From 81f6174d3e50eeb59fa02c1f136f68606fd19074 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 19 Mar 2024 09:58:22 +0800
Subject: [PATCH] add pro630 ros1 melodic

---
 .../mycobot_630/config/mycobot_630.rviz        | 18 ++++++++----------
 .../launch/mycobot_630_slider.launch           |  4 ++--
 .../mycobot_630/scripts/mycobot_630_slider.py  |  2 +-
 .../mycobot_630_moveit/scripts/sync_plan.py    |  2 +-
 4 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/mycobot_pro/mycobot_630/config/mycobot_630.rviz b/mycobot_pro/mycobot_630/config/mycobot_630.rviz
index 47752800..acfecd6c 100644
--- a/mycobot_pro/mycobot_630/config/mycobot_630.rviz
+++ b/mycobot_pro/mycobot_630/config/mycobot_630.rviz
@@ -10,7 +10,7 @@ Panels:
         - /TF1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 609
+    Tree Height: 618
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -26,6 +26,7 @@ Panels:
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
+    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
@@ -126,7 +127,6 @@ Visualization Manager:
           Value: true
         link6:
           Value: true
-      Marker Alpha: 1
       Marker Scale: 0.20000000298023224
       Name: TF
       Show Arrows: true
@@ -143,14 +143,12 @@ Visualization Manager:
                       {}
       Update Interval: 0
       Value: true
-    - Alpha: 1
-      Class: rviz/Axes
+    - Class: rviz/Axes
       Enabled: true
       Length: 0.20000000298023224
       Name: Axes
       Radius: 0.004999999888241291
       Reference Frame: <Fixed Frame>
-      Show Trail: false
       Value: true
   Enabled: true
   Global Options:
@@ -186,7 +184,6 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Field of View: 0.7853981852531433
       Focal Point:
         X: -0.07064759731292725
         Y: -0.0814988762140274
@@ -198,15 +195,16 @@ Visualization Manager:
       Near Clip Distance: 0.009999999776482582
       Pitch: 0.5947973132133484
       Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
       Yaw: 2.5353903770446777
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 906
+  Height: 915
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d0000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f2000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002f5fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d0000002f5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f7000002f500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -215,6 +213,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
-  X: 72
+  Width: 1853
+  X: 67
   Y: 27
diff --git a/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch b/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch
index dc8f3d7e..edf5a4fc 100644
--- a/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch
+++ b/mycobot_pro/mycobot_630/launch/mycobot_630_slider.launch
@@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_630/mycobot_630.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
 	<arg name="gui" default="true" />
 	
 	
diff --git a/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py b/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py
index 8b4cd013..855c40d3 100755
--- a/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py
+++ b/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 from socket import *
 import math
diff --git a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
index 2b918e7c..808cca92 100755
--- a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
+++ b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 # -*- coding: utf-8 -*-
 from socket import *
 import math