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system_setting.txt
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#以下为校西606移动操作机器人基本操作和硬件操作中问题参考教程
#维护者：刘传德
#维护时间：2022年3月23日
###我在github上建立了一个维护仓库https://github.com/Chuande-LIU/mobile-manipulator-seuee
###后续新的硬件调试方面的试错和更新信息请新的维护者申请push或fork该仓库
--------------------------------------------------------------------------------
==========
=注意事项1和2=
==========
---------------------------
1、定期给机器人底盘充电，保持机器人内部电池可靠性。
2、机端笔记本电脑请保持长期开机不休眠，其机器人外接插线板请注意长期供电。
## 常挂机设置
禁止休眠
sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
解除禁止休眠
sudo systemctl unmask sleep.target suspend.target hibernate.target hybrid-sleep.target
## 把cpu调整到性能模式
sudo apt-get install cpufrequtils
cpufreq-info
sudo cpufreq-set -g performance
--------------------
链接：http://www.piggysnow.com/archives/308
=================================
==========
==快速上手==
==========
------------------------------
##启动手-臂-眼
1、键盘启动控制手开合
------------------------------------------
#开启底盘供电开关，为手爪供电，看到手爪上绿色灯亮起即可。
#记得结束后关闭底盘供电开关，否则手爪持续消耗底盘内部电池电力。
rosrun handControl handControl_node
rosrun handControl talker Enable 1
rosrun handControl talker Open 1
#手爪控制GUI
ls -l /dev/ttyUSB*
sudo chmod 666 /dev/ttyUSB*
#
chmod u+x run_Grip-Manager.sh
chmod u+x Grip-Manager
cd ~/Desktop/Grip-Manager-ubuntu-16.04-x64
./run_Grip-Manager.sh
读取波特率为11520串口设备
===========================
2、启动臂
-------------------------------------------
#rviz中开启
roslaunch aubo_i5_moveit_with_gripper_config moveit_planning_execution.launch sim:=false robot_ip:=127.0.0.1
#连接实际机器人
机器人上电后
roslaunch aubo_i5_moveit_with_gripper_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.1.4
##AuboQtControl控制实际机器人
由qt creator打开
AuboInterfaceExample.pro执行对应文件即可。
##AuboC++Control控制机器人
##aubo-sdk-example
aubo robot c++ sdk example
## build step
1. cd src
2. mkdir build
3. cd build
4. cmake ..
5. make
============================
3-1、启动眼-usb摄像头
------------------------------------------
#Ubuntu16.04开启usb摄像头
cd ~/sensor_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam
catkin_make
#
roslaunch usb_cam usb_cam-test.launch
#修改video0是电脑自身摄像头，修改video1是外接摄像头
roscd usb_cam/launch
sudo vi usb_cam-test.launch
#摄像头校准
https://blog.csdn.net/qq_25241325/article/details/82705003?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param
===================================
3-2、启动眼-Kinect相机
------------------------------------------
roslaunch kinect2_bridge kinect2_bridge.launch
roslaunch easy_handeye aubo_kinectv2_calibration.launch
======================================
#Teamviewer 安装
sudo dpkg -i teamviewer_15.20.3_amd64.deb
#报错
sudo apt-get --fix-broken install
##rosbag数据记录与回放
mkdir ~/bagfiles
cd ~/bagfiles
rosbag record -a
rosbag record /topic1
#回放
rosbag info <your bagfile>
rosbag play <your bagfile>
12 ROS+二维码
sudo apt-get install ros-kinetic-ar-track-alvar
opt->ros->kinetic->share->ar_track_alvar
#古月居-ROS机器人开发实践358页
roslaunch usb_cam usb_cam-test.launch
roslaunch robot_vision ar_track_camera.launch
#aubo i5 二维码伺服 eye on hand
#ar marker ID 12
roslaunch usb_cam usb_cam-test.launch
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1
cd ~/catkin_ws/src/aubo_robot/aubo_demo/scripts
rosrun aubo_demo aubo_i5_ar_track.py
---------------------------------
https://www.guyuehome.com/6873
