2021-03-04 17:23:09 +08:00
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#!/usr/bin/env bash
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PATH=/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin:~/bin
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export PATH
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#=================================================
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# System Required: Ubuntu 20.04
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# litian.zhuang@nxrobo.com
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# Site: http://www.nxrobo.com/
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# SPARK技术讨论与反馈QQ群：6646169 8346256
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#=================================================
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2021-08-11 16:47:00 +08:00
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GAME_ENABLE="no"
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2021-03-04 17:23:09 +08:00
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sh_ver="2.0"
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filepath=$(cd "$(dirname "$0")"; pwd)
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Green_font_prefix="\033[32m" && Red_font_prefix="\033[31m" && Green_background_prefix="\033[42;37m" && Red_background_prefix="\033[41;37m" && Yellow_background_prefix="\033[43;37m" && Font_color_suffix="\033[0m" && Yellow_font_prefix="\e[1;33m" && Blue_font_prefix="\e[0;34m"
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Info="${Green_font_prefix}[信息]${Font_color_suffix}"
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Error="${Red_font_prefix}[错误]${Font_color_suffix}"
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Warn="${Yellow_font_prefix}[警告]${Font_color_suffix}"
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Tip="${Green_font_prefix}[注意]${Font_color_suffix}"
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Separator_1="——————————————————————————————"
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password="spark"
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Version=$(lsb_release -r --short)
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Codename=$(lsb_release -c --short)
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OSDescription=$(lsb_release -d --short)
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OSArch=$(uname -m)
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calibra_default="${filepath}/../.ros/camera_info"
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2021-08-11 16:47:00 +08:00
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calibration="calibration"
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color_block="color_block"
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TYPE_LIDAR=$(cat /opt/lidar.txt)
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echo ${TYPE_LIDAR}
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if [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then
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LIDARTYPE="ydlidar_g2"
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elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then
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LIDARTYPE="3iroboticslidar2"
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else
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echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行"
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LIDARTYPE="3iroboticslidar2"
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fi
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2021-03-04 17:23:09 +08:00
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#检查系统要求
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check_sys(){
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if [[ "${Version}" == "20.04" ]]; then
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ROS_Ver="noetic"
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else
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echo -e "${Error} 当前系统 ${OSDescription} ,此版本只适配ubuntu20.04 ROS noetic!" && exit 1
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fi
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}
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#检查设备连接
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check_dev(){
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#检查底盘
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if [ ! -n "$(lsusb -d 1a86:7523)" ]; then
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echo -e "${Error} 底盘没有正确连接，请确认正确连接！！"
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fi
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#检查机械臂
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if [ ! -n "$(lsusb -d 2341:0042)" ]; then
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echo -e "${Error} 机械臂没有正确连接，请确认正确连接！！"
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fi
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#检查摄像头
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check_camera
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2021-08-11 16:47:00 +08:00
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#检查雷达
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check_lidar
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2021-03-04 17:23:09 +08:00
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}
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2021-08-11 16:47:00 +08:00
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#检查雷达设备
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check_lidar(){
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lidar_flag=0
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#检查使用哪种设备
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if [ -n "$(lsusb -d 10c4:ea60)" ]; then
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lidar_flag=$[$lidar_flag + 1]
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fi
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2021-03-04 17:23:09 +08:00
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2021-08-11 16:47:00 +08:00
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if [ $lidar_flag -ge 2 ]; then
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echo -e "${Warn} 正在使用多个雷达设备，请退出并拔掉其中一个再使用!"
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echo -e "${Warn} 退出请输入：Ctrl + c！"
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elif [ $lidar_flag -eq 1 ]; then
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echo -e "${Info} 正在使用${LIDARTYPE}雷达"
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elif [ $lidar_flag -eq 0 ]; then
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echo -e "${Error} 没有找到雷达，请确认雷达已正确连接！！"
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fi
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}
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2021-03-04 17:23:09 +08:00
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#检查摄像头设备
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check_camera(){
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camera_flag=0
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calibra_backup="/opt/nxrobo/camera_info"
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#检查使用哪种设备
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if [ -n "$(lsusb -d 2bc5:0403)" ]; then
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CAMERATYPE="astrapro"
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2021-12-13 15:59:33 +08:00
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2021-03-04 17:23:09 +08:00
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camera_flag=$[$camera_flag + 1]
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fi
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if [ -n "$(lsusb -d 2bc5:0401)" ]; then
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CAMERATYPE="astra"
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2021-12-13 15:59:33 +08:00
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2021-03-04 17:23:09 +08:00
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camera_flag=$[$camera_flag + 1]
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fi
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if [ -n "$(lsusb -d 8086:0b07)" ]; then
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CAMERATYPE="d435"
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2021-12-13 15:59:33 +08:00
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2021-03-04 17:23:09 +08:00
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camera_flag=$[$camera_flag + 1]
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fi
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if [ $camera_flag -ge 2 ]; then
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echo -e "${Warn} 正在使用多个摄像头设备，请退出并拔掉其中一个再使用!"
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echo -e "${Warn} 退出请输入：Ctrl + c！"
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elif [ $camera_flag -eq 1 ]; then
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echo -e "${Info} 正在使用${CAMERATYPE}摄像头"
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elif [ $camera_flag -eq 0 ]; then
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echo -e "${Error} 没有找到摄像头，请确认摄像头已正确连接！！"
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fi
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#根据摄像头类型检查标定文件和备份文件
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case $CAMERATYPE in
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astrapro)
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#检查是否有默认文件夹和备份文件夹
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if [ ! -d "$calibra_default" ]; then
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mkdir -p "$calibra_default"
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fi
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if [ ! -d "$calibra_backup" ]; then
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echo -e "${Info} 创建标定文件备份文件夹..."
