From 8ab66c08d07ff669c6e881c1d7c9330491b9d096 Mon Sep 17 00:00:00 2001 From: "litian.zhuang" Date: Fri, 1 Apr 2022 12:05:29 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E6=9C=BA=E6=A2=B0=E8=87=82?= =?UTF-8?q?=E7=9B=B8=E5=85=B3=E9=80=89=E6=8B=A9=E3=80=82=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E6=91=84=E5=83=8F=E5=A4=B4=E8=AE=BE=E5=A4=87=E5=8F=82=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- onekey.sh | 27 +- .../launch/deeplearn_darknet_yoloV3.launch | 2 +- .../launch/object_detect1.launch | 2 +- .../launch/driver_bringup.launch | 4 +- .../launch/spark_description.launch | 33 +- .../launch/spark_description_rviz.launch | 4 +- .../spark_description/robots/spark.urdf.xacro | 4 +- .../urdf/spark_340.urdf.xacro | 21 +- .../urdf/spark_sagittarius_descriptions.urdf | 599 ++++++++++++++++++ src/spark/spark_teleop/launch/app_op.launch | 2 +- .../spark_test/launch/all_run_test_st.launch | 2 +- .../launch/spark_carry_cal_cv2.launch | 2 +- .../launch/spark_carry_object_only_cv2.launch | 2 +- .../spark_follower/launch/bringup.launch | 4 +- .../launch/nxfollower_bringup_nodelet.launch | 4 +- .../launch/amcl_demo_lidar.launch | 4 +- .../launch/amcl_demo_lidar_rviz.launch | 2 +- .../launch/rtab_demo (copy).launch | 4 +- .../spark_rtabmap/launch/rtab_demo.launch | 6 +- .../spark_slam/launch/2d_slam_norviz.launch | 2 +- .../launch/2d_slam_teleop_auto.launch | 2 +- .../lidar/ydlidar_g2/urdf/ydlidar.urdf | 11 +- .../lidar/ydlidar_g6/launch/G6_G7.launch | 4 +- 23 files changed, 690 insertions(+), 57 deletions(-) create mode 100644 src/spark/spark_description/urdf/spark_sagittarius_descriptions.urdf 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 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 @@ - +