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机械臂位子估计

操作如下

1.安装失败方案：源码编译sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgradesudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-devsudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-devgit clon

1.pcl重新编译官网描述：Please note that the modules for NURBS and B-splines are not enabled by default. Make sure you enable “BUILD_surface_on_nurbs” in your ccmake configuration, by setting it to ON.If your license permits, also enable “USE_UMFPACK” for sparse l

默认python环境2.7pip install python-pclImportError: libpcl_keypoints.so.1.7: cannot open shared object file: No such file or directory成功安装的方法git clone https://github.com/strawlab/python-pcl.git修改setup.py首先是在第726行，将vtk_version修改为6.3在752行删除一些依赖项，删掉

1.panda_moveit_config打开后出现进入config，修改sensors_kinect_pointcloud.yaml文件sensors: - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater point_cloud_topic: /camera/depth/color/points //此处修改为rs相机的pointclound话题名称 max_range: 5.0 point_su

1 准备工作cd ~/your_workspace/srcgit clone -b melodic-devel https://github.com/pal-robotics/aruco_ros.gitcd ..catkin_make2.修改launch文件<launch> <arg name="markerId" default="582"/> <arg name="markerSize" default="0.03

(base) bionic@bionic-DL:~$ rostopic list/attached_collision_object/camera/depth_registered/points/collision_object/execute_trajectory/cancel/execute_trajectory/feedback/execute_trajectory/goal/execute_trajectory/result/execute_trajectory/status/fr

对照官方迁移报告中的api进行修改：链接

kinetic版本可以直接下载sudo apt-get install ros-kinetic-manipulation-msgsmelodicgit clone https://github.com/ros-interactive-manipulation/manipulation_msgs.git编译这个包可能还会出错Could not find a package configuration file provided by“household_objects_database_msgs”

目的想检测apriltag相较于棋盘格的位姿识别效果，便于手眼标定安装环境系统：ubuntu 18.04 内核ROS： melodic相机：intel realsense d435i已安装相机驱动librealsense 以及相机ROS Wrapper，相机能够正常工作#1. 安装时需要将realsense相机拔掉#2. 打开终端,依次输入以下命令行（见到Y/n,输入y即可）sudo apt-get update && sudo apt-get upgrade &

看到了有类似的这种问题，我输入命令行，解决sudo apt-get install ros-melodic-apriltag

ubuntu18.04 ROS:melodic python2.7的环境 File "/home/bionic/yuxiangROS_handeye/catkin_ws/src/handeye-calib-master/src/handeye-calib/src/handeye/handeye_calibration_backend_opencv.py", line 29, in HandeyeCalibrationBackendOpenCV 'Park': cv2.CALIB_HAND_EYE_

打开四个终端分别输入roscoreroslaunch realsense2_camera rs_rgbd.launchrosrun my_pcl_tutorial example input:=/camera/depth_registered/pointsrviz打开rs_camera.launch出现报错数据类型不对，换了一个rs_rgbd.launch的文件后运行成功。推测是pointclound2的数据和ros数据不对应导致的数据出错测试的功能包文件example.cpp在SRC下#i

1.我的rosdep init成功，如果失败执行sudo mkdir -p /etc/ros/rosdep/sources.list.dcd /etc/ros/rosdep/sources.list.dsudo touch 20-default.list2.在github下载ros的相关代码下载目录解压缩后放在任意目录下3.修改步骤1中的20-default.list文件，主要是改网站为本地目录# os-specific listings firstyaml file:///home/xx

.cpp程序如下#include <pcl/io/pcd_io.h>#include <pcl/io/ply_io.h>#include <pcl/point_types.h>// 包含相关头文件#include <pcl/visualization/pcl_visualizer.h>typedef pcl::PointXYZ PointT;int main(){ // 读取点云 pcl::PointCloud<PointT&gt

ubuntu18.04+ros1+python2.7本系统python默认3.7，可使用虚拟环境创建创建python2.7的虚拟环境并且在python2.7环境下执行官方教程的语句。进入自己创建的环境：workon virtualenv退出命令deactivate然而进入python2.7环境virtualenv时import yamlDEPRECATION: Python 2.7 reached the end of its life on January 1st, 2020. P

1.教程以及下载地址点击2.报错make[1]: *** 没有规则可制作目标“debian/canonical-certs.pem”.解决方法：改.config文件 cd linux-**找到.config删除 两个.pem文件，变为""

https://zhuanlan.zhihu.com/p/392082731

官方网址：教程连接出现错误：正在读取软件包列表... 完成正在分析软件包的依赖关系树 正在读取状态信息... 完成 有一些软件包无法被安装。如果您用的是 unstable 发行版，这也许是因为系统无法达到您要求的状态造成的。该版本中可能会有一些您需要的软件包尚未被创建或是它们已被从新到(Incoming)目录移出。下列信息可能会对解决问题有所帮助：下列软件包有未满足的依赖关系： ros-melodic-perception : 依赖: ros-melodic-

~/Documents/Frank/lib/libfranka/examples$ cd build~/Documents/Frank/lib/libfranka/examples/build$ cmake ..~/Documents/Frank/lib/libfranka/examples/build$ make ~/Documents/Frank/lib/libfranka/examples/build$ ./print_joint_poses 192.168.1.101连接wpn，term