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sudo mkdir -p "$calibra_backup"
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fi
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#如果没有就拷贝一份
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if [ ! -f "$calibra_backup/camera.yaml" ]||[ ! -f "$calibra_backup/depth_Astra_Orbbec.yaml" ]; then
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if [ -f "$calibra_default/camera.yaml" ]&&[ -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then
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echo -e "${Info} 备份标定文件..."
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sudo cp -r "$calibra_default/." "$calibra_backup/."
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elif [ ! -f "$calibra_default/camera.yaml" ]||[ ! -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then
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echo -e "${Warn} 标定文件缺少其中一个，请确认rgb和depth标定文件都存在"
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fi
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elif [ -f "$calibra_backup/camera.yaml" ]&&[ -f "$calibra_backup/depth_Astra_Orbbec.yaml" ]; then
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if [ ! -f "$calibra_default/camera.yaml" ]; then
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echo -e "${Info} 缺少彩色摄像头标定文件，已拷贝"
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cp "$calibra_backup/camera.yaml" $calibra_default
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fi
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if [ ! -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then
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echo -e "${Info} 缺少深度摄像头标定文件，已拷贝"
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cp "$calibra_backup/depth_Astra_Orbbec.yaml" $calibra_default
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fi
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fi
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;;
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astra)
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#astra自带标定文件
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#如果检查到有标定文件就删除
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if [ -d "$calibra_default" ]; then
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rm -rf "$calibra_default"
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fi
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;;
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esac
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}
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#安装ROS完整版
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install_ros_full(){
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sudo sh -c 'echo 1 > /proc/sys/net/ipv6/conf/all/disable_ipv6'
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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sudo apt-get update
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sudo apt-get install -y ros-${ROS_Ver}-desktop-full
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sudo rosdep init
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rosdep update
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echo "source /opt/ros/${ROS_Ver}/setup.bash" >> ~/.bashrc
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source /opt/ros/${ROS_Ver}/setup.bash
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sudo apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
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}
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#检测是否需要安装完整版
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check_install_ros_full(){
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if [ -f "/usr/bin/rosversion" ]; then
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ROSVER=`/usr/bin/rosversion -d`
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if [ $ROSVER ]; then
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echo -e "${Tip} 检测到当前系统已安装了ROS的${ROSVER}版本!"
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echo && stty erase ^? && read -p "请选择是否继续安装？ y/n：" choose
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if [[ "${choose}" == "y" ]]; then
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echo -e "${Info}准备安装ROS系统！"
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else
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exit
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fi
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fi
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fi
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install_ros_full
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}
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#安装intel_movidius的相关驱动和程序
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install_intel_movidius(){
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BASEPATH=$(cd `dirname $0`; pwd)
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if [[ ! -d "$BASEPATH/src/3rd_app/intel/ncappzoo" ]] || [[ ! -d "$BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs" ]] || [[ ! -d "/opt/movidius" ]] ; then
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echo && stty erase ^? && read -p "检测到未安装INTEL MOVIDIUS的相关驱动和程序，是否现在安装y/n?" yorn
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if [[ "${yorn}" == "y" ]]; then
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echo -e "${Info} 准备安装intel movidius的相关驱动和代码…… "
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echo -e "${Info} 安装过程中可能会花费挺长时间的。请耐心等待！"
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cd $BASEPATH
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mkdir $BASEPATH/src/3rd_app/intel
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cd $BASEPATH/src/3rd_app/intel
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echo -e "${Info} git clone https://github.com/movidius/ncsdk"
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git clone https://github.com/movidius/ncsdk
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echo -e "${Info} git clone https://github.com/movidius/ncappzoo"
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git clone https://github.com/movidius/ncappzoo
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echo -e "${Info} git clone https://github.com/intel/object_msgs"
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git clone https://github.com/intel/object_msgs
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echo -e "${Info} git clone https://github.com/intel/ros_intel_movidius_ncs.git"
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git clone https://github.com/intel/ros_intel_movidius_ncs.git
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cd $BASEPATH/src/3rd_app/intel/ncsdk
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make install
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make examples
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echo -e "${Info} sudo ln -s $BASEPATH/src/3rd_app/intel/ncappzoo /opt/movidius/ncappzoo"
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sudo ln -s $BASEPATH/src/3rd_app/intel/ncappzoo /opt/movidius/ncappzoo
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cd $BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs
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git checkout master
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cp $BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs/data/labels/* /opt/movidius/ncappzoo/data/ilsvrc12/
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# AlexNet
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echo -e "${Info} compile NCS graph--AlexNet"
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cd /opt/movidius/ncappzoo/caffe/AlexNet
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make
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# GoogleNet
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echo -e "${Info} compile NCS graph--GoogleNet"
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cd /opt/movidius/ncappzoo/caffe/GoogLeNet
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make
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# SqueezeNet
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echo -e "${Info} compile NCS graph--SqueezeNet"
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cd /opt/movidius/ncappzoo/caffe/SqueezeNet
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make
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# Inception_V1
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echo -e "${Info} compile NCS graph--Inception_V1"
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cd /opt/movidius/ncappzoo/tensorflow/inception_v1/
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make
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# Inception_V2
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echo -e "${Info} compile NCS graph--Inception_V2"
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cd /opt/movidius/ncappzoo/tensorflow/inception_v2/
|
|
|
|
|
|
make
|
|
|
|
|
|
# Inception_V3
|
|
|
|
|
|
echo -e "${Info} compile NCS graph--Inception_V3"
|
|
|
|
|
|
cd /opt/movidius/ncappzoo/tensorflow/inception_v3/
|
|
|
|
|
|
make
|
|
|
|
|
|
# Inception_V4
|
|
|
|
|
|
echo -e "${Info} compile NCS graph--Inception_V4"
|
|
|
|
|
|
cd /opt/movidius/ncappzoo/tensorflow/inception_v4/
|
|
|
|
|
|
make
|
|
|
|
|
|
# MobileNet
|
|
|
|
|
|
echo -e "${Info} compile NCS graph--MobileNet"
|
|
|
|
|
|
cd /opt/movidius/ncappzoo/tensorflow/mobilenets/
|
|
|
|
|
|
make
|
|
|
|
|
|
|
|
|
|
|
|
# MobileNet_SSD
|
|
|
|
|
|
echo -e "${Info} compile NCS graph--MobileNet_SSD"
|
|
|
|
|
|
cd /opt/movidius/ncappzoo/caffe/SSD_MobileNet
|
|
|
|
|
|
make
|
|
|
|
|
|
# TinyYolo
|
|
|
|
|
|
echo -e "${Info} compile NCS graph--TinyYolo"
|
|
|
|
|
|
cd /opt/movidius/ncappzoo/caffe/TinyYolo
|
|
|
|
|
|
make
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info} finish compiling..."
