File size: 3,639 Bytes
ef2a612 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 | #!/usr/bin/env python3
"""就绪位与启动位姿：读 json、movej、SDK 读当前笛卡尔位姿。"""
from __future__ import annotations
import importlib.util
import math
import sys
import time
from pathlib import Path
READY_JOINTS_DEG = [0.0, 20.0, 70.0, 10.0, -20.0, 0.0]
READY_POSE_PATH = Path(__file__).resolve().parent / "rm65_ready_pose.json"
RM_IK_PATH = Path(__file__).resolve().parents[1] / "sendrobot" / "send_robot" / "rm_ik.py"
def _load_kinematics():
spec = importlib.util.spec_from_file_location("rm_ik", RM_IK_PATH)
module = importlib.util.module_from_spec(spec)
assert spec.loader is not None
spec.loader.exec_module(module)
return module.RM65Kinematics
def load_ready_joints_deg(path: Path | None = None) -> list[float]:
"""从 json 读关节角；默认 rm65_ready_pose.json，失败则用内置默认。"""
pose_path = path or READY_POSE_PATH
try:
from rm65_save_ready_pose import load_ready_joints_deg as _load
return _load(pose_path)
except Exception:
if not pose_path.is_file():
return list(READY_JOINTS_DEG)
try:
import json
data = json.loads(pose_path.read_text(encoding="utf-8"))
joints = [float(v) for v in data["joints_deg"][:6]]
if len(joints) == 6:
return joints
except Exception as exc:
print(f"警告: 读取就绪位失败，用默认: {exc}", file=sys.stderr)
return list(READY_JOINTS_DEG)
def read_pose(ip: str, port: int) -> list[float]:
kin = _load_kinematics()()
kin.ip, kin.port = ip, port
kin.connect()
try:
pose = kin.get_current_pose()
print(
f"初始位姿(SDK): xyz=({pose[0]:.4f},{pose[1]:.4f},{pose[2]:.4f}) "
f"rpy=({pose[3]:.4f},{pose[4]:.4f},{pose[5]:.4f})"
)
return [float(v) for v in pose[:6]]
finally:
kin.disconnect()
time.sleep(0.3)
def movej_ready(
speed: int = 5,
timeout_s: float = 120.0,
joints_deg: list[float] | None = None,
pose_path: Path | None = None,
) -> None:
import rclpy
from rclpy.qos import QoSProfile, ReliabilityPolicy
from rm_ros_interfaces.msg import Movej
from std_msgs.msg import Bool
node = rclpy.create_node("rm65_movep_teleop_ready")
qos = QoSProfile(depth=10, reliability=ReliabilityPolicy.RELIABLE)
pub = node.create_publisher(Movej, "/rm_driver/movej_cmd", qos)
done = {"ok": None}
def _cb(msg: Bool) -> None:
done["ok"] = bool(msg.data)
node.create_subscription(Bool, "/rm_driver/movej_result", _cb, qos)
for _ in range(50):
if pub.get_subscription_count() > 0:
break
time.sleep(0.1)
rclpy.spin_once(node, timeout_sec=0.05)
if pub.get_subscription_count() == 0:
node.destroy_node()
raise RuntimeError("rm_driver 未订阅 movej_cmd")
if joints_deg is None:
joints_deg = load_ready_joints_deg(pose_path)
label = (pose_path or READY_POSE_PATH).name
msg = Movej()
msg.joint = [math.radians(q) for q in joints_deg]
msg.speed = speed
msg.block = True
msg.trajectory_connect = 0
msg.dof = 6
print(f"movej → 就绪位 {[round(q, 2) for q in joints_deg]} ({label})")
pub.publish(msg)
deadline = time.time() + timeout_s
while time.time() < deadline:
rclpy.spin_once(node, timeout_sec=0.05)
if done["ok"] is not None:
break
node.destroy_node()
if done["ok"] is not True:
raise RuntimeError(f"就绪位失败: {done['ok']}")
print("就绪位到位")
|