甘肃省第八建设集团公司网站,上海手机网站建设公司,网站的模块,百家号淄博圻谷网站建设1.ROS机器人实例介绍(PR2,Turtlebot,HRMRP,Kungfu Arm)1).PR2:造就了ROS的机器人平台#xff0c;完全基于ROS开发#xff0c;功能丰富、强大2).Turtlebot:ROS社区中最流行的高性价比机器人平台#xff0c;前后工发布三代3).Universal Robot:工业领域的协作机器人定义者4).HR…1.ROS机器人实例介绍(PR2,Turtlebot,HRMRP,Kungfu Arm)1).PR2:造就了ROS的机器人平台完全基于ROS开发功能丰富、强大2).Turtlebot:ROS社区中最流行的高性价比机器人平台前后工发布三代3).Universal Robot:工业领域的协作机器人定义者4).HRMRP:基于ARMFPGA的异构实时移动机器人平台可实现SLAM、导航、图像处理、多机器人协作等功能5).Kungfu Arm:基于ROS-I框架的机械臂控制系统集成了机器视觉、语音、灵巧手等丰富的传感器和执行器安装PR2功能包sudo apt‐get install ros‐kinetic‐pr2‐*启动Gazeboz仿真roslaunch pr2_gazebo pr2_empty_world.launch 键盘控制roslaunch pr2_teleop teleop_keyboard.launch 启动SLAMroslaunch pr2_build_map.launch
roslaunch pr2_teleop teleop_keyboard.launch 机械臂控制roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch pr2_teleop_general pr2_teleop_general_keyboard.launch 机械臂MoveIt!控制git clone https://github.com/davetcoleman/pr2_moveit_config.git
catkin_make
roslaunch pr2_moveit_config demo.launch GazeboMoveIt!控制roslaunch pr2_gazebo pr2_empty_world.launch
roslaunch pr2_moveit_config move_group.launch
roslaunch pr2_moveit_config move_rviz.launch Turtlebot安装Turtlebot功能包sudo apt-get install ros-kinetic-turtlebot-*启动仿真环境export TURTLEBOT_GAZEBO_WORLD_FILE/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playgroud.world
roslaunch turtlebot_gazebo turtlebot_world.launch 键盘控制roslaunch turtlebot_teleop keyboard_teleop.launchSLAM建图export TURTLEBOT_GAZEBO_WORLD_FILE/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playgroud.world
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
roslaunch turtlebot_teleop keyboard_teleop.launch 自主导航roslaunch turtlebot_gazebo amcl_demo.launch
map_file:/home/sl/turtlebot_test_map.yaml
roslaunch turtlebot_rviz_launchers view_navigation.launch 安装Turtlebot3功能包sudo apt-get install ros-kinetic-turtlebot3-* 启动仿真环境export TURTLRBOT3_MODELburger
roslaunch turtlebot3_gazebo_ros turtlebot3_world.launch SLAM建图roslaunch turtlebot3_slam turtlebot3_slam.launch
rosrun turtlebot3_teleop turtlebot3_teleop_key Universal Robot 优傲机器人一家引领协作机器人全新细分市场的先驱企业关注机器人的用户可操作性和灵活度安全度高、无需安全围栏、编程简单、灵活度高UR5,自重18公斤负载高达5公斤、工作半径85cmUR3,自重11公斤有效负载3公斤所有腕关节均可360度旋转末端关节可作无线旋转UR10的有效负载为10公斤工作半径130cm安装UR功能包sudo apt-get install ros-kinetic-universal-robot 启动仿真环境roslaunch ur_gazebo ur5.launch MoveIt!gazeboroslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:true
roslaunch ur5_moveit_config moveit_rviz.launch config:true HRMRPKungfu Arm基于ROS/ROS-I实现同时控制六轴机械臂和仿生手实现灵巧的夹持姿势集成了多种运动规划库可以实现运动学求解、路径规划、自主避障、速度和加速度的高阶平滑集成高速视觉识算法可以识别、定位工作范围内的杯子、茶球等物体辅助机器人抓取集成中文语音识别功能可以实现语音控制、编程丰富了机器人的输入途径功能丰富的人机交互界面不仅提供常用的机器人控制和监控同时具备可热切换的3D离线仿真功能底层伺服通讯采用高速EtherCAT工业总线可以适配多种机器人本体2.构建综合机器人平台编译源码sudo apt-get install ros-kinetic-velodyne-simulator
sudo apt-get install ros-kinetic-hector-gazebo-plugins
sudo apt-get install ros-kinetic-pcl-conversions ros-kinetic-pointcloud-to-laserscan
catkin_make mbot pro模型显示roslaunch mbot_description display_mbot_pro_xacro.laserscan 仿真环境roslaunch mbot_gazebo view_mbot_pro_with_laser_kinetic_gazebo.launch 物体跟踪roslaunch mbot_gazebo view_mbot_pro_with_laser_kinetic_gazebo.launch
roslaunch mbot_follower follower_bringup_nodelet.launch marm pro模型显示roslaunch marm_desription view_arm.launch 仿真环境roslaunch marm_gazebo arm_world.launch MoveIt!视觉集成roslaunch marm_gazebo arm_bringup_moveit.launch mbotmarm模型显示roslaunch marm_desription view_mbot_with_arm.launch
roslaunch marm_desription view_mbot_with_arm_kinect.launch MoveIt!控制roslaunch mbot_with_arm_moveit_config demo.launch gazebo仿真环境roslaunch marm_gazebo mbot_with_arm_world.launch MoveIt!gazebo控制roslaunch marm_gazebo mbot_with_arm_bringup_moveit.launch