|
|
|
|
|
|
echo -e "${Info} start to catkin_make..."
|
|
|
|
|
|
|
|
|
|
|
|
cd $BASEPATH
|
|
|
|
|
|
catkin_make
|
|
|
|
|
|
echo -e "${Info} finsh catkin_make..."
|
|
|
|
|
|
else
|
|
|
|
|
|
echo -e "${Info} 取消安装."
|
|
|
|
|
|
exit
|
|
|
|
|
|
fi
|
|
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#编译SPARK
|
|
|
|
|
|
install_spark(){
|
|
|
|
|
|
source /opt/ros/${ROS_Ver}/setup.bash
|
|
|
|
|
|
catkin_make
|
|
|
|
|
|
#catkin_make install
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#远程设置
|
|
|
|
|
|
master_uri_setup(){
|
|
|
|
|
|
eth_ip=`/sbin/ifconfig eth0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
wlp1s_ip=`/sbin/ifconfig wlp1s0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
wlp2s_ip=`/sbin/ifconfig wlp2s0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
wlan_ip=`/sbin/ifconfig wlan0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
enp3s_ip=`/sbin/ifconfig enp3s0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
if [ $eth_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用有线网络eth0"
|
|
|
|
|
|
local_ip=$eth_ip
|
|
|
|
|
|
elif [ $wlp1s_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络wlp1s0"
|
|
|
|
|
|
local_ip=$wlp1s_ip
|
|
|
|
|
|
elif [ $wlp2s_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络wlp2s0"
|
|
|
|
|
|
local_ip=$wlp2s_ip
|
|
|
|
|
|
elif [ $wlan_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络wlan0"
|
|
|
|
|
|
local_ip=$wlan_ip
|
|
|
|
|
|
elif [ $enp3s_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络enp3s0"
|
|
|
|
|
|
local_ip=$enp3s_ip
|
|
|
|
|
|
fi
|
|
|
|
|
|
export ROS_HOSTNAME=$local_ip
|
|
|
|
|
|
export ROS_MASTER_URI="http://${local_ip}:11311"
|
|
|
|
|
|
echo -e "${Info}Using ROS MASTER at ${Red_font_prefix}$ROS_MASTER_URI${Font_color_suffix} from ${Red_font_prefix}$ROS_HOSTNAME${Font_color_suffix}"
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
print_command()
|
|
|
|
|
|
{
|
|
|
|
|
|
echo -e "${Yellow_background_prefix}${Red_font_prefix}${1}${Font_color_suffix}"
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#让机器人动起来
|
|
|
|
|
|
let_robot_go(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info} 让机器人动起来"
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info} 请在新的终端窗口操作"
|
|
|
|
|
|
echo -e "${Info}键盘“wsad”分别对应“前后左右”"
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info} w前进 "
|
|
|
|
|
|
echo -e "${Info} a左转 d右转 "
|
|
|
|
|
|
echo -e "${Info} s后退 "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info} 退出请输入：Ctrl + c "
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#远程（手机APP）控制SPARK
|
|
|
|
|
|
remote_control_robot(){
|
|
|
|
|
|
master_uri_setup
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info} 远程（手机APP）控制SPARK"
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}远程控制的APP地址:${Yellow_font_prefix}https://raw.githubusercontent.com/iamzhuang/RobotCA/kinetic/Release/control_app-debug.apk"${Font_color_suffix}
|
|
|
|
|
|
echo -e "${Info}下载安装完成后，打开app，设置Master URI:${Red_font_prefix}http://${local_ip}:11311${Font_color_suffix}"
|
|
|
|
|
|
echo -e "${Info}接着就可以开始远程控制机器人了"
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c"
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#让SPARK跟着你走
|
|
|
|
|
|
people_follow(){
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}让SPARK跟着你走"
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}请站在SPARK的正前方，与SPARK保持一米左右的距离，然后走动"
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
|
|
|
|
|
print_command "roslaunch spark_follower bringup.launch camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch spark_follower bringup.launch camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#语音控制SPARK移动
|
|
|
|
|
|
voice_nav(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}语音控制SPARK移动"
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请选择语音的方式：
|
|
|
|
|
|
${Green_font_prefix}1.${Font_color_suffix} 本地语音识别(识别准确度低,已不推荐使用,仅支持英文)
|
|
|
|
|
|
${Green_font_prefix}2.${Font_color_suffix} 在线语音识别(需要互联网连接,只支持中文)
|
|
|
|
|
|
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-3]：" asrnum
|
|
|
|
|
|
case "$asrnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
ASRTYPE="voice_nav.launch"
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
ASRTYPE="baidu_nav.launch"
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，默认使用在线方式"
|
|
|
|
|
|
ASRTYPE="baidu_nav.launch"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}请确认连接线并设定正确的默认麦克风"
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
|
|
|
|
|
