开发环境初始化配置

蔚落 2022-12-03 12:55 295阅读 0赞

代码中启动ros节点roslaunch和rosrun

import subprocess
    import rospy
    import rosnode
    class launch_demo:
        def __init__(self, cmd=None):
            self.cmd = cmd
     
        def launch(self):
            self.child = subprocess.Popen(self.cmd)
            return True
     
        def shutdown(self):
            self.child.terminate()
            self.child.wait()
            return True
    
    if __name__ == "__main__":
        rospy.init_node('launch_demo',anonymous=True)
     
        launch_nav = launch_demo(["roslaunch", "pibot_simulator", "nav.launch"])
     
        launch_nav.launch()
     
        r = rospy.Rate(0.2)
        r.sleep()
     
        rospy.loginfo("switch map...")
        r = rospy.Rate(1)
        r.sleep()
     
        rosnode.kill_nodes(['map_server'])
     
        map_name = "/home/pibot/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml"
     
        map_node = subprocess.Popen(["rosrun", "map_server", "map_server", map_name, "__name:=map_server"])
     
        while not rospy.is_shutdown():
            r.sleep()

#include <unistd.h>
    //execlp函数的作用是从PATH 环境变量所指的目录中查找符合参数file的文件名，找到后便执行该文件
     execlp("roslaunch", "roslaunch", "runtime_manager","runtime_manager.launch", NULL);

ROS开机自动启动节点

robot_upstart安装节点
    sudo apt-get install ros-kinetic-robot-upstart
    
    rosrun robot_upstart install package_name/launch/start.launch --logdir /$HOME/.ros/log --job mine_job
    
    sudo systemctl daemon-reload && sudo systemctl start mine_job
    
    restart job:
    
    sudo systemctl restart mine_job
    
    stop job:
    
    sudo systemctl stop mine_job

github下载来链接

https://shrill-pond-3e81.hunsh.workers.dev

ros打包：

安装bloom-generate
    
    sudo apt-get install python-bloom fakeroot
    ros打包命令
    roscd **（rosbag）
    bloom-generate rosdebian --os-name ubuntu --ros-distro kinetic
    fakeroot debian/rules binary
    安装ros包
    sudo dpkg -i ***.deb

执行sudo gedit ~/.ros/rosdep.yaml
    lslidar_n301_msgs:
      ubuntu: [ros-kinetic-lslidar-n301-msgs]
    disinfect_msg:
      ubuntu: [ros-kinetic-disinfect-msg]
    disinfect_srvs:
      ubuntu: [ros-kinetic-disinfect-srvs]
    qrcode_srvs:
      ubuntu: [ros-kinetic-qrcode-srvs]
    qrcode_msg:
      ubuntu: [ros-kinetic-qrcode-msg]
    
    执行sudo gedit /etc/ros/rosdep/sources.list.d/50-my-default.list
    yaml file://localhost/home/iimt/.ros/rosdep.yaml
    
    执行rosdep update

安装gmapping
    sudo apt-get install ros-kinetic-openslam-gmapping ros-kinetic-slam-gmapping ros-kinetic-usb-cam
    
    sudo apt-get install ros-kinetic-amcl ros-kinetic-base-local-planner ros-kinetic-carrot-planner ros-kinetic-clear-costmap-recovery ros-kinetic-costmap-2d ros-kinetic-costmap-prohibition-layer ros-kinetic-dwa-local-planner ros-kinetic-fake-localization ros-kinetic-follow-waypoints ros-kinetic-global-planner ros-kinetic-map-server ros-kinetic-move-slow-and-clear ros-kinetic-nav-core ros-kinetic-navfn ros-kinetic-navigation ros-kinetic-robot-pose-ekf ros-kinetic-rotate-recovery ros-kinetic-voxel-grid ros-kinetic-waypoint-global-planner 
    sudo apt-get install ros-kinetic-teleop-twist-keyboard  ros-kinetic-yocs-velocity-smoother 
    ------------------------------------
    navigation中只更新move_base 和eband
    ------------------------------------
     sudo dpkg -i ros-kinetic-controlmaster_0.0.0-0xenial_amd64.deb ros-kinetic-disinfect-msg_0.0.0-0xenial_amd64.deb ros-kinetic-disinfect-srvs_0.0.0-0xenial_amd64.deb ros-kinetic-eband-local-planner_0.3.1-0xenial_amd64.deb ros-kinetic-gmapping_1.4.2-0xenial_amd64.deb ros-kinetic-lslidar-n301-decoder_1.2.0-0xenial_amd64.deb ros-kinetic-lslidar-n301-driver_1.2.0-0xenial_amd64.deb ros-kinetic-lslidar-n301-msgs_1.2.0-0xenial_amd64.deb ros-kinetic-motorcontrol_0.0.0-0xenial_amd64.deb ros-kinetic-motor-mapbuild_0.0.0-0xenial_amd64.deb ros-kinetic-move-base_1.14.4-0xenial_amd64.deb ros-kinetic-qrcode-msg_0.0.0-0xenial_amd64.deb ros-kinetic-qrcode-srvs_0.0.0-0xenial_amd64.deb ros-kinetic-robot-vision_0.0.0-0xenial_amd64.deb ros-kinetic-robot-voice_0.0.0-0xenial_amd64.deb ros-kinetic-ui_0.1.0-0xenial_amd64.deb ros-kinetic-visualorientation_0.0.0-0xenial_amd64.deb

