项目作者: uscmakers

项目描述 :
Robonaldo – Soccer Robot
高级语言: C++
项目地址: git://github.com/uscmakers/Robonaldo.git
创建时间: 2020-02-23T21:34:46Z
项目社区:https://github.com/uscmakers/Robonaldo

开源协议:

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Robonaldo

Installation

To build everything other than robonaldo_vision just run:

  1. sudo ./install.sh

Restart the terminal for the changes to take effect. This should let you run catkin_make with no problems.

Camera Installation

  1. If this is on a Jetson with Jetpack 4.3 that was freshly installed, run
    1. sudo ln -s /usr/include/opencv4 /usr/include/opencv
  2. Install the ZED camera software here: https://www.stereolabs.com/developers/release/.
  3. Make the sub ports not require root: https://github.com/LairdCP/UwTerminalX/wiki/Granting-non-root-USB-device-access-(Linux))

Nodes

  • Camera Node
  • Arduino Node
  • Decision Node
  • Vision Processing Node
  • Simulation Node
  • Odometry Node
  • Desktop Node

Running ROS

cd into repository and run:

  1. catkin_make

In one Terminal window: roscore

In other Terminal windows:

  1. source devel/setup.bash
  2. rosrun robonaldo <node_name>

For example, run roscore on one terminal, and in another terminal run:

  1. source devel/setup.bash
  2. rosrun robonaldo vision_processing.py

(under the /robonaldo_vision directory)

Running on Arduino

http://wiki.ros.org/rosserial_arduino/Tutorials/Blink

roscore

rosrun rosserial_python serial_node.py /dev/ttyACM0

rostopic pub toggle_led std_msgs/Empty --once — To toggle once

Run rosrun robonaldo talker to simulate ROS broadcast

Running Gaze-bo

Launch Gaze-bo

  1. source devel/setup.bash
  2. roslaunch robonaldo_gazebo robonaldo_gazebo.launch

Other

rospack list