#!/usr/bin/env bash PATH=/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin:~/bin export PATH #================================================= # System Required: Ubuntu 20.04 # litian.zhuang@nxrobo.com # Site: http://www.nxrobo.com/ # SPARK技术讨论与反馈QQ群：6646169 8346256 #================================================= GAME_ENABLE="no" sh_ver="2.0" filepath=$(cd "$(dirname "$0")"; pwd) Green_font_prefix="\033[32m" && Red_font_prefix="\033[31m" && Green_background_prefix="\033[42;37m" && Red_background_prefix="\033[41;37m" && Yellow_background_prefix="\033[43;37m" && Font_color_suffix="\033[0m" && Yellow_font_prefix="\e[1;33m" && Blue_font_prefix="\e[0;34m" Info="${Green_font_prefix}[信息]${Font_color_suffix}" Error="${Red_font_prefix}[错误]${Font_color_suffix}" Warn="${Yellow_font_prefix}[警告]${Font_color_suffix}" Tip="${Green_font_prefix}[注意]${Font_color_suffix}" Separator_1="——————————————————————————————" password="spark" Version=$(lsb_release -r --short) Codename=$(lsb_release -c --short) OSDescription=$(lsb_release -d --short) OSArch=$(uname -m) calibra_default="${filepath}/../.ros/camera_info" calibration="calibration" color_block="color_block" TYPE_LIDAR=$(cat /opt/lidar.txt) echo ${TYPE_LIDAR} if [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then LIDARTYPE="ydlidar_g2" elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then LIDARTYPE="3iroboticslidar2" else echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行" LIDARTYPE="3iroboticslidar2" fi #检查系统要求 check_sys(){ if [[ "${Version}" == "20.04" ]]; then ROS_Ver="noetic" else echo -e "${Error} 当前系统 ${OSDescription} ,此版本只适配ubuntu20.04 ROS noetic!" && exit 1 fi } #检查设备连接 check_dev(){ #检查底盘 if [ ! -n "$(lsusb -d 1a86:7523)" ]; then 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 "${Error} 机械臂没有正确连接，请确认正确连接！！" fi #检查摄像头 check_camera #检查雷达 check_lidar } #检查雷达设备 check_lidar(){ lidar_flag=0 #检查使用哪种设备 if [ -n "$(lsusb -d 10c4:ea60)" ]; then lidar_flag=$[$lidar_flag + 1] fi if [ $lidar_flag -ge 2 ]; then echo -e "${Warn} 正在使用多个雷达设备，请退出并拔掉其中一个再使用!" echo -e "${Warn} 退出请输入：Ctrl + c！" elif [ $lidar_flag -eq 1 ]; then echo -e "${Info} 正在使用${LIDARTYPE}雷达" elif [ $lidar_flag -eq 0 ]; then echo -e "${Error} 没有找到雷达，请确认雷达已正确连接！！" fi } #检查摄像头设备 check_camera(){ camera_flag=0 calibra_backup="/opt/nxrobo/camera_info" #检查使用哪种设备 if [ -n "$(lsusb -d 2bc5:0403)" ]; then CAMERATYPE="astrapro" depthtolaser="/camera/depth/image_rect_raw" camera_flag=$[$camera_flag + 1] fi if [ -n "$(lsusb -d 2bc5:0401)" ]; then CAMERATYPE="astra" depthtolaser="/camera/depth/image_raw" camera_flag=$[$camera_flag + 1] fi if [ -n "$(lsusb -d 8086:0b07)" ]; then CAMERATYPE="d435" depthtolaser="/camera/depth/image_rect_raw" camera_flag=$[$camera_flag + 1] fi if [ $camera_flag -ge 2 ]; then echo -e "${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!" echo -e "${Warn} 退出请输入：Ctrl + c！" elif [ $camera_flag -eq 1 ]; then echo -e "${Info} 正在使用${CAMERATYPE}摄像头" elif [ $camera_flag -eq 0 ]; then echo -e "${Error} 没有找到摄像头，请确认摄像头已正确连接！！" fi #根据摄像头类型检查标定文件和备份文件 case $CAMERATYPE in astrapro) #检查是否有默认文件夹和备份文件夹 if [ ! -d "$calibra_default" ]; then mkdir -p "$calibra_default" fi if [ ! -d "$calibra_backup" ]; then echo -e "${Info} 创建标定文件备份文件夹..." sudo mkdir -p "$calibra_backup" fi #如果没有就拷贝一份 if [ ! -f "$calibra_backup/camera.yaml" ]||[ ! -f "$calibra_backup/depth_Astra_Orbbec.yaml" ]; then if [ -f "$calibra_default/camera.yaml" ]&&[ -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then echo -e "${Info} 备份标定文件..." sudo cp -r "$calibra_default/." "$calibra_backup/." elif [ ! -f "$calibra_default/camera.yaml" ]||[ ! -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then echo -e "${Warn} 标定文件缺少其中一个，请确认rgb和depth标定文件都存在" fi elif [ -f "$calibra_backup/camera.yaml" ]&&[ -f "$calibra_backup/depth_Astra_Orbbec.yaml" ]; then if [ ! -f "$calibra_default/camera.yaml" ]; then echo -e "${Info} 缺少彩色摄像头标定文件，已拷贝" cp "$calibra_backup/camera.yaml" $calibra_default fi if [ ! -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then echo -e "${Info} 缺少深度摄像头标定文件，已拷贝" cp "$calibra_backup/depth_Astra_Orbbec.yaml" $calibra_default fi fi ;; astra) #astra自带标定文件 #如果检查到有标定文件就删除 if [ -d "$calibra_default" ]; then rm -rf "$calibra_default" fi ;; esac } #安装ROS完整版 install_ros_full(){ sudo sh -c 'echo 1 > /proc/sys/net/ipv6/conf/all/disable_ipv6' sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt-get update sudo apt-get install -y ros-${ROS_Ver}-desktop-full sudo rosdep init rosdep update echo "source /opt/ros/${ROS_Ver}/setup.bash" >> ~/.bashrc source /opt/ros/${ROS_Ver}/setup.bash sudo apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential } #检测是否需要安装完整版 check_install_ros_full(){ if [ -f "/usr/bin/rosversion" ]; then ROSVER=`/usr/bin/rosversion -d` if [ $ROSVER ]; then echo -e "${Tip} 检测到当前系统已安装了ROS的${ROSVER}版本!" echo && stty erase ^? && read -p "请选择是否继续安装？ y/n：" choose if [[ "${choose}" == "y" ]]; then echo -e "${Info}准备安装ROS系统！" else exit fi fi fi install_ros_full } #安装intel_movidius的相关驱动和程序 install_intel_movidius(){ BASEPATH=$(cd `dirname $0`; pwd) if [[ ! -d "$BASEPATH/src/3rd_app/intel/ncappzoo" ]] || [[ ! -d "$BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs" ]] || [[ ! -d "/opt/movidius" ]] ; then echo && stty erase ^? && read -p "检测到未安装INTEL　MOVIDIUS的相关驱动和程序，是否现在安装y/n?" yorn if [[ "${yorn}" == "y" ]]; then echo -e "${Info} 准备安装intel movidius的相关驱动和代码…… " echo -e "${Info} 安装过程中可能会花费挺长时间的。请耐心等待！" cd $BASEPATH mkdir $BASEPATH/src/3rd_app/intel cd $BASEPATH/src/3rd_app/intel echo -e "${Info} git clone https://github.com/movidius/ncsdk" git clone https://github.com/movidius/ncsdk echo -e "${Info} git clone https://github.com/movidius/ncappzoo" git clone https://github.com/movidius/ncappzoo echo -e "${Info} git clone https://github.com/intel/object_msgs" git clone https://github.com/intel/object_msgs echo -e "${Info} git clone https://github.com/intel/ros_intel_movidius_ncs.git" git clone https://github.com/intel/ros_intel_movidius_ncs.git cd $BASEPATH/src/3rd_app/intel/ncsdk make install make examples echo -e "${Info} sudo ln -s $BASEPATH/src/3rd_app/intel/ncappzoo /opt/movidius/ncappzoo" sudo ln -s $BASEPATH/src/3rd_app/intel/ncappzoo /opt/movidius/ncappzoo cd $BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs git checkout master cp $BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs/data/labels/* /opt/movidius/ncappzoo/data/ilsvrc12/ # AlexNet echo -e "${Info} compile NCS graph--AlexNet" cd /opt/movidius/ncappzoo/caffe/AlexNet make # GoogleNet echo -e "${Info} compile NCS graph--GoogleNet" cd /opt/movidius/ncappzoo/caffe/GoogLeNet make # SqueezeNet echo -e "${Info} compile NCS graph--SqueezeNet" cd /opt/movidius/ncappzoo/caffe/SqueezeNet make # Inception_V1 echo -e "${Info} compile NCS graph--Inception_V1" cd /opt/movidius/ncappzoo/tensorflow/inception_v1/ make # Inception_V2 echo -e "${Info} compile NCS graph--Inception_V2" 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：" 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} } #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：" 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} } #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." 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} elif [ $ROSVER = "indigo" ]; then echo -e "${Info}It is indigo." 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} elif [ $ROSVER = "melodic" ]; then echo -e "${Info}It is melodic." 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} elif [ $ROSVER = "noetic" ]; then echo -e "${Info}It is melodic." 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} 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：" 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} } #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 print_command "roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}" roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser} else print_command "roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}" roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser} 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." 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} elif [ $ROSVER = "indigo" ]; then echo -e "${Info}It is indigo." 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} elif [ $ROSVER = "melodic" ]; then echo -e "${Info}It is melodic." 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} elif [ $ROSVER = "noetic" ]; then echo -e "${Info}It is noetic." 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} 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 "${Info}" echo && stty erase ^? && read -p "按回车键（Enter）开始：" print_command "roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${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:=${LIDARTYPE} } #让SPARK去充电 spark_dock(){ echo -e "${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 } #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 } spark_test_mode(){ PROJECTPATH=$(cd `dirname $0`; pwd) 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 "${Error} 退出!" ;; esac } #让SPARK使用深度摄像头绘制地图 spark_build_map_3d(){ echo -e "${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 print_command "roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}" roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser} else return fi else print_command "roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}" roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser} 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 "$num" in 0) install_spark ;; 1) let_robot_go ;; 2) remote_control_robot ;; 3) people_follow ;; 4) spark_build_map_2d ;; 5) spark_build_map_3d ;; 6) spark_navigation_2d ;; 7) spark_navigation_3d ;; 8) cal_camera_arm ;; 9) spark_carry_obj ;; 10) spark_DeepLearn ;; 11) voice_nav ;; 12) calibrate_camera ;; 100) tell_us ;; 104) qrcode_transfer_files ;; 99) spark_dock ;; 98) spark_test_mode ;; *) echo -e "${Error} 请输入正确的数字 " ;; esac