| |
| """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") |
|
|
