【ROS/Ubuntu】常用命令

启动USB
lsusb
ls /dev/ttyUSB*
或者
ls /dev/ | grep ttyUSB
sudo chmod a+rw /dev/ttyUSB0

启动SDA
MAC 4C:CC:6A:D8:22:46
192.168.1.10 24 192.168.1.1

conda操作
sunh@robo:~$ source activate
(base) sunh@robo:~$ conda deactivate

创建虚拟环境
conda create -n PVNet-pytorch1.4-py3.6 -y python=3.6

启动realsense相机
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud align_depth:=true

HOYUKO 激光雷达
ls -l /dev/ttyACM0
sudo chmod a+rw /dev/ttyACM0
roslaunch hokuyo.launch

百度语音
roslaunch baidu_speech simple_speaker.launch Gender:=man

单目相机标定
rosrun camera_calibration cameracalibrator.py --size 11x8 --square 0.0001 image:=/usb_cam/image_raw camera:=/usb_cam
camera matrix
1487.102873 0.000000 375.664377
0.000000 1491.949308 295.735988
0.000000 0.000000 1.000000

realsense rosbag
rosbag record -o /media/sunh/G/ -a -x “(.)theora(.)|(.)compressed(.)”
rosbag record -o . -a -x “(.)theora(.)|(.)compressed(.)”

SICK雷达启动命令
roslaunch sick_scan sick_tim_240.launch

PCL mesh采样
pcl_mesh_sampling_debug.exe model.obj model.pcd in out -n_samples 36000

History
history | grep realsense
这样就可以找到终端输入过的一些命令realsense

realsense参数设置
使用pyrealsense2进行设置

pipeline = rs.pipeline()
config = rs.config()
# Strt pipeline
profile = pipeline.start(config)
sensor = pipeline.get_active_profile().get_device().query_sensors()[0]
sensor.set_option(rs.option.motion_range,100)
pipeline.stop()

Pyrealsense2

安装python-pcl

同时使用两个realsense