5.使用Python API开发机械臂¶
5.1.关节坐标系下的机械臂控制¶
#!/usr/bin/env python
import rospy
from gauss_python_api.gauss_api import Gauss
def test_move_joint(gauss):
joints = [1.5,0,0,0,0,0]
try:
message = gauss.move_joints(joints)
except Exception as e:
print e
else:
print message
if __name__ == '__main__':
rospy.init_node('gauss_move_joint')
g = Gauss()
test_move_joint(g)
rospy.spin()
5.2.笛卡尔坐标系下的运动规划及控制¶
#!/usr/bin/env python
import rospy
from gauss_python_api.gauss_api import Gauss
def test_move_pose(gauss):
pose = [300.5/1000, 4.0/1000, 338.3/1000, 0, 0, 0]
try:
message = gauss.move_pose(*pose)
except Exception as e:
print e
else:
print message
if __name__ == '__main__':
rospy.init_node('gauss_move_pose')
g = Gauss()
test_move_pose(g)
rospy.spin()
5.3.使用夹爪¶
#!/usr/bin/evn python
from gauss_python_api.gauss_api import *
import rospy
rospy.init_node('gauss_generated_code_execution')
n = Gauss()
n.change_tool(TOOL_GRIPPER_1_ID)
n.open_gripper(TOOL_GRIPPER_1_ID, 100)
n.wait(5)
n.close_gripper(TOOL_GRIPPER_1_ID, 100)
5.4.使用气泵¶
#!/usr/bin/env python
from gauss_python_api.gauss_api import *
import rospy
rospy.init_node('gauss_generated_code_execution')
n = Gauss()
n.change_tool(TOOL_VACUUM_PUMP_1_ID)
for count in range(3):
n.pull_air_vacuum_pump(TOOL_VACUUM_PUMP_1_ID)
n.wait(2)
n.push_air_vacuum_pump(TOOL_VACUUM_PUMP_1_ID)
5.5.使用电磁铁¶
#!/usr/bin/env python
from gauss_python_api.gauss_api import *
import rospy
rospy.init_node('gauss_generated_code_execution')
n = Gauss()
n.change_tool(TOOL_ELECTROMAGNET_1_ID)
n.setup_electromagnet(TOOL_ELECTROMAGNET_1_ID, GPIO_2D)
n.activate_electromagnet(TOOL_ELECTROMAGNET_1_ID, GPIO_2D)
n.wait(5)
n.deactivate_electromagnet(TOOL_ELECTROMAGNET_1_ID, GPIO_2D)
5.6.机械臂的状态查看¶
查看关节状态¶
#!/usr/bin/evn python
import rospy
from sensor_msgs.msg import JointState
def callback_joint_states(joint_states):
rospy.loginfo(list(joint_states.position))
def listener():
rospy.init_node('node_name')
joint_state_subscriber = rospy.Subscriber('/joint_states',
JointState, callback_joint_states)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
try:
listener()
except rospy.ROSInterruptException:
pass
执行结果如下：
gauss@gauss-ros:~$ python joint_states_suscriber.py
[INFO /node_name 2019-03-21 15:56:40]: [-0.0, 0.5215757805660216, -0.3208912496166717, -0.0667588438887831, 0.005061454830783556, -0.015184364492350666]
[INFO /node_name 2019-03-21 15:56:40]: [-0.0, 0.5215757805660216, -0.3208912496166717, -0.06283185307179585, 0.005061454830783556, -0.010122909661567111]
[INFO /node_name 2019-03-21 15:56:40]: [-0.0, 0.5215757805660216, -0.3208912496166717, -0.0667588438887831, 0.005061454830783556, -0.015184364492350666]
[INFO /node_name 2019-03-21 15:56:40]: [-0.0, 0.5215757805660216, -0.3208912496166717, -0.06283185307179585, 0.005061454830783556, -0.015184364492350666]
[INFO /node_name 2019-03-21 15:56:41]: [-0.0, 0.5215757805660216, -0.3208912496166717, -0.0667588438887831, 0.005061454830783556, -0.015184364492350666]
[INFO /node_name 2019-03-21 15:56:41]: [-0.0, 0.5215757805660216, -0.3208912496166717, -0.0667588438887831, 0.005061454830783556, -0.015184364492350666]
查看空间状态¶
#!/usr/bin/evn python
import rospy
from sensor_msgs.msg import JointState
from gauss_msgs.msg import RobotState
def callback_robot_state(robot_state):
rospy.loginfo("~~~~~~~~~~~~~~~~~~")
rospy.loginfo("heard: x %f", robot_state.position.x)
rospy.loginfo("heard: y %f", robot_state.position.y)
rospy.loginfo("heard: z %f", robot_state.position.z)
rospy.loginfo("heard: r %f", robot_state.rpy.roll)
rospy.loginfo("heard: p %f", robot_state.rpy.pitch)
rospy.loginfo("heard: y %F", robot_state.rpy.yaw)
def listener():
rospy.init_node('node_name')
robot_state_subscriber = rospy.Subscriber('/gauss/robot_state',
RobotState, callback_robot_state)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
try:
listener()
except rospy.ROSInterruptException:
pass
执行结果如下：
[INFO /node_name 2019-03-21 16:11:19]: ~~~~~~~~~~~~~~~~~~
[INFO /node_name 2019-03-21 16:11:19]: heard: x 0.178259
[INFO /node_name 2019-03-21 16:11:19]: heard: y 0.000009
[INFO /node_name 2019-03-21 16:11:19]: heard: z 0.466048
[INFO /node_name 2019-03-21 16:11:19]: heard: r -0.082013
[INFO /node_name 2019-03-21 16:11:19]: heard: p -0.205735
[INFO /node_name 2019-03-21 16:11:19]: heard: y 0.000345
[INFO /node_name 2019-03-21 16:11:19]: ~~~~~~~~~~~~~~~~~~
[INFO /node_name 2019-03-21 16:11:19]: heard: x 0.178259
[INFO /node_name 2019-03-21 16:11:19]: heard: y 0.000009
[INFO /node_name 2019-03-21 16:11:19]: heard: z 0.466048
[INFO /node_name 2019-03-21 16:11:19]: heard: r -0.082013
[INFO /node_name 2019-03-21 16:11:19]: heard: p -0.205735
[INFO /node_name 2019-03-21 16:11:19]: heard: y 0.000345