13 手柄测试界面
sudo apt-get install jstest-gtk
jstest-gtk
14 Ubuntu下的串口助手cutecom
sudo apt-get install cutecom
sudo cutecom
16 双网卡+linux+内外网
route -n
#wlp8s0无线网卡/enp9s0有线网卡
#校园网
sudo route add default gw 10.192.0.1
------------------
原文链接：https://www.jianshu.com/p/f8b7f034f044
18 获取门转角数据
#文件路径~/sensor_ws/src/beginner_tutorials/src/tf.cpp
rosrun beginner_tutorials my_tf_listener
rqt_plot
#查看话题其中linear.x=OP，linear.x=OQ，linear.z=OQP_angle
/object_1/cmd_vel/linear
#确保识别的物体ID从1开始，远离门轴的二维码为1，门轴的二维码为2
rosbag record /object_1/cmd_vel
#运算门转角度数并发布(30 pfs)
#存放位置~/sensor_ws/src/beginner_tutorials/src
#tf.cpp表示追踪远离门轴的二维码
rosrun beginner_tutorials tf_with2ar
#机器人状态数据由Qt获取
==========================================================================
#Ubuntu16.04 安装Rime
sudo apt install ibus-rime
sudo apt install librime-data-pinyin-simp
系统设置"System setting"里的“Text entry”进行图形化界面“+”操作
System setting-> language support-> Keyboard input method system-> IBus
Ctrl~选择简体字
==========================================================================
==========================================================================
#MoveIt!中的运动学插件ikfast的配置(以aubo_i5机械臂为例)
#初次安装步骤
原文链接：https://blog.csdn.net/fanky_chan/article/details/102547859?utm_medium=distribute.pc_aggpage_search_result.none-task-blog-2~all~first_rank_v2~rank_v25-1-102547859.nonecase&utm_term=aubo%E5%A6%82%E4%BD%95%E4%BD%BF%E7%94%A8&spm=1000.2123.3001.4430
---------------
注意：实际步骤在生成cpp时根据openrave-robot.py "$MYROBOT_NAME".dae --info links中模型index数设置如下
export BASE_LINK="1"
export EEF_LINK="7"
这里要注意下在Setup Assistant中配置运动规划组时，Add a planning group called manipulator that names the kinematic chain between base_link and tool0。
这里的设置要与这里一致，参照上面的关节数据：
在aubo_i5.srdf中确定。
<group name="manipulator_i5">
<chain base_link="base_link" tip_link="wrist3_Link" />
-------------------
https://blog.csdn.net/harrycomeon/article/details/95517129
生成cpp过程大约耗时15分钟
#实际安装时候在openware环节cmake .. -DOSG_DIR=/usr/local/lib64/报错
#转为如下安装openware步骤
https://github.com/crigroup/openrave-installation
#并参考如下步骤
https://blog.csdn.net/Huster_mse/article/details/108725451
#实际安装时候在openware环节cmake .. -DOSG_DIR=/usr/local/lib64/报错FCL
###再次安装步骤
cd ~/aubo_ws/src/aubo_robot/aubo_description/urdf
粘贴 aubo_i5_robot.urdf.xacro、aubo_i5.urdf、aubo_i5.dae、ikfast61_manipulator_i5.cpp
export MYROBOT_NAME="aubo_i5"
export PLANNING_GROUP="manipulator_i5"
export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cpp
export MOVEIT_IK_PLUGIN_PKG="$MYROBOT_NAME"_ikfast_"$PLANNING_GROUP"_plugin
cd ~/aubo_ws/src
catkin_create_pkg "$MOVEIT_IK_PLUGIN_PKG"
cd ~/aubo_ws
catkin_make
rosrun moveit_kinematics create_ikfast_moveit_plugin.py "$MYROBOT_NAME" "$PLANNING_GROUP" "$MOVEIT_IK_PLUGIN_PKG" "$IKFAST_OUTPUT_PATH"
catkin_make
查看 rosed aubo_moveit_config/config/kinematics.yaml中
manipulator_i5:
kinematics_solver: aubo_i5_manipulator_i5_kinematics/IKFastKinematicsPlugin
则成功
================================================
#aubo运行rviz和gezebo
source aubo_ws/devel/setup.zsh
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=127.0.0.1
source aubo_ws/devel/setup.zsh
roslaunch aubo_demo MoveGroupInterface_To_Kinetic.launch
roslaunch aubo_gazebo aubo_i5_gazebo_control.launch
—————————————
#超时报错解决：https://blog.csdn.net/sinat_38284212/article/details/101626539
#rivz不能完全加載卸载moveit重装