print_command "roslaunch spark_voice ${ASRTYPE} camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch spark_voice ${ASRTYPE} camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#机械臂与摄像头匹对标定
|
|
|
|
|
|
cal_camera_arm(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}机械臂与摄像头匹对标定"
|
|
|
|
|
|
ROSVER=`/usr/bin/rosversion -d`
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请确定："
|
|
|
|
|
|
echo -e "${Info} A.摄像头已反向向下安装好。机械臂正常上电。"
|
|
|
|
|
|
echo -e "${Info} B.${Red_font_prefix}红色${Font_color_suffix}标定物已贴好在吸盘固定头正上方。"
|
|
|
|
|
|
echo -e "${Info} C.机械臂正常上电。"
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
|
|
|
|
|
if [ $ROSVER = "kinetic" ]; then
|
|
|
|
|
|
echo -e "${Info}It is kinetic."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
elif [ $ROSVER = "indigo" ]; then
|
|
|
|
|
|
echo -e "${Info}It is indigo."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
elif [ $ROSVER = "melodic" ]; then
|
|
|
|
|
|
echo -e "${Info}It is melodic."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
elif [ $ROSVER = "noetic" ]; then
|
|
|
|
|
|
echo -e "${Info}It is melodic."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#让SPARK使用激光雷达进行导航
|
|
|
|
|
|
spark_navigation_2d(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}让SPARK使用激光雷达进行导航"
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请注意："
|
|
|
|
|
|
echo -e "${Info} A.激光雷达已上电连接"
|
|
|
|
|
|
echo -e "${Info} B.导航正常启动后，点击‘2D Pose Estimate’后在地图上进行手动定位。"
|
|
|
|
|
|
echo -e "${Info} C.手动定位成功后，点击‘2D Nav Goal’后在地图上指定导航的目标点，机器人将进入自主导航。"
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase '^H' && read -p "按回车键（Enter）开始："
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
}
|
|
|
|
|
|
#让SPARK使用深度摄像头进行导航
|
|
|
|
|
|
spark_navigation_3d(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}让SPARK使用深度摄像头进行导航"
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
echo -e "${Info}请选择导航方式："
|
|
|
|
|
|
echo -e "${Info}1.使用2D地图"
|
|
|
|
|
|
echo -e "${Info}2.使用rtab_map地图"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-2]：" slamnum
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请注意："
|
|
|
|
|
|
echo -e "${Info}A.摄像头已连接"
|
|
|
|
|
|
case "$slamnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
SLAMTYPE="2d"
|
|
|
|
|
|
echo -e "${Info}B.导航正常启动后，点击‘2D Pose Estimate’后在地图上进行手动定位。"
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
SLAMTYPE="rtab_map"
|
|
|
|
|
|
echo -e "${Info}B.把机器人放到原来建图的原点。导航正常启动后，如需查看原来建立的３Ｄ地图，点击rviz的Display->Rtabmap cloud->Download map加载３Ｄ地图。"
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，默认使用2D地图"
|
|
|
|
|
|
SLAMTYPE="2d"
|
|
|
|
|
|
echo -e "${Info}B.导航正常启动后，点击‘2D Pose Estimate’后在地图上进行手动定位。"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}C.手动定位成功后，点击‘2D Nav Goal’后在地图上指定导航的目标点，机器人将进入自主导航。"
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
|
|
|
|
|
if [[ "${SLAMTYPE}" == "2d" ]]; then
|
2021-12-13 15:59:33 +08:00
|
|
|
|
print_command "roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
else
|
2021-12-13 15:59:33 +08:00
|
|
|
|
print_command "roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
fi
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#深度学习
|
|
|
|
|
|
spark_DeepLearn(){
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
#source ${PROJECTPATH}/tensorflow/bin/activate
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
print_command "${PROJECTPATH}/devel/setup.bash "
|
|
|
|
|
|
echo -e "${Info}运行深度学习的方式：
|
|
|
|
|
|
1.软件tensorflow
|
|
|
|
|
|
2.软件yolo V3"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请选择 1 或 2 ：" chnum
|
|
|
|
|
|
case "$chnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
print_command "roslaunch tensorflow_object_detector object_detect.launch camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch tensorflow_object_detector object_detect.launch camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
roslaunch darknet_ros deeplearn_darknet_yoloV3.launch camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，将运行默认的软件tensorflow"
|
|
|
|
|
|
print_command "roslaunch tensorflow_object_detector object_detect.launch camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch tensorflow_object_detector object_detect.launch camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#intel_movidius的功能列表
|
|
|
|
|
|
intel_movidius_list(){
|
|
|
|
|
|
echo -e "
|
|
|
|
|
|
请根据右侧的功能说明选择相应的序号。
|
|
|
|
|
|
|
|
|
|
|
|
${Green_font_prefix} NO.${Font_color_suffix} | CNN Model | Framework |
|
|
|
|
|
|
${Green_font_prefix} 1.${Font_color_suffix} | AlexNet | Caffe |
|
|
|
|
|
|
${Green_font_prefix} 2.${Font_color_suffix} | GoogleNet | Caffe |
