles = rospy.ServiceProxy("set_joint_angles", SetAngles) switch_gripper = rospy.ServiceProxy( "switch_gripper_status", GripperStatus) + switch_pump = rospy.ServiceProxy( + "switch_pump_status", PumpStatus) except: print("start error ...") exit(1) @@ -145,6 +152,10 @@ def teleop_keyboard(): switch_gripper(True) elif key in ["h", "H"]: switch_gripper(False) + elif key in ["b", "B"]: + switch_pump(True, 2, 5) + elif key in ["m", "M"]: + switch_pump(False, 2, 5) elif key == "1": rsp = set_angles(*init_pose) elif key in "2": diff --git a/mycobot_280/mycobot_280pi/config/mycobot.rviz b/mycobot_280/mycobot_280pi/config/mycobot.rviz index 220b77ff..aadc6877 100644 --- a/mycobot_280/mycobot_280pi/config/mycobot.rviz +++ b/mycobot_280/mycobot_280pi/config/mycobot.rviz @@ -9,7 +9,7 @@ Panels: - /RobotModel1 - /TF1 Splitter Ratio: 0.5 - Tree Height: 642 + Tree Height: 609 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -18,17 +18,18 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679016 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time - Experimental: false Name: Time SyncMode: 0 SyncSource: "" +Preferences: + PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: @@ -40,7 +41,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -62,6 +63,16 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + camera_flange: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + g_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true joint1: Alpha: 1 Show Axes: false @@ -105,9 +116,15 @@ Visualization Manager: Visual Enabled: true - Class: rviz/TF Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: true + camera_flange: + Value: true + g_base: + Value: true joint1: Value: true joint2: @@ -122,20 +139,23 @@ Visualization Manager: Value: true joint6_flange: Value: true - Marker Scale: 0.300000012 + Marker Alpha: 1 + Marker Scale: 0.10000000149011612 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: - joint1: - joint2: - joint3: - joint4: - joint5: - joint6: - joint6_flange: - {} + g_base: + joint1: + joint2: + joint3: + joint4: + joint5: + joint6: + joint6_flange: + camera_flange: + {} Update Interval: 0 Value: true Enabled: true @@ -153,7 +173,10 @@ Visualization Manager: - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint @@ -163,33 +186,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.20289087 + Distance: 1.0585439205169678 Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: -0.0706475973 - Y: -0.0814988762 - Z: 0.107583851 + X: -0.07064759731292725 + Y: -0.0814988762140274 + Z: 0.10758385062217712 Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 + Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.085398227 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.48539817333221436 Target Frame: - Value: Orbit (rviz) - Yaw: 3.08857274 + Yaw: 4.103571891784668 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 923 + Height: 906 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -198,6 +221,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1851 - X: 65 - Y: 24 + Width: 1848 + X: 72 + Y: 27 diff --git a/mycobot_280/mycobot_280pi/launch/test_camera_flange.launch b/mycobot_280/mycobot_280pi/launch/test_camera_flange.launch new file mode 100644 index 00000000..de1785cd --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/test_camera_flange.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/test_pump.launch b/mycobot_280/mycobot_280pi/launch/test_pump.launch new file mode 100644 index 00000000..b5ff932b --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/test_pump.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_communication/scripts/mycobot_services.py b/mycobot_communication/scripts/mycobot_services.py index af4dbf7b..cd5fd000 100755 --- a/mycobot_communication/scripts/mycobot_services.py +++ b/mycobot_communication/scripts/mycobot_services.py @@ -145,11 +145,11 @@ def toggle_pump(req): if mc: lock = acquire("/tmp/mycobot_lock") if req.Status: - mc.set_basic_output(req.Pin1, 0) - mc.set_basic_output(req.Pin2, 0) + mc.set_basic_output(2, 0) + mc.set_basic_output(5, 0) else: - mc.set_basic_output(req.Pin1, 1) - mc.set_basic_output(req.Pin2, 1) + mc.set_basic_output(2, 1) + mc.set_basic_output(5, 1) release(lock) diff --git a/mycobot_description/urdf/mycobot/camera_flange.dae b/mycobot_description/urdf/mycobot/camera_flange.dae new file mode 100755 index 00000000..ed1e8686 --- /dev/null +++ b/mycobot_description/urdf/mycobot/camera_flange.dae @@ -0,0 +1,308 @@ + + + + + Rhinoceros 7.0.20314.3001 + Output from Rhinoceros COLLADA Exporter + + 2023-11-06T11:49:14Z + 2023-11-06T11:49:14Z + + Z_UP + + + + + + + 56.189974 + 2.224324 + 164.941575 + 233.830116 + + + + + + + + + 1.0 + 2.224324 + 2.712943 + 40.074826 + + + + + + + + + 1.0 + 2.224324 + 1.356116 + 18.956250 + + + + + + + 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142 143 143 143 94 94 94 144 144 144 142 142 142 95 95 95 143 143 143 141 141 141 97 97 97 96 96 96 142 142 142 96 96 96 95 95 95 138 138 138 100 100 100 139 139 139 97 97 97 141 141 141 140 140 140 98 98 98 97 97 97 140 140 140 139 139 139 99 99 99 140 140 140 138 138 138 137 137 137 101 101 101 49 49 49 48 48 48 120 120 120 48 48 48 47 47 47 121 121 121 27 27 27 22 22 22 49 49 49 49 49 49 120 120 120 27 