HiveCoreRD/hivecore_robot_drivers
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modify jz -> gripper

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This commit is contained in:
david
2025-11-27 10:48:44 +08:00
parent 6b6552ebea
commit c0f01c4b30
11 changed files with 39 additions and 39 deletions
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0
jz_dev/jz_dev/__init__.py → gripper_dev/gripper_dev/__init__.py
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34
jz_dev/jz_dev/jz_dev_node.py → gripper_dev/gripper_dev/gripper_dev_node.py
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@@ -6,13 +6,13 @@ from rclpy.node import Node
from rclpy.action import ActionServer
from rclpy.action import ActionServer
from std_msgs.msg import String
from interfaces.action import JzCmd
from interfaces.action import GripperCmd
import sys
import os
class JzDevNode(Node):
class GripperDevNode(Node):
def __init__(self):
super().__init__('jz_dev_node')
super().__init__('gripper_dev_node')
self.declare_parameter('port','/dev/ttyUSB0')
param = self.get_parameter('port')
self.com_dev = param.value
@@ -20,12 +20,12 @@ class JzDevNode(Node):
param = self.get_parameter('devid')
self.devid = param.value
self.declare_parameter('name','/jz_cmd0')
self.declare_parameter('name','/gripper_cmd0')
param = self.get_parameter('name')
self.srv_name = param.value
print('param:',self.com_dev,self.devid,self.srv_name)
self.get_logger().info(f'ros param:{self.com_dev},{self.devid},{self.srv_name}')
self.action=ActionServer(self,JzCmd,self.srv_name,self.jz_cmd_callback_action)
self.action=ActionServer(self,GripperCmd,self.srv_name,self.gripper_cmd_callback_action)
self.clawControl = RgClawControl()
self.target_loc=0
@@ -36,9 +36,9 @@ class JzDevNode(Node):
self.cur_goal=None
self.timer_on=False
self.target_mode=0
print('jz_dev_node init:',self.com_dev)
print('gripper_dev_node init:',self.com_dev)
#self.feedback_timer = self.create_timer(0.1, self.update_feedback)
def jz_cmd_callback_action(self,goal):
def gripper_cmd_callback_action(self,goal):
self.cur_goal=goal
req=goal.request
self.target_loc=req.loc
@@ -51,8 +51,8 @@ class JzDevNode(Node):
ret = self.clawControl.enableClamp(self.devid, True)
if ret!=1:
print('enble fail!')
result=JzCmd.Result()
result.state="jz enable fail!"
result=GripperCmd.Result()
result.state="gripper enable fail!"
result.result=0
goal.abort()
return result
@@ -73,7 +73,7 @@ class JzDevNode(Node):
else:
loop_flag=abs(self.cur_loc-self.target_loc)>2 and abs(self.cur_loc-self.target_loc)>2
#print('feedback:',self.cur_loc,speed,torque)
feedback_msg = JzCmd.Feedback()
feedback_msg = GripperCmd.Feedback()
feedback_msg.loc=loc[0]
feedback_msg.speed=speed[0]
feedback_msg.torque=torque[0]
@@ -81,7 +81,7 @@ class JzDevNode(Node):
self.cur_goal.publish_feedback(feedback_msg)
time.sleep(1)
else:
result=JzCmd.Result()
result=GripperCmd.Result()
result.state="uart open fail!"
result.result=0
goal.abort()
@@ -90,31 +90,31 @@ class JzDevNode(Node):
self.timer_on=True
print('location diff:',self.cur_loc,self.target_loc)
state = self.clawControl.getClampCurrentState(self.devid)
result=JzCmd.Result()
result=GripperCmd.Result()
result.state=state[0]
result.result=1
goal.succeed()
print('action finish',state)
return result
def jz_cmd_callback(self, request, response):
def gripper_cmd_callback(self, request, response):
self.cur_loc=request.loc
self.cur_speed=request.speed
self.cur_torque=request.torque
print('recv jz cmd:',self.cur_loc,self.cur_speed,self.cur_torque)
print('recv gripper cmd:',self.cur_loc,self.cur_speed,self.cur_torque)
flag = self.clawControl.serialOperation(self.com_dev, 115200, True)
if flag == 1:
#self.runCmd()
#self.runCmd()
response.state = self.clawControl.getClampCurrentState(devid)
response.state = self.clawControl.getClampCurrentState(self.devid)
self.clawControl.serialOperation(self.com_dev, 115200, False)
print('send jz sta:',devid,response.state)
print('send gripper sta:',self.devid,response.state)
else:
response.state = 'uart open failed'
return response
def main():
rclpy.init()
node=JzDevNode()
node=GripperDevNode()
rclpy.spin(node)
rclpy.shutdown()
pass