|
|
|
|
|
|
${Green_font_prefix} 3.${Font_color_suffix} | SqueezeNet | Caffe |
|
|
|
|
|
|
${Green_font_prefix} 4.${Font_color_suffix} | Inception_v1 | tensorflow |
|
|
|
|
|
|
${Green_font_prefix} 5.${Font_color_suffix} | Inception_v2 | tensorflow |
|
|
|
|
|
|
${Green_font_prefix} 6.${Font_color_suffix} | Inception_v3 | tensorflow |
|
|
|
|
|
|
${Green_font_prefix} 7.${Font_color_suffix} | Inception_v4 | tensorflow |
|
|
|
|
|
|
${Green_font_prefix} 8.${Font_color_suffix} | MobileNet | tensorflow |
|
|
|
|
|
|
${Green_font_prefix} 9.${Font_color_suffix} | MobileNetSSD | Caffe |
|
|
|
|
|
|
${Green_font_prefix} 10.${Font_color_suffix} | TinyYolo | Caffe |"
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#运行intel_movidius的相关功能
|
|
|
|
|
|
spark_intel_movidius(){
|
|
|
|
|
|
intel_device=`/usr/bin/lsusb |grep 03e7:|awk '{print $6}'`
|
|
|
|
|
|
if [ $intel_device ]; then
|
|
|
|
|
|
echo -e "${Info}检测到INTEL MOVIDIUS神经计算棒设备，请确定该设备已插入到SPARK主机的USB3.0的接口（${Blue_font_prefix}蓝色${Font_color_suffix}USB接口）。"
|
|
|
|
|
|
install_intel_movidius
|
|
|
|
|
|
echo -e "${Info}请选择下表的相关功能："
|
|
|
|
|
|
intel_movidius_list
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-10]：" chnum
|
|
|
|
|
|
case "$chnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=alexnet
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=googlenet
|
|
|
|
|
|
;;
|
|
|
|
|
|
3)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=squeezenet
|
|
|
|
|
|
;;
|
|
|
|
|
|
4)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v1
|
|
|
|
|
|
;;
|
|
|
|
|
|
5)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v2
|
|
|
|
|
|
;;
|
|
|
|
|
|
6)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v3
|
|
|
|
|
|
;;
|
|
|
|
|
|
7)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v4
|
|
|
|
|
|
;;
|
|
|
|
|
|
8)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_classification.launch cnn_model:=mobilenet
|
|
|
|
|
|
;;
|
|
|
|
|
|
9)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_detection.launch cnn_model:=mobilenetssd
|
|
|
|
|
|
;;
|
|
|
|
|
|
10)
|
|
|
|
|
|
roslaunch app_shell intel_movidius_detection.launch cnn_model:=tinyyolo_v1
|
|
|
|
|
|
;;
|
|
|
|
|
|
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，将运行默认的mobilenetssd功能"
|
|
|
|
|
|
roslaunch app_shell intel_movidius_detection.launch cnn_model:=mobilenetssd
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
else
|
|
|
|
|
|
echo -e "${Info}没检测到已插入intel movidius神经计算棒。请先插入相关设备到${Blue_font_prefix}蓝色${Font_color_suffix}的USB3.0接口。"
|
|
|
|
|
|
exit
|
|
|
|
|
|
fi
|
|
|
|
|
|
}
|
|
|
|
|
|
#让SPARK通过机械臂进行视觉抓取
|
|
|
|
|
|
spark_carry_obj(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}让SPARK通过机械臂进行视觉抓取"
|
|
|
|
|
|
ROSVER=`/usr/bin/rosversion -d`
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
echo -e "${Info}请选择移动的方式：
|
|
|
|
|
|
${Green_font_prefix}1.${Font_color_suffix} 固定位置移动
|
|
|
|
|
|
${Green_font_prefix}2.${Font_color_suffix} 手动地图指定位置导航(未完成。。)
|
|
|
|
|
|
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-2]：" armnum
|
|
|
|
|
|
case "$armnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
MOVETYPE="fix"
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
MOVETYPE="slam"
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，默认使用固定位置移动"
|
|
|
|
|
|
MOVETYPE="fix"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请确定："
|
|
|
|
|
|
echo -e "${Info} A.摄像头已反向向下安装好。机械臂正常上电。"
|
|
|
|
|
|
echo -e "${Info} B.机械臂正常上电。"
|
|
|
|
|
|
echo -e "${Info} C.准备好可吸附的${Blue_font_prefix}蓝色${Font_color_suffix}物品。"
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
|
|
|
|
|
if [ $ROSVER = "kinetic" ]; then
|
|
|
|
|
|
echo -e "${Info}It is kinetic."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
elif [ $ROSVER = "indigo" ]; then
|
|
|
|
|
|
echo -e "${Info}It is indigo."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
elif [ $ROSVER = "melodic" ]; then
|
|
|
|
|
|
echo -e "${Info}It is melodic."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
elif [ $ROSVER = "noetic" ]; then
|
|
|
|
|
|
echo -e "${Info}It is noetic."
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#让SPARK使用激光雷达绘制地图(gmapping)
|
|
|
|
|
|
spark_build_map_2d(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}让SPARK使用激光雷达绘制地图"
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请选择SLAM的方式：
|
|
|
|
|
|
${Green_font_prefix}1.${Font_color_suffix} gmapping
|
|
|
|
|
|
${Green_font_prefix}2.${Font_color_suffix} hector
|
|
|
|
|
|
${Green_font_prefix}3.${Font_color_suffix} 待续....
