auboi5_realsense's Introduction
############### 时间:2020-09-21 ############### aubo机械臂i5、realsense D435i、大寰AG-95识别抓取软件包操作步骤: ---------------- 运行环境: 系统:ubuntu 16.04 ROS环境: ROS kinetic moveit版本: 0.9.15 ---------------- 1.安装ros依赖包 ‘sudo rosdep install --from-paths src --rosdistro kinetic -y’ 2.安装realsense库 参照https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md 3.安装realsense ros软件包 ‘sudo apt-get install ros-kinetic-realsense* -y’ 4.编译软件包 ‘catkin_make -j1 -DCMAKE_BUILD_TYPE=RELEASE’ 注意:由于软件包过大,如果不指定-j1单线程编译容易导致内存爆掉,可以适当使用-j2/-j4来提高编译速度,-j1的编译时间大概是30分钟左右,请耐心等待。 编译选项-DCMAKE_BUILD_TYPE=RELEASE是将工作包编译为RELEASE版本,这样识别程序的稳定性相对较好。 5.手眼标定 参照'~/aubo_ws/src/easy_handeye/README.md' 6.添加标定结果 在机械臂launch文件中添加如下语句发布标定结果: '<node pkg="tf" type="static_transform_publisher" name="camera_broadcaster" args="0.01703139872968774 0.06367679269212607 0.022449576060965877 -0.49984429725973745 -0.5026434417758587 -0.4962838460679254 0.5012061382990693 wrist3_Link camera_link 100" />' args的参数分别顺序是:x,y,z,qx,qy,qz,qw,父关节,子关节,发布频率 7.运行demo a.运行机械臂 '$ roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.12.102' b.运行相机 'roslaunch realsense2_camera rs_camera.launch filters:=pointcloud' c.运行手抓程序 'roslaunch dh_hand_driver dh_hand_controller.launch ' d.运行检测程序 ‘roslaunch object_recognition_tabletop tabletop.launch’ e.运行demo程序 'rosrun aubo_demo grap_cycle' f.运行rviz观察 ‘rosrun rviz rviz -d $(rospack find aubo_demo)/rviz/demo.rviz’ 注意:运行每个程序之前都需要引入工作包的环境变量,如source ~/aubo_ws/devel/setup.bash
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