diff --git a/Piper_ros_private-ros-noetic/.catkin_workspace b/Piper_ros_private-ros-noetic/.catkin_workspace new file mode 100644 index 0000000000000000000000000000000000000000..52fd97e7ea4bd421af3f7dacb539d241bcee6583 --- /dev/null +++ b/Piper_ros_private-ros-noetic/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Piper_ros_private-ros-noetic/LICENSE b/Piper_ros_private-ros-noetic/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..1ace5a240f199be4ae0567bed99051213893345c --- /dev/null +++ b/Piper_ros_private-ros-noetic/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2024 RosenYin + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/Piper_ros_private-ros-noetic/README(EN).md b/Piper_ros_private-ros-noetic/README(EN).md new file mode 100644 index 0000000000000000000000000000000000000000..64efb180d2d8f08d93dcc116287b262595aaa9a7 --- /dev/null +++ b/Piper_ros_private-ros-noetic/README(EN).md @@ -0,0 +1,327 @@ +# AgileX Robotic Arm + +[CN](README.MD) + +![ubuntu](https://img.shields.io/badge/Ubuntu-20.04-orange.svg) + +Test: + +|PYTHON |STATE| +|---|---| +|![noeti](https://img.shields.io/badge/ros-noetic-blue.svg)|![Pass](https://img.shields.io/badge/Pass-blue.svg)| + +## Installation + +### Install dependencies + +```shell +pip3 install python-can +``` + +```shell +pip3 install piper_sdk +``` + +## Quick Start + +### Enable CAN module + +First, you need to set up the shell script parameters. + +#### Single robotic arm + +##### PC with Only One USB-to-CAN Module Inserted + +- ##### Use the `can_activate.sh` + +Directly run: + +```bash +bash can_activate.sh can0 1000000 +``` + +##### PC with Multiple USB-to-CAN Modules Inserted + +- ##### Use the `can_activate.sh` script + +Disconnect all CAN modules. + +Only connect the CAN module linked to the robotic arm to the PC, and then run the script. + +```shell +sudo ethtool -i can0 | grep bus +``` + +and record the `bus-info` value, for example, `1-2:1.0`. + +**Note: Generally, the first inserted CAN module defaults to `can0`. If the CAN interface is not found, use `bash find_all_can_port.sh` to check the CAN names corresponding to the USB addresses.** + +Assuming the recorded `bus-info` value from the above operation is `1-2:1.0`. + +Then execute the command to check if the CAN device has been successfully activated. + +```bash +bash can_activate.sh can_piper 1000000 "1-2:1.0" +``` + +**Note: This means that the CAN device connected to the USB port with hardware encoding `1-2:1.0` is renamed to `can_piper`, set to a baud rate of 1,000,000, and activated.** + +Then run`ifconfig` to check if `can_piper` appears. If it does, the CAN module has been successfully configured. + +#### Two Pairs of Robotic Arms (Four Arms) + +For four robotic arms, which means two pairs of master-slave robotic arms: + +- ##### Use the `can_config.sh` script here + +In the `can_config.sh` , set the `EXPECTED_CAN_COUNT` parameter to `2`, as four robotic arms use two CAN modules. + +Then, insert one of the two CAN modules (usually the one connected to the left arm) into the PC alone and execute the script. + +```shell +sudo ethtool -i can0 | grep bus +``` + +and record the `bus-info` value, for example, `1-2:1.0`. + +Next, insert the second CAN module, ensuring it is connected to a different USB port than the one used previously, and then execute the script. + +```shell +sudo ethtool -i can1 | grep bus +``` + +**Note: Generally, the first inserted CAN module defaults to `can0`, and the second one to `can1`. If the CAN interfaces are not found, use `bash find_all_can_port.sh` to check the CAN names corresponding to the USB addresses.** + +Assuming the recorded `bus-info` values are `1-2:1.0` and `1-4:1.0`, replace the parameters inside the double quotes in `USB_PORTS["1-9:1.0"]="can_left:1000000"` with `1-2:1.0`. + +Similarly, update the other one + +`USB_PORTS["1-5:1.0"]="can_right:1000000"` -> `USB_PORTS["1-4:1.0"]="can_right:1000000"` + +**Note: This means that the CAN device connected to the USB port with hardware encoding `1-2:1.0` is renamed to `can_left`, set to a baud rate of 1,000,000, and activated.