**clion**

clion注册时报错：

Your activation code could not be validated(error 1653219) IntelliJ IDE

https://blog.csdn.net/yu88288356/article/details/95312019
    1.hosts文件修改如下，即可解决激活码激活报错问题：
    0.0.0.0 https://account.jetbrains.com:443

ubuntu开机自启动：

1.
     sudo gedit profile
    2.在最后一行加入启动脚本
    sh /home/iimt/workspace/workspace_ros_disinfectCar/start_lidar.sh &

ubuntu u盘硬盘修复

sudo ntfsfix /dev/sdb2

QInotifyFileSystemWatcherEngine::addPaths: inotify\_add\_watch failed: 设备上没有空间

命令设置：sudo sysctl fs.inotify.max_user_watches=524288
    生效： sudo sysctl -p

ros中添加qt 增加Qt5SerialPor库

sudo apt-get install ros-kinetic-qt-create
    sudo apt-get install ros-kinetic-qt-build
    sudo apt install libqt5serialport5-dev

qtcreate :无法覆盖文件 /home/iimt/.config/QtProject/qtcreator/devices.xml : Permission denied

sudo运行qtcreator后，下次不使用sudo打开会报以上错误 /home/xxx/.config/QtProject/Qtcreator/qtversion.xml : Permission denied

原因：在sudo下打开qtcreator时，会向用户根目录的.config下写数据，所以这个目录变为管理员权限，使用下述命令就是将.config的管理员权限取消。

解决方式：

改变主目录下.config的权限，在home用户目录，终端输入：sudo chown -R iimt:iimt ~/.config/

注意改掉用户名：比如用户名为user，则输入的就是sudo chown -R user:user ./config/  
注意空格的位置。在用户名后面还有一个空格

python2启动服务器：

浏览器输入：`http://0.0.0.0:8000`即可看到目录下的文件

python -m SimpleHTTPServer

http server默认端口为8000，如果更改端口，可按如下格式

python -m SimpleHTTPServer 8080

python3启动服务器：

python -m http.server

python -m http.server 8888

Sub-process/usr/bin/dpkg returned an error code (1) 这个错误解决办法：

Sub-process/usr/bin/dpkg returned an error code (1) 这个错误解决办法：
    
    cd /var/lib/dpkg
    
    sudo mv info info.bak #即备份一个info
    
    sudo mkdir info #新建一个新的info目录
    
    然后采用以下命令重装那些出错的软件包
    
    sudo apt-get –reinstallinstall 软件包名
    
    开始我是想在一条命令中同时安装几个软件包，结果还是出现E: Sub-process/usr/bin/dpkg returned an error code (1) 。于是把新的info删掉，一个个地来安装，每装好一个软件包，就把info删掉，再新建一个，这样就没有提示E: Sub-process/usr/bin/dpkg returned an error code (1) 了。
    
    最后用原来的info.bak 替换新的info
    
    sudo -rf info
    
    sudo mv info.bak info
    
    之后输入 sudo apt-get update 和 sudo apt-get upgrade 以及sudo apt-get autoremove都不再有E: Sub-process/usr/bin/dpkg returned an error code (1)了

W: GPG 错误：http://dl.google.com/linux/chrome/deb stable InRelease: 由于没有公钥，无法验证下列签名： NO\_PUBKEY 78BD65473CB3BD13

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 78BD65473CB3BD13

更新命令

sudo apt-get update
    sudo apt-get upgrade
    sudo apt-get dist-upgrade
    sudo apt-get -f install

ubuntu控制台 终端

terminator安装

sudo apt-get install terminator

terminator 多窗同时输入

打开多终端同步输入

win + G

关闭多终端同步输入

win + shift + G

clion 类型补全，代码补全

clion IDEA 快捷键：

Ctrl+ALT+V

*  循环读取，实时查看指定文件最新内容`tail -f test-date.log`

tail -f test-date.log

## clion 多窗口显示，鼠标放在文件显示栏右键点击 ##

## ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70][] ##

## 查看编码方式：import chardet ##

# coding=utf-8
    def check_charset(file_path):
        import chardet
        with open(file_path, "rb") as f:
            data = f.read(4)
            charset = chardet.detect(data)['encoding']
        return charset
     
    your_path = 你的文件路径
    with open(your_path, encoding=check_charset(your_path)) as f:
        data = f.read()
        print(data)

