在ROS下控制dobot(magician)机械手的吸盘

在ROS下控制越疆科技dobot(magician)机械手的吸盘气泵

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/SetEndEffectorSuctionCup.h"
#include "dobot/SetHOMEParams.h"
#include "dobot/SetHOMECmd.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 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 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");dobot::SetHOMEParams home;home.request.x = 200;home.request.y = 0;home.request.z = 0;home.request.r = 0;home.request.isQueued = 1;client.call(home); } while(0);do{client = n.serviceClient<dobot::SetHOMECmd>("/DobotServer/SetHOMECmd");dobot::SetHOMECmd home1;client.call(home1);} while(0);ros::spinOnce();while (ros::ok()){client = n.serviceClient<dobot::SetEndEffectorSuctionCup>("/DobotServer/SetEndEffectorSuctionCup");dobot::SetEndEffectorSuctionCup sck1;   do{sck1.request.enableCtrl = 1; // When enableCtr == 1 the motor will operate. sck1.request.suck = 1; // When suck == 1 the suction cup will suck.sck1.request.isQueued = true; // This command puts the request in the queue.ros::spinOnce(); } while(0);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);if (srv.response.result == 0) {break; }     ros::spinOnce(); //spinOnce() will execute any callbacks.if (ros::ok() == false) {break;}}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);if (srv.response.result == 0) {break; }     ros::spinOnce(); //spinOnce() will execute any commands in the queue.if (ros::ok() == false) {break;}} while(0);client = n.serviceClient<dobot::SetEndEffectorSuctionCup>("/DobotServer/SetEndEffectorSuctionCup");dobot::SetEndEffectorSuctionCup sck2;// pick up do{sck2.request.enableCtrl = 1;sck2.request.suck = 1; // Enable suction sck2.request.isQueued = true;client.call(sck2);ros::spinOnce(); //spinOnce() will execute any commands in the queue.if (ros::ok() == false) {break;}} 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 = -45;srv6.request.r = 0;client.call(srv6);if (srv6.response.result == 0) {break; }     ros::spinOnce(); //spinOnce() will execute any commands in the queue.if (ros::ok() == false) {break;}}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);if (srv6.response.result == 0) {break; }     ros::spinOnce(); //spinOnce() will execute any commands in the queue.if (ros::ok() == false) {break;}}while(0);do{srv6.request.ptpMode = 1;srv6.request.x = 200;srv6.request.y = 50;srv6.request.z = -45;srv6.request.r = 0;client.call(srv6);if (srv6.response.result == 0) {break; }     ros::spinOnce(); //spinOnce() will execute any commands in the queue.if (ros::ok() == false) {break;}} while(0);client = n.serviceClient<dobot::SetEndEffectorSuctionCup>("/DobotServer/SetEndEffectorSuctionCup");dobot::SetEndEffectorSuctionCup sck3;//drop off do{    sck3.request.enableCtrl = 1;sck3.request.suck = 0;sck3.request.isQueued = true;client.call(sck3);ros::spinOnce(); //spinOnce() will execute any commands in the queue.if (ros::ok() == false) {break;}}while (0);ros::spinOnce();}return 0;
}

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