99 lines
2.9 KiB
Markdown
99 lines
2.9 KiB
Markdown
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# NXROBO Spark
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<img src="http://wiki.ros.org/Robots/Spark?action=AttachFile&do=get&target=spark1.png" width="300">
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## 说明 Description
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- This is a tutorial for beginners, and Detailed version is [here](https://github.com/NXROBO/spark/blob/master/README_Detailed.md) .
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- 本说明为初学者体验版，[这里](https://github.com/NXROBO/spark_noetic/blob/master/README_Detailed.md)有详细说明的版本。
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## 列表 Table of Contents
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* [功能包说明packages-overview](#功能包说明packages-overview)
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* [使用usage](#使用usage)
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* [视频展示Video](#视频展示Video)
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## 功能包说明packages-overview
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* ***src*** : Spark的源代码，包括底层配置，硬件驱动，和各个应用功能包等。
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* ***doc*** : 软硬件依赖包。
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## 使用usage
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### 系统要求 Prequirement
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* System: Ubuntu 20.04+
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* ROS Version: noetic(Desktop-Full Install)
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### 下载安装 Download and install
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* 下载工作空间 Download the workspace:
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```yaml
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git clone https://github.com/NXROBO/spark_noetic.git
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```
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* 安装依赖库 Install libraries and dependencies:
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```yaml
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cd spark_noetic
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```
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### 编译运行 compile and run
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```yaml
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catkin_make
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```
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* 如果编译一切正常，可根据提示运行相关例程。If everything goes fine, test the examples as follow:
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```yaml
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./onekey.sh
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```
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## 视频展示Video
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1.Spark跟随 Spark-Follower
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<a href="https://www.youtube.com/embed/UrD2AEQ3VkI" target="_blank"><img src="http://img.youtube.com/vi/UrD2AEQ3VkI/0.jpg"
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alt="follow-person" width="240" height="180" border="10" /></a>
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```yaml
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cd spark
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source devel/setup.bash
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roslaunch spark_follower bringup.launch
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```
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2.Spark建图 Spark-SLAM-Mapping
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<a href="https://www.youtube.com/embed/Yt9Sld-EX0s" target="_blank"><img src="http://img.youtube.com/vi/Yt9Sld-EX0s/0.jpg"
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alt="follow-person" width="240" height="180" border="10" /></a>
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```yaml
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cd spark
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source devel/setup.bash
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roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=gmapping
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```
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3.Spark导航 Spark-Navigation
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<a href="https://www.youtube.com/embed/3RP11sZKfJg" target="_blank"><img src="http://img.youtube.com/vi/3RP11sZKfJg/0.jpg"
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alt="follow-person" width="240" height="180" border="10" /></a>
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```yaml
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cd spark
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source devel/setup.bash
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roslaunch spark_navigation amcl_demo_lidar_rviz.launch
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```
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4.Spark-RtabMap建图 Spark-RtabMap-Mapping
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<a href="https://www.youtube.com/embed/K5wvlWb-2uQ" target="_blank"><img src="http://img.youtube.com/vi/K5wvlWb-2uQ/0.jpg"
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alt="follow-person" width="240" height="180" border="10" /></a>
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```yaml
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cd spark
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source devel/setup.bash
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roslaunch spark_rtabmap spark_rtabmap_teleop.launch
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```
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5.Spark机械臂视觉抓取 Spark-Carry_Object
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<a href="https://www.youtube.com/embed/aNPy6GYcdu0" target="_blank"><img src="http://img.youtube.com/vi/aNPy6GYcdu0/0.jpg"
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alt="follow-person" width="240" height="180" border="10" /></a>
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```yaml
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cd spark
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source devel/setup.bash
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roslaunch spark_carry_object spark_carry_object_only_cv3.launch
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```
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