arm
- 打开仿真环境
请确保已完成设备链接:网线?ip地址?
roslaunch ur3_move realUR3Cartesian.launch
仿真环境中有一些预定义的姿态控制,如果需要同时控制实体,请打开机械臂操作面板,点击下方中间的暂停
图标,如果关闭了仿真环境再重新打开仿真环境控制实体,请记得操作面板上也要同步关闭
,再打开
。
- 打开摄像头
roslaunch openni2_launch openni2.launch
请确保摄像头设备已接入,当看到Device "1d27/6601@1/8" found.
时,打开另一个终端输入rviz
,在rviz界面中左下角依次点击:
add -> By topic -> /rgb -> /image_raw -> Image
- 追踪banana
roslaunch openni2_launch openni2.launch
roslaunch ur3_move realUR3Cartesian.launch
rosrun image_process detectMoveBanana
rosrun ur3_move trackBanana
[ WARN] [1679377787.793732306]: "track_banana" passed to lookupTransform argument source_frame does not exist.