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#ubuntu16.04系统快速安装和配置流程 0 删除亚马逊软件 sudo apt-get remove unity-webapps-common 0 卸载办公软件 sudo apt-get remove libreoffice-common 1 Rime输入法 2 git 使用 3 点文件配置 sudo apt-get install git sudo apt-get install zsh sudo apt-get install curl

3 假死 sudo rm /var/cache/apt/archives/lock

安装vscode https://www.jianshu.com/p/9387d192f377

4 虚拟环境 5 ROS kinectic 版本安装 6 配置github上项目环境

7 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

8 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

9 gazebo模型下载 #模型的加载需要连接国外网站，为了保证模型顺利加载，可以提前将模型文件下载并放置到本地路径 ~/.gazebo/models https://bitbucket.org/osrf/gazebo_models/downloads/ #gazebo启动加载慢 cd ~/.gazebo/ mkdir -p models cd ~/.gazebo/models/ wget http://file.ncnynl.com/ros/gazebo_models.txt wget -i gazebo_models.txt ls model.tar.g* | xargs -n1 tar xzvf

原文链接：https://blog.csdn.net/yang_guo_/article/details/89393712

#Teamviewer 安装 sudo dpkg -i teamviewer_15.20.3_amd64.deb #报错 sudo apt-get --fix-broken install

10 rosbag数据记录与回放

mkdir ~/bagfiles cd ~/bagfiles rosbag record -a rosbag record /topic1

#回放 rosbag info rosbag play

11 aubo+base替换 aubo_robot->aubo_description->meshes->aubo_i5->collison->pedestal.STL

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

15 安装rqt-controller-manager sudo apt-get install ros-kinetic-rqt-controller-manager rosrun rqt_controller_manager rqt_controller_manager #报错qt_gui_main() found no plugin matching "rqt_controller_manager则执行如下 rm ~/.config/ros.org/rqt_gui.ini

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

17 tf坐标变换 #将当前的坐标系转换关系打印到终端控制台 rosrun tf tf_monitor #tf_monitor <source_frame> <target_target>:打印特定的坐标系关系 rosrun tf tf_monitor /map /base_link #tf_echo <source_frame> <target_frame> ：把特定的坐标系之间的平移旋转关系，打印到终端控制台 rosrun tf tf_echo /map /base_link #rosrun tf tf_echo kinect2_link object_10 #发布一个父坐标系到子坐标系的静态tf转换，偏移x/y/z (单位是m)，旋转是欧拉角 yaw/pitch/roll (单位是弧度 rad)，这里 yaw是关于Z轴的旋转，pitch是关于关于Y轴的旋转，roll是关于X轴的旋转。这里的周期period_in_ms，是这个tf的发布周期，设置为100ms（也就是10hz）是一个很好的值。 static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

原文链接：https://blog.csdn.net/qq_39779233/article/details/108215144

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

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#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

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#git使用 git clone http://git-scm.com/ git --version git config --global user.name "<用户名>" git config --global user.email "<电子邮件>"

#彩色显示 git config --global color.ui auto

#缩写co代表checkout git config --global alias.co checkout #win中使用Git Bash git config --global core.quotepath off

#创建本地仓库 mkdir GitProject mkdir 项目本地仓库 cd 项目本地仓库 git init ———————————————— 原文链接：https://www.runoob.com/w3cnote/git-five-minutes-tutorial.html

#gitlab ssh-keygen -t rsa -C "你的邮箱地址" 新生成的ssh key在(/c/Users/admin/.ssh/id_rsa)里面，第一个是私钥，第二个是公钥，把公钥复制到你的gitlab中 git checkout liu.chuande ———————————————— 原文链接：https://www.jianshu.com/p/291f4e526f87

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#安装haoming点文件 cd Downloads git clone https://github.com/haomingw/dotfiles.git

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#安装ROS Kinectic sudo gedit /etc/apt/sources.list deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse

software updates-> ubuntu software-> 前四项打勾 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

#sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 #sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 #如果遇到连接到keyserver的问题，可以在以上命令尝试替换hkp://pgp.mit.edu:80或hkp://keyserver.ubuntu.com:80 #sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

sudo apt-get update sudo apt-get upgrade sudo apt-get install ros-kinetic-desktop-full sudo rosdep init #解决网络原因，先将所需压缩包下载到本地，然后rosdep update https://blog.csdn.net/qiqiqiqi0000/article/details/114888657 #error##打开hosts文件 sudo gedit /etc/hosts #在文件末尾添加 151.101.84.133 raw.githubusercontent.com #保存后退出再尝试

rosdep update

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential #安装catkin工具 sudo apt-get install ros-kinetic-catkin python-catkin-tools

#zsh切换为bash chsh -s /bin/bash #bash切换为zsh chsh -s /bin/zsh

#工作空间

mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace

cd ~/catkin_ws/ catkin_make

==========================================================================

#快捷与记录

1 shell终端快捷键 2 lazygit快捷键 2 我的工作空间存储 3 aubo-i5项目启动 4 moveit官方panda-robot项目启动 5 快速编译古月居ros_exploring 6 KinectV2在ROS kinectic中调用libfreenect2和iai_kinect2 7 rviz中机器人的运动规划demo 8 Meka-robot平台启动

==========================================================================

#Linux的shell终端常用快捷键 https://zhuanlan.zhihu.com/p/29538650
#lazygit快捷键 https://github.com/linlicro/blog/blob/master/tools/lazygit%20.md

==========================================================================

#工作空间存储

#古月居随书代码+aubo-robot代码 catkin_ws #moveit官方panda-robot代码 ws_moveit #Meka-robot代码 meka_ws

==========================================================================

#aubo—robot编译 #安装流程 git clone https://github.com/lg609/aubo_robot.git

原文链接：https://blog.csdn.net/cstone123/article/details/95608424?utm_medium=distribute.pc_aggpage_search_result.none-task-blog-2~all~first_rank_v2~rank_v25-6-95608424.nonecase&utm_term=aubo%E5%A6%82%E4%BD%95%E4%BD%BF%E7%94%A8&spm=1000.2123.3001.4430

#缺少moveit_visual_tools sudo apt-get install ros-kinetic-moveit-visual-tools #缺少industrial_msgs sudo apt-get install ros-kinetic-industrial-core ————————————— 原文链接：https://blog.csdn.net/eye998/article/details/88900155 #下載功能包后需要更新 cd /user_name/catkin_workspace/src/aubo_robot/UpdateMoveitLib/Kinetic/ chmod +x Update.sh sudo ./Update.sh #Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF 'world' #aubo_i5.srdf中的virtual_joint下的child_link改为world ————————————— 原文链接：https://blog.csdn.net/weixin_42268975/article/details/104955479

================================================

#ubuntu安装openrave的简单方法 https://github.com/crigroup/openrave-installation ./install-dependencies.sh ./install-osg.sh ./install-fcl.sh ./install-openrave.sh

https://blog.csdn.net/weixin_40512647/article/details/105719908

#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。

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buiid和devel文件夹删去

#aubo-robot 笔记本配置示教器 #配置can-linux-driver sudo apt-get install libpopt-dev tar -zxvf peak-linux-driver-8.1.tar.gz cd peak-linux-driver-8.1 make clean make net=NO_NETDEV_SUPPORT sudo make install ———————————————— 原文链接：https://blog.csdn.net/wuguangbin1230/article/details/78327788

#在gazebo中使用aubo sudo apt-get install ros-kinetic-desktop-full sudo apt-get install ros-kinetic-transmission-interface sudo apt-get install ros-kinetic-gazebo-ros-control sudo apt-get install ros-kinetic-joint-state-controller sudo apt-get install ros-kinetic-effort-controllers sudo apt-get install ros-kinetic-position-controllers sudo apt-get install ros-kinetic-control-manager

#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

#键盘控制手爪

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

==========================================================================

#UR5安装包编译 git clone -b kinetic-devel https://github.com/ros-industrial/universal_robot.git cd ~/catkin_ws rosdep update rosdep install --from-paths src --ignore-src --rosdistro kinetic catkin_make

if there is any error, try

pip uninstall em pip install empy

#ur_modern_driver替换ur_driver更新 git clone https://github.com/iron-ox/ur_modern_driver.git

roslaunch ur_gazebo ur5.launch limited:=true roslaunch ur5_moveit_config moveit_rviz.launch config:=true roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT]

