npu_robot

$ cd src/
$ catkin_create_pkg npu_robot rospy roscpp std_msgs actionlib actionlib_msgs

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
)

<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>

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

# 启动图像
$ roslaunch npu_robot npu_robot_img.launch

# 启动机械臂
$ roslaunch npu_robot npu_robot_arm.launch

# 启动手柄
$ roslaunch npu_robot npu_robot_joy.launch

$ ro