dobot M1在ROS下的抓取demo_dobot ros1-CSDN博客

本文链接：https://blog.csdn.net/weixin_44417398/article/details/123388209

该代码示例展示了如何使用ROS节点与Dobot机器人手臂进行交互，包括设置命令超时、清空命令队列、启动执行命令、获取设备版本信息以及设置末端执行器、PTP运动参数等，最终实现对Dobot的PTP运动控制和GPIO状态的改变。

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#include <ros/ros.h>
#include "ros/console.h"
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include <string.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <cmath>
#include <unistd.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 "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"
#include "dobot/SetIODO.h"
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "DobotClient");
    ros::NodeHandle n;
 
    ros::ServiceClient client;
//#if 0
    // SetCmdTimeout
    client = n.serviceClient<dobot::SetCmdTimeout>("/DobotServer/SetCmdTimeout");
    dobot::SetCmdTimeout srv1;
    srv1.request.timeout = 3000;
    if (client.ca