1110 lines
40 KiB
Bash
Executable File
1110 lines
40 KiB
Bash
Executable File
#!/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"
|
||
|
||
#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 "${Info} 正在使用UARM机械臂"
|
||
ARMTYPE="uarm"
|
||
elif [ -n "$(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 $0`; pwd)
|
||
TYPE_LIDAR=$(cat /opt/lidar.txt)
|
||
|
||
if [[ "${TYPE_LIDAR}" == "ydlidar_g6" ]]; then
|
||
LIDARTYPE="ydlidar_g6"
|
||
rm -f ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
|
||
elif [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then
|
||
LIDARTYPE="ydlidar_g2"
|
||
touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
|
||
elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then
|
||
LIDARTYPE="3iroboticslidar2"
|
||
touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
|
||
else
|
||
echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行"
|
||
LIDARTYPE="3iroboticslidar2"
|
||
touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
|
||
fi
|
||
lidar_flag=0
|
||
|
||
#检查使用哪种设备
|
||
if [ -n "$(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 "$(lsusb -d 2bc5:0403)" ]; then
|
||
CAMERATYPE="astrapro"
|
||
|
||
camera_flag=$[$camera_flag + 1]
|
||
fi
|
||
if [ -n "$(lsusb -d 2bc5:0401)" ]; then
|
||
CAMERATYPE="astra"
|
||
|
||
camera_flag=$[$camera_flag + 1]
|
||
fi
|
||
if [ -n "$(lsusb -d 8086:0b07)" ]; then
|
||
CAMERATYPE="d435"
|
||
|
||
camera_flag=$[$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}'`
|
||
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
|
||
elif [ $wlo1_ip ]; then
|
||
echo -e "${Info}使用无线网络wlo1"
|
||
local_ip=$wlo1
|
||
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
|
||
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://${local_ip}:11311"
|
||
echo -e "${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} enable_arm_tel:=false"
|
||
roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:="false"
|
||
}
|
||
|
||
|
||
#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:=${CAMERATYPE}"
|
||
roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE}
|
||
else
|
||
print_command "roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE}"
|
||
roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE}
|
||
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:=${CAMERATYPE}
|
||
;;
|
||
2)
|
||
print_command "roslaunch darknet_ros deeplearn_darknet_yoloV3.launch camera_type_tel:=${CAMERATYPE}"
|
||
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:=${CAMERATYPE}"
|
||
roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE}
|
||
else
|
||
return
|
||
fi
|
||
else
|
||
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}
|
||
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}'`
|
||
wlp0s_ip=`/sbin/ifconfig wlp0s20f3|grep 'inet '|awk '{print $2}'`
|
||
wlo1_ip=`/sbin/ifconfig wlo1|grep 'inet '|awk '{print $2}'`
|
||
if [ $wlp1s_ip ]; then
|
||
echo -e "${Info}使用无线网络wlp1s0"
|
||
net_interface="wlp1s0"
|
||
elif [ $wlo1_ip ]; then
|
||
echo -e "${Info}使用无线网络wlo1"
|
||
net_interface="wlo1"
|
||
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 [ $wlp0s_ip ]; then
|
||
echo -e "${Info}使用无线网络wlp0s20f3"
|
||
net_interface="wlp0s20f3"
|
||
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。
|
||
|
||
${Green_font_prefix} 0.${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
|