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