Matlab 保存变量数据

positionerror2：Matlab变量数据

xlswrite('C:\Users\Administrator\Desktop\candata\1.xlsx',positionerror2)
    
    csvwrite('C:\Users\Administrator\Desktop\candata\1.csv',positionerror2)
    
    csvwrite('C:\Users\Administrator\Desktop\candata\1.txt',positionerror2)

保存后通过numpy读取数据：

data=np.loadtxt('1.csv',delimiter=',')

如报以下错误：

UnicodeDecodeError: 'gbk' codec can't decode byte 0xfb in position 4: illegal multibyte sequence

是因为你的电脑被加密了

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 1][]

解决方法是：

用这个csvwrite命令保存加密软件不能识别的文件后缀就没问题了

例：

csvwrite('C:\Users\Administrator\Desktop\candata\1.txtttt',positionerror2)
    
    csvwrite('C:\Users\Administrator\Desktop\candata\1.txtttt',positionerror2)

在通过python加载就可以了：

data = np.loadtxt('1.txtttt',delimiter=',')

## ![20201219103737592.png][] ##

# #

## python-pip镜像源[¶][Link 1] ##

### 配置Python安装源[¶][Link 2] ###

临时指定安装源[¶][Link 3]

如安装opencv-python的3.4.0.12版本，可直接使用`-i`参数指定源

pip3 install -i https://pypi.douban.com/simple opencv-python==3.4.0.12

永久指定安装源[¶][Link 4]

每次临时指定源地址比较麻烦，可以通过以下方式配置永久源

在主目录创建.pip文件夹

mkdir ~/.pip

编写~/.pip/pip.conf

已复制sudo gedit ~/.pip/pip.conf

并添加以下内容

[global]
    trusted-host=pypi.douban.com
    index-url=https://mirrors.aliyun.com/pypi/simple/
    timeout=6000

此时，默认`pip install xxx`已经可以自动走镜像地址， 但是sudo模式下的pip和pip3并不能使用此镜像。所以要把这个pip.conf复制到`/root/.pip`目录下

sudo mkdir -p /root/.pip
    sudo cp ~/.pip/pip.conf /root/.pip/

可用的源有:

清华大学：https://pypi.tuna.tsinghua.edu.cn/simple 
    阿里云：http://mirrors.aliyun.com/pypi/simple/ 
    中国科技大学 https://pypi.mirrors.ustc.edu.cn/simple/ 
    华中理工大学：http://pypi.hustunique.com/ 
    山东理工大学：http://pypi.sdutlinux.org/ 
    豆瓣：https://pypi.douban.com/simple/

# 原有设置：
    http://mirrors.aliyun.com/pypi/simple/ 
     
    # 改为：
    https://mirrors.aliyun.com/pypi/simple/

### **idea原** ###

https://pypi.python.org/simple

### ubuntu 挂载移动硬盘，U盘，移动ssd，多系统平台插拔，出现错误： ###

mount:unknownfilesystem type 'exfat'

ubuntu 13.10以上：

sudo apt-get install exfat-fuse

ubuntu 13.04或以下

sudo apt-add-repository ppa:relan/exfat
    
    sudo apt-get update
    
    sudo apt-get insatll fuse-exfat

## ##

### pip依赖修复[¶][Link 5] ###

如果安装过程中遇到pip环境工具问题，可以通过以下命令重装pip和pip3

sudo apt-get install --reinstall python3-pip
    sudo apt-get install --reinstall python-pip

`1.安装矢量图制作工具:`

sudo add-apt-repository ppa:inkscape.dev/stable

sudo apt-get update

sudo apt-get install inkscape

`图像转svg`

sudo apt install potrace

获取ros版本

${rosversion -d }

## ![20200925174251236.png][] ##

安装gcc

sudo apt-get install gcc-7 g++-7

# #

## ROS项目迁移： ##

## ros的串口包 ##

18.04

sudo apt-get install ros-melodic-serial

sudo apt-get install ros-melodic-libuvc

sudo apt-get install ros-melodic-bfl

sudo apt-get install ros-melodic-tf2-sensor-msgs

ros-melodic-move-base-msgs

sudo apt-get install ros-melodic-joy

sudo apt-get install ros-melodic-geographic-msgs

sudo apt-get install ros-melodic*

sudo apt-get install ros-melodic-geographic-msgs
    sudo apt-get install ros-melodic-cmake-modules
    sudo apt-get install ros-melodic-tf2
    sudo apt-get install ros-melodic-tf2-geometry-msgs
    sudo apt-get install ros-melodic-nodelet
    sudo apt install ros-melodic-desktop-full
    pip3 install pyyaml
    pip install pyyaml
    pip install rospkg
    不要安装serial 必须要卸载不然程序出错：
    pip uninstall serial
    要安装：
    pip install pyserial

