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joystick works?

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This commit is contained in:
John Farrell 2021-10-08 16:07:36 -04:00
parent c0d20e2f7b
commit ee0ba4cb33
Signed by: john
GPG key ID: 10543A0DA2EC1E12
6 changed files with 44 additions and 48 deletions
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2
src/ar3_config/config/ar3_joy.yaml
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@ -4,7 +4,7 @@
use_gazebo: false # Whether the robot is started in a Gazebo simulation environment use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
## Properties of incoming commands ## Properties of incoming commands
command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
scale: scale:
# Scale parameters are only used if command_in_type=="unitless" # Scale parameters are only used if command_in_type=="unitless"
linear: 0.4 # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands. linear: 0.4 # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.

3
src/ar3_config/launch/dev.launch.py
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@ -123,5 +123,6 @@ def generate_launch_description():
package='robot_state_publisher', package='robot_state_publisher',
executable='robot_state_publisher', executable='robot_state_publisher',
output='screen', output='screen',
parameters=[robot_description]), parameters=[robot_description]
),
]) ])

2
src/ar3_description/ar3_description/state_publisher.py
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@ -47,7 +47,7 @@ class StatePublisher(Node):
# joint_state.position = [random.random() * pi / 2] * 6 # joint_state.position = [random.random() * pi / 2] * 6
# joint_state.position = [angle * 16, pi/2., -25 / 180 * pi, 0., 0., 0.] # joint_state.position = [angle * 16, pi/2., -25 / 180 * pi, 0., 0., 0.]
# joint_state.position = [angle * 0.01 * random.random()] * 6 # joint_state.position = [angle * 0.01 * random.random()] * 6
joint_state.position = [0., 0., 0., 0., 0., 0.] # joint_state.position = [0., 0., 0., 0., 0., 0.]
# update transform # update transform
# (moving in a circle with radius=2) # (moving in a circle with radius=2)

2
src/ar3_hardware/src/ar3_system.cpp
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@ -176,7 +176,7 @@ void Ar3SystemHardware::update_j6_cb(std_msgs::msg::Float32::SharedPtr msg) {
hardware_interface::return_type Ar3SystemHardware::read() hardware_interface::return_type Ar3SystemHardware::read()
{ {
//RCLCPP_INFO(rclcpp::get_logger("Ar3SystemHardware"), "Reading..."); // RCLCPP_INFO(rclcpp::get_logger("Ar3SystemHardware"), "Reading...");
/* /*
for (uint i = 0; i < hw_commands_.size(); i++) for (uint i = 0; i < hw_commands_.size(); i++)

24
src/cobot_platform/cobot_platform/move.py
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@ -3,20 +3,12 @@ from rclpy.node import Node
from rclpy.qos import QoSProfile from rclpy.qos import QoSProfile
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from std_msgs.msg import Float32
from math import pi from math import pi
from std_msgs.msg import Float32
from serial import Serial from serial import Serial
from enum import Enum
class Servos(Enum):
J1 = 'A'
J2 = 'B'
J3 = 'C'
class CobotMove(Node): class CobotMove(Node):
def __init__(self): def __init__(self):
super().__init__('cobot_move') super().__init__('cobot_move')
@ -39,12 +31,12 @@ class CobotMove(Node):
self.create_subscription(Float32, base_topic+'j6', self._move_j6_cb, rclpy.qos.qos_profile_sensor_data) self.create_subscription(Float32, base_topic+'j6', self._move_j6_cb, rclpy.qos.qos_profile_sensor_data)
publish_base_topic = 'update/' publish_base_topic = 'update/'
self.s_j1 = self.create_publisher(Float32, publish_base_topic+'j1', rclpy.qos.qos_profile_sensor_data) self.s_j1 = self.create_publisher(Float32, publish_base_topic+'j1', 10)
self.s_j2 = self.create_publisher(Float32, publish_base_topic+'j2', rclpy.qos.qos_profile_sensor_data) self.s_j2 = self.create_publisher(Float32, publish_base_topic+'j2', 10)
self.s_j3 = self.create_publisher(Float32, publish_base_topic+'j3', rclpy.qos.qos_profile_sensor_data) self.s_j3 = self.create_publisher(Float32, publish_base_topic+'j3', 10)
self.s_j4 = self.create_publisher(Float32, publish_base_topic+'j4', rclpy.qos.qos_profile_sensor_data) self.s_j4 = self.create_publisher(Float32, publish_base_topic+'j4', 10)
self.s_j5 = self.create_publisher(Float32, publish_base_topic+'j5', rclpy.qos.qos_profile_sensor_data) self.s_j5 = self.create_publisher(Float32, publish_base_topic+'j5', 10)
self.s_j6 = self.create_publisher(Float32, publish_base_topic+'j6', rclpy.qos.qos_profile_sensor_data) self.s_j6 = self.create_publisher(Float32, publish_base_topic+'j6', 10)
qos = QoSProfile(depth=10) qos = QoSProfile(depth=10)
self._joint_pub = self.create_publisher(JointState, 'joint_states', qos) self._joint_pub = self.create_publisher(JointState, 'joint_states', qos)
@ -80,7 +72,6 @@ class CobotMove(Node):
def _move_servo(self): def _move_servo(self):
self._serial.write(f'MTA{self._cur[0]}B{self._cur[1]}C{self._cur[2]}D{self._cur[3]}E{self._cur[4]}F{self._cur[5]}\n'.encode('UTF-8')) self._serial.write(f'MTA{self._cur[0]}B{self._cur[1]}C{self._cur[2]}D{self._cur[3]}E{self._cur[4]}F{self._cur[5]}\n'.encode('UTF-8'))
line = self._serial.readline().decode('UTF-8') line = self._serial.readline().decode('UTF-8')
blocks = re.findall(r'[ABCDEF]-*\d+', line) blocks = re.findall(r'[ABCDEF]-*\d+', line)
@ -103,7 +94,6 @@ class CobotMove(Node):
self.s_j4.publish(Float32(data=d)) self.s_j4.publish(Float32(data=d))
self.s_j5.publish(Float32(data=e)) self.s_j5.publish(Float32(data=e))
self.s_j6.publish(Float32(data=f)) self.s_j6.publish(Float32(data=f))
# self._logger.info(f'published {a} {b} {c} {d} {e} {f}') # self._logger.info(f'published {a} {b} {c} {d} {e} {f}')
# def _push ? # def _push ?

