Mycobot600 gripper

myArm/myarm_c650/scripts/debug.py

@@ -21,14 +21,15 @@
 from geometry_msgs.msg import Pose
 
 global mam
-mam = MyArmM('/dev/ttyACM1', debug=False)
+mam = MyArmC('/dev/ttyACM0', debug=False)
 angle = mam.get_joints_angle()
 print(angle)
-# mam.set_tool_led_color(255,255,255)
+# mam.set_tool_led_color(0,255,0)
 # for i in range(8):
 #     mam.set_servo_calibrate(i)
 #     time.sleep(0.5)
-
+# angle = mam.get_joints_angle()
+# print(angle)
 # def linear_transform(x):
 #     # 两个已知数据点
 #     x1, y1 = -89.5, 0.022

mycobot_280/mycobot_280/config/mycobot.rviz

@@ -11,7 +11,7 @@ Panels:
         - /TF1/Frames1
         - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 609
+    Tree Height: 637
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -65,57 +65,7 @@ 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
-          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
-        pump_box:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        pump_head:
+        base:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -132,49 +82,15 @@ Visualization Manager:
       Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
-        All Enabled: true
-        camera_flange:
-          Value: true
-        g_base:
-          Value: true
-        joint1:
-          Value: true
-        joint2:
-          Value: true
-        joint3:
-          Value: true
-        joint4:
-          Value: true
-        joint5:
-          Value: true
-        joint6:
-          Value: true
-        joint6_flange:
-          Value: true
-        pump_box:
-          Value: true
-        pump_head:
-          Value: true
+        All Enabled: false
       Marker Alpha: 1
-      Marker Scale: 0.10000000149011612
+      Marker Scale: 0.30000001192092896
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        g_base:
-          joint1:
-            joint2:
-              joint3:
-                joint4:
-                  joint5:
-                    joint6:
-                      joint6_flange:
-                        camera_flange:
-                          pump_head:
-                            {}
-          pump_box:
-            {}
+        {}
       Update Interval: 0
       Value: true
     - Class: rviz/Marker
@@ -189,7 +105,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: joint1
+    Fixed Frame: base
     Frame Rate: 30
   Name: root
   Tools:
@@ -213,33 +129,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.0996487140655518
+      Distance: 1.204347848892212
       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: -0.07064759731292725
-        Y: -0.0814988762140274
-        Z: 0.10758385062217712
+        X: -0.021931247785687447
+        Y: -0.011295657604932785
+        Z: -0.008990013971924782
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5753980875015259
+      Pitch: 0.6003984808921814
       Target Frame: <Fixed Frame>
-      Yaw: 3.950380325317383
+      Yaw: 1.0435491800308228
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 906
+  Height: 934
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000400000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c200000308fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000308000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003fe0000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -248,6 +164,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
+  Width: 1846
   X: 72
   Y: 27

mycobot_280/mycobot_280/launch/slider_control_gripper.launch

@@ -15,7 +15,7 @@
 	<!-- Combinejoin values to TF，将值合并到TF -->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
-		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<param name="use_gui" value="$(arg gui)" />	
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>
 	<!-- Open control script -->

mycobot_280/mycobot_280/launch/test.launch

@@ -1,5 +1,6 @@
 <launch>
 	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_280_m5/mycobot_280_m5.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/flange/flange.urdf"/> -->
 	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
 	<arg name="gui" default="true" />
 

mycobot_280/mycobot_280/scripts/follow_display.py

@@ -13,7 +13,7 @@ def talker():
     rospy.init_node("display", anonymous=True)
 
     print("Try connect real mycobot...")
-    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
@@ -41,6 +41,7 @@ def talker():
     joint_state_send.header = Header()
 
     joint_state_send.name = [
+
         "joint2_to_joint1",
         "joint3_to_joint2",
         "joint4_to_joint3",

mycobot_280/mycobot_280_moveit/config/firefighter.srdf

@@ -28,6 +28,7 @@
     </group_state>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" />
+
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="joint1" link2="joint2" reason="Adjacent" />
     <disable_collisions link1="joint1" link2="joint5" reason="Never" />
@@ -39,4 +40,6 @@
     <disable_collisions link1="joint5" link2="joint6" reason="Adjacent" />
     <disable_collisions link1="joint5" link2="joint6_flange" reason="Never" />
     <disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent" />
+
+
 </robot>