add s570 model follow segment

elephantrobotics · Dec 30, 2024 · 452955f · 452955f
1 parent 4ebcf02
commit 452955f
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Showing 60 changed files with 45,508 additions and 118 deletions.
diff --git a/myArm/myarm_c650/config/myarm_c650.rviz b/myArm/myarm_c650/config/myarm_c650.rviz
@@ -1,6 +1,6 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 78
+    Help Height: 138
     Name: Displays
     Property Tree Widget:
       Expanded:
@@ -10,7 +10,7 @@ Panels:
         - /TF1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 523
+    Tree Height: 1522
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -205,25 +205,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.31777650117874146
-        Y: 0.11575467139482498
-        Z: 0.21179701387882233
+        X: 0.2859479486942291
+        Y: 0.1031520664691925
+        Z: 0.16447381675243378
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6647977232933044
+      Pitch: 0.48479774594306946
       Target Frame: <Fixed Frame>
-      Yaw: 4.894510269165039
+      Yaw: 2.6795120239257812
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 820
+  Height: 2032
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000296fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000296000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000296fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000296000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007320000003efc0100000002fb0000000800540069006d0065010000000000000732000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c10000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f7000006eafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000b0fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000006ea0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f000006eafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000006ea0000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e700000005efc0100000002fb0000000800540069006d0065010000000000000e70000006dc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000b02000006ea00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -232,6 +232,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1842
-  X: 72
-  Y: 27
+  Width: 3696
+  X: 144
+  Y: 54
diff --git a/myArm/myarm_communication/scripts/myarm_services.py b/myArm/myarm_communication/scripts/myarm_services.py
@@ -6,8 +6,8 @@
 import fcntl
 from myarm_communication.srv import *
 
+from pymycobot.myarmm import MyArmM
 from pymycobot.myarm import MyArm
-from pymycobot.myarmc import MyArmC
 
 mc = None
 
@@ -52,12 +52,12 @@ def release(lock_file_fd):
 
 def create_handle():
     global mc
-    rospy.init_node("myarmC")
+    rospy.init_node("myarmM")
     rospy.loginfo("start ...")
     port = rospy.get_param("~port")
     baud = rospy.get_param("~baud")
     rospy.loginfo("%s,%s" % (port, baud))
-    mc = MyArmC(port, baud)
+    mc = MyArmM(port, baud)
 
 
 def create_services():
@@ -79,6 +79,7 @@ def set_angles(req):
         req.joint_3,
         req.joint_4,
         req.joint_5,
+        req.joint_6,
         req.endeffector,
     ]
     sp = req.speed