16.04

sudo apt-get install ros-kinnetic-serial

# #

## 如果是: Could NOT find SDL (missing: SDL\_LIBRARYSDL\_INCLUDE\_DIR) ##

首先安装:

sudo apt-get install aptitude

sudo aptitude install libsdl1.2-dev

先选择no,后选择yes,降级安装

sdl\_image问题也如此

sudo apt-get install libsdl-image1.2-dev

或者

sudo aptitude install libsdl-image1.2-dev

##  安装ROS 遇到报错 ##

Command 'rosluanch' not found, did you mean:

command 'roslaunch' from deb python-roslaunch

Try: sudo apt install <deb name>

首先确保名字正确：

![20201129172221990.png][]

而后：

1.  `usrname:~$ sudo apt install python-roslaunch`
2.  `正在读取软件包列表... 完成`
3.  `正在分析软件包的依赖关系树`
4.  `正在读取状态信息... 完成`
5.  `有一些软件包无法被安装。如果您用的是 unstable 发行版，这也许是`
6.  `因为系统无法达到您要求的状态造成的。该版本中可能会有一些您需要的软件`
7.  `包尚未被创建或是它们已被从新到(Incoming)目录移出。`
8.  `下列信息可能会对解决问题有所帮助：`
9.   
10. `下列软件包有未满足的依赖关系：`
11. `python-roslaunch : 依赖: python-roslib 但是它将不会被安装`
12. `E: 无法修正错误，因为您要求某些软件包保持现状，就是它们破坏了软件包间的依赖关系。`

参考后，运行了如下命令：

usrname:~$ git clone https://github.com/ros/catkin.git
     
    usrname:~$ cd catkin
     
    usrname:~/catkin$ git branch melodic-devel
     
    usrname:~/catkin$ mkdir build
     
    usrname:~/catkin$ cd build
     
    usrname:~/catkin/build$ cmake ..
     
    usrname:~/catkin/build$ make
     
    usrname:~/catkin/build$ sudo make install
     
    usrname:~/catkin/build$ cd ..
     
    usrname:~/catkin$ sudo python2 setup.py install
     
    usrname:~/catkin$ sudo python3 setup.py install (这一步可能报错，只需要按照指示做就好了，比如缺少catkin_pkg 模块，请采用pip3 install catkin_pkg安装）
     
    usrname:~/catkin$ mkdir catkin_ws (非必要，可以跳过的，其实没有作用，我个人是用来做ROS的工作空
    间的）
     
    usrname:~/catkin$ cd 
     
    usrname:~/$ mkdir src
     
    usrname:~/$ catkin_make
     
    usrname:~/catkin$ sudo apt install ros-melodic-desktop-full
     
    usrname:~/catkin$ rosdep update
     
    usrname:~/catkin$ cd
     
    usrname:~$ source ~/.bashrc

## Ubuntu 默认是没有chkconfig命令的，需要手动安装。 ##

**使用终端安装命令：**  
sudo apt-get install sysv-rc-conf  
**如果出现问题：找不到该软件包,在sources.list文件中添加阿里的镜像源即可**  
cd /etc/apt  
先备份 cp sources.list sources.list.old  
vim sources.list  
**把下面阿里的镜像源添加进去**

deb http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiverse  
    deb http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiverse  
    deb http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiverse  
    deb http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiverse  
    deb http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse  
    deb-src http://mirrors.aliyun.com/ubuntu/ trusty main restricted universe multiverse  
    deb-src http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted universe multiverse  
    deb-src http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted universe multiverse  
    deb-src http://mirrors.aliyun.com/ubuntu/ trusty-proposed main restricted universe multiverse  
    deb-src http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse

更新源：sudo apt-get update  
重新安装：sudo apt-get install sysv-rc-conf

更名为chkconfig  
sudo cp /usr/sbin/sysv-rc-conf /usr/sbin/chkconfig  
赋予权限：chmod 755 chkconfig  
验证是否成功：sudo chkconfig

**使用chkconfig来查看某个服务的运行级别和状态：  
chkconfig --list 服务名**

# ssh: connect to host 192.168.169 port 22: No route to host  #

出现这种原因是由于防火墙设置问题，要先检查防火墙的设置：

## 查看防护墙状态   service iptables status      关闭   service iptables stop      查看防火墙开机启动状态   chkconfig iptables --list      关闭开机启动   chkconfig iptables off  ##

# #

## r ##

### Workspace创建 ###

mkdir -p first_ws/src

### 编译工作空间 ###

cd first_ws
    catkin_make

###  Package创建 ###

### 来到workspace的src目录下 ###

cd first_ws/src

catkin_create_pkg demo_cpp roscpp rospy rosmsg

### 启动ROS Master ###

roscore

# 解锁apt #

sudo rm /var/lib/apt/lists/lock /var/cache/apt/archives/lock /var/lib/dpkg/lock*
     
    sudo kill apt apt-get

# catkin 编译脚本 #

catkit\_make\_source.sh

用 source catkit\_make\_source.sh 命令启动

#!/bin/bash
    catkin_make
    if [[ $? != 0 ]]; then
    echo 'catkin_make :error'
    else
    echo 'catkin_make :ok'
    source devel/setup.bash
    echo 'source devel/setup.bash :ok'
    fi

