ROS学习记录

ROS学习记录

1. 系统环境

• Ubuntu 16.04
• CUDA 10.2
• cudnn 7.6.5
• TensorRT 7.1.3.4
• 奥比中光astra-mini摄像头

2. ROS系统路径

/root/catkin_ws

3. 相关指令

3.1. 设置环境，将ros环境根目录设置为顶层

新包Universal_Robots_ROS_Driver

source devel_isolated/setup.bash

旧版

source devel/setup.bash

3.2. 启动ros

roscore

其他

• 1.启动奥比中光摄像头节点，教程看相关项目-1

roslaunch astra_camera astra.launch

• 2.使用image_view打开摄像头视觉

rosrun image_view image_view image:=/camera/rgb/image_raw

• 3.手眼标定配置文件 - 标定方法Tsai-Lenz

sudo gedit ~/catkin_ws/src/easy_handeye/easy_handeye/launch/eye_to_hand_calibration.launch

• 4.开启标定程序

roslaunch easy_handeye eye_to_hand_calibration.launch

相关项目

• 1. 奥比中光摄像头官方ros项目 - ros_astra_camera
• 2. UR5机械臂官方控制项目 - universal_robot - !!!官方已弃用!!!
• 3. Universal_Robots_ROS_Driver - 新的官方控制库

相关教程

• 1. UR5+ROS Kinetic+easy_handeye手眼标定教程(eye-to-hand)
• 2.【手眼标定】ros / easy_handeye + ur5 + realsense d435i
• 3. Ubuntu 16.04 + Realsense D435i + ROS Kinetic 环境配置

问题记录

• 1. 解决非ROS环境下python包引用错误问题
• 2. ROS kinetic ur_modern_driver报错Sub-package of type 3 was not parsed completely
• 3. ubuntu16.04 python2.7安装opencv失败
• 4. Python2.7+ROS环境:AttributeError:‘module’ has no attribute ‘CALIB_HAND_EYE_TSAI’
• 5. ROS系统easy_handeye手眼标定rqt_easy_handeye没有菜单栏无法打开aruco码位姿检测图像(plugins)的解决方法

手眼标定配置文件备份

<launch>
    <arg name="namespace_prefix" default="ur5_kinect_handeyecalibration" />

    <arg name="robot_ip" doc="The IP address of the UR5 robot" />

    <arg name="marker_size" doc="Size of the ArUco marker used, in meters" default="0.05"/>
    <arg name="marker_id" doc="The ID of the ArUco marker used" default="570"/>

    <include file="$(find astra_camera)/launch/astra.launch" >
    </include>

    <!-- start ArUco -->
    <node name="aruco_tracker" pkg="aruco_ros" type="single">
        <remap from="/camera_info" to="/camera/rgb/camera_info" />
        <remap from="/image" to="/camera/rgb/image_raw" />
        <param name="image_is_rectified" value="true"/>
        <param name="marker_size"        value="$(arg marker_size)"/>
        <param name="marker_id"          value="$(arg marker_id)"/>
        <param name="reference_frame"    value="camera_rgb_optical_frame"/>
        <param name="camera_frame"       value="camera_rgb_optical_frame"/>
        <param name="marker_frame"       value="camera_marker" />
    </node>

    <!-- start the robot -->
    <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
        <arg name="limited" value="true" />
        <arg name="robot_ip" value="193.169.10.50" />
    </include>
    <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
        <arg name="limited" value="true" />
    </include>

    <!-- start easy_handeye -->
    <include file="$(find easy_handeye)/launch/calibrate.launch" >
        <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
        <arg name="eye_on_hand" value="false" />

        <arg name="tracking_base_frame" value="camera_rgb_optical_frame" />
        <arg name="tracking_marker_frame" value="camera_marker" />
        <arg name="robot_base_frame" value="base_link" />
        <arg name="robot_effector_frame" value="wrist_3_link" />

        <arg name="freehand_robot_movement" value="false" />
        <arg name="robot_velocity_scaling" value="0.5" />
        <arg name="robot_acceleration_scaling" value="0.2" />
    </include>

</launch>