From 2c6e57243361122f521f6a1aaa1e443af88a261a Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 18 Oct 2015 11:48:37 +0200 Subject: [PATCH] publish joint messages, added gripper 35978 --- launch/arm.launch | 5 +++-- meshes/35978.stl | Bin 0 -> 121284 bytes scripts/arm_ros_conn.py | 23 +++++++++++++++++++++- urdf/arm.urdf | 41 +++++++++++++++++++++------------------- 4 files changed, 47 insertions(+), 22 deletions(-) create mode 100644 meshes/35978.stl diff --git a/launch/arm.launch b/launch/arm.launch index 3be44ff..ce1ed91 100644 --- a/launch/arm.launch +++ b/launch/arm.launch @@ -2,6 +2,7 @@ - - + + + diff --git a/meshes/35978.stl b/meshes/35978.stl new file mode 100644 index 0000000000000000000000000000000000000000..fd256fdfebfb88f444155c69f5ebfed636abbb53 GIT binary patch literal 121284 zcmZ@>3A{~J`(6r3QYj+TP26*DnKCqxd+seX&>W4FNV6o-s4GJflDSk0_nvzZA!WS# zG!woC&58zzR5Z`|ujhUDd(N}ye}BL4YyGVCtl@p1ci4Nsd!O5Gx#{{oIagobuh)P( 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zRPlWk~%+YPBOAryht{dmU#DPKN}d0H@)|aeSCJ=E*>Qctg`D4 z{gayljpSEPK5gVZt^?=Pb^HG06<2cR{r+_8mEI$2R^s!O_tYQ#M&NjjuY6iFhqOla z@%g&$Yp=UIY7N%CZgH*nvR>(cIPcV5x5H)YMy%@ScYSr_yfg~S@YR;%Wc+0%htHu= z#Ce~uAmjb={hOHM?Z5ujlJj+25_Rg_e>>Ahi7&R)QhapVDE6`LbsI+-#coAS7S-HY zm*M+xUT#a;Us_427Kwd;vgy1eH%>2Vrw{rZ;)Omm2l+~KXWf!xG>XD4L(fs1`moBb F`+r&=rg;DW literal 0 HcmV?d00001 diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py index 9ca59f2..c4ab470 100755 --- a/scripts/arm_ros_conn.py +++ b/scripts/arm_ros_conn.py @@ -2,14 +2,35 @@ # -*- coding: iso-8859-15 -*- import rospy +import arm +from sensor_msgs.msg import JointState class ARMRosConn(): def __init__(self): rospy.init_node('arm') - rate = rospy.Rate(10) + arm.switch(0) + arm.switch(2) + arm.set_hall_mode(3, 0) + arm.set_hall_mode(5, 0) + arm.set_tolerance(3, 0) + arm.set_tolerance(5, 0) + + self.pub_joint_states = rospy.Publisher("joint_states", JointState, queue_size=16) + self.run() + + def run(self): + rate = rospy.Rate(20) while not rospy.is_shutdown(): + self.publish_joint_states() rate.sleep() + + def publish_joint_states(self): + joint_state = JointState() + joint_state.header.stamp = rospy.Time.now() + joint_state.name = ["base_to_link1", "link_1_2_joint", "link_2_3_joint", "gripper_joint_1", "gripper_joint_2", "left_gripper_joint", "right_gripper_joint"] + joint_state.position = [arm.get_angle(0), arm.get_angle(1), arm.get_angle(2), arm.get_angle(3), arm.get_angle(4), arm.get_angle(5)/2, arm.get_angle(5)/2] + self.pub_joint_states.publish(joint_state) if __name__ == '__main__': diff --git a/urdf/arm.urdf b/urdf/arm.urdf index 24587c0..62d8e8a 100644 --- a/urdf/arm.urdf +++ b/urdf/arm.urdf @@ -42,9 +42,9 @@ - + - + @@ -54,26 +54,29 @@ - + - + + + + - + - + - + - + @@ -113,23 +116,23 @@ - + - - - - - - - - - - + + + + + + + + + + -- 2.39.2