## 启动clion脚本 ##

clion\_start.sh

#!/bin/bash
    bash ~/CLion-2020.1.1/clion-2020.1.1/bin/clion.sh

## 进入指定文件夹的shell脚本 ##

inWorkspaceWorkProject.sh

用控制台命令:  source inWorkspaceWorkProject.sh  启动

或者 . ./inWorkspaceWorkProject.sh 命令运行脚本,第二个命令注意两个点之间是有空格的;

#!/bin/bash
    cd ~/workspace/ros_work5

## 9.robot.czxy.com 笔记网站 ##

查看摄像头
    ll /dev/video*  
    查询 c++ 库中的方法函数 
    进opencv_env/opencv-3.4.9 目录下
    grep -rniI "cornerHarris(" *
    grep -rniI "cornerHarris(" * --include=*.cpp
     
    制作 命令台命令：
    通过一个命令启动
    例如：
    在 ~/.bashrc 中加入
    alias sd='source devel/setup.sh'
    在命令台中就可以使用 sd 命令

## 多机部署ros  ##

# 多机部署ros
     
    > 主机和从机要在同一个局域网内
     
    1. 主机添加在hosts中添加所有节点的ip和主机名(主机配置)
     
       ```bash
       sudo gedit /etc/hosts
       ```
       > ip  主机名
     
      1.1
     
       sudo gedit ~/.bashrc
       
       export ROS_HOSTNAME=本机ip
       
       export ROS_MASTER_URI=http://主机ip:11311
       source ~/.bashrc
       重启控制台
     
    2. 从机配置master节点服务(主机也需要修改)
     
       ```bash
       sudo gedit ~/.bashrc
       
       export ROS_HOSTNAME=本机ip
       
       export ROS_MASTER_URI=http://主机ip:11311
       source ~/.bashrc
       重启控制台

问题1: ros环境中 opencv与ros冲突时删除 conda环境,是因为conda冲突,在ubuntu中建议不按照conda

问题2: ros多机互联后,一方收不到另一方的数据时需要在执行的那个控制台窗口执行 source ~/.bashrc

问题3: 如项目中使用的Qt 就必须加Qappliion

第二种:动态多机部署ros 方法:

主机:树莓派端配置

export ROS_IP=`hostname -I | awk '{print $1}'`
    export ROS_HOSTNAME=`hostname -I | awk '{print $1}'`
    export ROS_MASTER_URI=http://`hostname -I | awk '{print $1}'`:11311

从机:

export ROS_IP=`hostname -I | awk '{print $1}'`
    export ROS_HOSTNAME=`hostname -I | awk '{print $1}'`
    export ROS_MASTER_URI=http://树莓派的IP地址:11311

问题1:链接不上或找不到节点 可能ip问题  
输入

ifconfig

与

echo $ROS_HOSTNAME

查看ip是否一致  
 强制更改 本机ip; 把动态命令写死

export ROS_HOSTNAME=`hostname -I | awk '{print $1}'`

改

export ROS_HOSTNAME=192.168.1.10

动态命令在多网卡或网络中断会导致把本机ip发送给mast节点的ip不准确

### ros\_视觉USB驱动集成 ###

# USB驱动集成
    
    ## 下载驱动
    
    来到工作空间下的src目录，下载驱动到当前目录:
    
    ```bash
    # 下载
    cd ws/src
    git clone https://github.com/ros-drivers/usb_cam
    