7
gripper_dev/launch/gripper_dev.launch.py Normal file
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@@ -0,0 +1,7 @@
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}])
])

2
jz_dev/package.xml → gripper_dev/package.xml
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>jz_dev</name>
<name>gripper_dev</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="you@example.com">h</maintainer>

0
jz_dev/resource/JodellTool-0.1.5-py3-none-any.whl → gripper_dev/resource/JodellTool-0.1.5-py3-none-any.whl
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0
jz_dev/resource/jz_dev → gripper_dev/resource/gripper_dev
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4
gripper_dev/setup.cfg Normal file
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@@ -0,0 +1,4 @@
[develop]
script_dir=$base/lib/gripper_dev
[install]
install_scripts=$base/lib/gripper_dev

16
jz_dev/setup.py → gripper_dev/setup.py
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@@ -1,15 +1,15 @@
from setuptools import setup
import os
from glob import glob
package_name='jz_dev'
package_name='gripper_dev'
setup(
name='jz_dev',
name='gripper_dev',
version='0.1',
description='A simple package for jz_dev',
author='JZ Dev',
author_email='jz_dev@example.com',
url='https://github.com/jz_dev',
packages=['jz_dev'],
description='A simple package for gripper_dev',
author='Gripper Dev',
author_email='gripper_dev@example.com',
url='https://github.com/gripper_dev',
packages=['gripper_dev'],
data_files=[
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
@@ -19,6 +19,6 @@ setup(
'setuptools',
],
entry_points={
'console_scripts':['jz_dev_node = jz_dev.jz_dev_node:main']
'console_scripts':['gripper_dev_node = gripper_dev.gripper_dev_node:main']
}
)

4
img_dev/launch/img_dev.launch.py
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@@ -8,9 +8,9 @@ def generate_launch_description():
return LaunchDescription([
# 启动orbbec_camera
#ExecuteProcess(cmd=['ros2','launch', 'orbbec_camera', 'multi_camera.launch.py'],output='screen'),
# ExecuteProcess(cmd=['ros2','launch', 'orbbec_camera', 'gemini_330_series.launch.py'],output='screen'),
ExecuteProcess(cmd=['ros2','launch', 'orbbec_camera', 'gemini_330_series.launch.py'],output='screen'),
# ExecuteProcess(cmd=['sleep', '2'],output='screen'),
ExecuteProcess(cmd=['ros2','launch', 'realsense2_camera','rs_launch.py'],output='screen'),
#ExecuteProcess(cmd=['ros2','launch', 'realsense2_camera','rs_launch.py'],output='screen'),
ExecuteProcess(cmd=['sleep', '2'],output='screen'),

7
jz_dev/launch/jz_dev.launch.py
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@@ -1,7 +0,0 @@
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(package="jz_dev",executable="jz_dev_node",name="jz_dev_node",
parameters=[{'port':'/dev/ttyUSB0'}, {'name':'/jz_cmd0'}, {'devid':9}])
])

4
jz_dev/setup.cfg
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@@ -1,4 +0,0 @@
[develop]
script_dir=$base/lib/jz_dev
[install]
install_scripts=$base/lib/jz_dev