#手柄控制UR5 roslaunch ur5_moveit_config demo.launch #Motion planning->planning requeset->planning group->manipulator #planning->allow external comm. roslaunch ur5_moveit_config joystick_control.launch

#UR5视觉伺服抓取gazebo仿真 cd ur_ws/src git clone https://github.com/lihuang3/ur5_ROS-Gazebo.git cp ~/ur_ws/src/ur5_ROS-Gazebo/src/ur_description/ur5.urdf.xacro ~/ur_ws/src/universal_robot/ur_description/urdf/ cp ~/ur_ws/src/ur5_ROS-Gazebo/src/ur_description/common.gazebo.xacro ~/ur_ws/src/universal_robot/ur_description/urdf/ cp ~/ur_ws/src/ur5_ROS-Gazebo/blocks_poses.h ~/ur_ws/devel/include/ur5_notebook/ catkin_make #ur5.urdf.xacro报错 #将transmission_hw_interface:=hardware_interface/PositionJointInterface添加到ur5.urdf.xacro中的xacro函数的参数申明中，即： <xacro:macro name="ur5_robot" params="prefix joint_limited shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi} shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} transmission_hw_interface:=hardware_interface/PositionJointInterface"> #hw_interface="${transmission_hw_interface}"添加到在ur5.urdf.xacro中实例化时的<xacro:ur_arm_transmission prefix="${prefix}"/>中，即：<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}"/>

lihuang3/ur5_ROS-Gazebo#13 (comment)

https://github.com/lihuang3/ur5_ROS-Gazebo

==========================================================================

#moveit官方panda-robot

rosdep update sudo apt-get update sudo apt-get dist-upgrade sudo apt-get install ros-kinetic-catkin python-catkin-tools sudo apt install ros-kinetic-moveit

mkdir -p ~/ws_moveit/src cd ~/ws_moveit/src git clone -b kinetic-devel https://github.com/ros-planning/moveit_tutorials.git

git clone -b kinetic-devel https://github.com/ros-planning/panda_moveit_config.git cd ~/ws_moveit/src rosdep install -y --from-paths . --ignore-src --rosdistro kinetic

cd ~/ws_moveit catkin config --extend /opt/ros/kinetic catkin build

source ~/ws_moveit/devel/setup.bash echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc

==========================================================================

#快速编译古月居ros_exploring catkin_ws #编译前需要安装的包 sudo apt-get install ros-kinetic-gazebo-ros-control sudo apt-get install ros-kinetic-ecto sudo apt install ros-kinetic-manipulation-msgs sudo apt-get install ros-kinetic-slam-gmapping sudo apt-get install ros-kinetic-moveit-ros-planning-interface sudo apt-get install ros-kinetic-navigation

#讯飞语音库，可以把robot——perception中的robot_voice删除

#opencv sudo apt-get install ros-kinetic-vision-opencv libopencv-dev python-opencv #二维码功能 sudo apt-get install ros-kinetic-ar-track-alvar

#语音报错安装 #编译讯飞语音库的时候报错时安装 sudo cp ros_exploring/robot_perception/robot_voice/libs/x64/libmsc.so /usr/lib/libmsc.so ———————————————— 原文链接：https://www.twblogs.net/a/5d54453fbd9eee5327fcfd8d?lang=zh-cn

缺少 python-gst 安装 sudo apt install python-gst0.10 缺少gconfaudiosrc安装 sudo apt-get install gstreamer0.10-gconf

