From 6fbae252f9da36f718b8b395bb66dfc35d1e19a5 Mon Sep 17 00:00:00 2001 From: "litian.zhuang" Date: Sun, 4 Sep 2022 21:55:35 +0800 Subject: [PATCH] =?UTF-8?q?20220904=E6=9B=B4=E6=96=B01?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 4 + .../move2grasp/rviz/spark_gmapping_d435.rviz | 71 +++++---- src/3rd_app/move2grasp/scripts/grasp_d435.py | 10 +- src/3rd_app/move2grasp/scripts/teleop.py | 42 ++++- .../spark_carry_cal_cv3_armreset.launch | 9 ++ .../rviz/spark_rtab_map_d435.rviz | 145 +++++++++--------- .../uArm/swiftpro/src/swiftpro_write_node.cpp | 2 +- 7 files changed, 172 insertions(+), 111 deletions(-) create mode 100755 src/spark_app/spark_carry/launch/spark_carry_cal_cv3_armreset.launch diff --git a/.gitignore b/.gitignore index 9fabac2..2e8d1c2 100755 --- a/.gitignore +++ b/.gitignore @@ -24,3 +24,7 @@ install .tmp /spark_tutorials/spark_iflytek/msc/res/asr/GrmBuilld/ tensorflow + +# workflow +Another team profiles/ +20220904晚备份/ \ No newline at end of file diff --git a/src/3rd_app/move2grasp/rviz/spark_gmapping_d435.rviz b/src/3rd_app/move2grasp/rviz/spark_gmapping_d435.rviz index 1d3ea79..9d7aa67 100755 --- a/src/3rd_app/move2grasp/rviz/spark_gmapping_d435.rviz +++ b/src/3rd_app/move2grasp/rviz/spark_gmapping_d435.rviz @@ -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 diff --git a/src/3rd_app/move2grasp/scripts/grasp_d435.py b/src/3rd_app/move2grasp/scripts/grasp_d435.py index 417fa8f..f60b255 100755 --- a/src/3rd_app/move2grasp/scripts/grasp_d435.py +++ b/src/3rd_app/move2grasp/scripts/grasp_d435.py @@ -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 diff --git a/src/3rd_app/move2grasp/scripts/teleop.py b/src/3rd_app/move2grasp/scripts/teleop.py index 222ce46..b58b9fc 100755 --- a/src/3rd_app/move2grasp/scripts/teleop.py +++ b/src/3rd_app/move2grasp/scripts/teleop.py @@ -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: diff --git a/src/spark_app/spark_carry/launch/spark_carry_cal_cv3_armreset.launch b/src/spark_app/spark_carry/launch/spark_carry_cal_cv3_armreset.launch new file mode 100755 index 0000000..c450534 --- /dev/null +++ b/src/spark_app/spark_carry/launch/spark_carry_cal_cv3_armreset.launch @@ -0,0 +1,9 @@ + + + + + + + diff --git a/src/spark_app/spark_rtabmap/rviz/spark_rtab_map_d435.rviz b/src/spark_app/spark_rtabmap/rviz/spark_rtab_map_d435.rviz index a296713..960c3b8 100755 --- a/src/spark_app/spark_rtabmap/rviz/spark_rtab_map_d435.rviz +++ b/src/spark_app/spark_rtabmap/rviz/spark_rtab_map_d435.rviz @@ -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 - QMainWindow State: 000000ff00000000fd000000040000000000000179000001fafc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000174000000d700fffffffb0000000a0049006d00610067006501000001a2000000800000001600ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000270000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000240000001fa00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000179000001befc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000147000000c900fffffffb0000000a0049006d006100670065010000018a000000710000001600ffffff000000010000010f00000270fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000270000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000239000001be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 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 diff --git a/src/spark_driver/arm/uArm/swiftpro/src/swiftpro_write_node.cpp b/src/spark_driver/arm/uArm/swiftpro/src/swiftpro_write_node.cpp index dd67ad8..802ae75 100755 --- a/src/spark_driver/arm/uArm/swiftpro/src/swiftpro_write_node.cpp +++ b/src/spark_driver/arm/uArm/swiftpro/src/swiftpro_write_node.cpp @@ -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());