** + +Then execute `bash can_config.sh` and check the terminal output to see if the activation was successful. + +Afterward, run `ifconfig` to verify if `can_left` and `can_right` appear. If they do, the CAN modules have been successfully configured. + +### Running the Node + +#### Single Robotic Arm + +Node name: `piper_ctrl_single_node.py` + +param + +```shell +can_port:he name of the CAN route to open. +auto_enable: Whether to automatically enable the system. If True, the system will automatically enable upon starting the program. +# Set this to False if you want to manually control the enable state. If the program is interrupted and then restarted, the robotic arm will maintain the state it had during the last run. +# If the arm was enabled, it will remain enabled after restarting. +# If the arm was disabled, it will remain disabled after restarting. +girpper_exist:Indicates if there is an end-effector gripper. If True, the gripper control will be enabled. +rviz_ctrl_flag: Whether to use RViz to send joint angle messages. If True, the system will receive joint angle messages sent by rViz. +# Since the joint 7 range in RViz is [0,0.04], but the actual gripper travel is 0.08m, joint 7 values sent by RViz will be multiplied by 2 when controlling the gripper. +``` + +`start_single_piper_rviz.launch`: + +```xml + + + + + + + + + + + + + +``` + +`start_single_piper.launch`: + +```xml + + + + + + + + + + + + + +``` + +Start control node + +```shell +# Start node +roscore +rosrun piper piper_ctrl_single_node.py _can_port:=can0 _mode:=0 +# Start launch +roslaunch piper start_single_piper.launch can_port:=can0 auto_enable:=true +# Or,the node can be run with default parameters +roslaunch piper start_single_piper.launch +# You can also use RViz to enable control by adjusting the parameters as described above. +roslaunch piper start_single_piper_rviz.launch +``` + +#### Multiple Robotic Arms + +##### Read master-slave arm messages without controlling the slave arm + +`start_ms_piper.launch` + +```xml + + + + + + + + + + + + + + + + + + + + + + +``` + +Start the node, mainly using `launch` to start both the left and right side arms. + +```shell +# When collecting data, read the master-slave arm messages. In this case, the `auto_enable` parameter setting can be omitted. +roslaunch piper start_ms_piper.launch mode:=0 auto_enable:=true +``` + +and run + +```shell +rostopic list +``` + +There are several topics available, such as： + +```shell +/arm_status +/master/joint_left +/master/joint_right +/puppet/joint_left +/puppet/joint_right +``` + +Among these topics, `/master/joint_left`, `/master/joint_right`, `/puppet/joint_left`, and `/puppet/joint_right` can be used to read messages from the master and slave arms. + +##### Control the Slave Arm via the Node + +**First, disconnect the main arm's connector!!!** + +```shell +# To control both slave arms, you can remove the `auto_enable` parameter setting. +roslaunch piper start_ms_piper.launch mode:=1 auto_enable:=true +``` + +and run + +```shell +rostopic list +``` + +There are several topics: + +```shell +/arm_status +/enable_flag +/master/joint_left +/master/joint_right +/puppet/joint_left +/puppet/joint_right +``` + +`/enable_flag` is used to enable the robotic arm. By default, automatic enabling is turned on in the `launch` file. If you want to disable automatic enabling, send `true` to this topic to enable the arm. + +The topics `/master/joint_left` and `/master/joint_right` are used for external control, which in turn controls the slave arms. + +**How to verify enabling without terminal output: After sending the enable message, manually move the robotic arm. If the joints cannot be moved, it indicates that the joints are powered and enabling was successful.** + +## Note + +- You need to activate the CAN device and set the correct baud rate before you can read messages from or control the robotic arm. +- **To control two slave robotic arms using ROS, you must first disconnect the main arm's connector!!!