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20220904更新1

This commit is contained in:
litian.zhuang 2022-09-04 21:55:35 +08:00
parent 5def62264b
commit 6fbae252f9
7 changed files with 172 additions and 111 deletions
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4
.gitignore vendored
View File

@ -24,3 +24,7 @@ install
.tmp
/spark_tutorials/spark_iflytek/msc/res/asr/GrmBuilld/
tensorflow
# workflow
Another team profiles/
20220904晚备份/

71
src/3rd_app/move2grasp/rviz/spark_gmapping_d435.rviz
View File

@ -6,8 +6,8 @@ Panels:
Expanded:
- /TF1/Frames1
- /PointStamped1
Splitter Ratio: 0.594406009
Tree Height: 112
Splitter Ratio: 0.594406008720398
Tree Height: 210
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -16,7 +16,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
@ -27,6 +27,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: LaserScan
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -38,7 +40,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@ -121,6 +123,8 @@ Visualization Manager:
Value: false
ir_bumper_right_link:
Value: false
laser_frame:
Value: true
left_wheel_link:
Value: false
lidar_link:
@ -135,6 +139,7 @@ Visualization Manager:
Value: false
spark_stack:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
@ -203,7 +208,8 @@ Visualization Manager:
left_wheel_link:
{}
lidar_link:
{}
laser_frame:
{}
right_wheel_link:
{}
room_base_link:
@ -227,15 +233,13 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 11799
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0299999993
Size (m): 0.029999999329447746
Style: Flat Squares
Topic: /scan
Unreliable: false
@ -254,7 +258,7 @@ Visualization Manager:
Transport Hint: compressed
Unreliable: false
Value: true
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
@ -387,6 +391,10 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
laser_frame:
Alpha: 1
Show Axes: false
Show Trail: false
left_wheel_link:
Alpha: 1
Show Axes: false
@ -396,6 +404,7 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_wheel_link:
Alpha: 1
Show Axes: false
@ -420,8 +429,8 @@ Visualization Manager:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.33737922
Min Value: 0.179654211
Max Value: 1.3373792171478271
Min Value: 0.17965421080589294
Value: true
Axis: Z
Channel Name: intensity
@ -432,15 +441,13 @@ Visualization Manager:
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /camera/depth/points
Unreliable: false
@ -453,7 +460,8 @@ Visualization Manager:
Enabled: true
History Length: 1
Name: PointStamped
Radius: 0.200000003
Queue Size: 10
Radius: 0.20000000298023224
Topic: /clicked_point
Unreliable: false
Value: true
@ -472,7 +480,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
@ -482,35 +493,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 11.2426996
Distance: 11.24269962310791
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 9.53673975e-07
Y: 4.76836988e-07
Z: -4.76836988e-07
X: 9.536739753457368e-07
Y: 4.768369876728684e-07
Z: -4.768369876728684e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.480399042
Near Clip Distance: 0.009999999776482582
Pitch: 0.4803990423679352
Target Frame: map
Value: ThirdPersonFollower (rviz)
Yaw: 1.88540006
Yaw: 1.8854000568389893
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 576
Height: 536
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000001b6fc020000000afb0000001200530065006c0065006300740069006f006e00000000280000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000ff000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000012d000000b10000001600fffffffb0000000a0049006d00610067006501000001c4000000b30000000000000000000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000242000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bf0000003efc0100000002fb0000000800540069006d00650100000000000003bf0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000001b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000000280000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000017a000000e60100001cfa000000000100000002fb0000000a0049006d0061006700650100000000ffffffff0000005e00fffffffb000000100044006900730070006c00610079007301000000000000016a0000015600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001c4000000b30000000000000000000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000242000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -519,6 +530,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 959
X: 65
Y: 24
Width: 952
X: 72
Y: 27

