78 lines
2.2 KiB
Python
78 lines
2.2 KiB
Python
#!/usr/bin/env python3
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import time
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from pathlib import Path
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import cv2
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import rclpy
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from control_msgs.action import GripperCommand
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from cv_bridge import CvBridge
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from rclpy.action import ActionClient
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from rclpy.node import Node
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from rclpy.qos import qos_profile_sensor_data
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from sensor_msgs.msg import Image
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from ultralytics import YOLO
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HERE = Path(__file__).resolve().parent
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CAMERA = "/RMC1/arm95/camera_gripper/image_color"
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GRIPPER = "/RMC1/arm95/gripper_controller/gripper_cmd"
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class Demo(Node):
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def __init__(self):
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super().__init__("simple_module_b")
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self.model = YOLO(str(HERE / "models/latest.pt"))
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self.bridge = CvBridge()
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self.gripper = ActionClient(self, GripperCommand, GRIPPER)
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self.gripper.wait_for_server()
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self.create_subscription(Image, CAMERA, self.on_image, qos_profile_sensor_data)
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self.started = None
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self.opened = False
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self.closed = False
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def move_gripper(self, position):
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goal = GripperCommand.Goal()
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goal.command.position = position
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goal.command.max_effort = 20.0
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self.gripper.send_goal_async(goal)
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def on_image(self, message):
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frame = self.bridge.imgmsg_to_cv2(message, "bgr8")
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result = self.model(frame, conf=0.25, verbose=False)[0]
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if self.started is None:
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self.started = time.monotonic()
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elapsed = time.monotonic() - self.started
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if elapsed >= 5 and not self.opened:
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self.move_gripper(0.04)
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self.opened = True
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print("Захват открыт")
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elif elapsed >= 7 and not self.closed:
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self.move_gripper(0.0)
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self.closed = True
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print("Захват закрыт")
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cv2.imshow("YOLO", result.plot())
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if cv2.waitKey(1) & 0xFF in (ord("q"), 27):
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rclpy.shutdown()
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def main():
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input("Предмет (Кисть, Нож или Резаки): ")
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rclpy.init()
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node = Demo()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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cv2.destroyAllWindows()
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if rclpy.ok():
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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