代码拉取完成,页面将自动刷新
同步操作将从 Lovely-Pig/npu-robot 强制同步,此操作会覆盖自 Fork 仓库以来所做的任何修改,且无法恢复!!!
确定后同步将在后台操作,完成时将刷新页面,请耐心等待。
$ cd src/
$ catkin_create_pkg npu_robot rospy roscpp std_msgs actionlib actionlib_msgs
CMakelists.txt
find_package(catkin REQUIRED COMPONENTS
rospy
roscpp
std_msgs
actionlib
sensor_msgs
actionlib_msgs
control_msgs
move_base_msgs
trajectory_msgs
darknet_ros_msgs
message_generation
)
catkin_package(
...
CATKIN_DEPENDS ... message_runtime
)
package.xml
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_depend>control_msgs</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>trajectory_msgs</build_depend>
<build_depend>darknet_ros_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>actionlib_msgs</build_export_depend>
<build_export_depend>control_msgs</build_export_depend>
<build_export_depend>move_base_msgs</build_export_depend>
<build_export_depend>trajectory_msgs</build_export_depend>
<build_export_depend>darknet_ros_msgs</build_export_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
<exec_depend>control_msgs</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>trajectory_msgs</exec_depend>
<exec_depend>darknet_ros_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
使用自定义的action消息类型需要做如下修改
CMakelists.txt
add_action_files(
FILES
ArmSwing.action
ArmTheta.action
)
generate_messages(
DEPENDENCIES
actionlib_msgs
)
# 启动导航
$ roslaunch xtark_nav xtark_nav.launch
# 启动机械臂驱动
$ roslaunch xarm_controller xarm_driver.launch
# 启动摄像头
$ roslaunch xtark_driver xtark_camera.launch
# 启动物体中心点检测节点
$ rosrun npu_robot img_object_center.py
# 启动机械臂摇摆服务端
$ rosrun npu_robot arm_swing_server.py
# 启动测试文件
$ rosrun npu_robot arm_test.py
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