#古月居ros_exploring安装PROBOT_Anno-master git clone https://github.com/ps-micro/PROBOT_Anno

roslaunch probot_anno_moveit_config demo.launch chmod +x moveit_ik_demo.py rosrun probot_anno_demo moveit_ik_demo.py rosrun probot_anno_demo moveit_fk_demo.py rosrun probot_anno_demo moveit_cartesian_demo.py _cartesian:=True rosrun probot_anno_demo moveit_cartesian_demo.py _cartesian:=False rosrun probot_anno_demo moveit_attached_object_demo.py

https://www.guyuehome.com/2889

==========================================================================

#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

#实时octomap和点云

sudo apt-get install ros-kinetic-octomap roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true #最后一个参数必须要，否则发布的点云数据没有tf坐标系，在rviz中是无法查看到的 roslaunch kinect2_bridge octomap_display.launch #在Displays面板中添加PointCloud2和OccupancyGrid插件，将Global Options中的Fixed Frame设置成kinect2_link #将PointCloud2的Topic设置成kinect2/qhd/points，将OccupancyGrid的Topic设置成/octomap_full即可 #此方法需要TF坐标转换 rosrun tf static_transform_publisher 0 0 0 0 0 0 camera_link kinect2_link 10

https://blog.csdn.net/l1216766050/article/details/88093792?utm_medium=distribute.pc_relevant.none-task-blog-title-2&spm=1001.2101.3001.4242

#config roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true #最后一个参数必须要，否则发布的点云数据没有tf坐标系，在rviz中是无法查看到的 roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=127.0.0.1 rosrun tf static_transform_publisher 0 0 0 0 0 0 camera_link kinect2_link 10

===================================================================================

#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

=================================================================================

#Ubuntu16.04测试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

======================================================================================

#Ubuntu16.04安装kinectV2并获取骨骼数据 http://cvrlcode.ics.forth.gr/web_share/OpenNI/NITE_SDK/ 下载NiTE-Linux-x64-2.2至sensor_ws/src/ cd ~/sensor_ws/src cd NiTE-Linux-x64-2.2 chmod 777 ./* sudo sh install.sh cat NiTEDevEnvironment >> ~/.bashrc

cd Samples/Bin vi OpenNI.ini #添加Repository=/usr/lib/OpenNI2/Drivers到该文件最下方 #测试 cd sensor_ws/src/NiTE-Linux-x64-2.2/Samples/Bin ./UserViewer

https://www.guyuehome.com/14570

#骨骼数据如不是需要可以不安装openni2_tracker或者 Kinect2 tracker https://blog.csdn.net/ndyj0829/article/details/88981230

#配置kinect2_tracker cd sensor_ws/src/ git clone https://github.com/mcgi5sr2/kinect2_tracker.git ln -s ~/sensor_ws/src/NiTE-Linux-x64-2.2/Samples/Bin/NiTE2/ ~/.ros/NiTE2 cd ~/sensor_ws/src/kinect2_tracker source setup_nite.bash gedit CmakeLists.txt #修改CMakeList.txt文件： #找到set（NITE2_DIR ）和set（NITE2_LIB ）两行，改为： 修改如下： set(NITE2_DIR ~/sensor_ws/src/NiTE-Linux-x64-2.2/) set(NITE2_LIB ~/sensor_ws/src/NiTE-Linux-x64-2.2/Redist/libNiTE2.so) cd ~/sensor_ws/ catkin_make

#测试 roslaunch kinect2_tracker tracker.launch rosrun rviz rviz

#安装Openni２ cd ~/libfreenect2/build sudo apt-add-repository ppa:deb-rob/ros-trusty sudo apt-get update sudo apt-get install libopenni2-dev sudo apt install openni2-utils sudo make install-openni2 NiViewer2

#配置openni2_tracker sudo git clone https://github.com/ros-drivers/openni2_tracker.git cd openni2_tracker #修改CMakeList.txt文件： #找到HINTS和HINTS两行，改为： HINTS /home/liu/sensor_ws/src/NiTE-Linux-x64-2.2/Include) HINTS /home/liu/sensor_ws/src/NiTE-Linux-x64-2.2/Redist cd ~/sensor_ws/ catkin_make --pkg openni2_tracker

#编译catkin_make --pkg openni2_tracker报错fatal error: ros/ros.h: No such file or directory cd ~/sensor_ws/src/openni2_tracker sudo gedit CMakeLists.txt #include_directories(${catkin_INCLUDEDIR} 修改为 include_directories(${catkin_INCLUDE_DIRS} #添加find_package(orocos_kdl REQUIRED)

#测试 roslaunch kinect2_bridge kinect2_bridge.launch cd ~/sensor_ws/src/NiTE-Linux-x64-2.2/Redist rosrun openni2_tracker openni2_tracker