** +- When the node parameter `mode` is set to `1`, the topics `/master/joint_left`, `/master/joint_right`, `/puppet/joint_left`, and `/puppet/joint_right` are data topics only. You only need to read from them. Typically, in this mode, the CAN communication between the master and slave arms is established. +- When the node parameter `mode` is set to `0`, `/master/joint_left` and `/master/joint_right` are topics for controlling the slave arms, while `/puppet/joint_left` and `/puppet/joint_right` are for feedback from the slave arms. To send movement commands to the slave arms via `/master/joint_left` and `/master/joint_right`, you must first send `true` to the `/enable_flag` topic. + +### piper Custom Messages + +ros package `piper_msgs` + + **Robotic Arm Status Feedback Message**: Corresponds to the feedback message with `id=0x2A1` in the CAN protocol. + +`PiperStatusMsg.msg` + +```c +uint8 ctrl_mode +uint8 arm_status +uint8 mode_feedback +uint8 teach_status +uint8 motion_status +uint8 trajectory_num +int64 err_code +bool joint_1_angle_limit +bool joint_2_angle_limit +bool joint_3_angle_limit +bool joint_4_angle_limit +bool joint_5_angle_limit +bool joint_6_angle_limit +bool communication_status_joint_1 +bool communication_status_joint_2 +bool communication_status_joint_3 +bool communication_status_joint_4 +bool communication_status_joint_5 +bool communication_status_joint_6 +``` + +End-effector pose control: Note that some singularities may be unreachable. + +`PosCmd.msg` + +```c +float64 x +float64 y +float64 z +float64 roll +float64 pitch +float64 yaw +float64 gripper +int32 mode1 +int32 mode2 +``` + +## Simulation + +`display_xacro.launch` open rviz + +After running, the `/joint_states` topic will be published. You can view it by /joint_states: + +![ ](./asserts/pictures/tostopic_list.jpg) + +Two windows will appear simultaneously as follows. The slider values correspond to the `/joint_states` values. Dragging the sliders will change these values, and the model in rviz will update accordingly. + +![ ](./asserts/pictures/piper_rviz.jpg) diff --git a/Piper_ros_private-ros-noetic/README.MD b/Piper_ros_private-ros-noetic/README.MD new file mode 100644 index 0000000000000000000000000000000000000000..48cb6038f6a4c34b21642e384cf6cd272cc3f2b0 --- /dev/null +++ b/Piper_ros_private-ros-noetic/README.MD @@ -0,0 +1,329 @@ +# agx 机械臂(noetic) + +[EN](README(EN).md) + +![ubuntu](https://img.shields.io/badge/Ubuntu-20.04-orange.svg) + +Test: + +|PYTHON |STATE| +|---|---| +|![noeti](https://img.shields.io/badge/ros-noetic-blue.svg)|![Pass](https://img.shields.io/badge/Pass-blue.svg)| + +## 安装方法 + +### 安装依赖 + +```shell +pip3 install python-can +``` + +```shell +pip3 install piper_sdk +``` + +## 快速使用 + +### 使能can模块 + +首先需要设置好shell脚本参数 + +#### 单条机械臂 + +##### pc只插入一个usb转can模块 + +- **此处使用`can_activate.sh`脚本** + +直接执行 + +```bash +bash can_activate.sh can0 1000000 +``` + +##### pc插入多个usb转can模块 + +- **此处使用`can_activate.sh`脚本** + +拔掉所有can模块 + +只将连接到机械臂的can模块插入PC，执行 + +```shell +sudo ethtool -i can0 | grep bus +``` + +并记录下`bus-info`的数值例如`1-2:1.0` + +ps:**一般第一个插入的can模块会默认是can0，如果没有查询到can可以使用`bash find_all_can_port.sh`来查看刚才usb地址对应的can名称** + +假设上面的操作记录的`bus-info`数值为`1-2:1.0` + +然后执行,查看can设备是否激活成功 + +```bash +bash can_activate.sh can_piper 1000000 "1-2:1.0" +``` + +ps:**此处的意思是，1-2:1.0硬件编码的usb端口插入的can设备，名字被重命名为can_piper，波特率为1000000，并激活** + +然后执行`ifconfig`查看是否有`can_piper`，如果有则can模块设置成功 + +#### 两对机械臂(四条) + +如果是四条机械臂，也就是两对主从机械臂 + +- **此处使用`can_config.sh`脚本** + +在`can_config.sh`中，`EXPECTED_CAN_COUNT`参数一般设置为`2`，因为四条机械臂使用两个can模块 + +然后将两个can模块中的其中一个(一般第一个插入左臂所在的模块)单独插入PC，执行 + +```shell +sudo ethtool -i can0 | grep bus +``` + +并记录下`bus-info`的数值例如`1-2:1.0` + +接着插入下一个can模块，注意不可以与上次can模块插入的usb口相同，然后执行 + +```shell +sudo ethtool -i can1 | grep bus +``` + +ps:**一般第一个插入的can模块会默认是can0，第二个为can1，如果没有查询到can可以使用`bash