    # 编译
    cd ws
    catkin_make
    ```
    
    ## rosrun调试
    
    1. 运行`usb_cam`节点
    
       ```bash
       rosrun usb_cam usb_cam_node
       ```
    
    2. 图像调试
    
       ```bash
       rosrun image_view image_view image:=/usb_cam/image_raw
       ```
    
    ## roslaunch调试
    
    ```bash
    roslaunch usb_cam usb_cam-test.launch
    ```
    
    ## 参数说明
    
    `usb_cam`配置信息是通过rosparam来进行设置的。
    
    |        参数        |    默认值     |                             说明                             | 编程关注度 |
    | :----------------: | :-----------: | :----------------------------------------------------------: | :--------: |
    |    video_device    | `/dev/video0` |                       设置使用哪部相机                       |   ★★★★★    |
    |    image_width     |      640      |                       输出图片像素宽度                       |   ★★★★★    |
    |    image_height    |      480      |                       输出图片像素高度                       |   ★★★★★    |
    |    pixel_format    |    `mjpeg`    | 像素格式。取值范围: `yuyv`, `uyvy`, `mjpeg`, `yuvmono10`, `rgb24` 建议使用`yuyv` |   ★★★★★    |
    |     framerate      |      30       |                  采样率，每秒钟采样30张图片                  |    ★★★     |
    |     brightness     |      -1       |                       亮度。取值0~255                        |    ★★★     |
    |      contrast      |      -1       |                      对比度。取值0~255                       |    ★★★     |
    |     saturation     |      -1       |                      饱和度。取值0~255                       |    ★★★     |
    |     sharpness      |      -1       |                       锐度。取值0~255                        |    ★★★     |
    |     io_method      |    `mmap`     |               读取方式.`mmap`,`read`,`userptr`               |     ★      |
    |     autofocus      |    `false`    |                           自动聚焦                           |     ★      |
    |       focus        |      -1       |                         聚焦值.0~255                         |     ★      |
    |    autoexposure    |    `false`    |                           自动曝光                           |     ★      |
    |      exposure      |      100      |                           曝光值.                            |     ★      |
    |        gain        |      -1       |                      曝光增益值。0-100                       |     ★      |
    | auto_white_balance |    `false`    |                         自动白平衡。                         |     ★      |
    |   white_balance    |     4000      |                          白平衡值。                          |     ★      |
    |  camera_frame_id   | `head_camera` |                 标记当前帧是什么设备拍摄的。                 |     ★      |
    
    # 图像数据转换
    
    ## CvBridge介绍
    
    ![](img/2.png)
    
    CvBridge主要解决的问题是将Ros的Image数据与OpenCv的Image数据进行相互转换。
    
    **Ros Image to OpenCv Image场景**
    
    通常Ros Node和相机硬件进行数据交互，最终拿到的是 Ros Image类型数据。
    
    对于这种数据，我们希望通过OpenCv库进行图片数据的操作。但是OpenCv需要的是Mat类型的数据。
    
    因此，需要进行数据类型的转换。这种场景主要是需要对图片进行一下业务操作。
    
    **OpenCv Image to Ros Image 场景**
    
    OpenCv图片操作完成后的数据是Mat类型的，在业务场景中，如果其他节点需要这个数据的话，是需要订阅这种数据的。在Ros中，OpenCV的Mat数据是不可以在节点与节点间进行传输的，要传输只可以采用Ros的Image类型进行传输。此时就需要将OpenCv的Mat数据转换为Ros 的Image类型。
    
    ##  RosImage to CvMat(c++)
    
    **依赖配置**
    
    1. package.xml配置
    
       ```xml
         <build_depend>sensor_msgs</build_depend>
         <build_export_depend>sensor_msgs</build_export_depend>
         <exec_depend>sensor_msgs</exec_depend>
       
         <build_depend>cv_bridge</build_depend>
         <build_export_depend>cv_bridge</build_export_depend>
         <exec_depend>cv_bridge</exec_depend>
       
         <build_depend>image_transport</build_depend>
         <build_export_depend>image_transport</build_export_depend>
         <exec_depend>image_transport</exec_depend>
       ```
    
    2. CMakeLists.txt配置
    
       ```cmake
       find_package(catkin REQUIRED COMPONENTS
           roscpp
           rosmsg
           rospy
       
           sensor_msgs
           cv_bridge
           image_transport
       )
       ```
    
    3. 引入opencv库
    
       ```cmake
       find_package(OpenCV REQUIRED)
       ```
    
    4. 添加链接库
    
       ```cmake
       target_link_libraries(image_subscriber
           ${catkin_LIBRARIES}
           ${OpenCV_LIBS}
       )
       ```
    
    **转换代码**
    
    1. 引入头
    
       ```c++
       #include <image_transport/image_transport.h>
       #include <cv_bridge/cv_bridge.h>
       #include <sensor_msgs/image_encodings.h>
       #include <opencv2/imgproc/imgproc.hpp>
       #include <opencv2/highgui/highgui.hpp>
       #include "sensor_msgs/Image.h"
       ```
    
    2. 转换逻辑
    
       ```c++
       void topicCallback(const sensor_msgs::ImageConstPtr &msg) {
         const cv_bridge::CvImageConstPtr &ptr = cv_bridge::toCvShare(msg);
         cv::Mat mat = ptr->image;
         ...
       }
       ```

查看相机:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 2][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 3][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 4][]

**ros开发时python加载静态文件的路径从 .src开始往下找**

**参考第一种，第二种可以尝试看效果**

1.py\_path当前python文件,同时适用于ros环境及非ros环境加载文件

from os import path
     
     
    # 当前python文件所在目录
    dir_name = path.dirname(path.realpath(__file__))
    #通过拼接文的件路径,找到文件left.yaml;  path.join:自动判断文件夹dir_name是否需要带/
    file = path.join(dir_name, "./calibration/left.yaml")

**2.**

file="./src/demour/scripts1/h5/abc.h5"

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 5][]

或尝试加入以下这句代码

sys.path.append("src/driver2/scripts")

