主要参考https://github.com/IFL-CAMP/easy_handeye/issues/19
https://blog.csdn.net/zhang970187013/article/details/81098175
1.在ubuntu16上安裝moveit和kinova
kinova正常安装会提示报错,因此参考这个教程 Kinovarobotics/kinova ros#190
The steps should look like :
cd ~/catkin_ws/src
git clone https://github.com/Kinovarobotics/kinova-ros.git kinova-ros
git checkout master
git checkout 94c25e1
cd ~/catkin_ws
catkin_make
能正常安装,但是运行roslaunch j2n6s300_moveit_config j2n6s300_demo.launch的时候
在rviz中拖动小球,无法正常使用plan和execution
因此按照博客https://blog.csdn.net/zhaoxl66/article/details/80372297修改
2.获取相机的内参
sr300可以直接获取,因此跳过哈
3.安装easy_handeye和aruco_ros
visp的依赖 sudo apt-get install ros-kinetic-vision-visp
https://github.com/IFL-CAMP/easy_handeye
https://github.com/pal-robotics/aruco_ros
4.写launch程序
https://github.com/IFL-CAMP/easy_handeye/blob/master/docs/example_lau