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Piper_ros_private-ros-noetic/src/piper/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(piper)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  actionlib_msgs
+  control_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  trajectory_msgs
+  message_generation
+  geometry_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+# add_message_files(
+#   FILES
+#   AgxArmStatusMsg.msg
+#   Joint.msg
+#   PosCmd.msg
+# )
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   actionlib_msgs#   control_msgs#   sensor_msgs#   
+#   std_msgs#   trajectory_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES piper
+ CATKIN_DEPENDS actionlib actionlib_msgs control_msgs roscpp rospy sensor_msgs std_msgs trajectory_msgs message_generation geometry_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/piper.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/piper_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_piper.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

Piper_ros_private-ros-noetic/src/piper/launch/start_ms_piper.launch

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+<launch>
+  <!-- 定义 mode 参数，默认值为 0,读取主从臂的消息，并转发到ROS -->
+  <arg name="mode" default="0" />
+  <arg name="auto_enable" default="true" />
+  <!-- 启动左侧机械臂节点 -->
+    <node name="$(anon piper_left)" pkg="piper" type="piper_start_ms_node.py" output="screen">
+      <param name="can_port" value="can_left" />
+      <param name="mode" value="$(arg mode)" />
+      <param name="auto_enable" value="$(arg auto_enable)" />
+      <remap from="/puppet/joint_states" to="/puppet/joint_left" />
+      <remap from="/master/joint_states" to="/master/joint_left" />
+      <remap from="/puppet/end_pose" to="/puppet/end_pose_left" />
+      <remap from="/puppet/arm_status" to="/puppet/arm_left_status" />
+    </node>
+
+  <!-- 启动右侧机械臂节点 -->
+    <node name="$(anon piper_right)" pkg="piper" type="piper_start_ms_node.py" output="screen">
+      <param name="can_port" value="can_right" />
+      <param name="mode" value="$(arg mode)" />
+      <param name="auto_enable" value="$(arg auto_enable)" />
+      <remap from="/puppet/joint_states" to="/puppet/joint_right" />
+      <remap from="/master/joint_states" to="/master/joint_right" />
+      <remap from="/puppet/end_pose" to="/puppet/end_pose_right" />
+      <remap from="/puppet/arm_status" to="/puppet/arm_right_status" />
+    </node>
+    
+</launch>
+

Piper_ros_private-ros-noetic/src/piper/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>piper</name>
+  <version>0.0.0</version>
+  <description>The piper package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="agilex@todo.todo">agilex</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/piper</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>control_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>trajectory_msgs</build_depend>
+  <build_export_depend>actionlib</build_export_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <build_export_depend>control_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>trajectory_msgs</build_export_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>control_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+
+  <build_depend>message_generation</build_depend>
+  <build_depend>message_runtime</build_depend>
+
+  <build_export_depend>message_generation</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <build_depend>geometry_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

Piper_ros_private-ros-noetic/src/piper/scripts/piper_read_master_node.py

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+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 本文件为读取主臂发送的消息，当机械臂设置为主臂，主臂只发送关节角消息和控制指令
+from typing import (
+    Optional,
+)
+from piper_sdk import *
+
+import rospy
+import rosnode
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Bool
+
+def check_ros_master():
+    try:
+        rosnode.rosnode_ping('rosout', max_count=1, verbose=False)
+        rospy.loginfo("ROS Master is running.")
+    except rosnode.ROSNodeIOException:
+        rospy.logerr("ROS Master is not running.")
+        raise RuntimeError("ROS Master is not running.")
+
+class C_PiperRosNode():
+    """机械臂ros节点
+    """
+    def __init__(self) -> None:
+        check_ros_master()
+        rospy.init_node('piper_read_master_node', anonymous=True)
+
+        self.can_port = "can0"
+        if rospy.has_param('~can_port'):
+            self.can_port = rospy.get_param("~can_port")
+            rospy.loginfo("%s is %s", rospy.resolve_name('~can_port'), self.can_port)
+        else: 
+            rospy.loginfo("未找到can_port参数,请输入 _can_port:=can0 类似的格式")
+            exit(0)
+
+        self.joint_std_pub_master = rospy.Publisher('/master/joint_states', JointState, queue_size=1)
+
+        self.joint_state_master = JointState()
+        self.joint_state_master.name = ['joint0', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']
+        self.joint_state_master.position = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,0]
+        self.joint_state_master.velocity = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,0]
+        self.joint_state_master.effort = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,0]
+
+        self.piper = C_PiperInterface(can_name=self.can_port)
+        self.piper.ConnectPort()
+
+    def Pubilsh(self):
+        """机械臂消息发布
+        """
+        rate = rospy.Rate(200)  # 200 Hz
+        while not rospy.is_shutdown():
+            self.joint_state_master.header.stamp = rospy.Time.now()
+            # Here, you can set the joint positions to any value you want
+            joint_0 = self.piper.GetArmJointCtrl().joint_ctrl.joint_1/1000 * 0.017444
+            joint_1 = self.piper.GetArmJointCtrl().joint_ctrl.joint_2/1000 * 0.017444
+            joint_2 = self.piper.GetArmJointCtrl().joint_ctrl.joint_3/1000 * 0.017444
+            joint_3 = self.piper.GetArmJointCtrl().joint_ctrl.joint_4/1000 * 0.017444
+            joint_4 = self.piper.GetArmJointCtrl().joint_ctrl.joint_5/1000 * 0.017444
+            joint_5 = self.piper.GetArmJointCtrl().joint_ctrl.joint_6/1000 * 0.017444
+            joint_6 = self.piper.GetArmGripperCtrl().gripper_ctrl.grippers_angle/1000000
+            self.joint_state_master.position = [joint_0,joint_1, joint_2, joint_3, joint_4, joint_5,joint_6]  # Example values
+
+            self.joint_std_pub_master.publish(self.joint_state_master)
+            rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        piper_all = C_PiperRosNode()
+        piper_all.Pubilsh()
+    except rospy.ROSInterruptException:
+        pass
+

Piper_ros_private-ros-noetic/src/piper_description/launch/display_xacro.launch

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+<launch>
+  <arg
+    name="model" />
+  <arg name="rviz_config" default="$(find piper_description)/rviz/piper_ctrl.rviz" />
+  <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_description.xacro" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="$(anon robot_state_publisher)"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(arg rviz_config)" />
+</launch>

Piper_ros_private-ros-noetic/src/piper_description/launch/piper_world.launch

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+<launch>
+
+  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+  
+  <!-- We resume the logic in empty_world.launch -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="$(find piper_description)worlds/empty.world"/>
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="headless" value="$(arg headless)"/>
+  </include>
+
+  <!-- Load the URDF into the ROS Parameter Server -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find piper_description)/urdf/piper_description.xacro'" /> 
+
+  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
+	args="-urdf -model arm -param robot_description"/> 
+
+
+</launch>

camera_ws/build/ros_astra_camera/CMakeFiles/_astra_camera_generate_messages_check_deps_Extrinsics.dir/build.make

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+
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+
+
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+
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+
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+
+
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+cmake_force:
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+
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+
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