Home » Open_Manipulator教程 » OpenManipulator机械臂入门教程-相机应用

OpenManipulator机械臂入门教程-相机应用

OpenManipulator机械臂入门教程-相机应用

说明:

  • 介绍如何安装多种相机的ros驱动和与AR识别的配合使用

Astra Pro

请输入图片描述

  • 相机规格
Items Specifications
RGB Image Resolution and Frame Rate 1280 x 720, @30fps
Depth Imgae Resolution and Frame Rate 640 x 480, @30fps
FOV (Field-of-View) 60°H x 49.5°V x 73°D
Range 0.6m - 8m
USB Port USB 2.0
Dimensions 165mm x 30mm x 40mm
Operating Systems Android/Linux/Windows 7/8/10
SDK Astra SDK or OpenNI
Microphones 2 (Built - in)
  • 安装相关的ROS包

  • [PC] 安装相关的ROS包

  $ sudo apt-get install ros-kinetic-rgbd-launch ros-kinetic-libuvc-camera
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/orbbec/ros_astra_camera.git
  $ git clone https://github.com/ROBOTIS-GIT/ros_astra_launch.git
  $ cd ~/catkin_ws && catkin_make
  $ roscd astra_camera && ./scripts/create_udev_rules
  • [PC] 测试使用
  $ sudo chmod a+rw /dev/bus/usb/${USB}/${PORT}
  $ roslaunch ros_astra_launch astra_pro.launch 
  • [PC] 打开rqt_image_view查看图像
$ rqt_image_view

Realsense D435

请输入图片描述

  • 相机规格
Items Specifications
Use Environment Indoor/Outdoor
RGB Sensor Resolution and Frame Rate 1920 x 1080 at 30 fps
RGB Sensor FOV 69.4°(H) x 42.5°(V) x 77°(D) (+/- 3°)
Depth Stream Output Resolution Up to 1280 x 720
Depth Stream Output Frame Rate Up to 90 fps
Depth Field of View (FOV) 85.2°(H) x 58°(V) x 94°(D) (+/- 3°)
Minimum Depth Distance (Min-Z) 0.2m
Maximum Range Approx.10 meters
Dimension 90 mm x 25 mm x 25 mm
Connectors USB 3.0 Type - C
  • 安装相关的ROS包

  • [PC] 安装相关的ROS包

  $ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
  $ sudo apt-get install librealsense2-dev ros-kinetic-rgbd-launch
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/intel-ros/realsense.git
  $ cd ~/catkin_ws && catkin_make
  • [PC] 测试使用
$ roslaunch realsense2_camera rs_camera.launch
  • [PC] 打开rqt_image_view查看图像
$ rqt_image_view

Raspberry Pi Camera V2

请输入图片描述

AR Marker

  • [PC] 安装相关的ROS包和软件
  $ sudo apt-get install ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/ROBOTIS-GIT/open_manipulator_perceptions.git
  $ cd ~/catkin_ws && catkin_make
  • Astra Pro

  • [PC] 启动相机

  $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=astra_pro
  • Realsense D435

  • [PC] 启动相机

  $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=realsense_d435
  • Raspberry Pi Camera V2

  • [Raspberry Pi] 启动相机

$ roslaunch raspicam_node camerav2_1280x960.launch
  • [Remote PC] 启动相机
$ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=raspicam
  • 接下来可以在打开的RViz界面上看到,相机已经识别到AR标志,同时AR标志与相机的位姿在RViz上显示

请输入图片描述

移动控制

:更多相关信息,请参阅 Manipulation section of TurtleBot3

  • [PC] 安装相关依赖包
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3.git
  $ git clone https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs.git
  $ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
  $ sudo apt-get install ros-kinetic-smach*
  $ cd ~/catkin_ws && catkin_make
  • [PC] 在RViz上加载waffle或waffle_pi
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
##TIP: TB3_MODEL = waffle, waffle_pi
$ roslaunch open_manipulator_with_tb3_description open_manipulator_with_tb3_rviz.launch

请输入图片描述

纠错,疑问,交流: 请进入讨论区点击加入Q群

获取最新文章: 扫一扫右上角的二维码加入“创客智造”公众号


标签: openmanipulator 机械臂入门教程