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修改夹爪launch文件，支持双夹爪

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This commit is contained in:
NuoDaJia02
2026-01-07 10:08:16 +08:00
parent 83caf55dbe
commit 307094ffed
2 changed files with 5 additions and 3 deletions
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6
gripper_dev/launch/gripper_dev.launch.py
View File

@@ -2,6 +2,8 @@ from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(package="gripper_dev",executable="gripper_dev_node",name="gripper_dev_node",
parameters=[{'port':'/dev/ttyUSB0'}, {'name':'/gripper_cmd0'}, {'devid':6}])
Node(package="gripper_dev",executable="gripper_dev_node",name="gripper1_dev_node",
parameters=[{'port':'/dev/ttyUSB0'}, {'name':'/gripper_cmd0'}, {'devid':6}]),
Node(package="gripper_dev",executable="gripper_dev_node",name="gripper2_dev_node",
parameters=[{'port':'/dev/ttyUSB2'}, {'name':'/gripper_cmd1'}, {'devid':9}])
])

2
img_dev/src/img_dev_node.cpp
View File

@@ -23,7 +23,7 @@ void ImageSubscriber::pub_msg(const sensor_msgs::msg::Image& c_img,const sensor_
img_pub->publish(*img_msg);
// pub_cnt+=1;
std::cout<<"pub msg["<<pub_cnt<<"]:"<<img_msg->image_color.width<<"x"<<img_msg->image_color.height<<";"<<img_msg->darr[0]<<","<<img_msg->darr[1]<<",k:"<<img_msg->karr[0]<<","<<img_msg->karr[1]<<std::endl;
// std::cout<<"pub msg["<<pub_cnt<<"]:"<<img_msg->image_color.width<<"x"<<img_msg->image_color.height<<";"<<img_msg->darr[0]<<","<<img_msg->darr[1]<<",k:"<<img_msg->karr[0]<<","<<img_msg->karr[1]<<std::endl;
}
}