find_all_can_port.sh`来查看刚才usb地址对应的can名称** + +假设上面的操作记录的`bus-info`数值分别为`1-2:1.0`、`1-4:1.0` + +则将下面的`USB_PORTS["1-9:1.0"]="can_left:1000000"`的中括号内部的双引号内部的参数换为`1-2:1.0` + +另一个同理 + +`USB_PORTS["1-5:1.0"]="can_right:1000000"` -> `USB_PORTS["1-4:1.0"]="can_right:1000000"` + +ps:**此处的意思是，1-2:1.0硬件编码的usb端口插入的can设备，名字被重命名为can_left，波特率为1000000，并激活** + +然后执行`bash can_config.sh`,查看终端输出是否激活成功 + +然后执行`ifconfig`查看是不是有`can_left`和`can_right`，如果有则can模块设置成功 + +### 运行节点 + +#### 单个机械臂 + +节点名`piper_ctrl_single_node.py` + +param + +```shell +can_port:要打开的can路由名字 +auto_enable:是否自动使能，True则开启程序就自动使能 +# 注意这个设置为False，中断程序后再启动节点，机械臂会保持上次启动程序的状态 +# 若上次启动程序机械臂状态为使能，则中断程序后再启动节点，机械臂仍为使能 +# 若上次启动程序机械臂状态为失能，则中断程序后再启动节点，机械臂仍为失能 +girpper_exist:是否有末端夹爪，True则说明有末端夹爪，会开启夹爪控制 +rviz_ctrl_flag:是否使用rviz来发送关节角消息，True则接收rviz发送的关节角消息 +#由于rviz中的joint7范围是[0,0.04]，而真实夹爪行程为0.08m，打开rviz控制后会将rviz发出的joint7乘2倍 +``` + +`start_single_piper_rviz.launch`如下: + +```xml + + + + + + + + + + + + + +``` + +`start_single_piper.launch`如下: + +```xml + + + + + + + + + + + + + +``` + +启动控制节点 + +```shell +# 启动节点 +roscore +rosrun piper piper_ctrl_single_node.py _can_port:=can0 _mode:=0 +# 启动launch +roslaunch piper start_single_piper.launch can_port:=can0 auto_enable:=true +# 或，会以默认参数运行 +roslaunch piper start_single_piper.launch +# 也可以用rviz开启控制,需要更改的参数如上 +roslaunch piper start_single_piper_rviz.launch +``` + +#### 多个机械臂 + +##### 读取主从臂消息，不控制从臂 + +`start_ms_piper.launch` 文件如下： + +```xml + + + + + + + + + + + + + + + + + + + + + + +``` + +启动节点，主要使用launch启动左右侧臂 + +```shell +# 采集数据时，读取主从臂的消息，此处auto_enable参数设定可去掉 +roslaunch piper start_ms_piper.launch mode:=0 auto_enable:=true +``` + +然后执行 + +```shell +rostopic list +``` + +有如下几个topic： + +```shell +/arm_status +/master/joint_left +/master/joint_right +/puppet/joint_left +/puppet/joint_right +``` + +其中`/master/joint_left`、`/master/joint_right`、`/puppet/joint_left`、`/puppet/joint_right`可以读取到主臂和从臂的消息 + +##### 通过节点控制从臂 + +**先将主臂的航插断开！！！** + +```shell +# 控制两条从臂，此处auto_enable参数设定可去掉 +roslaunch piper start_ms_piper.launch mode:=1 auto_enable:=true +``` + +然后执行 + +```shell +rostopic list +``` + +有如下几个topic： + +```shell +/arm_status +/enable_flag +/master/joint_left +/master/joint_right +/puppet/joint_left +/puppet/joint_right +``` + +`/enable_flag`用来使能机械臂，launch里默认打开自动使能，如果关闭，给这个topic 发送true，令其使能 + +其中，`/master/joint_left`、`/master/joint_right`是用来外部控制的topic，进而控制从臂 + +***如何不通过终端打印判断使能: 确认发送了使能消息后，用手摇动机械臂，如果无法运动关节，说明关节上电，使能成功** + +## 注意事项 + +- 需要先激活can设备，并且设置正确的波特率，才可以读取机械臂消息或者控制机械臂 +- **想要用ros控制两条从机械臂，需要先将主臂的航插拔掉！！！** +- 在节点参数mode为1的情况下`/master/joint_left`、`/master/joint_right`、`/puppet/joint_left`、`/puppet/joint_right`仅仅为数据topic，只需要读取，一般这种模式下，主臂和从臂的can是连通的 +- 在节点参数mode为0的情况下，`/master/joint_left`、`/master/joint_right`为控制从臂的topic，`/puppet/joint_left`、`/puppet/joint_right`为从臂反馈，想要给`/master/joint_left`、`/master/joint_right`发送数据运动从臂之前，必须要给`/enable_flag`topic 发送true + +### piper自定义消息 + +ros功能包`piper_msgs` + +机械臂自身状态反馈消息，对应can协议中`id=0x2A1`的反馈消息 + +`PiperStatusMsg.msg` + +```c +uint8 ctrl_mode +uint8 arm_status +uint8 mode_feedback +uint8 teach_status +uint8 motion_status +uint8 trajectory_num +int64 err_code +bool joint_1_angle_limit +bool joint_2_angle_limit +bool joint_3_angle_limit +bool joint_4_angle_limit +bool joint_5_angle_limit +bool joint_6_angle_limit +bool communication_status_joint_1 +bool communication_status_joint_2 +bool communication_status_joint_3 +bool communication_status_joint_4 +bool communication_status_joint_5 +bool communication_status_joint_6 +``` + +机械臂末端位姿控制，注意:有些奇异点无法到达 + +`PosCmd.msg` + +```c +float64 x +float64 y +float64 z +float64 roll +float64 pitch +float64 yaw +float64 gripper +int32 mode1 +int32 mode2 +``` + +## 使用仿真 + +`display_xacro.launch` 打开rviz + +运行后会发布`/joint_states`,可以通过`rostopic echo /joint_states` 查看 + +![ ](./asserts/pictures/tostopic_list.jpg) + +同时会弹出两个页面如下，滑动条数值对应`/joint_states`数值，拖动滑动条可以改变其数值，rviz中的模型也会随动 + +![ ](./asserts/pictures/piper_rviz.jpg) diff --git a/Piper_ros_private-ros-noetic/build/piper/CMakeFiles/CMakeDirectoryInformation.cmake 