实验7 蓝桥ROS1使用外设 适用kinetic/melodic/noetic

Posted 2022-05-21 zhangrelay

内容：使用游戏手柄、使用RGBD传感器，ROS摄像头驱动、ROS与OpenCV库、标定摄像头、视觉里程计，点云库、可视化点云、滤波和缩减采样、配准与匹配、点云分区

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记录：

遥控小乌龟有多少种方式？

键盘/游戏手柄/鼠标/触摸屏等。

sudo apt install ros-kinetic-mouse-teleop

ros-kinetic-joy-teleop ros-kinetic-key-teleop ros-kinetic-teleop-tools-msgs

<launch>
  <arg name="mouse_vel" default="mouse_vel"/>
  <arg name="holonomic" default="false"/>

  <arg name="plot" default="false"/>

  <node pkg="mouse_teleop" type="mouse_teleop.py" name="mouse_teleop">
    <rosparam file="$(find mouse_teleop)/config/mouse_teleop.yaml" command="load"/>
    <param name="holonomic" value="$(arg holonomic)"/>

    <remap from="mouse_vel" to="$(arg mouse_vel)"/>
  </node>

  <group if="$(arg plot)">
    <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot"
          args="$(arg mouse_vel)/linear/x $(arg mouse_vel)/linear/y $(arg mouse_vel)/angular/z"/>
  </group>
</launch>

rosrun mouse_teleop mouse_teleop.py mouse_vel:=turtle1/cmd_vel

 

点云：

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思考：

1. 掌握功能包复用灵活应用参数。

rosrun rospy_tutorials talker chatter:=/wg/chatter

rosrun rospy_tutorials talker _param:=1.0

2. 点云分割做物体识别

Learning ROS for Robotics Programming Second Edition学习笔记(六) indigo xtion pro live

Learning ROS for Robotics Programming Second Edition学习笔记(七) indigo PCL xtion pro live 

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