10
src/3rd_app/move2grasp/scripts/grasp_d435.py
View File

@ -135,7 +135,7 @@ class GraspObject():
self.pub1.publish(pos)
r2.sleep()
# go down -100
pos.z = -50
pos.z = -70
self.pub1.publish(pos)
print("z = -83\n")
r2.sleep()
@ -163,8 +163,10 @@ class GraspObject():
cv_image2 = cv2.cvtColor(cv_image1, cv2.COLOR_BGR2HSV)
# 蓝色物体颜色检测范围
LowerBlue = np.array([95, 90, 80])
UpperBlue = np.array([130, 255, 255])
LowerBlue = np.array([95, 90, 100])
UpperBlue = np.array([130, 210, 255])
# LowerBlue = np.array([4, 103, 162])
# UpperBlue = np.array([85, 136, 181])
mask = cv2.inRange(cv_image2, LowerBlue, UpperBlue)
cv_image3 = cv2.bitwise_and(cv_image2, cv_image2, mask=mask)
@ -233,7 +235,7 @@ class GraspObject():
# stop pump
self.pub2.publish(0)
r2.sleep()
# r2.sleep()
#r1.sleep()
pos.x = 120
pos.y = 0

42
src/3rd_app/move2grasp/scripts/teleop.py
View File

@ -33,10 +33,11 @@ def keyboardLoop():
#速度变量
# 慢速
walk_vel_ = rospy.get_param('walk_vel', 0.2)
slow_walk_vel_ = rospy.get_param('walk_vel',0.05)
walk_vel_ = rospy.get_param('walk_vel', 0.1)
# 快速
run_vel_ = rospy.get_param('run_vel', 1.0)
yaw_rate_ = rospy.get_param('yaw_rate', 1.0)
run_vel_ = rospy.get_param('run_vel', 0.5)
yaw_rate_ = rospy.get_param('yaw_rate', 0.9)
yaw_rate_run_ = rospy.get_param('yaw_rate_run', 1.5)
# walk_vel_前后速度
max_tv = walk_vel_
@ -51,6 +52,7 @@ def keyboardLoop():
print ("使用[WASD]控制机器人")
print ("按[G]抓取物体，按[H]放下物体")
print ("按[Q]退出" )
print ("B紧急停止")
#读取按键循环
while not rospy.is_shutdown():
@ -82,22 +84,30 @@ def keyboardLoop():
can_release=False
speed = 0
turn = 0
elif ch == 'z':
if can_release:
msg=String()
msg.data='2'
grasp_pub.publish(msg)
can_release=False
speed = 0
turn = 0
elif ch == 'w':
max_tv = walk_vel_
speed = 1
turn = 0
elif ch == 's':
max_tv = walk_vel_
speed = -1
speed = -1.2
turn = 0
elif ch == 'a':
max_rv = yaw_rate_
speed = 0
turn = 1
turn = 0.15
elif ch == 'd':
max_rv = yaw_rate_
speed = 0
turn = -1
turn = -0.15
elif ch == 'W':
max_tv = run_vel_
speed = 1
@ -114,6 +124,26 @@ def keyboardLoop():
max_rv = yaw_rate_run_
speed = 0
turn = -1
elif ch == 'i':
max_tv = slow_walk_vel_
speed = 1
turn = 0
elif ch == 'k':
max_tv = slow_walk_vel_
speed = -1
turn = 0
elif ch == 'j':
max_rv = yaw_rate_
speed = 0
turn = 0.075
elif ch == 'l':
max_rv = yaw_rate_
speed = 0
turn = -0.075
elif ch == 'b' or ch == 'B':
max_rv = yaw_rate_
speed = 0
turn = 0
elif ch == 'q':
exit()
else:

9
src/spark_app/spark_carry/launch/spark_carry_cal_cv3_armreset.launch Executable file
View File

@ -0,0 +1,9 @@
<!--
机械臂与摄像头之间的校准功能。注意摄像头需要反着装，垂直向下。使用一个蓝色圆贴在吸盘的正上方当校准点。
-->
<launch>
<!--UARM机械臂-->
<include file="$(find swiftpro)/launch/pro_control_nomoveit.launch"/>
</launch>

