在ROS下控制dobot(magician)机械手的夹抓

在ROS下控制越疆科技dobot(magician)机械手的夹抓

代码：

#include "ros/ros.h"
#include "ros/console.h"
#include "std_msgs/String.h"
#include "dobot/SetCmdTimeout.h"
#include "dobot/SetQueuedCmdClear.h"
#include "dobot/SetQueuedCmdStartExec.h"
#include "dobot/SetQueuedCmdForceStopExec.h"
#include "dobot/GetDeviceVersion.h"
#include <unistd.h>#include "dobot/SetEndEffectorParams.h"
#include "dobot/SetPTPJointParams.h"
#include "dobot/SetPTPCoordinateParams.h"
#include "dobot/SetPTPJumpParams.h"
#include "dobot/SetPTPCommonParams.h"
#include "dobot/SetPTPCmd.h"
#include "dobot/SetEndEffectorGripper.h"
#include "dobot/SetHOMECmd.h"
#include "dobot/SetHOMEParams.h"int main(int argc, char **argv)
{ros::init(argc, argv, "DobotClient");ros::NodeHandle n;ros::ServiceClient client;// SetCmdTimeoutclient = n.serviceClient<dobot::SetCmdTimeout>("/DobotServer/SetCmdTimeout");dobot::SetCmdTimeout srv1;srv1.request.timeout = 3000;if (client.call(srv1) == false) {ROS_ERROR("Failed to call SetCmdTimeout. Maybe DobotServer isn't started yet!");return -1;}// Clear the command queueclient = n.serviceClient<dobot::SetQueuedCmdClear>("/DobotServer/SetQueuedCmdClear");dobot::SetQueuedCmdClear srv2;client.call(srv2);// Start running the command queueclient = n.serviceClient<dobot::SetQueuedCmdStartExec>("/DobotServer/SetQueuedCmdStartExec");dobot::SetQueuedCmdStartExec srv3;client.call(srv3);// Get device version informationclient = n.serviceClient<dobot::GetDeviceVersion>("/DobotServer/GetDeviceVersion");dobot::GetDeviceVersion srv4;client.call(srv4);if (srv4.response.result == 0) {ROS_INFO("Device version:%d.%d.%d", srv4.response.majorVersion, srv4.response.minorVersion, srv4.response.revision);} else {ROS_ERROR("Failed to get device version information!");}// Set end effector parametersclient = n.serviceClient<dobot::SetEndEffectorParams>("/DobotServer/SetEndEffectorParams");dobot::SetEndEffectorParams srv5;srv5.request.xBias = 70;srv5.request.yBias = 0;srv5.request.zBias = 0;client.call(srv5);// Set PTP joint parametersdo {client = n.serviceClient<dobot::SetPTPJointParams>("/DobotServer/SetPTPJointParams");dobot::SetPTPJointParams srv;for (int i = 0; i < 4; i++) {srv.request.velocity.push_back(100);}for (int i = 0; i < 4; i++) {srv.request.acceleration.push_back(100);}client.call(srv);} while (0);// Set PTP coordinate parametersdo {client = n.serviceClient<dobot::SetPTPCoordinateParams>("/DobotServer/SetPTPCoordinateParams");dobot::SetPTPCoordinateParams srv;srv.request.xyzVelocity = 100;srv.request.xyzAcceleration = 100;srv.request.rVelocity = 100;srv.request.rAcceleration = 100;client.call(srv);} while (0);// Set PTP jump parametersdo {client = n.serviceClient<dobot::SetPTPJumpParams>("/DobotServer/SetPTPJumpParams");dobot::SetPTPJumpParams srv;srv.request.jumpHeight = 20;srv.request.zLimit = 200;client.call(srv);} while (0);// Set PTP common parametersdo {client = n.serviceClient<dobot::SetPTPCommonParams>("/DobotServer/SetPTPCommonParams");dobot::SetPTPCommonParams srv;srv.request.velocityRatio = 50;srv.request.accelerationRatio = 50;client.call(srv);} while (0);do{client = n.serviceClient<dobot::SetHOMEParams>("/DobotServer/SetHOMEParams"); // The client is using the nodehandler // to access the advertised service SetHOMEParams // within the DobotServer.dobot::SetHOMEParams home; // Sets the position of the home.home.request.x = 200; // Setting the x coordinate through a client request.home.request.y = 0; // Setting the x coordinate through a client request.home.request.z = 0; // Setting the x coordinate through a client request.home.request.r = 0; // Setting the x coordinate through a client request.home.request.isQueued = 1; // Enabling the queue through a client request.client.call(home); // Calls the service with all the requests made but won't be performed until a spin is called.} while(0);do{client = n.serviceClient<dobot::SetHOMECmd>("/DobotServer/SetHOMECmd");dobot::SetHOMECmd home1; // SetHomeCmd needs to be called after SetHOMEParams otherwise the magician will not move to the user defined positions.client.call(home1);} while(0);ros::spinOnce(); // All the callbacks will be called from spinOnce() client = n.serviceClient<dobot::SetPTPCmd>("/DobotServer/SetPTPCmd");dobot::SetPTPCmd srv;    // The first pointdo{srv.request.ptpMode = 1;srv.request.x = 200;srv.request.y = 0;srv.request.z = 0;srv.request.r = 0;client.call(srv);} while(0);do{srv.request.ptpMode = 1;srv.request.x = 250;srv.request.y = 0;srv.request.z = 0;srv.request.r = 0;client.call(srv);} while(0);do{srv.request.ptpMode = 1;srv.request.x = 250;srv.request.y = -30;srv.request.z = 0;srv.request.r = 0;client.call(srv);} while(0);client = n.serviceClient<dobot::SetEndEffectorGripper>("/DobotServer/SetEndEffectorGripper");dobot::SetEndEffectorGripper grp1;// Pick updo{grp1.request.enableCtrl = 1; // When the enableCtrl == 1 the motor will operate.grp1.request.grip = 1; // When grip == 1 the gripper will close. grp1.request.isQueued = true; // This command puts the request in the queue.client.call(grp1);} while(0);client = n.serviceClient<dobot::SetPTPCmd>("/DobotServer/SetPTPCmd");dobot::SetPTPCmd srv6;do{srv6.request.ptpMode = 1;srv6.request.x = 250;srv6.request.y = 0;srv6.request.z = 0;srv6.request.r = 0;client.call(srv6);} while(0);do{srv6.request.ptpMode = 1;srv6.request.x = 250;srv6.request.y = 50;srv6.request.z = 0;srv6.request.r = 0;client.call(srv6);}while(0);do{srv6.request.ptpMode = 1;srv6.request.x = 250;srv6.request.y = 50;srv6.request.z = -30;srv6.request.r = 0;client.call(srv6);}while(0);client = n.serviceClient<dobot::SetEndEffectorGripper>("/DobotServer/SetEndEffectorGripper");dobot::SetEndEffectorGripper grp2;// Drop object  do{   grp2.request.grip = 0; // Release grip.grp2.request.enableCtrl = 1;grp2.request.isQueued = true;client.call(grp2);} while(0);client = n.serviceClient<dobot::SetPTPCmd>("/DobotServer/SetPTPCmd");dobot::SetPTPCmd srv7;do{srv7.request.ptpMode = 1;srv7.request.x = 250;srv7.request.y = 50;srv7.request.z = 0;srv7.request.r = 0;client.call(srv7);} while(0);do{srv7.request.ptpMode = 1;srv7.request.x = 250;srv7.request.y = 0;srv7.request.z = 0;srv7.request.r = 0;client.call(srv7);} while(0);    client = n.serviceClient<dobot::SetEndEffectorGripper>("/DobotServer/SetEndEffectorGripper");dobot::SetEndEffectorGripper grp3;// Turn off motordo{    grp3.request.grip = 0;grp3.request.enableCtrl = 0; // Turn off the power. grp3.request.isQueued = true;client.call(grp3);} while(0);ros::spinOnce();return 0;
}

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