27 27 46 46 46 122 122 122 47 47 47 47 47 47 122 122 122 121 121 121 48 48 48 121 121 121 120 120 120 123 123 123 122 122 122 46 46 46 46 46 46 45 45 45 123 123 123 124 124 124 123 123 123 45 45 45 45 45 45 44 44 44 124 124 124 125 125 125 44 44 44 43 43 43 125 125 125 124 124 124 44 44 44 43 43 43 42 42 42 126 126 126 41 41 41 127 127 127 42 42 42 128 128 128 41 41 41 40 40 40 126 126 126 42 42 42 127 127 127 125 125 125 43 43 43 126 126 126 128 128 128 40 40 40 129 129 129 39 39 39 38 38 38 130 130 130 39 39 39 129 129 129 40 40 40 127 127 127 41 41 41 128 128 128 39 39 39 130 130 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+ + + + + + + + 0.996095 0.000000 -0.088284 0.000000 0.000000 1.000000 0.000000 59.743099 0.088284 0.000000 0.996095 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 7.200000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.866032 -0.249996 0.433002 79.967524 0.499989 0.433018 -0.750004 -94.890328 0.000000 0.866024 0.500003 91.241252 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 43.621550 0.000000 0.000000 1.000000 15.743750 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -1.000000 -11.331379 0.000000 1.000000 0.000000 -1.100000 0.000000 0.000000 0.000000 1.000000 + + + + 0.000000 0.000000 1.000000 15.468750 1.000000 0.000000 0.000000 43.621550 0.000000 1.000000 0.000000 -1.100000 0.000000 0.000000 0.000000 1.000000 + + + + 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + + + + + \ No newline at end of file From e9f5fb086ac920c687eeedbd037fe58282efec96 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Nov 2023 17:20:02 +0800 Subject: [PATCH 2/4] fix ros gripper display --- mycobot_280/mycobot_280/CMakeLists.txt | 1 + .../launch/simple_gui_gripper.launch | 2 +- .../launch/teleop_keyboard_gripper.launch | 2 +- .../scripts/listen_real_gripper.py | 132 ++++++++++++++++++ 4 files changed, 135 insertions(+), 2 deletions(-) create mode 100755 mycobot_280/mycobot_280/scripts/listen_real_gripper.py diff --git a/mycobot_280/mycobot_280/CMakeLists.txt b/mycobot_280/mycobot_280/CMakeLists.txt index c6ea4f94..1d247587 100644 --- a/mycobot_280/mycobot_280/CMakeLists.txt +++ b/mycobot_280/mycobot_280/CMakeLists.txt @@ -32,6 +32,7 @@ catkin_install_python(PROGRAMS scripts/simple_gui.py scripts/follow_display_gripper.py scripts/slider_control_gripper.py + scripts/listen_real_gripper.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) diff --git a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch index 32fa28a3..b85a1383 100644 --- a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch +++ b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch @@ -20,6 +20,6 @@ - + diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch index 322b7a5a..7c8b72b1 100644 --- a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch +++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch @@ -21,5 +21,5 @@ - + diff --git a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py new file mode 100755 index 00000000..1d6ed867 --- /dev/null +++ b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python3 +# encoding:utf-8 +# license removed for brevity +from distutils.log import error +import time +import math +import os +import fcntl + +import rospy +from sensor_msgs.msg import JointState +from std_msgs.msg import Header +from mycobot_communication.srv import GetAngles +from pymycobot.mycobot import MyCobot +from rospy import ServiceException + +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 talker(): + rospy.loginfo("start ...") + + rospy.init_node("real_listener_gripper", anonymous=True) + pub = rospy.Publisher("joint_states", JointState, queue_size=10) + port = rospy.get_param("~port", "/dev/ttyUSB0") + baud = rospy.get_param("~baud", 115200) + mc = MyCobot(port, baud) + 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 = [ + "joint2_to_joint1", + "joint3_to_joint2", + "joint4_to_joint3", + "joint5_to_joint4", + "joint6_to_joint5", + "joint6output_to_joint6", + "gripper_controller", + ] + 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") + + while True: + try: + func = rospy.ServiceProxy("get_joint_angles", GetAngles) + break + except ServiceException as e: + # pass + # print(f'error:{e}') + print("--------------error",e) + + 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 + if mc: + lock = acquire("/tmp/mycobot_lock") + gripper_value = mc.get_gripper_value() + release(lock) + if gripper_value != -1: + gripper_value = -0.78 + round(gripper_value / 117.0, 2) + # print(gripper_value) + 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), + ] + radians_list.append(gripper_value) + 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 \ No newline at end of file From c4a9a42c1386197d872ad9b6b715e8b995e15bca Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Tue, 7 Nov 2023 17:26:12 +0800 Subject: [PATCH 3/4] fix ros 280m5 gripper display use --- mycobot_280/mycobot_280/launch/simple_gui_gripper.launch | 6 +++++- .../mycobot_280/launch/teleop_keyboard_gripper.launch | 6 +++++- mycobot_280/mycobot_280/scripts/detect_marker.py | 0 mycobot_280/mycobot_280/scripts/follow_and_pump.py | 0 mycobot_280/mycobot_280/scripts/follow_display.py | 0 mycobot_280/mycobot_280/scripts/follow_display_gripper.py | 0 mycobot_280/mycobot_280/scripts/following_marker.py | 0 mycobot_280/mycobot_280/scripts/listen_real_gripper.py | 4 ++-- mycobot_280/mycobot_280/scripts/simple_gui.py | 0 mycobot_280/mycobot_280/scripts/slider_control.py | 0 mycobot_280/mycobot_280/scripts/slider_control_gripper.py | 0 mycobot_280/mycobot_280/scripts/teleop_keyboard.py | 0 12 files changed, 12 insertions(+), 4 deletions(-) mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/detect_marker.