From c0f01c4b30715bac9266507f873d8d0e4aba07eb Mon Sep 17 00:00:00 2001 From: david Date: Thu, 27 Nov 2025 10:48:44 +0800 Subject: [PATCH] modify jz -> gripper --- .../gripper_dev}/__init__.py | 0 .../gripper_dev/gripper_dev_node.py | 34 +++++++++--------- gripper_dev/launch/gripper_dev.launch.py | 7 ++++ {jz_dev => gripper_dev}/package.xml | 2 +- .../JodellTool-0.1.5-py3-none-any.whl | Bin .../resource/gripper_dev | 0 gripper_dev/setup.cfg | 4 +++ {jz_dev => gripper_dev}/setup.py | 16 ++++----- img_dev/launch/img_dev.launch.py | 4 +-- jz_dev/launch/jz_dev.launch.py | 7 ---- jz_dev/setup.cfg | 4 --- 11 files changed, 39 insertions(+), 39 deletions(-) rename {jz_dev/jz_dev => gripper_dev/gripper_dev}/__init__.py (100%) rename jz_dev/jz_dev/jz_dev_node.py => gripper_dev/gripper_dev/gripper_dev_node.py (82%) create mode 100644 gripper_dev/launch/gripper_dev.launch.py rename {jz_dev => gripper_dev}/package.xml (96%) rename {jz_dev => gripper_dev}/resource/JodellTool-0.1.5-py3-none-any.whl (100%) rename jz_dev/resource/jz_dev => gripper_dev/resource/gripper_dev (100%) create mode 100644 gripper_dev/setup.cfg rename {jz_dev => gripper_dev}/setup.py (55%) delete mode 100644 jz_dev/launch/jz_dev.launch.py delete mode 100644 jz_dev/setup.cfg diff --git a/jz_dev/jz_dev/__init__.py b/gripper_dev/gripper_dev/__init__.py similarity index 100% rename from jz_dev/jz_dev/__init__.py rename to gripper_dev/gripper_dev/__init__.py diff --git a/jz_dev/jz_dev/jz_dev_node.py b/gripper_dev/gripper_dev/gripper_dev_node.py similarity index 82% rename from jz_dev/jz_dev/jz_dev_node.py rename to gripper_dev/gripper_dev/gripper_dev_node.py index d8038ec..be208a4 100644 --- a/jz_dev/jz_dev/jz_dev_node.py +++ b/gripper_dev/gripper_dev/gripper_dev_node.py @@ -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 diff --git a/gripper_dev/launch/gripper_dev.launch.py b/gripper_dev/launch/gripper_dev.launch.py new file mode 100644 index 0000000..cc38689 --- /dev/null +++ b/gripper_dev/launch/gripper_dev.launch.py @@ -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}]) + ]) diff --git a/jz_dev/package.xml b/gripper_dev/package.xml similarity index 96% rename from jz_dev/package.xml rename to gripper_dev/package.xml index 4a9c4f4..1fddef7 100644 --- a/jz_dev/package.xml +++ b/gripper_dev/package.xml @@ -1,7 +1,7 @@ - jz_dev + gripper_dev 0.0.0 TODO: Package description h diff --git a/jz_dev/resource/JodellTool-0.1.5-py3-none-any.whl b/gripper_dev/resource/JodellTool-0.1.5-py3-none-any.whl similarity index 100% rename from jz_dev/resource/JodellTool-0.1.5-py3-none-any.whl rename to gripper_dev/resource/JodellTool-0.1.5-py3-none-any.whl diff --git a/jz_dev/resource/jz_dev b/gripper_dev/resource/gripper_dev similarity index 100% rename from jz_dev/resource/jz_dev rename to gripper_dev/resource/gripper_dev diff --git a/gripper_dev/setup.cfg b/gripper_dev/setup.cfg new file mode 100644 index 0000000..ef844d7 --- /dev/null +++ b/gripper_dev/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/gripper_dev +[install] +install_scripts=$base/lib/gripper_dev diff --git a/jz_dev/setup.py b/gripper_dev/setup.py similarity index 55% rename from jz_dev/setup.py rename to gripper_dev/setup.py index aec1865..1adf144 100644 --- a/jz_dev/setup.py +++ b/gripper_dev/setup.py @@ -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'] } ) diff --git a/img_dev/launch/img_dev.launch.py b/img_dev/launch/img_dev.launch.py index 0dc91b2..12faac2 100644 --- a/img_dev/launch/img_dev.launch.py +++ b/img_dev/launch/img_dev.launch.py @@ -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'), diff --git a/jz_dev/launch/jz_dev.launch.py b/jz_dev/launch/jz_dev.launch.py deleted file mode 100644 index 440eae5..0000000 --- a/jz_dev/launch/jz_dev.launch.py +++ /dev/null @@ -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}]) - ]) \ No newline at end of file diff --git a/jz_dev/setup.cfg b/jz_dev/setup.cfg deleted file mode 100644 index 0c09125..0000000 --- a/jz_dev/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script_dir=$base/lib/jz_dev -[install] -install_scripts=$base/lib/jz_dev