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piper/CMakeFiles/std_msgs_generate_messages_py.dir/rule + +# Convenience name for target. +std_msgs_generate_messages_py: piper/CMakeFiles/std_msgs_generate_messages_py.dir/rule + +.PHONY : std_msgs_generate_messages_py + +# fast build rule for target. +std_msgs_generate_messages_py/fast: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f piper/CMakeFiles/std_msgs_generate_messages_py.dir/build.make piper/CMakeFiles/std_msgs_generate_messages_py.dir/build +.PHONY : std_msgs_generate_messages_py/fast + +# Convenience name for target. +piper/CMakeFiles/sensor_msgs_generate_messages_eus.dir/rule: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f CMakeFiles/Makefile2 piper/CMakeFiles/sensor_msgs_generate_messages_eus.dir/rule +.PHONY : piper/CMakeFiles/sensor_msgs_generate_messages_eus.dir/rule + +# Convenience name for target. +sensor_msgs_generate_messages_eus: piper/CMakeFiles/sensor_msgs_generate_messages_eus.dir/rule + +.PHONY : sensor_msgs_generate_messages_eus + +# fast build rule for target. +sensor_msgs_generate_messages_eus/fast: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f piper/CMakeFiles/sensor_msgs_generate_messages_eus.dir/build.make piper/CMakeFiles/sensor_msgs_generate_messages_eus.dir/build +.PHONY : sensor_msgs_generate_messages_eus/fast + +# Convenience name for target. +piper/CMakeFiles/roscpp_generate_messages_cpp.dir/rule: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f CMakeFiles/Makefile2 piper/CMakeFiles/roscpp_generate_messages_cpp.dir/rule +.PHONY : piper/CMakeFiles/roscpp_generate_messages_cpp.dir/rule + +# Convenience name for target. +roscpp_generate_messages_cpp: piper/CMakeFiles/roscpp_generate_messages_cpp.dir/rule + +.PHONY : roscpp_generate_messages_cpp + +# fast build rule for target. +roscpp_generate_messages_cpp/fast: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f piper/CMakeFiles/roscpp_generate_messages_cpp.dir/build.make piper/CMakeFiles/roscpp_generate_messages_cpp.dir/build +.PHONY : roscpp_generate_messages_cpp/fast + +# Convenience name for target. +piper/CMakeFiles/roscpp_generate_messages_eus.dir/rule: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f CMakeFiles/Makefile2 piper/CMakeFiles/roscpp_generate_messages_eus.dir/rule +.PHONY : piper/CMakeFiles/roscpp_generate_messages_eus.dir/rule + +# Convenience name for target. +roscpp_generate_messages_eus: piper/CMakeFiles/roscpp_generate_messages_eus.dir/rule + +.PHONY : roscpp_generate_messages_eus + +# fast build rule for target. +roscpp_generate_messages_eus/fast: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f piper/CMakeFiles/roscpp_generate_messages_eus.dir/build.make piper/CMakeFiles/roscpp_generate_messages_eus.dir/build +.PHONY : roscpp_generate_messages_eus/fast + +# Convenience name for target. 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CMakeFiles/Makefile2 piper/CMakeFiles/actionlib_generate_messages_cpp.dir/rule +.PHONY : piper/CMakeFiles/actionlib_generate_messages_cpp.dir/rule + +# Convenience name for target. +actionlib_generate_messages_cpp: piper/CMakeFiles/actionlib_generate_messages_cpp.dir/rule + +.PHONY : actionlib_generate_messages_cpp + +# fast build rule for target. +actionlib_generate_messages_cpp/fast: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f piper/CMakeFiles/actionlib_generate_messages_cpp.dir/build.make piper/CMakeFiles/actionlib_generate_messages_cpp.dir/build +.PHONY : actionlib_generate_messages_cpp/fast + +# Convenience name for target. +piper/CMakeFiles/rosgraph_msgs_generate_messages_nodejs.dir/rule: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f CMakeFiles/Makefile2 piper/CMakeFiles/rosgraph_msgs_generate_messages_nodejs.dir/rule +.PHONY : piper/CMakeFiles/rosgraph_msgs_generate_messages_nodejs.dir/rule + +# Convenience name 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control_msgs_generate_messages_cpp + +# fast build rule for target. +control_msgs_generate_messages_cpp/fast: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(MAKE) -f