NXROBO Spark

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列表 Table of Contents

• 功能包说明packages-overview
• 使用usage
• 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 16.04+
• ROS Version: kinetic (Desktop-Full Install)

下载安装 Download and install

• 下载工作空间 Download the workspace:

git clone https://github.com/NXROBO/spark.git

• 安装依赖库 Install libraries and dependencies:

cd spark
./onekey.sh

• 根据提示选择103 Choose NO.103

103

编译运行 compile and run

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:

./onekey.sh

参数说明 Arguments description

Launch file arguments description

camera_type_tel

深度摄像头的型号，其对应值如下表。The model type of the depth camera, and the corresponding values can be seen below...

Camera version	CAMERATYPE value
Astra Pro	"astrapro"
Astra	"astra"
Intel RealSense D435	"d435"

depthtolaser

深度摄像头的深度信息topic，其对应值如下表。The depth information topic of the depth camera, and the corresponding values can be seen below...

Camera version	depthtolaser value
Astra Pro	"/camera/depth/image_rect_raw"
Astra	"/camera/depth/image_raw"
Intel RealSense D435	"/camera/depth/image_rect_raw"

lidar_type_tel

激光雷达的型号，其对应值如下表。The model type of the lidar, and the corresponding values can be seen below...

Lidar version	LIDARTYPE value
YDLIDAR G2	"ydlidar_g2"
3iRobotics lidar	"3iroboticslidar2"

slam_methods_tel

SLAM的算法，其对应值如下表。The algorithm of the SLAM, and the corresponding values can be seen below...

SLAM algorithm	SLAMTYPE value
gmapping	"gmapping"
hectorSLAM	"hector"
Frontier-based exploration	"frontier_exploration"
kartoSLAM	“karto”

视频展示Video

1.Spark跟随 Spark-Follower

cd spark
source devel/setup.bash

roslaunch spark_follower bringup.launch camera_type_tel:=CAMERATYPE

2.Spark建图 Spark-SLAM-Mapping

cd spark
source devel/setup.bash

roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=SLAMTYPE camera_type_tel:=CAMERATYPE lidar_type_tel:=LIDARTYPE

3.Spark导航 Spark-Navigation

cd spark
source devel/setup.bash

roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=CAMERATYPE lidar_type_tel:=LIDARTYPE

4.Spark-RtabMap建图 Spark-RtabMap-Mapping

cd spark
source devel/setup.bash

roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=SLAMTYPE camera_type_tel:=CAMERATYPE depthtolaser:=depthtolaser

5.Spark机械臂视觉抓取 Spark-Carry_Object

cd spark
source devel/setup.bash

roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=CAMERATYPE lidar_type_tel:=LIDARTYPE