mobile_robot_exp

Mobile Robot Experiment in 2019 Autumn: 实现基于marker码识别的aubo i5机械臂码垛实验

1.实验结果

video

2. 环境配置

参考：

https://blog.csdn.net/harrycomeon/article/details/102600957

与aubo通信:https://blog.csdn.net/cstone123/article/details/95608424

aruco_ros:https://github.com/lg609/aubo_robot.git

vision_visp:https://github.com/lagadic/vision_visp.git

easy_handeye:https://github.com/IFL-CAMP/easy_handeye

usb_cam:https://github.com/bosch-ros-pkg/usb_cam.git

3文件说明

cmd_pkg

├── CMakeLists.txt

├── config

│ ├── easy_handeye_eye_on_hand.yaml

│ └── map

├── include

│ └── move_all_base.h

├── launch

│ └── aubo_bringup.launch

├── package.xml

└── src

├── aubo_add_collision.cpp

├── exp4_1.py

├── exp4_2.py

├── get_pose.cpp

├── move_all_base.cpp

└── move_all.cpp

doc ├── commands.md

└── README.md

move_all.cpp是主程序
aubo_add_collision.cpp是添加模拟的夹爪
exp4_1.py和exp4_2.py是控制底盘以两种方式运动画圆的程序