ArmPi-ROS2/commond at master · nathanblm/ArmPi-ROS2 · GitHub

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ROS2

#关闭自启
sudo systemctl restart start_app_node.service
#启动自启
sudo systemctl restart start_app_node.service
#关闭所有ROS的进程
~/.stop_ros.sh

#####################机械臂基础控制#####################
#控制舵机
#1.通过话题控制舵机
ros2 launch sdk jetarm_sdk.launch.py
ros2 topic list
ros2 topic pub /ros_robot_controller/bus_servo/set_position ros_robot_controller_msgs/msg/ServosPosition '{"position": [{"id": 1, "position": 700}]}'
#2.使用python文件控制
ros2 launch sdk jetarm_sdk.launch.py
python3 ~/ros2_ws/src/example/example/simple/include/bus_servo_node.py
#3.启动launch文件控制
ros2 launch  example bus_servo.launch.py

#控制LED
#1.通过话题控制LED
ros2 launch sdk jetarm_sdk.launch.py
ros2 topic list
ros2 topic pub /ros_robot_controller/set_led ros_robot_controller_msgs/msg/LedState "{id: 1,on_time: 0.1,off_time: 0.2,repeat: 10}"
#2使用python文件控制
ros2 launch sdk jetarm_sdk.launch.py
python3 ~/ros2_ws/src/example/example/simple/include/led_node.py
#3启动launch文件控制
ros2 launch example led.launch.py

#蜂鸣器控制
#1.蜂鸣器控制节点
ros2 launch sdk jetarm_sdk.launch.py
ros2 topic list
ros2 topic pub /ros_robot_controller/set_buzzer ros_robot_controller_msgs/msg/BuzzerState "{freq: 1900, on_time: 0.1,off_time: 0.2,repeat: 10}"
#2.使用python文件控制
ros2 launch sdk jetarm_sdk.launch.py
python3 ~/ros2_ws/src/example/example/simple/include/buzzer_node.py
#3.启动launch文件控制
ros2 launch example buzzer.launch.py

#机械臂上位机
cd arm_pc
python3 main.py

#舵机调试工具
cd factory_utils/Bus_Servo_Tool
python3 main.py

#####################机械臂高级控制#####################
#正运动学
#1.通过服务调用
ros2 launch sdk jetarm_sdk.launch.py
ros2 service list
ros2 service call /kinematics/set_joint_value_target kinematics_msgs/srv/SetJointValue "{joint_value: [500.0, 400.0, 300.0, 400.0, 500.0 ]}"
#2.启动launch文件控制
ros2 launch example fk.launch.py

#逆运动学
#1.通过服务调用
ros2 launch sdk jetarm_sdk.launch.py
ros2 service list
ros2 service call /kinematics/set_pose_target kinematics_msgs/srv/SetRobotPose "{position: [0.35, 0.0, 0.24], pitch_range: [-180,180], pitch: 10, resolution: 1 }"
#2.启动launch文件控制
ros2 launch example ik.launch.py

#####################ROS+OpenCV课程#####################
#摄像头调用
ros2 launch peripherals depth_camera.launch.py

#颜色阈值
ros2 launch example color_threshold.launch.py

#颜色空间转换
ros2 launch example color_space.launch.py

#颜色识别
ros2 launch example color_recognition.launch.py

#像素坐标计算
ros2 launch example pixel_coordinate_calculation.launch.py

#物体位姿计算
ros2 launch example object_attitude_calculation.launch.py

#坐标系转换
ros2 launch example coordinate_system_transformation.launch.py

#轨迹规划
ros2 launch example path_planning.launch.py

#定位夹取
ros2 launch example positioning_clamp.launch.py

#颜色分拣
ros2 launch example color_track_node.launch.py

#色块追踪
ros2 launch example color_tracking.launch.py

#标签追踪
ros2 launch example tag_tracking.launch.py

#KCF物品追踪
ros2 launch example kcf_track_node.launch.py

#####################深度学习应用####################
#机械臂垃圾分类
ros2 launch example waste_classification.launch.py


#三维人脸检测
ros2 launch example  face_mesh.launch.py

#Mediapipe人脸追踪
ros2 launch example face_tracking.launch.py

#Mediapipe手势交互
ros2 launch example hand_gesture.launch.py

#Mediapipe指尖轨迹
ros2 launch example finger_trajectory.launch.py


#####################机械臂深度相机应用课程#####################
#深度图伪彩色处理
ros2 launch example get_depth_rgb_img.launch.py

#距离测量
ros2 launch example distance_measure.launch.py

#深度图的转换
ros2 launch example rgb_depth_to_pointcloud.launch.py

#高度检测夹取
ros2 launch example remove_too_high.launch.py

#三维空间抓取
ros2 launch example track_and_grab.launch.py

#三维形状分拣
ros2 launch example shape_recognition.launch.py

####################语音控制####################
#启动麦克风节点
ros2 launch xf_mic_asr_offline mic_init.launch.py enable_setting:=true

#语音控制颜色分拣
ros2 launch xf_mic_asr_offline voice_control_color_sorting.launch.py

#语音控制颜色追踪
ros2 launch xf_mic_asr_offline voice_control_color_track.launch.py