Ubuntu18.04+Ros+Astra+学习手札

茗可可

已于 2023-05-25 09:14:49 修改

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分类专栏： ubuntu 文章标签：学习

于 2023-03-24 14:18:39 首次发布

本文链接：https://blog.csdn.net/weixin_42235677/article/details/129749834

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Ubuntu18.04+Ros+Astra学习手札

本人小白，有错见笑

主要参考：
奥比中光相机ros
在这里插入图片描述
2bc5:0536为彩色摄像机
2bc5:0636为深度摄像机

调试好之后按照一下步骤，连接所有

cd ~/catkin_ws/
source devel/setup.bash
roscd astra_camera/launch
roslaunch astra_camera astrapro.launch

另起一个终端

rviz

出现无法连接的错误 Access denied！
在这里插入图片描述
更改rules

小红字通过

sudo chmod 777 /dev/bus/usb/003/005

解决
现在执行rviz可以看到彩色照片

但依旧存在Resource busy 问题
在这里插入图片描述

有些笔记：
#1.Get into Ros workshop
cd ~/aubo_ws/
source devel/setup.bash
roslaunch aubo_i10_moveit_config moveit_planning_execution.launch robot_ip:=192.168.192.5

#2Get into Ros astra camera
cd ~/catkin_ws/
source devel/setup.bash
roscd astra_camera/launch
roslaunch astra_camera astrapro.launch
rviz

#3.use camera
#realsense
#output camera/color/image_raw
realsense-viewer
roslaunch realsense2_camera rs_camera.launch
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

#orbbec astra+
#output /camera/rgb/image_raw
roslaunch orbbec_camera astra.launch

#4.handeye
#just need one
roslaunch easy_handeye eye_to_hand_calibration.launch

#if use orbbec
roslaunch easy_handeye eye_to_hand_calibration_astra.launch

#5.tf
save in /home/ysmcoco/.ros
modify static_transform_publisher.launch with static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period(milliseconds)
roslaunch easy_handeye static_transform_publisher.launch
#or change the tf in easy.launch

#6.over all
roslaunch easy_handeye easy.launch
#add image and pointcloud(topic:/camera/depth/color/points)
#change camera(useless)
rosrun rqt_reconfigure rqt_reconfigure

#if you use kinect
k4aviewer
roslaunch azure_kinect_ros_driver driver.launch
rviz s