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34 lines
990 B
Python
34 lines
990 B
Python
import rclpy
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# Initialize ROS communications for a given context
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if(rclpy.ok() == False):
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rclpy.init()
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else:
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print("rclpy already initiated")
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from unilabos.devices.electrochem.dh_7000 import DH7000
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from unilabos_msgs.action import SendCmd
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from std_msgs.msg import Float64, String, Int16
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from unilabos.ros.device_node_wrapper import ros2_device_node
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import clr
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import os
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# dll_path = r'D:\UniLab\code\DHElecChem\release64'
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# eccore_dll_path = os.path.join(dll_path, 'ECCore.dll')
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# os.environ["PATH"] = dll_path + os.pathsep + os.environ["PATH"]
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# clr.AddReference(eccore_dll_path)
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# from ECCore import ElecMachines
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ROS2_DH7000 = ros2_device_node(
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DH7000,
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status_types={'machine_id': Int16, 'status': String},
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action_value_mappings={'dh_cmd': {
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'type': SendCmd,
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'goal': {'command': 'command'},
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'feedback': {},
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'result': {'success': 'success'}}
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}
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)
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device = ROS2_DH7000(device_id='DH7000_1')
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rclpy.spin(device.ros_node_instance) |