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/follow_and_pump.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/follow_display.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/follow_display_gripper.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/following_marker.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/simple_gui.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/slider_control.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/slider_control_gripper.py mode change 100644 => 100755 mycobot_280/mycobot_280/scripts/teleop_keyboard.py diff --git a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch index b85a1383..3f491844 100644 --- a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch +++ b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch @@ -20,6 +20,10 @@ - + + + + + diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch index 7c8b72b1..6ca57bff 100644 --- a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch +++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch @@ -21,5 +21,9 @@ - + + + + + diff --git a/mycobot_280/mycobot_280/scripts/detect_marker.py b/mycobot_280/mycobot_280/scripts/detect_marker.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/follow_and_pump.py b/mycobot_280/mycobot_280/scripts/follow_and_pump.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/follow_display.py b/mycobot_280/mycobot_280/scripts/follow_display.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/follow_display_gripper.py b/mycobot_280/mycobot_280/scripts/follow_display_gripper.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/following_marker.py b/mycobot_280/mycobot_280/scripts/following_marker.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py index 1d6ed867..f3ac6376 100755 --- a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py +++ b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py @@ -94,7 +94,7 @@ def talker(): # print(f'error:{e}') print("--------------error",e) - rospy.loginfo("start loop ...") + # 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() @@ -116,7 +116,7 @@ def talker(): res.joint_6 * (math.pi / 180), ] radians_list.append(gripper_value) - rospy.loginfo("res: {}".format(radians_list)) + # rospy.loginfo("res: {}".format(radians_list)) # publish angles.发布角度 joint_state_send.header.stamp = rospy.Time.now() diff --git a/mycobot_280/mycobot_280/scripts/simple_gui.py b/mycobot_280/mycobot_280/scripts/simple_gui.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/slider_control.py b/mycobot_280/mycobot_280/scripts/slider_control.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py old mode 100644 new mode 100755 diff --git a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py old mode 100644 new mode 100755 From 747aefd95b213667d9076065396856918a3b8f0f Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Wed, 8 Nov 2023 11:14:52 +0800 Subject: [PATCH 4/4] =?UTF-8?q?add=20280=20m5=E3=80=81pi=20=20pump=20and?= =?UTF-8?q?=20camera=20launch=20file?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../slider_control_camera_flange.launch | 25 +++++++++++++++++++ .../launch/slider_control_pump.launch | 24 ++++++++++++++++++ .../slider_control_camera_flange.launch | 25 +++++++++++++++++++ .../launch/slider_control_pump.launch | 24 ++++++++++++++++++ 4 files changed, 98 insertions(+) create mode 100644 mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch create mode 100644 mycobot_280/mycobot_280/launch/slider_control_pump.launch create mode 100644 mycobot_280/mycobot_280pi/launch/slider_control_camera_flange.launch create mode 100644 mycobot_280/mycobot_280pi/launch/slider_control_pump.launch diff --git a/mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch b/mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch new file mode 100644 index 00000000..3aea2d21 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/slider_control_camera_flange.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280/launch/slider_control_pump.launch b/mycobot_280/mycobot_280/launch/slider_control_pump.launch new file mode 100644 index 00000000..606c5c19 --- /dev/null +++ b/mycobot_280/mycobot_280/launch/slider_control_pump.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/slider_control_camera_flange.launch b/mycobot_280/mycobot_280pi/launch/slider_control_camera_flange.launch new file mode 100644 index 00000000..de1785cd --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/slider_control_camera_flange.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280pi/launch/slider_control_pump.launch b/mycobot_280/mycobot_280pi/launch/slider_control_pump.launch new file mode 100644 index 00000000..a4fa93c2 --- /dev/null +++ b/mycobot_280/mycobot_280pi/launch/slider_control_pump.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + +