robot-programming
所属分类：人工智能/神经网络/深度学习
开发工具：Common Lisp
文件大小：0KB
下载次数：0
上传日期：2023-10-19 06:14:35
上 传 者：
sh-1993
说明： 这是机器人编程的练习。，
(This is exercise for robot-programming.,)
文件列表:
.rosinstall.melodic (1645, 2023-11-16)
.rosinstall.noetic (3449, 2023-11-16)
.travis.sh (1318, 2023-11-16)
.travis.yml (965, 2023-11-16)
cart_humanoid/ (0, 2023-11-16)
cart_humanoid/CHANGELOG.rst (1788, 2023-11-16)
cart_humanoid/CMakeLists.txt (1140, 2023-11-16)
cart_humanoid/config/ (0, 2023-11-16)
cart_humanoid/config/cart_humanoid_controllers.yaml (3463, 2023-11-16)
cart_humanoid/config/click_ik.rviz (15976, 2023-11-16)
cart_humanoid/config/sample_head_arm_skin_detect.rviz (8254, 2023-11-16)
cart_humanoid/euslisp/ (0, 2023-11-16)
cart_humanoid/euslisp/cart_humanoid-interface.l (5779, 2023-11-16)
cart_humanoid/euslisp/jaxon_red.l (15946619, 2023-11-16)
cart_humanoid/euslisp/realtime-ik-sample.l (2465, 2023-11-16)
cart_humanoid/launch/ (0, 2023-11-16)
cart_humanoid/launch/cart_humanoid_gazebo.launch (4253, 2023-11-16)
cart_humanoid/launch/click_ik_rviz.launch (712, 2023-11-16)
cart_humanoid/launch/sample_head_arm_skin_detect.launch (1770, 2023-11-16)
cart_humanoid/package.xml (2793, 2023-11-16)
cart_humanoid/scripts/ (0, 2023-11-16)
cart_humanoid/scripts/sample_julius_cmd.py (1522, 2023-11-16)
cart_humanoid/scripts/skin_ellipse_area_to_ik_tgt.py (3699, 2023-11-16)
cart_humanoid/scripts/tuck_arm.py (4161, 2023-11-16)
cart_humanoid/urdf/ (0, 2023-11-16)
cart_humanoid/urdf/JAXON_RED.urdf.xacro (6265, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_body_stable_inertia.urdf (60630, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_meshes/ (0, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_meshes/BODY_mesh.dae (4294575, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_meshes/CHEST_LINK0_mesh.dae (35517, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_meshes/CHEST_LINK1_mesh.dae (3580401, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_meshes/CHEST_LINK2_mesh.dae (5737292, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_meshes/HEAD_LINK0_mesh.dae (1456367, 2023-11-16)
cart_humanoid/urdf/JAXON_RED_meshes/HEAD_LINK1_mesh.dae (1546571, 2023-11-16)
... ...
robot-programming [](https://app.travis-ci.com/jsk-enshu/robot-programming) [](https://gitter.im/jsk-enshu/robot-programming?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
=================
This is exercise for robot-programming.
Setup
-----
```
$ source /opt/ros/noetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/jsk-enshu/robot-programming
$ wstool init .
$ wstool merge robot-programming/.rosinstall.${ROS_DISTRO}
$ wstool update
$ rosdep update
$ cd ..
$ rosdep install --from-paths src --ignore-src -y -r
$ catkin build
# $ echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc ## > と >> の違いが理解できていればbashrcに追加してもよい
```
Start simulator
---------------
```
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch dxl_armed_turtlebot dxl_armed_turtlebot_gazebo.launch
```
Start RQT GUI
-------------
```
$ roscd dxl_armed_turtlebot/launch
$ rqt --perspective-file enshu.perspective
```
Start Color Tracking node
-------------------------
```
$ roslaunch opencv_apps camshift.launch image:=/camera/rgb/image_raw
$ rosrun image_view2 image_view2 image:=/camera/rgb/image_raw ~image_transport:=compressed
```
Start Checkerboard Tracking Tracking node
-----------------------------------------
```
$ roslaunch roseus_tutorials checkerboard-detector.launch rect0_size_x:=0.02 rect0_size_y:=0.02 \
grid0_size_x:=7 grid0_size_y:=4 translation0:="0 0 0" \
image:=image_raw group:=/camera/rgb frame_id:=camera_rgb_optical_frame
$ ROS_NAMESPACE=/camera/rgb rosrun checkerboard_detector objectdetection_tf_publisher.py \
_use_simple_tf:=true
```
Documentations
=================
See online [manual](http://jsk-enshu.github.io/robot-programming/) for Euslisp models and interfaces.
PDF files are also available from [here](http://jsk-enshu.github.io/robot-programming/robot_programming_manual.pdf)
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