145
src/spark_app/spark_rtabmap/rviz/spark_rtab_map_d435.rviz
View File

@ -11,8 +11,8 @@ Panels:
- /Local Map1/Costmap1
- /Local Map1/Planner1
- /PointCloud21
Splitter Ratio: 0.686046541
Tree Height: 229
Splitter Ratio: 0.6860465407371521
Tree Height: 188
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -20,7 +20,7 @@ Panels:
- /2D Pose Estimate1
- /2D Nav Goal1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
@ -31,6 +31,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: Rtabmap cloud
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -42,7 +44,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@ -212,6 +214,7 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: false
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
@ -236,15 +239,13 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Size (m): 0.009999999776482582
Style: Squares
Topic: /scan
Unreliable: false
@ -266,22 +267,20 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Bumper Hit
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.0799999982
Size (m): 0.07999999821186066
Style: Spheres
Topic: /mobile_base/sensors/bumper_pointcloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
@ -293,7 +292,7 @@ Visualization Manager:
Value: true
- Class: rviz/Group
Displays:
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: true
@ -308,11 +307,11 @@ Visualization Manager:
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Planner
Offset:
X: 0
@ -320,9 +319,10 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/global_plan
Unreliable: false
Value: true
@ -330,7 +330,7 @@ Visualization Manager:
Name: Global Map
- Class: rviz/Group
Displays:
- Alpha: 0.699999988
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
@ -345,11 +345,11 @@ Visualization Manager:
Class: rviz/Path
Color: 0; 12; 255
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Planner
Offset:
X: 0
@ -357,26 +357,28 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/TrajectoryPlannerROS/local_plan
Unreliable: false
Value: true
Enabled: true
Name: Local Map
- Alpha: 1
Arrow Length: 0.200000003
Axes Length: 0.300000012
Axes Radius: 0.00999999978
Arrow Length: 0.20000000298023224
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 0; 192; 0
Enabled: true
Head Length: 0.0700000003
Head Radius: 0.0299999993
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: Amcl Particles
Shaft Length: 0.230000004
Shaft Radius: 0.00999999978
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
@ -394,25 +396,25 @@ Visualization Manager:
Cloud from scan: false
Cloud max depth (m): 4
Cloud min depth (m): 0
Cloud voxel size (m): 0.00999999978
Cloud voxel size (m): 0.009999999776482582
Color: 255; 255; 255
Color Transformer: RGB8
Download graph: false
Download map: false
Download namespace: rtabmap
Enabled: true
Filter ceiling (m): 0
Filter floor (m): 0
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Rtabmap cloud
Node filtering angle (degrees): 0
Node filtering radius (m): 0
Position Transformer: XYZ
Queue Size: 10
Size (Pixels): 3
Size (m): 0.00999999978
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /rtabmap/mapData
Unreliable: false
@ -436,11 +438,11 @@ Visualization Manager:
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
@ -448,9 +450,10 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
@ -459,11 +462,11 @@ Visualization Manager:
Class: rviz/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.300000012
Head Length: 0.200000003
Length: 0.300000012
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
@ -471,9 +474,10 @@ Visualization Manager:
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.0299999993
Shaft Diameter: 0.100000001
Shaft Length: 0.100000001
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
@ -492,15 +496,13 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /camera/depth_registered/points
Unreliable: false
@ -520,7 +522,10 @@ Visualization Manager:
Hide Inactive Objects: true
- Class: rviz/Select
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/Measure
@ -528,35 +533,35 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 5.95458698
Distance: 5.954586982727051
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.00901245978
Y: -0.126792997
Z: 0.0223136004
X: 0.00901245977729559
Y: -0.1267929971218109
Z: 0.022313600406050682
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.51479733
Near Clip Distance: 0.009999999776482582
Pitch: 0.7447974681854248
Target Frame: base_footprint
Value: Orbit (rviz)
Yaw: 4.26413631
Yaw: 3.7791357040405273
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 576
Height: 536
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
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Selection:
collapsed: false
Time:
@ -565,6 +570,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 959
X: 65
Y: 24
Width: 952
X: 72
Y: 27

2
src/spark_driver/arm/uArm/swiftpro/src/swiftpro_write_node.cpp
View File

@ -36,7 +36,7 @@ void position_write_callback(const swiftpro::position& msg)
sprintf(x, "%.2f", msg.x);
sprintf(y, "%.2f", msg.y);
sprintf(z, "%.2f", msg.z);
Gcode = (std::string)"G0 X" + x + " Y" + y + " Z" + z + " F10000" + "\r\n";
Gcode = (std::string)"G0 X" + x + " Y" + y + " Z" + z + " F30000" + "\r\n";
ROS_INFO("%s", Gcode.c_str());
_serial.write(Gcode.c_str());
result.data = _serial.read(_serial.available());