piper/CMakeFiles/control_msgs_generate_messages_cpp.dir/build.make piper/CMakeFiles/control_msgs_generate_messages_cpp.dir/build +.PHONY : control_msgs_generate_messages_cpp/fast + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install" + @echo "... edit_cache" + @echo "... sensor_msgs_generate_messages_nodejs" + @echo "... sensor_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_cpp" + @echo "... list_install_components" + @echo "... trajectory_msgs_generate_messages_py" + @echo "... trajectory_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_py" + @echo "... 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actionlib_generate_messages_py" + @echo "... actionlib_msgs_generate_messages_nodejs" + @echo "... actionlib_msgs_generate_messages_eus" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... roscpp_generate_messages_lisp" + @echo "... _catkin_empty_exported_target" + @echo "... actionlib_generate_messages_lisp" + @echo "... roscpp_generate_messages_py" + @echo "... actionlib_msgs_generate_messages_cpp" + @echo "... actionlib_generate_messages_eus" + @echo "... std_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_eus" + @echo "... std_msgs_generate_messages_nodejs" + @echo "... std_msgs_generate_messages_py" + @echo "... sensor_msgs_generate_messages_eus" + @echo "... roscpp_generate_messages_cpp" + @echo "... rebuild_cache" + @echo "... roscpp_generate_messages_eus" + @echo "... actionlib_msgs_generate_messages_py" + @echo "... actionlib_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_nodejs" + @echo "... control_msgs_generate_messages_cpp" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/Piper_ros_private-ros-noetic/build/piper/cmake_install.cmake b/Piper_ros_private-ros-noetic/build/piper/cmake_install.cmake new file mode 100644 index 0000000000000000000000000000000000000000..0e940b6dc1e1c9868d0d2dd4195ee917c27ef3f4 --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/src/piper + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/install") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build/piper/catkin_generated/installspace/piper.pc") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/piper/cmake" TYPE FILE FILES + "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build/piper/catkin_generated/installspace/piperConfig.cmake" + "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build/piper/catkin_generated/installspace/piperConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/piper" TYPE FILE FILES "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/src/piper/package.xml") +endif() + diff --git a/Piper_ros_private-ros-noetic/build/piper_description/CMakeFiles/progress.marks b/Piper_ros_private-ros-noetic/build/piper_description/CMakeFiles/progress.marks new file mode 100644 index 0000000000000000000000000000000000000000..573541ac9702dd3969c9bc859d2b91ec1f7e6e56 --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/CMakeFiles/progress.marks @@ -0,0 +1 @@ +0 diff --git a/Piper_ros_private-ros-noetic/build/piper_description/CTestTestfile.cmake b/Piper_ros_private-ros-noetic/build/piper_description/CTestTestfile.cmake new file mode 100644 index 0000000000000000000000000000000000000000..0e8c79d15f8cedb22ac69da43ca73bb4f6e9acea --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/CTestTestfile.cmake @@ -0,0 +1,6 @@ +# CMake generated Testfile for +# Source directory: /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/src/piper_description +# Build directory: /home/agilex/cobot_magic/Piper_ros_private-ros-noetic/build/piper_description +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. diff --git a/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/installspace/piper_description.pc b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/installspace/piper_description.pc new file mode 100644 index 0000000000000000000000000000000000000000..ba81b706e99e75f0af5c3acf5b0fbd0e36a82787 --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/installspace/piper_description.pc @@ -0,0 +1,8 @@ +prefix=/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/install + +Name: piper_description +Description: Description of piper_description +Version: 1.0.0 +Cflags: +Libs: -L${prefix}/lib +Requires: diff --git a/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/installspace/piper_descriptionConfig-version.cmake b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/installspace/piper_descriptionConfig-version.cmake new file mode 100644 index 0000000000000000000000000000000000000000..de35aa22a9bd546ca9e0b4e63357adc254d83544 --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/installspace/piper_descriptionConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "1.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/pkg.develspace.context.pc.py b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000000000000000000000000000000000000..dc101c7ce2264bfb99339104636abafb1cb615ad --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "piper_description" +PROJECT_SPACE_DIR = "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/devel" +PROJECT_VERSION = "1.0.0" diff --git a/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/pkg.installspace.context.pc.py b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000000000000000000000000000000000000..b82579d36a1cf0d74708b9d7708f68c865915967 --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "piper_description" +PROJECT_SPACE_DIR = "/home/agilex/cobot_magic/Piper_ros_private-ros-noetic/install" +PROJECT_VERSION = "1.0.0" diff --git a/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/stamps/piper_description/package.xml.stamp b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/stamps/piper_description/package.xml.stamp new file mode 100644 index 0000000000000000000000000000000000000000..7ca54335437aeee7664463b99645f4d261fa9df4 --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/stamps/piper_description/package.xml.stamp @@ -0,0 +1,21 @@ + + piper_description + 1.0.0 + +

URDF Description package for piper_description

+

This package contains configuration data, 3D models and launch files +for piper_description robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/stamps/piper_description/pkg.pc.em.stamp b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/stamps/piper_description/pkg.pc.em.stamp new file mode 100644 index 0000000000000000000000000000000000000000..549fb75ce8000c875c316f444238bd1f28dc88c8 --- /dev/null +++ b/Piper_ros_private-ros-noetic/build/piper_description/catkin_generated/stamps/piper_description/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) +Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/Piper_ros_private-ros-noetic/find_all_can_port.sh b/Piper_ros_private-ros-noetic/find_all_can_port.sh new file mode 100644 index 0000000000000000000000000000000000000000..e723fb7221a50dc30eb475460154bb51c42689d8 --- /dev/null +++ b/Piper_ros_private-ros-noetic/find_all_can_port.sh @@ -0,0 +1,30 @@ +# 检查 ethtool 是否已安装 +if ! dpkg -l | grep -q "ethtool"; then + echo "\e[31m错误: 系统中未检测到 ethtool。\e[0m" + echo "请使用以下命令安装 ethtool:" + echo "sudo apt update && sudo apt install ethtool" + exit 1 +fi + +# 检查 can-utils 是否已安装 +if ! dpkg -l | grep -q "can-utils"; then + echo "\e[31m错误: 系统中未检测到 can-utils。\e[0m" + echo "请使用以下命令安装 can-utils:" + echo "sudo apt update && sudo apt install can-utils" + exit 1 +fi + +echo "ethtool 和 can-utils 均已安装。" + +# 遍历所有 CAN 接口 +for iface in $(ip -br link show type can | awk '{print $1}'); do + # 使用 ethtool 获取 bus-info + BUS_INFO=$(sudo ethtool -i "$iface" | grep "bus-info" | awk '{print $2}') + + if [ -z "$BUS_INFO" ];then + echo "错误: 无法获取接口 $iface 的 bus-info 信息。" + continue + fi + + echo "接口 $iface 插入在 USB 端口 $BUS_INFO" +done \ No newline at end of file diff --git a/tools/arm_serial.sh b/tools/arm_serial.sh new file mode 100644 index 0000000000000000000000000000000000000000..c676c7ec65573a0da82057d0ecf26b7838340f53 --- /dev/null +++ b/tools/arm_serial.sh @@ -0,0 +1,31 @@ +ws_path=$(pwd) +echo $ws_path + +cd $ws_path/camera_ws + +file="/etc/udev/rules.d/arx_can.rules" + +if [[ -f "$file" ]]; then + echo "arx_can.rules exist." +else + echo + echo "arx_can.rules no exist, please add arx_can.rules." + echo + exit 0 +fi + + +echo "ls /dev/ttyACM*" +echo + +ls /dev/ttyACM* +echo + +echo "udevadm info -a -n /dev/ttyACM* | grep serial" +echo + +echo "sudo vim /etc/udev/rules.d/arx_can.rules" +echo + +echo "sudo udevadm control --reload-rules && sudo udevadm trigger" +echo \ No newline at end of file diff --git a/tools/build.sh b/tools/build.sh new file mode 100644 index 0000000000000000000000000000000000000000..032841610e0e30e69929c53de05b85d993622331 --- /dev/null +++ b/tools/build.sh @@ -0,0 +1,15 @@ +ws_path=$(pwd) +echo $ws_path + +echo "build camera" +cd $ws_path/camera_ws +catkin_make +cd .. + +echo "build remote_control" +cd $ws_path/remote_control +./tools/build.sh +cd .. + +echo "print camera serial" +tools/camera_serial.sh \ No newline at end of file diff --git a/tools/camera_serial.sh b/tools/camera_serial.sh new file mode 100644 index 0000000000000000000000000000000000000000..dc98745e837de1ee7c7907dac6d875d5d798d2b3 --- /dev/null +++ b/tools/camera_serial.sh @@ -0,0 +1,30 @@ +ws_path=$(pwd) +echo $ws_path + +cd $ws_path/camera_ws + +file="$ws_path/camera_ws/devel/lib/astra_camera/list_devices_node" +if [[ -f "$file" ]]; then + echo "list_devices_node exist." +else + echo "list_devices_node no exist, please catkin_make astra_camera package.." + exit 0 +fi + + +file="/etc/udev/rules.d/56-orbbec-usb.rules" + +if [[ -f "$file" ]]; then + echo "camera-usb.rules exist." +else + echo "camera-usb.rules not exist, please add camera-usb.rules." + exit 0 +fi + + +echo "" +echo "camera serial number: " +$ws_path/camera_ws/devel/lib/astra_camera/list_devices_node + +echo "-----------------" +echo "" diff --git a/tools/can.sh b/tools/can.sh new file mode 100644 index 0000000000000000000000000000000000000000..ba09eaa4f9b3dcdd16aab9f312abc074a9e59e7e --- /dev/null +++ b/tools/can.sh @@ -0,0 +1,14 @@ +#!/bin/bash +source ~/.bashrc +password=agx +# 机械臂 +gnome-terminal -t "can" -x bash -c "echo $password | sudo -S slcand -o -f -s8 /dev/canable0 can0;sudo ifconfig can0 up;exec bash;" +gnome-terminal -t "can" -x bash -c "echo $password | sudo -S slcand -o -f -s8 /dev/canable1 can1;sudo ifconfig can1 up;exec bash;" +gnome-terminal -t "can" -x bash -c "echo $password | sudo -S slcand -o -f -s8 /dev/canable2 can2;sudo ifconfig can2 up;exec bash;" +gnome-terminal -t "can" -x bash -c "echo $password | sudo -S slcand -o -f -s8 /dev/canable3 can3;sudo ifconfig can3 up;exec bash;" +# 底盘 +gnome-terminal -t "can" -x bash -c "echo $password | sudo -S slcand -o -f -s6 /dev/canable4 can4;sudo ifconfig can4 up;exec bash;" + + + + diff --git a/tools/rs_camera_serial.sh b/tools/rs_camera_serial.sh new file mode 100644 index 0000000000000000000000000000000000000000..bad782271b84eedaf55fba01387435c05e835c3d --- /dev/null +++ b/tools/rs_camera_serial.sh @@ -0,0 +1,30 @@ +ws_path=$(pwd) +echo $ws_path + +cd $ws_path/camera_ws + +file="$ws_path/camera_ws/devel/lib/realsense2_camera/list_device_camera" +if [[ -f "$file" ]]; then + echo "list_devices_camera exist." +else + echo "list_devices_camera no exist, please catkin_make astra_camera package.." + exit 0 +fi + + +file="/etc/udev/rules.d/99-realsense-libusb.rules" + +if [[ -f "$file" ]]; then + echo "99-realsense-libusb.rules.rules exist." +else + echo "99-realsense-libusb.rules not exist, please add 99-realsense-libusb.rules." + exit 0 +fi + + +echo "" +echo "camera serial number: " +$ws_path/camera_ws/devel/lib/realsense2_camera/list_device_camera + +echo "-----------------" +echo "" \ No newline at end of file diff --git a/tranin_dir/purple/train_val_l1_seed_0.png b/tranin_dir/purple/train_val_l1_seed_0.png new file mode 100644 index 0000000000000000000000000000000000000000..820b601a6667fa5aaa5cd173bd304d1d7b62e53b Binary files /dev/null and b/tranin_dir/purple/train_val_l1_seed_0.png differ