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2018 RoboCup@Rescue China / 2018 China Robot Competition@Rescue

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NWPU_Explorer - 2018

NWPU Explorer Code Repository — 西北工业大学舞蹈机器人基地救援组

  • 软件组:黄德慧、孙家岱、赵玉凡、刘靖泽
  • 电子组:梁成栋、谢凯、丁晓斌
  • 机械组:闫雨晨

团队-@Team-Explorer-Rescue-Robot

视频展示

explorer_small 编译时的依赖包说明目录


  • controller_interface robothardware的核心控件
  • moveit_msg moveit 消息依赖
  • control_toolbox control依赖
  • controller_manager controllers 管理
  • joint_limits_interface 机械臂等节点的接口
  • transmission_interface 机械臂moveit需要
sudo apt install ros-kinetic-moveit ros-kinetic-joy ros-kinetic-controller-interface  ros-kinetic-joint-limits-interface  ros-kinetic-transmission-interface ros-kinetic-realtime-tools ros-kinetic-control-toolbox ros-kinetic-controller-manager 

explorer_navigation 编译时的依赖包说明目录

sudo apt install ros-kinetic-costmap-2d
sudo apt install ros-kinetic-nav-core

explorer_vision编译注意事项

explorer_qrcode编译依赖

  • zbar
wget http://downloads.sourceforge.net/project/zbar/zbar/0.10/zbar-0.10.tar.gz
tar -zvxf zbar-0.10.tar.gz
sudo apt-get install python-gtk2-dev
sudo apt-get install libqt4-dev
export CFLAGS=""
./configure --without-imagemagick --disable-video 
make
sudo make install

explorer_vision

此文件夹中为启动摄像头的launch文件,使用前确认安装usb_cam

sudo apt install ros-kinetic-usb-cam

flir_one_node

使用前先将package中的51-usb-flir-one.rules复制到/etc/udev/rules.d/中即可识别usb转接头接入的flir one热成像仪。

rules手记:http://www.cnblogs.com/sopost/archive/2013/01/09/2853200.html

explorer_pyaudio

pyaudio的机制为在本地和工控机上分别运行talker和listener四个节点,通过socket转发声音数据实现。使用方法为分别在本地和工控机上的launch文件中,将对应的local地址改为操作者电脑的ip地址再行启动。如果接入外部麦克风,需要在设置中特别指定声音输入和输出硬件(可通过远程桌面实现)。

remmina远程桌面配置

www.cnblogs.com/xuliangxing/p/7642650.html

usb_cam

视觉通过usb_cam可以灵活实现。通过更改usb_cam包中的对应的五个video0,1,2,3,4并指定参数可以灵活启动不同摄像头。需要注意对于usb2.0协议摄像头,一个工控机上3.0usb口即使通过usb分线器也最多只能接入两个320*240分辨率,每秒30帧的摄像头。

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