ROS学习笔记
机器人构建
连接摄像头
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| roslaunch usb_cam usb_cam-test.launch
rqt_image_view
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URDF/xacro建模
xacro建模可以实现部件复用以及文件引用,提高了整齐度,减少了后期模型修改的难度
同时支持宏定义以及函数计算,增加了模型灵活性
这里创建了一个简单车体以及一个激光雷达
机器人仿真
ArbotiX + rviz仿真
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| roslaunch mbot_description arbotix_with_camera_xacro.launch
roslaunch mbot_teleop mbot_teleop.launch
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使用了自己的四轮小车模型, 命令略有变化
但是没解决odom点不随车运动.
gazebo仿真
环境仿真
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| roslaunch mbot_gazebo view_mbot_gazebo_play_ground.launch
roslaunch mbot_teleop mbot_teleop.launch
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传感器仿真
摄像头
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| roslaunch mbot_gazebo view_mbot_with_camera_gazebo.launch
rqt_image_view
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雷达
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| roslaunch mbot_gazebo view_mbot_with_laser_gazebo.launch
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机器人感知
机器视觉
ROS的图像数据
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| roslaunch usb_cam usb_cam-test.launch
rostopic info /usb_cam/image_raw
rosmsg show sensor_msgs/Image
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点云:
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| roslaunch freenect_launch freenect.launch
rostopic info /camera/depth_registered/points
rosmsg show sensor_msgs/PointCloud2
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摄像头标定
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| roslaunch robot_vision usb_cam.launch
rosrun camera_calibration cameracalibrator.py --Size 8x6 --square 0.024 image:=/usb_cam/image_raw camera:=/usb_cam
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kinet:
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| roslaunch robot_vision freenect.launch
rosrun camera_calibration cameracalibrator.py image:=/camera/rgb/image_raw camera:=/camera/rgb --size 8x6 --square 0.024
rosrun camera_calibration cameracalibrator.py image:=/camera/ir/image_raw camera:=/camera/ir --size 8x6 --square 0.024
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ROS+opencv
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| roslaunch robot_vision usb_cam.launch
rosrun robot_vision cv_bridge_test.py
rqt_image_view
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人像识别
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| roslaunch robot_vision usb_cam.launch
roslaunch robot_vision face_detector.launch
rqt_image_view
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物体跟踪
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| roslaunch robot_vision usb_cam.launch
roslaunch robot_vision motion_detector.launch
rqt_image_view
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二维码识别
生成二维码
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| rosrun ar_track_alvar createMarker 0
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im
二维码识别(没有打印出来就没法识别)
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| roslaunch robot_vision usb_cam with_calibration.launch
roslaunch robot_vision ar_track_camera.launch
#查看识别到的位姿
rostopic echo /ar_pose_marker
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机器语音
语音听写
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| roscore
rosrun robot_voice iat_publish
rostopic pub /voiceWakeup std_msgs/String "data: '你好我是小爱同学'"
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语音合成
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| roscore
rosrun robot_voice tts_subscribe
rostopic pub /voiceWords std_msgs/String "data: 'hello'"
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语音助手
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| roscore
rosrun robot_voice iat_publish
rosrun robot_voice voice_assistant
rostopic pub /voiceWakeup std_msgs/String "data: 'any string'"
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SLAM自主导航
机器人必备条件
创建仿真环境
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| roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
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SLAM功能包
gamping激光雷达测试
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| roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
roslaunch mbot_navigation gmapping_demo.launch
roslaunch mbot_teleop mbot_teleop.launch
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导航仿真
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| roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
roslaunch mbot_navigation nav_cloister_demo.launch
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导航SLAM仿真
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| roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
roslaunch mbot_navigation exploring_slam_demo.launch
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自主探索
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| roscore
roslaunch mbot_gazebo mbot_laser_nav_gazebo.launch
roslaunch mbot_navigation exploring_slam_demo.launch
rosrun mbot_navigation exploring_slam.py
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自己的四轮小车移动有问题,使用了默认的