59
src/joystickmove/joystickmove/move.py
View file

@ -43,16 +43,16 @@ class JoyMove(Node):
self._logger.info('joystick init') self._logger.info('joystick init')
JOY_TOPIC = '/joy' JOY_TOPIC = '/joy'
# TWIST_TOPIC = '/servo_server/delta_twist_cmds' TWIST_TOPIC = '/servo_server/delta_twist_cmds'
JOINT_TOPIC = '/servo_server/delta_joint_cmds' JOINT_TOPIC = '/servo_server/delta_joint_cmds'
# EE = 'joint_6' EE = 'joint_6'
# BASE = 'base_link' BASE = 'base_link'
self.create_subscription(Joy, '/joy', self._joy_cb, rclpy.qos.qos_profile_sensor_data) self.create_subscription(Joy, '/joy', self._joy_cb, rclpy.qos.qos_profile_sensor_data)
# self.twist_pub = self.create_publisher(TwistStamped, TWIST_TOPIC, 10); self.twist_pub = self.create_publisher(TwistStamped, TWIST_TOPIC, 10);
self.joint_pub = self.create_publisher(JointJog, JOINT_TOPIC, 10); self.joint_pub = self.create_publisher(JointJog, JOINT_TOPIC, 10);
# self.collision_pub = self.create_publisher(PlanningScene, "/planning_scene", 10); self.collision_pub = self.create_publisher(PlanningScene, "/planning_scene", 10);
self.servo_client = self.create_client(Trigger, '/servo_server/start_servo') self.servo_client = self.create_client(Trigger, '/servo_server/start_servo')
# Check if the a service is available # Check if the a service is available
@ -74,35 +74,40 @@ class JoyMove(Node):
axes = msg.axes axes = msg.axes
buttons = msg.buttons buttons = msg.buttons
# ts = TwistStamped() if buttons[Buttons.CROSS.value] or buttons[Buttons.CIRCLE.value] or buttons[Buttons.TRIANGLE.value] or buttons[Buttons.SQUARE.value] or axes[Axes.DPAD_UPDOWN.value] or axes[Axes.DPAD_LEFTRIGHT.value]:
jj = JointJog() joint = JointJog()
jj.joint_names = ['joint_2'] joint.joint_names = ['joint_1', 'joint_2',
# jj.displacements = [axes[0]] 'joint_6', 'joint_5']
jj.velocities = [axes[0]] joint.velocities = [float(axes[Axes.DPAD_UPDOWN.value]), float(axes[Axes.DPAD_LEFTRIGHT.value]),
# jj.duration = 1.0 float(buttons[Buttons.CIRCLE.value] - buttons[Buttons.CROSS.value]), float(buttons[Buttons.SQUARE.value] - buttons[Buttons.TRIANGLE.value])]
# ts.twist.linear.z = axes[Axes.RIGHT_Y.value] joint.duration = 0.1
# ts.twist.linear.y = axes[Axes.RIGHT_X.value]
# lin_x_right = -0.5 * axes[Axes.R1.value] # - AXIS_DEFAULTS.at(R1)); joint.header.stamp = self.get_clock().now().to_msg()
# lin_x_left = 0.5 * axes[Axes.L1.value] # - AXIS_DEFAULTS.at(L1)); joint.header.frame_id = "link_3"
# ts.twist.linear.x = lin_x_right + lin_x_left self.joint_pub.publish(joint)
return
# ts.twist.angular.y = axes[Axes.LEFT_Y.value] ts = TwistStamped()
# ts.twist.angular.x = axes[Axes.LEFT_X.value]
# roll_positive = buttons[Buttons.R2.value] ts.twist.linear.z = axes[Axes.RIGHT_Y.value]
# roll_negative = -1 * buttons[Buttons.L2.value] ts.twist.linear.y = axes[Axes.RIGHT_X.value]
# ts.twist.angular.z = float(roll_positive + roll_negative)
# ts.header.stamp = self.get_clock().now().to_msg() lin_x_right = -0.5 * axes[Axes.R1.value] # - AXIS_DEFAULTS.at(R1));
# ts.header.frame_id = "base_link" lin_x_left = 0.5 * axes[Axes.L1.value] # - AXIS_DEFAULTS.at(L1));
ts.twist.linear.x = lin_x_right + lin_x_left
jj.header.stamp = self.get_clock().now().to_msg() ts.twist.angular.y = axes[Axes.LEFT_Y.value]
jj.header.frame_id = "base_link" ts.twist.angular.x = axes[Axes.LEFT_X.value]
# self.twist_pub.publish(ts) roll_positive = buttons[Buttons.R2.value]
self.joint_pub.publish(jj) roll_negative = -1 * buttons[Buttons.L2.value]
ts.twist.angular.z = float(roll_positive + roll_negative)
ts.header.stamp = self.get_clock().now().to_msg()
ts.header.frame_id = "base_link"
self.twist_pub.publish(ts)
def main(args=None): def main(args=None):