|
|
|
|
|
|
${Green_font_prefix}4.${Font_color_suffix} karto
|
|
|
|
|
|
${Green_font_prefix}5.${Font_color_suffix} 退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-4]：" slamnum
|
|
|
|
|
|
case "$slamnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
SLAMTYPE="gmapping"
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
SLAMTYPE="hector"
|
|
|
|
|
|
;;
|
|
|
|
|
|
3)
|
|
|
|
|
|
SLAMTYPE="gmapping"
|
|
|
|
|
|
;;
|
|
|
|
|
|
4)
|
|
|
|
|
|
SLAMTYPE="karto"
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，默认使用gmapping"
|
|
|
|
|
|
SLAMTYPE="gmapping"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info} 请在新的终端窗口操作"
|
|
|
|
|
|
echo -e "${Info}键盘“wsad”分别对应“前后左右”"
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info} w前进 "
|
|
|
|
|
|
echo -e "${Info} a左转 d右转 "
|
|
|
|
|
|
echo -e "${Info} s后退 "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
2021-08-11 16:47:00 +08:00
|
|
|
|
print_command "roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
|
|
|
|
|
|
roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
#让SPARK去充电
|
|
|
|
|
|
spark_dock(){
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info} 让SPARK去充电。注：只适用于带充电座的SPARK使用！"
|
|
|
|
|
|
echo -e "${Info} 退出请输入：Ctrl + c "
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）继续："
|
|
|
|
|
|
echo && stty erase ^? && read -p "请再次确定是否有带充电座 y/n：" choose
|
|
|
|
|
|
if [[ "${choose}" == "y" ]]; then
|
|
|
|
|
|
roslaunch spark_test go2dock.launch
|
|
|
|
|
|
else
|
|
|
|
|
|
return
|
|
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
2021-08-11 16:47:00 +08:00
|
|
|
|
#让SPARK夺宝奇兵比赛用示例程序
|
|
|
|
|
|
spark_carry_game(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}夺宝奇兵比赛用示例程序"
|
|
|
|
|
|
ROSVER=`/usr/bin/rosversion -d`
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
echo -e "${Info}请选择比赛方式：
|
|
|
|
|
|
${Green_font_prefix}1.${Font_color_suffix} 手动模式
|
|
|
|
|
|
${Green_font_prefix}2.${Font_color_suffix} 自动模式
|
|
|
|
|
|
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-2]：" armnum
|
|
|
|
|
|
case "$armnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
roslaunch move2grasp teleop2grasp.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
roslaunch move2grasp move2grasp.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，请填入正确的数字"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
2021-03-27 13:48:27 +08:00
|
|
|
|
spark_test_mode(){
|
2021-03-04 17:23:09 +08:00
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
2021-03-27 13:48:27 +08:00
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
echo -e "${Info}老化测试程序，请将机器人放在一个50X50CM的方格中间进行测试，请选择：
|
|
|
|
|
|
1.执行5分钟的检测功能；
|
|
|
|
|
|
2.执行老化检测功能，直至断电。"
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo && stty erase ^? && read -p "请选择 1 或 2 ：" chnum
|
|
|
|
|
|
case "$chnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
roslaunch spark_test all_run_test_st.launch camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
roslaunch spark_test all_run_test.launch camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 退出!"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
2021-03-04 17:23:09 +08:00
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#让SPARK使用深度摄像头绘制地图
|
|
|
|
|
|
spark_build_map_3d(){
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}让SPARK使用深度摄像头绘制地图"
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请选择SLAM的方式：
|
|
|
|
|
|
${Green_font_prefix}1.${Font_color_suffix} gmapping
|
|
|
|
|
|
${Green_font_prefix}2.${Font_color_suffix} hector
|
|
|
|
|
|
${Green_font_prefix}3.${Font_color_suffix} 待续....
|
|
|
|
|
|
${Green_font_prefix}4.${Font_color_suffix} karto
|
|
|
|
|
|
${Green_font_prefix}5.${Font_color_suffix} rtab_map
|
|
|
|
|
|
${Green_font_prefix}6.${Font_color_suffix} 退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-5]：" slamnum
|
|
|
|
|
|
case "$slamnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
SLAMTYPE="gmapping"
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
SLAMTYPE="hector"
|
|
|
|
|
|
;;
|
|
|
|
|
|
3)
|
|
|
|
|
|
SLAMTYPE="gmapping"
|
|
|
|
|
|
;;
|
|
|
|
|
|
4)
|
|
|
|
|
|
SLAMTYPE="karto"
|
|
|
|
|
|
;;
|
|
|
|
|
|
5)
|
|
|
|
|
|
SLAMTYPE="rtab_map"
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，默认使用gmapping"
|
|
|
|
|
|
SLAMTYPE="gmapping"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info} 请在新的终端窗口操作"
|
|
|
|
|
|
echo -e "${Info}键盘“wsad”分别对应“前后左右”"
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info} w前进 "
|
|
|
|
|
|
echo -e "${Info} a左转 d右转 "
|
|
|
|
|
|
echo -e "${Info} s后退 "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
|
|
|
|
|
|
|
|
|
|
|
if [[ "${SLAMTYPE}" == "rtab_map" ]]; then
|
|
|
|
|
|
echo -e "${Tip}"
|
|
|
|
|
|
echo -e "${Tip}现在使用rtab_map建图，将会删除之前保存的地图，选择‘y’继续建图，其它键直接退出。"
|
|
|
|
|
|
echo -e "${Tip}"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请选择是否继续y/n：" choose
|
|
|
|
|
|
if [[ "${choose}" == "y" ]]; then
|
2021-12-13 15:59:33 +08:00
|
|
|
|
print_command "roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
else
|
|
|
|
|
|
return
|
|
|
|
|
|
fi
|
|
|
|
|
|
else
|
2021-12-13 15:59:33 +08:00
|
|
|
|
print_command "roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE}
|
2021-03-04 17:23:09 +08:00
