机械抓安装
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1. 机械抓驱动在ubuntu 16.04, anaconda,ros环境中安装的.
由于机械抓是ubuntu14.04版本,所以catkin_make之前,将内部文件做了修改
2. anaconda 需要添加的库:
2.1 pymodbus库
下载地址为:https://github.com/riptideio/pymodbus
安装方法:
git clone git://github.com/bashwork/pymodbus.gitcd pymodbuspython setup.py install
2.2 pyserial库(pymodbus需要用)
下载地址: https://github.com/pyserial/pyserial
安装方法:
在线的:conda install -c conda-forge pyserial
或者: pip install pyserial
由于本人网速超级慢,所以下载后安装的,安装方法
python setup.py install
3 安装seom
sudo apt-get install ros-kinetic-soem
4. 安装后的操作
插上机械抓USB
dmesg | grep tty
sudo chmod +777 /dev/ttyUSB1
然后运行:
roscore
rosrun robotiq_c_model_control CModelRtuNode.py /dev/ttyUSB0
rosrun robotiq_c_model_control CModelSimpleController.py
5. 修改的命令
#.launch<node name="wgb_control" pkg="robotiq_c_model_control" type="CModelRtuNode.py"/># spyder pub = rospy.Publisher('CModelRobotOutput', outputMsg.CModel_robot_output) command = outputMsg.CModel_robot_output(); command.rACT = 1 command.rGTO = 1 command.rATR = 0 i=0 command.rFR = 150 command.rSP = 100 while not rospy.is_shutdown(): i = i+1 try: joint_states = rospy.wait_for_message("joint_states", JointState) joints_pos = joint_states.position print("wgb", joints_pos) d = 10.0 # g.trajectory.points = [JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0))] print("wgbwgb----------------------------------------------------------") # for i in range(2): # g.trajectory.points.append( # JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(d))) g.trajectory.points = [JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0))] g.trajectory.points.append( JointTrajectoryPoint(positions=Q1, velocities=[0.001]*6, time_from_start=rospy.Duration(d))) d += 20 g.trajectory.points.append( JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(d))) d += 2 g.trajectory.points.append( JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(d))) d += 40 client.send_goal(g) print("gripper888888888888888888888888888888888888888888888888883: i%2 = " )##################################################################################################################################################### command.rPR = (i%2) * 255 pub.publish(command) rospy.sleep(2) client.wait_for_result() # client.send_goal(g)# client.wait_for_result() except KeyboardInterrupt: client.cancel_goal() raise except: raise
6.
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