Cobotx b450

CobotX/cobotx_a450/CMakeLists.txt → Mercury/mercury_a1/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(cobotx_a450)
+project(mercury_a1)
 add_compile_options(-std=c++11)
 
 ## Find catkin and any catkin packages

CobotX/cobotx_a450/launch/mycobot_follow.launch → Mercury/mercury_a1/launch/mycobot_follow.launch

@@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF file,加载URDF文件 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 	<!-- Combinejoin values to TF ，将值合并到TF-->

CobotX/cobotx_a450/launch/simple_gui.launch → Mercury/mercury_a1/launch/simple_gui.launch

@@ -3,8 +3,8 @@
 	<arg name="port" default="/dev/ttyAMA1" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@@ -14,10 +14,10 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find cobotx_a450_communication)/launch/communication_service.launch">
+    <include file="$(find mercury_a1_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
-	<node name="simple_gui" pkg="cobotx_a450" type="simple_gui.py" />
+	<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
+	<node name="simple_gui" pkg="mercury_a1" type="simple_gui.py" />
 </launch>

CobotX/cobotx_a450/launch/slider_control.launch → Mercury/mercury_a1/launch/slider_control.launch

@@ -2,8 +2,8 @@
 	<!-- <arg name="port" default="/dev/ttyUSB0" />
 	<arg name="baud" default="115200" /> -->
 	<!-- Load file model ，加载文件模型-->	
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

CobotX/cobotx_a450/launch/teleop_keyboard.launch → Mercury/mercury_a1/launch/teleop_keyboard.launch

@@ -3,8 +3,8 @@
 	<arg name="port" default="/dev/ttyAMA1" />
 	<arg name="baud" default="115200" />
 
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@@ -14,10 +14,10 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find cobotx_a450_communication)/launch/communication_service.launch">
+    <include file="$(find mercury_a1_communication)/launch/communication_service.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实角度-->
-	<node name="real_listener" pkg="cobotx_a450" type="listen_real.py" />
+	<node name="real_listener" pkg="mercury_a1" type="listen_real.py" />
 </launch>

CobotX/cobotx_a450/launch/test.launch → Mercury/mercury_a1/launch/test.launch

@@ -1,6 +1,6 @@
 <launch>
-	<arg name="model" default="$(find mycobot_description)/urdf/cobotx_a450/cobotx_a450.urdf"/>
-	<arg name="rvizconfig" default="$(find cobotx_a450)/config/cobotx_a450.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mercury_a1/mercury_a1.urdf"/>
+	<arg name="rvizconfig" default="$(find mercury_a1)/config/mercury_a1.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

CobotX/cobotx_a450/package.xml → Mercury/mercury_a1/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>cobotx_a450</name>
+  <name>mercury_a1</name>
   <version>0.3.0</version>
-  <description>The cobotx_a450 package</description>
+  <description>The mercury_a1 package</description>
 
   <author email="[email protected]">Wangweijian</author>
   <maintainer email="[email protected]">Wangweijian</maintainer>
@@ -18,9 +18,9 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>actionlib</build_depend>
   <build_depend>mycobot_description</build_depend>
-  <build_depend>cobotx_a450_communication</build_depend>
+  <build_depend>mercury_a1_communication</build_depend>
 
-  <build_export_depend>cobotx_a450_communication</build_export_depend>
+  <build_export_depend>mercury_a1_communication</build_export_depend>
   <build_export_depend>mycobot_description</build_export_depend>
 
   <exec_depend>roscpp</exec_depend>
@@ -36,7 +36,7 @@
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>python-tk</exec_depend>
   <exec_depend>mycobot_description</exec_depend>
-  <exec_depend>cobotx_a450_communication</exec_depend>
+  <exec_depend>mercury_a1_communication</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

CobotX/cobotx_a450/scripts/follow_display.py → Mercury/mercury_a1/scripts/follow_display.py

@@ -6,24 +6,24 @@
 from std_msgs.msg import Header
 from visualization_msgs.msg import Marker
 
-from pymycobot.cobotx import CobotX
+from pymycobot.mercury import Mercury
 
 
 def talker():
     rospy.init_node("display", anonymous=True)
 
-    print("Try connect real CobotX...")
+    print("Try connect real Mercury...")
     port = rospy.get_param("~port", "/dev/ttyAMA1")
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
-        mc = CobotX(port, baud)
+        mc = Mercury(port, baud)
     except Exception as e:
         print(e)
         print(
             """\
-            \rTry connect CobotX failed!
-            \rPlease check wether connected with CobotX.
+            \rTry connect Mercury failed!
+            \rPlease check wether connected with Mercury.
             \rPlease chckt wether the port or baud is right.
         """
         )

CobotX/cobotx_a450/scripts/listen_real.py → Mercury/mercury_a1/scripts/listen_real.py

@@ -7,7 +7,7 @@
 import rospy
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
-from cobotx_a450_communication.srv import GetAngles
+from mercury_a1_communication.srv import GetAngles
 
 
 def talker():

Mercury/mercury_a1/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 mercury_a1_communication.msg import MercuryAngles
+
+
+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", MercuryAngles, self.callback)
+        rospy.spin()
+
+    def callback(self, data):
+        """`mercury/angles_real` subscriber callback method.
+
+        Args:
+            data (MercuryAngles): 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