———————————————— 原文链接：https://blog.csdn.net/weixin_43046653/article/details/89633617

=======================================================================================

#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

======================================================================================

#使用Kinect2获取激光数据

快速启动 roslaunch bringup kinect2_depthimage_to_laserscan_rviz_view.launch

catkin_ws/src bringup depthimage_to_laserscan 两个文件夹编译时报错 #rosmake 报错“No Module named 'rospkg' ”解决方法 https://blog.csdn.net/qq_22945165/article/details/97408951

———————————————— 原文链接：https://blog.csdn.net/Forrest_Z/article/details/56665631/ https://blog.csdn.net/uunubt/article/details/81200330?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param

==========================================================================

#unbuntu18.04安装openni2过程记录

步骤一：安装依赖

sudo apt-get install -y g++ python libusb-1.0-0-dev freeglut3-dev doxygen graphviz sudo apt-get install libudev-dev 步骤二：源中寻找ｏｐｅｎｎｉ２

apt-cache search openni2 注：若没找到，则是源问题，更换源；

步骤三：安装

sudo apt-get install libopenni2-dev

sudo apt-get install ros--openni2-launch

步骤四：测试是否安装成功

pkg-config --modversion libopenni2 若结果显示版本号，则安装成功！

（迄今为止，最简单的安装）

使用openni2_launch

roscore

roslaunch openni2_launch openni2.launch

rosrun rviz rviz

add camera、pointcloud2 选择正确的topic就可以实时看到xtion返回的数据了

https://blog.csdn.net/qq_40738034/article/details/97135494

https://blog.csdn.net/chenxingwangzi/article/details/48825767

==========================================================================

ROS下基于OpenNI2使用rgbd camera (ASUS Xtion PRO LIVE)

https://blog.csdn.net/qq_40738034/article/details/97136145

==========================================================================

#rviz中机器人的运动规划demo #ROS Kinetic版本panda robot sudo apt-get install ros-kinetic-franka-description cd ~/catkin_ws/src git clone -b kinetic-devel https://github.com/ros-planning/moveit_tutorials.git git clone -b kinetic-devel https://github.com/ros-planning/panda_moveit_config.git cd ~/catkin_ws/ catkin_make

#ROS Melodic版本 sudo apt-get install ros-melodic-franka-description cd ~/catkin_ws/src git clone https://githelodicub.com/ros-planning/moveit_tutorials.git -b melodic-devel git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel cd ~/catkin_ws/ catkin_make

roslaunch panda_moveit_config demo.launch rosrun moveit_tutorials move_group_python_interface_tutorial.py ———————————————— 原文链接：https://www.guyuehome.com/7642

==========================================================================

#Meka-robot git clone https://github.com/ahoarau/mekabot.git ~/mekabot cd ~/mekabot git submodule init git submodule update git submodule foreach git checkout master

==========================================================================

#机器学习记录 1 yolov3-door-detection启动 2

==========================================================================

#yolov3-door-detection启动 u cv37 pip install opencv-contrib-python python import cv2 cv2.version

python yolo_video.py --input videos/door_open_object_test.mp4 --output door_open_object_test.avi --yolo yolo-coco

#出现ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type 将以下代码放入yolo_video.py首行 import sys sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')

==========================================================================

#chrome截长屏 按f12-> ctrl+shift+p-> full

========================================================================== #cascad 8XmhAh@ZTVRGrSU

========================================================================== #zsh下ros和conda共存

zshrc.local中注释掉第10行

added by Miniconda3 installer

prepend_path $HOME/miniconda3/bin

==========================================================================

Run the server and visualize the robot on Rviz (virtual installation)

# run the realtime server
m3rt_server_run 
# In another terminal :
# Launch roscore, robot description, robot state publisher, joint state publisher and rviz
roslaunch meka_description m3ens_viz.launch