![20200912092538991.png][]

**ubuntu链接串口**

ls -al /dev/ttyU*

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 6][]

如以上提示连不上串口,就看下图打开(针对虚拟机)

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 7][]

得到

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 8][]

开启永久权限

sudo usermod -aG dialout 'demo'
    sudo chmod 777 /dev/ttySo

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 9][]

![20200913191635396.png][]

**ros 控制键盘调试**

**rosrun teleop\_twist\_keyboard teleop\_twist\_keyboard.py**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 10][]

**虚拟机链接路由器:**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 11][]

## **udev 配置串口设备：** ##

**  查看是否存在串口设备**

ls -al /dev/ttyU*

１．查找设备

lsusb -vvv

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 12][]

定义rules文件 ![20200915114249482.png][]

![20200915114501525.png][]

激活rules

１．拷贝到以下目录
    sudo cp 58-robot.rules /etc/udev/rules.d/
    或
    sudo cp 58-robot.rules /lib/udev/rules.d/
    ２．加载文件
    sudo service udev reload 
    ３．启动
    sudo service udev restart
    启动报错提示用下面的命令：
    sudo systemctl daemon-reload
    ４．插上设备 查看是否安装完成
    ls -al /dev/skser*
    ls -al /dev/sulid*

使用设备:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 13][]

# apt-get安装出现E: Sub-process /usr/bin/dpkg returned an error code (1)问题 #

cd /var/lib/dpkg/
    sudo mv info/ info_bak          # 现将info文件夹更名
    sudo mkdir info                 # 新建一个新的info文件夹
    sudo apt-get update             # 更新
    sudo apt-get -f install         # 修复
    sudo mv info/* info_bak/        # 执行完上一步操作后会在新的info文件夹下生成一些文件，现将这些文件全部移到info_bak文件夹下
    sudo rm -rf info                # 把自己新建的info文件夹删掉
    sudo mv info_bak info           # 把以前的info文件夹重新改回名

Ubuntu安装.md阅读工具-Typora

官网安装：  
https://typora.io/\#linux

# or run:
    # sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys BA300B7755AFCFAE
    wget -qO - https://typora.io/linux/public-key.asc | sudo apt-key add -
    # add Typora's repository
    sudo add-apt-repository 'deb https://typora.io/linux ./'
    sudo apt-get update
    # install typora
    sudo apt-get install typora

moveit可视化配置

rosrun moveit_setup_assistant moveit_setup_assistant

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 14][]

**`notepad` 安装:**

sudo add-apt-repository ppa:notepadqq-team/notepadqq
    sudo apt-get update
    sudo apt-get install notepadqq

opencv文档

https://docs.opencv.org

id制作软a链接

ln -s ~/3rdparty/3rdparty_tanglaoshi/aubo_dependents .

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 15][]

安装pppoeconf

sudo apt-get install pppoe pppoeconf

图形界面配置pppoe，在控制台里输入

nm-connection-editor

inux  下 adsl 拨号上网的配置(命令行)

pppoeconf ->输入用户名和密码；

sudo pppoeconf

启动或者重启动DSL拨号连接（联网）

sudo pon dsl-provider

停止DSL拨号连接（断网）

sudo poff dsl-provider

查看日志（ 断网下）

sudo plog

重启pppoe网络

sudo pon dsl-provider && sudo pon dsl-provider sudo service networking restart

频繁断网问题解决

检查pppoe的配置文件（/etc/ppp/options）

lcp-echo-failure 4
    lcp-echo-interval 30
    意思大概为30秒内联接4次失败就断网，把4改大点，比如30。

问题:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 16][]

原因:是读取外部文件时,文件中的数据有问题,可能xml文件标签中的数据乱码,或没有数据

## **欧拉角与旋转矩阵互相转换验证网站查看:** ##

[http://andre-gaschler.com/rotationconverter/][http_andre-gaschler.com_rotationconverter]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 17][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 18][]

控制台查找文件命令:

find .  -name "*.*pp" | xargs gerp -rni "findChessboardCorners("

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 19][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 20][]

# **Eigen 库** #

卸载 **Eigen**：

sudo updatedb  
    locate eigen3

sudo apt autoremove libeigen3-dev

sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums

sudo updatedb  
    locate eigen3

执行命令：

sudo apt-get install libeigen3-dev

安装后执行以下命令

运行命令：

sudo cp -r /usr/include/eigen3/Eigen /usr/include

或 创建软连接

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

//不要执行这句 
    sudo ln -s /usr/include/eigen3 /usr/local/include/
    
    #sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include 
    
    sudo ln -s /usr/local/include/eigen3 /usr/include

cmake中添加：

include_directories(/usr/include/eigen3)

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 21][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 22][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 23][]

#include <KinectCamera.h>
    // 要把Eigen声明放到OpenCV上边
    #include <Eigen/Geometry>
    
    #include <opencv/cxeigen.hpp>

**报错：**

The FindEigen.cmake Module in the cmake\_modules package is deprecated.

