264 lines
7.6 KiB
Python
264 lines
7.6 KiB
Python
'''
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This demo show the communication interface of MR813 motion control board based on Lcm.
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Dependency:
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- robot_control_cmd_lcmt.py
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- robot_control_response_lcmt.py
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'''
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import lcm
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import sys
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import os
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import time
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import threading
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from threading import Thread, Lock
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from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
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from utils.robot_control_response_lcmt import robot_control_response_lcmt
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def main():
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Ctrl = Robot_Ctrl()
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Ctrl.run()
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msg = robot_control_cmd_lcmt()
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try:
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#起立
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msg.mode = 12
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msg.gait_id = 0
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msg.life_count += 1 # Command will take effect when life_count update
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(12, 0)
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#横着走向库位1
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msg.mode = 11
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msg.gait_id = 3
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msg.vel_des = [0.0,0.2,0.0]
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msg.duration = 4500
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(5)
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#直走进入库位1
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msg.mode = 11 # 旋转1
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msg.gait_id = 3 # 自变频Trot步态
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msg.vel_des = [0.3, 0.0, 0.0] # 顺时针旋转（负Z轴速度）
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msg.duration = 3000 # 执行9.5秒后自动停止
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(4)
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#趴下卸货
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msg.mode = 7 # PureDamper
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msg.gait_id = 1
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(7, 0)
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time.sleep(10)
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#起立
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msg.mode = 12 # Recovery stand
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msg.gait_id = 0
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msg.life_count += 1 # Command will take effect when life_count update
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(12, 0)
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#退出库1
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msg.mode = 11 # 旋转1
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msg.gait_id = 3 # 自变频Trot步态
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msg.vel_des = [-0.3, 0.0, 0.0] # 顺时针旋转（负Z轴速度）
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msg.duration = 3300 # 执行9.5秒后自动停止
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(4)
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#向库2走
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msg.mode = 11
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msg.gait_id = 3
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msg.vel_des = [0.0,-0.2,0.0]
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msg.duration = 9500
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msg.step_height = [0.06,0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(10)
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#进入库2
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msg.mode = 11 # 旋转1
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msg.gait_id = 3 # 自变频Trot步态
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msg.vel_des = [0.3, 0.0, 0.0] # 顺时针旋转（负Z轴速度）
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msg.duration = 3000 # 执行9.5秒后自动停止
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(4)
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#趴下
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msg.mode = 7 # PureDamper
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msg.gait_id = 1
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(7, 0)
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time.sleep(10)
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#起立
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msg.mode = 12 # Recovery stand
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msg.gait_id = 0
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msg.life_count += 1 # Command will take effect when life_count update
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(12, 0)
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#退出库2
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msg.mode = 11 # 旋转1
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msg.gait_id = 3 # 自变频Trot步态
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msg.vel_des = [-0.3, 0.0, 0.0] # 顺时针旋转（负Z轴速度）
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msg.duration = 3300 # 执行9.5秒后自动停止
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(4)
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#旋转180度
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msg.mode = 11
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msg.gait_id = 3
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msg.vel_des = [0.0,0.0,0.4]
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msg.duration = 9250
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msg.step_height = [0.06,0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(8)
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#向黄灯前进
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msg.mode = 11
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msg.gait_id = 3
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msg.vel_des = [0.3,0.0,0.0]
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msg.duration = 4000
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msg.step_height = [0.06,0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(5)
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#停五秒
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msg.mode = 12
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msg.gait_id = 0
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msg.vel_des = [0.0,0.0,0.0]
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msg.duration = 6000
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(7)
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#直走
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msg.mode = 11
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msg.gait_id = 3
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msg.vel_des = [0.3,0.0,0.0]
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msg.duration = 25300
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(26)
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#向右平移至S弯口
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msg.mode = 11 # 运动模式
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msg.gait_id = 3 # 自变频Trot步态
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msg.vel_des = [0.0, -0.2, 0.0] # 顺时针旋转（负Z轴速度）
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msg.duration = 5000 # 执行9.5秒后自动停止
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msg.step_height = [0.06, 0.06]
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep(5)
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except KeyboardInterrupt:
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pass
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Ctrl.quit()
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sys.exit()
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class Robot_Ctrl(object):
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def __init__(self):
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self.rec_thread = Thread(target=self.rec_responce)
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self.send_thread = Thread(target=self.send_publish)
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self.lc_r = lcm.LCM("udpm://239.255.76.67:7670?ttl=255")
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self.lc_s = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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self.cmd_msg = robot_control_cmd_lcmt()
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self.rec_msg = robot_control_response_lcmt()
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self.send_lock = Lock()
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self.delay_cnt = 0
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self.mode_ok = 0
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self.gait_ok = 0
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self.runing = 1
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def run(self):
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self.lc_r.subscribe("robot_control_response", self.msg_handler)
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self.send_thread.start()
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self.rec_thread.start()
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def msg_handler(self, channel, data):
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self.rec_msg = robot_control_response_lcmt().decode(data)
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if(self.rec_msg.order_process_bar >= 95):
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self.mode_ok = self.rec_msg.mode
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else:
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self.mode_ok = 0
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def rec_responce(self):
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while self.runing:
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self.lc_r.handle()
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time.sleep( 0.002 )
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def Wait_finish(self, mode, gait_id):
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count = 0
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while self.runing and count < 2000: #10s
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if self.mode_ok == mode and self.gait_ok == gait_id:
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return True
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else:
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time.sleep(0.005)
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count += 1
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def send_publish(self):
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while self.runing:
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self.send_lock.acquire()
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if self.delay_cnt > 20: # Heartbeat signal 10HZ, It is used to maintain the heartbeat when life count is not updated
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self.lc_s.publish("robot_control_cmd",self.cmd_msg.encode())
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self.delay_cnt = 0
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self.delay_cnt += 1
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self.send_lock.release()
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time.sleep( 0.005 )
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def Send_cmd(self, msg):
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self.send_lock.acquire()
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self.delay_cnt = 50
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self.cmd_msg = msg
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self.send_lock.release()
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def quit(self):
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self.runing = 0
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self.rec_thread.join()
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self.send_thread.join()
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class MiroCameraThread(threading.Thread):
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def __init__(self):
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super().__init__(daemon=True)
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self.ros_initialized = False
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self.camera = None
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self.image = None
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def run(self):
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rclpy.init()
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self.ros_initialized = True
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self.camera = MiroCameraROS2()
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self.image = self.camera.get_latest_image()
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rclpy.shutdown()
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# Main function
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if __name__ == '__main__':
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main()
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#python3 src/cyberdog_simulator/cyberdog_gazebo/script/launchsim.py
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#python3 src/cyberdog_simulator/cyberdog_gazebo/script/launchsim.py |