[英]Why is ROS Publisher not publishing values?
我目前正在嘗試編寫一個可以作為ROS節點(使用rosrun)執行的Python ROS程序,該程序實現在單獨的Python文件arm.py中聲明的def(可從以下網址獲取: https : //github.com/nortega1/dvrk -ros / .. )。 該程序最初檢查手臂的當前笛卡爾位置。 隨后,當提供手臂必須經過的一系列點時,程序將計算一個多項式方程,並在給定范圍x值的情況下,程序會對該方程進行評估以找到相應的y值。
在arm.py
文件中,有一個發布程序set_position_cartesian_pub
,用於設置手臂的笛卡爾位置,如下所示:
self.__set_position_cartesian_pub = rospy.Publisher(self.__full_ros_namespace + '/set_position_cartesian', Pose, latch = True, queue_size = 1)
問題是發布者set_position_cartesian沒有將newPose的值發布給機器人-任何人都可以找出問題所在嗎? 我可以確認def lagrange正確計算了x和y坐標的值,這些值通過命令rospy.loginfo(newPose)打印到終端。 由於我過去2天一直在努力解決此問題,因此我們將不勝感激!
#! /usr/bin/python
import rospy
import sys
from std_msgs.msg import String, Bool, Float32
from geometry_msgs.msg import Pose
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import Vector3
from geometry_msgs.msg import Quaternion
from geometry_msgs.msg import Wrench
class example_application:
def callback(self, data):
self.position_cartesian_current = data.pose
rospy.loginfo(data.pose)
def configure(self,robot_name):
self._robot_name = 'PSM1'
ros_namespace = '/dvrk/PSM1'
rospy.Subscriber('/dvrk/PSM1/position_cartesian_current', PoseStamped, self.callback)
self.set_position_cartesian = rospy.Publisher('/dvrk/PSM1/set_position_cartesian', Pose, latch=True, queue_size = 10)
rospy.sleep(3)
rospy.init_node('listener', anonymous=True)
rospy.spin()
def lagrange(self, f, x):
total = 0
n = len(f)
for i in range(n):
xi, yi = f[i]
def g(i, n):
g_tot = 1
for j in range(n):
if i == j:
continue
xj, yj = f[j]
g_tot *= (x - xj) / float(xi - xj)
return g_tot
total += yi * g(i, n)
return total
def trajectoryMover(self):
newPose = Pose()
points =[(0.0156561,0.123151),(0.00715134,0.0035123151),(0.001515177,0.002123151),(0.0071239751,0.09123150)]
xlist = [i*0.001 for i in range(10)]
ylist = [self.lagrange(points, xlist[i])*0.001 for i in range(10)]
for x, y in zip(xlist, ylist):
newPose.position.x = x
newPose.position.y = y
newPose.position.z = 0.001
newPose.orientation.x = 0.001
newPose.orientation.y = 0.001
newPose.orientation.z = 0.005
newPose.orientation.w = 0.002
rospy.sleep(1)
self.set_position_cartesian.publish(newPose)
rospy.loginfo(newPose)
rospy.spin()
def run(self):
# self.home()
self.trajectoryMover()
if __name__ == '__main__':
try:
if (len(sys.argv) != 2):
print(sys.argv[0] + ' requires one argument, i.e. name of dVRK arm')
else:
application = example_application()
application.configure(sys.argv[1])
application.run()
except rospy.ROSInterruptException:
pass
您未發布,因為調用application.configure()
時代碼在rospy.spin()
處停止。 根據我對您要執行的操作的了解,該代碼將向一個主題發布10個姿勢,那么您就不再需要它。
我已經移動了rospy.spin()
的位置,但是代碼需要的修訂更多。
#! /usr/bin/python
import rospy
import sys
from std_msgs.msg import String, Bool, Float32
from geometry_msgs.msg import Pose
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import Vector3
from geometry_msgs.msg import Quaternion
from geometry_msgs.msg import Wrench
class example_application(object):
def callback(self, data):
self.position_cartesian_current = data.pose
rospy.loginfo(data.pose)
def configure(self,robot_name):
self._robot_name = 'PSM1'
ros_namespace = '/dvrk/PSM1'
rospy.Subscriber('/dvrk/PSM1/position_cartesian_current', PoseStamped, self.callback)
self.set_position_cartesian = rospy.Publisher('/dvrk/PSM1/set_position_cartesian', Pose, latch=True, queue_size = 10)
def lagrange(self, f, x):
total = 0
n = len(f)
for i in range(n):
xi, yi = f[i]
def g(i, n):
g_tot = 1
for j in range(n):
if i == j:
continue
xj, yj = f[j]
g_tot *= (x - xj) / float(xi - xj)
return g_tot
total += yi * g(i, n)
return total
def trajectoryMover(self):
newPose = Pose()
points =[(0.0156561,0.123151),(0.00715134,0.0035123151),(0.001515177,0.002123151),(0.0071239751,0.09123150)]
xlist = [i*0.001 for i in range(10)]
ylist = [self.lagrange(points, xlist[i])*0.001 for i in range(10)]
for x, y in zip(xlist, ylist):
newPose.position.x = x
newPose.position.y = y
newPose.position.z = 0.001
newPose.orientation.x = 0.001
newPose.orientation.y = 0.001
newPose.orientation.z = 0.005
newPose.orientation.w = 0.002
self.set_position_cartesian.publish(newPose)
rospy.loginfo(newPose)
def run(self):
# self.home()
self.trajectoryMover()
if __name__ == '__main__':
if (len(sys.argv) != 2):
print(sys.argv[0] + ' requires one argument, i.e. name of dVRK arm')
else:
application = example_application()
application.configure(sys.argv[1])
application.run()
try:
rospy.spin()
except KeyboardInterrupt:
rospy.loginfo("Keyboard Interrupt")
考慮到:
configure
方法移動到__init__
方法。 g()
函數置於lagrange()
之外。 最好使用相對主題名稱,而不要使用絕對主題名稱(絕對主題名稱以/
開頭,例如: '/dvrk/PSM1'
)。
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