sudo apt-get remove ros-kinetic-moveit-*
sudo apt-get install ros-kinetic-moveit
—————————————
解决方法：https://www.shangmayuan.com/a/a0bd4f0fa1be44f190a5d74d.html
##roslaunch aubo_demo MoveGroupInterface_To_Kinetic.launch不能正常执行
#注释掉其workspace以及删除于不用的workspace中编译产生的build和devel文件夹删去
================================================
#aubo二次开发控制柜与笔记本网线/wifi连接
网线IP 192.168.1.3（笔记本）
192.168.1.4（aubo 控制柜）
wifi IP 192.168.1.5（笔记本）
192.168.1.6（aubo 控制柜）
掩码 255.255.255.0
子网 192.168.1.1
存在问题是：wifi连接时机械臂速度约束不够，运行卡顿。
#aubo的C++控制examples调用
cd ~/aubo_ws/src/aubo_robot/AuboInterfaceExample/
g++ -o main main.cpp
./main
#aubo+linux+sdk+官方实例
#首先安装qt creator
https://blog.csdn.net/vitor_lxy/article/details/94215967
#qt项目windows移植至linux
qmake -project QT+=widgets
qmake
make
==========================================================================
#手柄控制aubo i5
#labtop ip=192.168.1.3
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.1.4
#planning->allow external comm.
#add pose->topic->joy
roslaunch aubo_i5_moveit_config joystick_control.launch dev:=/dev/input/js0
==========================================================
#手柄控制底盘
#
sudo apt install ros-kinetic-serial
cd ~/base_ws
rosrun serial_msgs serial_example_node1
#航发底盘串口通讯CRC16为CRC-CCITT(XModem)
#python crcmod实现crc16算法
sudo apt-get install python-crcmod
算法见链接：https://www.pythonf.cn/read/156369#_10
--------------------------
https://cloud.tencent.com/developer/article/1570611
------------------------
AA 20 20 15 00 C4 21 0D
21C4为CRC码
#航发底盘串口通信RS232-USB需要兼容ubuntu系统的串口线，否则PC/ubuntu无法控制
#ROS与串口通信
https://github.com/threefruits/ros_serial_code
-----------------------------
https://blog.csdn.net/Forrest_Z/article/details/55002484?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.control
roscore //必须先运行
rosrun my_serial_node my_serial_node
##权限问题
ls -l /dev/ttyUSB*
sudo chmod 666 /dev/ttyUSB*
===================================
#KinectV2在ROS kinectic中调用libfreenect2和iai_kinect2
#安装libfreenect2 自身驱动
cd ~/catkin_ws/src
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev
sudo apt-get install beignet-dev
sudo apt-get install libopenni2-dev
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
make
make install
sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2
cd ~/catkin_ws/src/libfreenect2/build
./bin/Protonect
————————————————
原文链接：https://blog.csdn.net/zhangjiali12011/java/article/details/97112978
=============================================================================
#KinectV2 ROS标定
roscore
rosrun kinect2_bridge kinect2_bridge _fps_limit:=2
rosrun kinect2_calibration kinect2_calibration chess6x8x0.024 record color
#标定文件位于
~/sensor_ws/src/iai_kinect2/kinect2_bridge/data/008197364647
roslaunch kinect2_bridge kinect2_bridge.launch
rosrun kinect2_viewer kinect2_viewer
---------------------------------------
https://blog.csdn.net/weixin_39928309/article/details/83047473
https://www.cnblogs.com/sasasatori/p/11794499.html
https://github.com/code-iai/iai_kinect2/tree/master/kinect2_calibration
=============================================================================
#KinectV2在ROS中驱动
#安装iai_kinect2
cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"
roslaunch kinect2_bridge kinect2_bridge.launch
rosrun kinect2_viewer kinect2_viewer
————————————————
原文链接：https://blog.csdn.net/zhangjiali12011/java/article/details/97112978
===================================================================================
#物体检测和识别功能（ROS下find_object_2d）
#uvc carmera
cd ~/catkin_ws/src
git clone https://github.com/ktossell/camera_umd
cd ~/catkin_ws
#报错libv4l2.h
sudo apt-get install libv4l-dev
catkin_make
source devel/setup.bash
#
sudo apt-get install ros-kinetic-find-object-2d
cd ~/catkin_ws
git clone https://github.com/introlab/find-object src/find_object_2d
catkin_make
#UVC摄像头find_object_2d
roscore
roslaunch usb_cam usb_cam-test.launch
#修改sensor_ws/src/usb_cam/launch/video1
rostopic list
rosrun uvc_camera uvc_camera_node device:=/dev/video1
#rosrun find_object_2d find_object_2d image:=/usb_cam/image_raw #usb_cam使用
rosrun find_object_2d find_object_2d image:=/image_raw #uvc_camera使用
#查看物体位置
rosrun find_object_2d print_objects_detected
rostopic echo /objects
--------------------------
https://blog.csdn.net/zbr794866300/article/details/100538794
#
https://blog.csdn.net/weixin_44827364/article/details/104318553?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachin
eLearnPai2-5.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-5.control
#KinectV2+ROS下find_object_2d
roslaunch kinect2_bridge kinect2_bridge.launch
rostopic list
#rosrun find_object_2d find_object_2d image:=/camera/rgb/image_color
rosrun find_object_2d find_object_2d image:=/kinect2/hd/image_color
-------------------------------
#通过ROS控制真实机械臂(16) --- 视觉抓取之find_object实现物体识别
https://blog.csdn.net/qq_34935373/article/details/103757619
#一起做ROS-DEMO系列 (2):基于find_object_2d的目标匹配识别
https://zhuanlan.zhihu.com/p/71603204
#KinectV2+ROS下find_object_3d
roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
#roslaunch kinect2_bridge kinect2_bridge.launch
roslaunch find_object_2d find_object_3d_kinect2.launch
rosrun find_object_2d print_objects_detected image:=/camera/color/image_raw
------------------------
#通过ROS控制真实机械臂(16) --- 视觉抓取之finTUd_object实现物体识别
原文链接：https://blog.csdn.net/qq_34935373/article/details/103757619
------------------------
http://wiki.ros.org/find_object_2d
=======================================================================================
#kinect空格键从B到D保存深度图
https://blog.csdn.net/sunbibei/article/details/51594824
#同时读取Kinect的彩色图和深度图像并以时间戳作为文件名保存
save_rgbd_from_kinect2 文件夹
首先修改其中cpp的存储路径
/home/chuande/recordData/RGBD，改为自己路径
编译catkin_make save_rgbd_from_kinect2
roslaunch kinect2_bridge kinect2_bridge.launch
rosrun save_rgbd_from_kinect2 save_rgbd_from_kinect2
数据存储路径
/home/chuande/recordData/RGBD
————————————————
原文链接：https://blog.csdn.net/crp997576280/article/details/88377871
==========================================================================
#ROS 操作杆控制
ls /dev/input/
sudo jstest /dev/input/js0
roscore
rosrun joy joy_node
rostopic echo joy
————————————————
原文链接：https://www.guyuehome.com/256
https://blog.csdn.net/answerMack/article/details/89365769
https://blog.csdn.net/qq_41834780/article/details/100106144
https://blog.csdn.net/qq_34935373/article/details/95882217?utm_medium=distribute.pc_relevant.none-task-blog-utm_term-5&spm=1001.2101.3001.4242
https://blog.csdn.net/sujun3304/article/details/18791843?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param
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