Hi, We are programming a pick-and-place work using the gripper of the robot arm. The program for opening and closing the purchased gripper is created by Python API, but I would like to use it in a C ++ node. Could you please tell me the easiest way to use the Python API in C ++? A program for opening and closing the gripper is attached. I want to use set_encorder () below in a C ++ node. Thank you
import logging
import sys
from pymycobot.log import setup_logging
from pymycobot.error import check_datas
from pymycobot.common import Command, DataProcessor
class MycobotCommandGenerater(DataProcessor):
"""MyCobot Python API (Chain operation: *)
Supported methods:
# JOG mode and operation
set_encoder()
"""
def __init__(self, debug=False):
"""
Args:
port : port string
baudrate : baud rate string, default '115200'
timeout : default 0.1
debug : whether show debug info
"""
self._version = sys.version_info[:2][0]
self.debug = debug
setup_logging(self.debug)
self.log = logging.getLogger(__name__)
def _mesg(self, genre, *args, **kwargs):
"""
Args:
genre: command type (Command)
*args: other data.
It is converted to octal by default.
If the data needs to be encapsulated into hexadecimal,
the array is used to include them. (Data cannot be nested)
**kwargs: support `has_reply`
has_reply: Whether there is a return value to accept.
"""
command_data = self._process_data_command(args)
LEN = len(command_data) + 2
command = [
Command.HEADER,
Command.HEADER,
LEN,
genre,
command_data,
Command.FOOTER,
]
real_command = self._flatten(command)
has_reply = kwargs.get("has_reply", False)
return real_command, has_reply
# JOG mode and operation
def set_encoder(self, joint_id, encoder):
"""Set joint encoder value.
Args:
joint_id: Joint id 1 - 7
encoder: The value of the set encoder.
"""
return self._mesg(Command.SET_ENCODER, joint_id, [encoder])
def get_encoder(self, joint_id):
"""Get servo encoder
Args:
joint_id (int): servo number.
Returns:
(int16): servo encoder value.
"""
return self._mesg(Command.GET_ENCODER, joint_id, has_reply=True)
def set_encoders(self, encoders, sp):
"""Set all servo encoder.
Args:
encoders (list): encoder list
sp (int): speed
Returns:
(str): command.
"""
return self._mesg(Command.SET_ENCODERS, encoders, sp)
def get_encoders(self):
return self._mesg(Command.GET_ENCODERS, has_reply=True)
Originally posted by yo4hi6o on ROS Answers with karma: 71 on 2021-11-11
Post score: 1
Original comments
Comment by gvdhoorn on 2021-11-11:
What about creating a stand-alone Python node which wraps the example you show here? Then create a couple of services (open/close gripper) and invoke those services from your C++ node.
Comment by yo4hi6o on 2021-11-11:
@gvdhoorn thank you for your quick response. Do you know a git project created that way or a helpful article?I'm learning python and I'm not used to it yet. thank you.
Comment by gvdhoorn on 2021-11-11:
The Writing a Simple Service and Client (Python) page shows how to create a simple server and client using rospy. Once you complete that, you can probably extend it to make a server for your services. The client would be on the C++ side, just as any other regular roscpp service clients.
Comment by yo4hi6o on 2021-11-11:
@gvdhoorn
thank you.
I'll try