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#给摄像机做标定
|
|
|
|
|
|
calibrate_camera(){
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}给摄像头做标定"
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}请选择：
|
|
|
|
|
|
${Green_font_prefix}1.${Font_color_suffix} 彩色(rgb)摄像头标定
|
|
|
|
|
|
${Green_font_prefix}2.${Font_color_suffix} 深度(depth/ir)摄像头标定
|
|
|
|
|
|
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-2]：" calinum
|
|
|
|
|
|
case "$calinum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
CALIBRATETYPE="rgb"
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
CALIBRATETYPE="depth"
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，退出" && exit
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}标定步骤 "
|
|
|
|
|
|
echo -e "${Info}1.准备格子大小为20x20mm的9x7的黑白棋盘（在doc文件夹中可以找到） "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}2.倾斜或移动棋盘格子使X，Y，Size，Skew指标变成${Green_font_prefix}绿色 "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}3.点击窗口中的CALIBRATE进行标定 "
|
|
|
|
|
|
echo -e "${Info}${Yellow_font_prefix}注意：${Font_color_suffix}点击后图像窗口将会卡顿！请耐心等候至新终端窗口出现标定矩阵数据！ "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}4.点击SAVE按钮保存标定文件 "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}标定文件储存在/tmp/calibrationdata.tar.gz中 "
|
|
|
|
|
|
echo -e "${Info}请把压缩文件中的yaml格式文件拷贝至/home/spark/.ros/camera_info中 "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}${Yellow_font_prefix}注意：${Font_color_suffix}请把yaml文件命名为当以下两种"
|
|
|
|
|
|
echo -e "${Info}rgb标定：camera.yaml depth标定：depth_Astra_Orbbec.yaml"
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo -e "${Info}退出请输入：Ctrl + c "
|
|
|
|
|
|
echo -e "${Info} "
|
|
|
|
|
|
echo && stty erase ^? && read -p "按回车键（Enter）开始："
|
|
|
|
|
|
|
|
|
|
|
|
PROJECTPATH=$(cd `dirname $0`; pwd)
|
|
|
|
|
|
source ${PROJECTPATH}/devel/setup.bash
|
|
|
|
|
|
print_command "roslaunch camera_calibrator camera_calibrate.launch calibrate_type:=${CALIBRATETYPE} camera_type_tel:=${CAMERATYPE}"
|
|
|
|
|
|
roslaunch camera_calibrator camera_calibrate.launch calibrate_type:=${CALIBRATETYPE} camera_type_tel:=${CAMERATYPE}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
qrcode_transfer_files(){
|
|
|
|
|
|
eth_ip=`/sbin/ifconfig eth0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
wlp1s_ip=`/sbin/ifconfig wlp1s0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
wlp2s_ip=`/sbin/ifconfig wlp2s0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
wlan_ip=`/sbin/ifconfig wlan0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
enp3s_ip=`/sbin/ifconfig enp3s0|grep 'inet '|awk '{print $2}'`
|
|
|
|
|
|
|
|
|
|
|
|
if [ $wlp1s_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络wlp1s0"
|
|
|
|
|
|
net_interface="wlp1s0"
|
|
|
|
|
|
elif [ $wlp2s_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络wlp2s0"
|
|
|
|
|
|
net_interface="wlp2s0"
|
|
|
|
|
|
elif [ $wlan_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络wlan0"
|
|
|
|
|
|
net_interface="wlan0"
|
|
|
|
|
|
elif [ $enp3s_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用无线网络enp3s0"
|
|
|
|
|
|
net_interface="enp3s0"
|
|
|
|
|
|
elif [ $eth_ip ]; then
|
|
|
|
|
|
echo -e "${Info}使用有线网络eth0"
|
|
|
|
|
|
net_interface="eth0"
|
|
|
|
|
|
fi
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}通过局域网收发文件"
|
|
|
|
|
|
echo -e "${Info}"
|
|
|
|
|
|
echo -e "${Info}请选择：
|
|
|
|
|
|
${Green_font_prefix}1.${Font_color_suffix} 发送文件（文件名，带上文件绝对路径）
|
|
|
|
|
|
${Green_font_prefix}2.${Font_color_suffix} 接收文件（默认存放在~/Downloads路径中）
|
|
|
|
|
|
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字 [1-2]：" cnum
|
|
|
|
|
|
case "$cnum" in
|
|
|
|
|
|
1)
|
|
|
|
|
|
echo -e "${Info}请输入文件名，带上文件绝对路径，如 /home/${USER}/a.jpg：
|
|
|
|
|
|
退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入要发送的文件：" s_file
|
|
|
|
|
|
if [ -f "$s_file" ]; then
|
|
|
|
|
|
echo -e "${Info}本机即将发送文件：${Green_font_prefix}"$s_file"${Font_color_suffix}，请接收端扫码或者直接输入下面的网址接收文件"
|
|
|
|
|
|
else
|
|
|
|
|
|
echo -e "${Info}请输入带绝对路径的文件名"
|
|
|
|
|
|
exit
|
|
|
|
|
|
fi
|
|
|
|
|
|
|
|
|
|
|
|
qrcp send -i $net_interface $s_file
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
echo -e "${Info}请输入接收到的文件存放的路径，默认为 /home/${USER}/Downloads：
|
|
|
|
|
|
退出请输入：Ctrl + c"
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入文件存放的文件夹路径：" s_file
|
|
|
|
|
|
if [ -d "$s_file" ]; then
|
|
|
|
|
|
echo ""
|
|
|
|
|
|
else
|
|
|
|
|
|
echo -e "${Info}${Red_font_prefix}文件夹不存在，将存放在默认文件夹/home/${USER}/Downloads中${Font_color_suffix}"
|
|
|
|
|
|
s_file="/home/${USER}/Downloads"
|
|
|
|
|
|
fi
|
|
|
|
|
|
echo -e "${Info}接收的文件将存放在：${Green_font_prefix}"$s_file"${Font_color_suffix}，目录下，请发送端扫码或者直接输入下面的网址选择文件发送"
|
|
|
|
|
|
qrcp -i $net_interface receive --output=$s_file
|
|
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 错误，退出"
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
coming_soon(){
|
|
|
|
|
|
echo -e "${Tip} coming_soon!"
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#printf
|
|
|
|
|
|
menu_status(){
|
|
|
|
|
|
echo -e "${Tip} 当前系统版本 ${OSDescription} !"
|
|
|
|
|
|
if [ -f "/usr/bin/rosversion" ]; then
|
|
|
|
|
|
ROSVER=`/usr/bin/rosversion -d`
|
|
|
|
|
|
if [ $ROSVER ]; then
|
|
|
|
|
|
echo -e "${Tip} 当前ROS版本 ${ROSVER} !"
|
|
|
|
|
|
return
|
|
|
|
|
|
fi
|
|
|
|
|
|
fi
|
|
|
|
|
|
echo -e "${Error} 未检测到ROS版本，请先安装ROS！可以选择102直接安装。"
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
tell_us(){
|
|
|
|
|
|
echo -e ""
|
|
|
|
|
|
echo -e "${Tip} --------------分隔线----------------"
|
|
|
|
|
|
echo -e "${Tip} 网址：www.nxrobo.com"
|
|
|
|
|
|
echo -e "${Tip} SPARK技术讨论与反馈QQ群：一群 8346256(已满)；二群 6646169"
|
|
|
|
|
|
echo -e "${Tip} ---------QQ扫描加入我们--------------"
|
|
|
|
|
|
echo 'https://jq.qq.com/?_wv=1027&k=1JV8oyB8'|qrencode -o - -t UTF8
|
|
|
|
|
|
echo -e ""
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
qrcode_picture()
|
|
|
|
|
|
{
|
|
|
|
|
|
echo 'www.NXROBO.com'|qrencode -o - -t UTF8
|
|
|
|
|
|
}
|
|
|
|
|
|
check_sys
|
|
|
|
|
|
echo -e "————————————
|
|
|
|
|
|
SPARK 一键安装管理脚本 ${Red_font_prefix}[v${sh_ver}]${Font_color_suffix}
|
|
|
|
|
|
"
|
|
|
|
|
|
qrcode_picture
|
|
|
|
|
|
|
|
|
|
|
|
echo -e "
|
|
|
|
|
|
请根据右侧的功能说明选择相应的序号。
|
|
|
|
|
|
注意：101～103为相关环境的安装与设置，如果已执行过，不要再重复执行。
|
|
|
|
|
|
|
|
|
|
|
|
${Green_font_prefix} 0.${Font_color_suffix} 单独编译SPARK
|
|
|
|
|
|
————————————
|
|
|
|
|
|
${Green_font_prefix} 1.${Font_color_suffix} 让机器人动起来
|
|
|
|
|
|
${Green_font_prefix} 2.${Font_color_suffix} 远程（手机APP）控制SPARK
|
|
|
|
|
|
${Green_font_prefix} 3.${Font_color_suffix} 让SPARK跟着你走
|
|
|
|
|
|
${Green_font_prefix} 4.${Font_color_suffix} 让SPARK使用激光雷达绘制地图
|
|
|
|
|
|
${Green_font_prefix} 5.${Font_color_suffix} 让SPARK使用深度摄像头绘制地图
|
|
|
|
|
|
${Green_font_prefix} 6.${Font_color_suffix} 让SPARK使用激光雷达进行导航
|
|
|
|
|
|
${Green_font_prefix} 7.${Font_color_suffix} 让SPARK使用深度摄像头进行导航
|
|
|
|
|
|
${Green_font_prefix} 8.${Font_color_suffix} 机械臂与摄像头标定
|
|
|
|
|
|
${Green_font_prefix} 9.${Font_color_suffix} 让SPARK通过机械臂进行视觉抓取
|
|
|
|
|
|
${Green_font_prefix} 10.${Font_color_suffix} 深度学习进行物品检测
|
|
|
|
|
|
${Green_font_prefix} 11.${Font_color_suffix} 语音控制SPARK移动
|
|
|
|
|
|
${Green_font_prefix} 12.${Font_color_suffix} 给摄像头做标定
|
|
|
|
|
|
|
|
|
|
|
|
————————————
|
|
|
|
|
|
|
|
|
|
|
|
${Green_font_prefix}100.${Font_color_suffix} 问题反馈
|
|
|
|
|
|
${Green_font_prefix}104.${Font_color_suffix} 文件传输
|
|
|
|
|
|
"
|
|
|
|
|
|
menu_status
|
|
|
|
|
|
check_dev
|
|
|
|
|
|
echo && stty erase ^? && read -p "请输入数字：" num
|
|
|
|
|
|
case "$num" in
|
|
|
|
|
|
0)
|
|
|
|
|
|
install_spark
|
|
|
|
|
|
;;
|
|
|
|
|
|
1)
|
|
|
|
|
|
let_robot_go
|
|
|
|
|
|
;;
|
|
|
|
|
|
2)
|
|
|
|
|
|
remote_control_robot
|
|
|
|
|
|
;;
|
|
|
|
|
|
3)
|
|
|
|
|
|
people_follow
|
|
|
|
|
|
;;
|
|
|
|
|
|
4)
|
|
|
|
|
|
spark_build_map_2d
|
|
|
|
|
|
;;
|
|
|
|
|
|
5)
|
|
|
|
|
|
spark_build_map_3d
|
|
|
|
|
|
;;
|
|
|
|
|
|
6)
|
|
|
|
|
|
spark_navigation_2d
|
|
|
|
|
|
;;
|
|
|
|
|
|
7)
|
|
|
|
|
|
spark_navigation_3d
|
|
|
|
|
|
;;
|
|
|
|
|
|
8)
|
|
|
|
|
|
cal_camera_arm
|
|
|
|
|
|
;;
|
|
|
|
|
|
9)
|
|
|
|
|
|
spark_carry_obj
|
|
|
|
|
|
;;
|
|
|
|
|
|
10)
|
|
|
|
|
|
spark_DeepLearn
|
|
|
|
|
|
;;
|
|
|
|
|
|
11)
|
|
|
|
|
|
voice_nav
|
|
|
|
|
|
;;
|
|
|
|
|
|
12)
|
|
|
|
|
|
calibrate_camera
|
|
|
|
|
|
;;
|
|
|
|
|
|
100)
|
|
|
|
|
|
tell_us
|
|
|
|
|
|
;;
|
|
|
|
|
|
104)
|
|
|
|
|
|
qrcode_transfer_files
|
|
|
|
|
|
;;
|
|
|
|
|
|
99)
|
|
|
|
|
|
spark_dock
|
|
|
|
|
|
;;
|
|
|
|
|
|
98)
|
2021-03-27 13:48:27 +08:00
|
|
|
|
spark_test_mode
|
2021-03-04 17:23:09 +08:00
|
|
|
|
;;
|
|
|
|
|
|
*)
|
|
|
|
|
|
echo -e "${Error} 请输入正确的数字 "
|
|
|
|
|
|
;;
|
|
|
|
|
|
esac
|