==========================================================================

#oh-my-Zsh：未找到Conda / Pip installs命令

vi~ / .zshrc 或 gedit~ / .zshrc

对于现场的Anaconda3，请# User configuration添加：

PATH="$HOME/anaconda3/bin:$PATH"

source ~/.zshrc

https://xbuba.com/questions/31615322

==========================================================================

#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

https://blog.csdn.net/sujun3304/article/details/18794077?utm_medium=distribute.pc_relevant.none-task-blog-searchFromBaidu-8.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-searchFromBaidu-8.channel_param

https://blog.csdn.net/Abril_/article/details/105586812?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160221004019195246608498%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160221004019195246608498&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_v2~rank_v28_p-2-105586812.pc_first_rank_v2_rank_v28_p&utm_term=%E6%89%8B%E6%9F%84+%E6%9C%BA%E5%99%A8%E4%BA%BA&spm=1018.2118.3001.4187

==========================================================================

#ROS与SICK TIM激光雷达配置

原文链接：http://mario.is-programmer.com/posts/211255.html https://blog.csdn.net/weixin_42454034/article/details/103218669 https://blog.csdn.net/ignoreyou/article/details/79488650

https://www.jianshu.com/p/5f485c54c3df

https://www.cnblogs.com/21207-iHome/p/7944220.html

==========================================================================

#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

ls -l /dev/ttyUSB* sudo chmod 666 /dev/ttyUSB*

====================

https://tr-ros-tutorial.readthedocs.io/zh_CN/latest/_source/practice/2.3.%E8%AE%A9%E5%BA%95%E7%9B%98%E5%8A%A8%E8%B5%B7%E6%9D%A5%EF%BC%81%E5%B7%AE%E9%80%9F%E6%8E%A7%E5%88%B6%E6%A8%A1%E5%9E%8B%E5%8F%8A%E4%B8%B2%E5%8F%A3%E9%A9%B1%E5%8A%A8%E7%BC%96%E5%86%99.html

==========================================================================

#手柄+机械臂运动 #测试手柄 jstest /dev/input/js0

#手柄GUI检测软件 sudo apt-get install jstest-gtk jstest-gtk

====================== #rivz打开后motion planning红色 sudo apt-get install ros-kinetic-moveit-ros-visualization

==========================================================================

#pr2 #pr2在ros indigo安全运行kinetic需要手动安装不可用sudo apt-get install ros-kinetic-pr2-*命令 #Ubuntu16.04下编译pr2机器人 #安装失败放弃

原文链接：https://github.com/gnoliyil/pr2_kinetic_packages

#pr2_moveit_config安装 git clone https://github.com/davetcoleman/pr2_moveit_config.git cd .. rosdep install --from-paths src --ignore-src --rosdistro kinetic catkin_make source ~/catkin_ws/devel/setup.zsh

原文链接：https://blog.csdn.net/RCJ__88/article/details/80248994?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf

roslaunch pr2_gazebo pr2_empty_world.launch roslaunch pr2_teleop teleop_joystick.launch

==========================================================================

#摇杆控制Moveit+rivz中panda robot roslaunch panda_moveit_config demo.launch #添加Motion planning #Motion planning->planning requeset->planning group->panda_arm #planning->allow external comm. roslaunch panda_moveit_config joystick_control.launch dev:=/dev/input/js0 #Add “Pose” to RViz Displays and subscribe to /joy_pose in order to see the output from joystick

原文链接：https://docs.ros.org/en/kinetic/api/moveit_tutorials/html/doc/joystick_control_teleoperation/joystick_control_teleoperation_tutorial.html

==========================================================================

#手柄控制小乌龟 #文件所在位置 aubo_ws/src/base_controller // roscore rosrun joy joy_node rosrun turtlesim turtlesim_node rosrun base_controller joy11.py

https://blog.csdn.net/weixin_42913571/article/details/103862119

#初始化moveit_commander接口 rosrun moveit_commander moveit_commander_cmdline.py #开启命令行接口工具与move_group节点建立连接 use

current rec c

========================================================================== #linux微信 解压运行 tar xvf linux-x64.tar.gz ./electronic-chat

原文链接：https://blog.csdn.net/lxy_2011/article/details/86741562

#PROBOT_Anno 安装 #./bashrc 加入动态库连接 export LD_LIBRARY_PATH="~/probot_anno_ws/src/probot_anno/probot_rviz_plugin/lib/moveIt":/home/liu/probot_anno_ws/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu