diff --git a/onekey.sh b/onekey.sh
index cf7e63d..c279152 100755
--- a/onekey.sh
+++ b/onekey.sh
@@ -45,15 +45,24 @@ check_dev(){
echo -e "${Error} 底盘没有正确连接,请确认正确连接!!"
fi
#检查机械臂
- if [ ! -n "$(lsusb -d 2341:0042)" ]; then
- echo -e "${Error} 机械臂没有正确连接,请确认正确连接!!"
+ if [ -n "$(lsusb -d 2341:0042)" ]; then
+ echo -e "${Info} 正在使用UARM机械臂"
+ ARMTYPE="uarm"
+ elif [ -n "$(lsusb -d 2e88:4603)" ]; then
+ echo -e "${Info} 正在使用射手座机械臂"
+ ARMTYPE="sagittarius_arm"
+ else
+ echo -e "${Error} 机械臂没有正确连接或未上电,请确认正确连接!!"
+ ARMTYPE="uarm"
fi
+
#检查摄像头
check_camera
#检查雷达
check_lidar
}
+
#检查雷达设备
check_lidar(){
BASEPATH=$(cd `dirname $0`; pwd)
@@ -301,6 +310,7 @@ master_uri_setup(){
wlan_ip=`/sbin/ifconfig wlan0|grep 'inet '|awk '{print $2}'`
enp3s_ip=`/sbin/ifconfig enp3s0|grep 'inet '|awk '{print $2}'`
wlo1_ip=`/sbin/ifconfig wlo1|grep 'inet '|awk '{print $2}'`
+ wlp0s_ip=`/sbin/ifconfig wlp0s20f3|grep 'inet '|awk '{print $2}'`
if [ $eth_ip ]; then
echo -e "${Info}使用有线网络eth0"
local_ip=$eth_ip
@@ -316,9 +326,12 @@ master_uri_setup(){
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
+ elif [ $enp3s_ip ]; then
+ echo -e "${Info}使用无线网络enp3s0"
+ local_ip=$enp3s_ip
+ elif [ $wlp0s_ip ]; then
+ echo -e "${Info}使用无线网络wlp0s20f3"
+ local_ip=$wlp0s_ip
fi
export ROS_HOSTNAME=$local_ip
export ROS_MASTER_URI="http://${local_ip}:11311"
@@ -347,8 +360,8 @@ let_robot_go(){
echo -e "${Info} "
echo -e "${Info} 退出请输入:Ctrl + c "
echo && stty erase ^? && read -p "按回车键(Enter)开始:"
- print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
- roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
+ print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:=false"
+ roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:="false"
}
diff --git a/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch b/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch
index 009254e..076fb9a 100755
--- a/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch
+++ b/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch
@@ -6,7 +6,7 @@
-
+
diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect1.launch b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect1.launch
index 2b45961..599c4f1 100755
--- a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect1.launch
+++ b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect1.launch
@@ -16,7 +16,7 @@
-
+
diff --git a/src/spark/spark_bringup/launch/driver_bringup.launch b/src/spark/spark_bringup/launch/driver_bringup.launch
index d30bb8d..4104a29 100755
--- a/src/spark/spark_bringup/launch/driver_bringup.launch
+++ b/src/spark/spark_bringup/launch/driver_bringup.launch
@@ -5,11 +5,11 @@
-
+
-
+
diff --git a/src/spark/spark_description/launch/spark_description.launch b/src/spark/spark_description/launch/spark_description.launch
index 2570078..38cfc50 100755
--- a/src/spark/spark_description/launch/spark_description.launch
+++ b/src/spark/spark_description/launch/spark_description.launch
@@ -2,22 +2,33 @@
-
-
+
+
-
-
+
+
-
+
+
+
+
+
+
+
+ [wheel_states,sagittarius_joint_states]
+
+
+
+
+
+
+
+ [wheel_states]
+
+
-
-
-
- ["wheel_states"]
-
-
-
+
-
+
diff --git a/src/spark/spark_description/robots/spark.urdf.xacro b/src/spark/spark_description/robots/spark.urdf.xacro
index ee46857..ee485ff 100755
--- a/src/spark/spark_description/robots/spark.urdf.xacro
+++ b/src/spark/spark_description/robots/spark.urdf.xacro
@@ -7,10 +7,10 @@
-->
-
+
-
+
diff --git a/src/spark/spark_description/urdf/spark_340.urdf.xacro b/src/spark/spark_description/urdf/spark_340.urdf.xacro
index 1287db1..773e454 100755
--- a/src/spark/spark_description/urdf/spark_340.urdf.xacro
+++ b/src/spark/spark_description/urdf/spark_340.urdf.xacro
@@ -8,9 +8,15 @@
-
+
+
+
+
+
-
+
+
+
@@ -33,11 +39,20 @@
-
+
+
+
+
+
+
+
+
+
+
diff --git a/src/spark/spark_description/urdf/spark_sagittarius_descriptions.urdf b/src/spark/spark_description/urdf/spark_sagittarius_descriptions.urdf
new file mode 100644
index 0000000..11eeedf
--- /dev/null
+++ b/src/spark/spark_description/urdf/spark_sagittarius_descriptions.urdf
@@ -0,0 +1,599 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
+
diff --git a/src/spark/spark_teleop/launch/app_op.launch b/src/spark/spark_teleop/launch/app_op.launch
index 79e76cf..c5322a1 100644
--- a/src/spark/spark_teleop/launch/app_op.launch
+++ b/src/spark/spark_teleop/launch/app_op.launch
@@ -5,7 +5,7 @@
-
+
diff --git a/src/spark/spark_test/launch/all_run_test_st.launch b/src/spark/spark_test/launch/all_run_test_st.launch
index a7dd56e..8d06285 100755
--- a/src/spark/spark_test/launch/all_run_test_st.launch
+++ b/src/spark/spark_test/launch/all_run_test_st.launch
@@ -16,7 +16,7 @@
-
+
diff --git a/src/spark_app/spark_carry/launch/spark_carry_cal_cv2.launch b/src/spark_app/spark_carry/launch/spark_carry_cal_cv2.launch
index 579aaf0..c57c339 100755
--- a/src/spark_app/spark_carry/launch/spark_carry_cal_cv2.launch
+++ b/src/spark_app/spark_carry/launch/spark_carry_cal_cv2.launch
@@ -10,7 +10,7 @@
-
+
diff --git a/src/spark_app/spark_carry/launch/spark_carry_object_only_cv2.launch b/src/spark_app/spark_carry/launch/spark_carry_object_only_cv2.launch
index a08c471..5f80edf 100755
--- a/src/spark_app/spark_carry/launch/spark_carry_object_only_cv2.launch
+++ b/src/spark_app/spark_carry/launch/spark_carry_object_only_cv2.launch
@@ -5,7 +5,7 @@
-
+
diff --git a/src/spark_app/spark_follower/launch/bringup.launch b/src/spark_app/spark_follower/launch/bringup.launch
index 68e6c69..2bb1877 100755
--- a/src/spark_app/spark_follower/launch/bringup.launch
+++ b/src/spark_app/spark_follower/launch/bringup.launch
@@ -8,12 +8,12 @@
-
+
-
+
diff --git a/src/spark_app/spark_follower/launch/nxfollower_bringup_nodelet.launch b/src/spark_app/spark_follower/launch/nxfollower_bringup_nodelet.launch
index 6efef4e..76807f8 100755
--- a/src/spark_app/spark_follower/launch/nxfollower_bringup_nodelet.launch
+++ b/src/spark_app/spark_follower/launch/nxfollower_bringup_nodelet.launch
@@ -3,14 +3,14 @@
-->
-
+
-
+
diff --git a/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch b/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch
index 72412f4..1157247 100755
--- a/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch
+++ b/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch
@@ -1,11 +1,11 @@
-
+
-
+
diff --git a/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch b/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch
index 5b3c706..63825a2 100644
--- a/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch
+++ b/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch
@@ -5,7 +5,7 @@
-
+
diff --git a/src/spark_app/spark_rtabmap/launch/rtab_demo (copy).launch b/src/spark_app/spark_rtabmap/launch/rtab_demo (copy).launch
index 2cbe123..dabee45 100755
--- a/src/spark_app/spark_rtabmap/launch/rtab_demo (copy).launch
+++ b/src/spark_app/spark_rtabmap/launch/rtab_demo (copy).launch
@@ -1,12 +1,12 @@
-
+
-
+
diff --git a/src/spark_app/spark_rtabmap/launch/rtab_demo.launch b/src/spark_app/spark_rtabmap/launch/rtab_demo.launch
index caabd84..8da2415 100755
--- a/src/spark_app/spark_rtabmap/launch/rtab_demo.launch
+++ b/src/spark_app/spark_rtabmap/launch/rtab_demo.launch
@@ -1,16 +1,16 @@
-
+
-
+
-
+
diff --git a/src/spark_app/spark_slam/launch/2d_slam_norviz.launch b/src/spark_app/spark_slam/launch/2d_slam_norviz.launch
index fc43c56..a094ef4 100755
--- a/src/spark_app/spark_slam/launch/2d_slam_norviz.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam_norviz.launch
@@ -10,7 +10,7 @@
-
+
diff --git a/src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch b/src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch
index 809a690..67ab32d 100755
--- a/src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam_teleop_auto.launch
@@ -7,7 +7,7 @@
-
+
diff --git a/src/spark_driver/lidar/ydlidar_g2/urdf/ydlidar.urdf b/src/spark_driver/lidar/ydlidar_g2/urdf/ydlidar.urdf
index df83324..46c7747 100644
--- a/src/spark_driver/lidar/ydlidar_g2/urdf/ydlidar.urdf
+++ b/src/spark_driver/lidar/ydlidar_g2/urdf/ydlidar.urdf
@@ -93,16 +93,11 @@
-
-
-
-
-
-
+
-
+
-
+
\ No newline at end of file
diff --git a/src/spark_driver/lidar/ydlidar_g6/launch/G6_G7.launch b/src/spark_driver/lidar/ydlidar_g6/launch/G6_G7.launch
index f3bd30b..1582d33 100644
--- a/src/spark_driver/lidar/ydlidar_g6/launch/G6_G7.launch
+++ b/src/spark_driver/lidar/ydlidar_g6/launch/G6_G7.launch
@@ -32,6 +32,6 @@
-
+