Please use the FindEigen3.cmake Module provided with Eigen.  Change  
  instances of find\_package(Eigen) to find\_package(Eigen3).  Check the  
  FindEigen3.cmake Module for the resulting CMake variable names.

这个芬代根.cmakecmake\_modules包中的模块已弃用。

请使用Eigen提供的FindEigen3.cmake模块。改变

find\_package（Eigen）到find\_package（Eigen3）的实例。检查

生成的cmake变量名的FindEigen3.cmake模块。

opencv缺依赖H5P\_CLS\_DATASET\_CREATE\_ID\_g问题:自己装的库有问题,换一个opencv库

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 24][]

显卡驱动相关

f2 进
    sudo apt update
    sudo apt-get upgrade
    sudo apt full-upgrade
    
    验证终端输入  没输出表示警用成功
    
    lsmod | grep nouveau
    
    更新initramfs
    sudo update-initramfs -u
    
    关闭图形界面
    sudo service lightdm stop
    
    删除显卡驱动
    sudo apt-get remove --purge nvidia*
    
    查看显卡驱动
    
    ubuntu-drivers devices
    安装显卡驱动
    sudo ubuntu-drivers-autoinstall
    sudo apt install nvidia-410
    重启查看
    sudo nvidia-smi
    
    sudo prime-select nvidia
    
    
    检查安装的内核版本
    uname -sr
    
    内核网
    https://www.kernel.org 
    进行解压安装
    sudo dpkg -i *.deb
    
    reboot

Ubuntu上传项目到githup

进入要上传的文件夹中
    git init
    git add ./
    git status
    git commit -m "对文件的注释"
    git remote add origin https://github.com/suk***/AuboDriver.git
    git branch -M master
    git push -u origin master
    
    秘钥-ssh
    $ git config --global user.name "su****"
    $ git config --global user.email  "422*******@qq.com"
    
    查看是否已经有了ssh密钥：cd ~/.ssh
    如果没有密钥则不会有此文件夹，有则备份删除
    
    
    ssh-keygen -t rsa -C "422******@qq.com"
    
    一直按回车,不要输入任何密码
    
    最后得到了两个文件：id_rsa和id_rsa.pub
    打开id_rsa.pub文件，得到key
    
    sk@sk-PC:~/.ssh$ ls
    id_rsa  id_rsa.pub  known_hosts
    sk@sk-PC:~/.ssh$ cat id_rsa.pub 
    ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCX+VTRVTQcDwesEv8B32rmKkvEechvOEhPO6dKstiJK/cFyc0c0819EqkXpvaDWalD3n0WyriSLZCqMv8ukJT+Wv+h99VMsoWSvKCDfraBwGmzgXxkrscmuf7Un/ouEsPzX8PsPvcmj4qOtpHOQkA8x94vyS2CUXO9sX+DMGX6edO/o422168787@qq.com
    sk@sk-PC:~/.ssh$ 
    
    
    https://github.com/settings/keys

命令启动摄像头

1.启动Astra乐视摄像头
    
    cd /home/sk/Astra/OpenNI_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Samples/SimpleViewer/Bin/x64-Release
    ./SimpleViewer 
    
    2.启动Kinect2
    
    
    cd /home/sk/libfreenect2-master/build/bin
    ./bin/Protonect
    
    3.启动pcl
    cd /home/sk/pcl/pcl-pcl-1.9.1/release
    pcl_viewer ../test/pcl_logo.pcd
    
    
    https://pypi.python.org/simple
    
    1 目前国内靠谱的 pip 镜像源有：
    2 
    3 清华: https://pypi.tuna.tsinghua.edu.cn/simple
    4 
    5 豆瓣: http://pypi.douban.com/simple/
    6 
    7 阿里: http://mirrors.aliyun.com/pypi/simple/   
    
    
    
    channels:
      - defaults
    show_channel_urls: true
    channel_alias: https://mirrors.tuna.tsinghua.edu.cn/anaconda
    default_channels:
      - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
      - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free
      - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/r
      - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/pro
      - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/msys2

绕z轴转动的旋转矩阵:

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 25][]

4元素欧拉角对比网站

[https://quaternions.online/][https_quaternions.online]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 26][]

ros中有一个kdl的库,动力学解析,帮我们可以实现反解

\[泰勒公式解决 泰勒公式一句话描述：就是用多项式函数去逼近光滑函数。\]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 27][]

[http://wiki.ros.org/][http_wiki.ros.org]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 28][]

[https://moveit.ros.org/][https_moveit.ros.org]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 29][]

sudo apt install ros-melodic-franka-ros

echo $ROS_DISTRO

**clion dbug**

### clion 控制台报错 ###

/usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128 : Eigen::internal::plain\_array<T,Size,MatrixOrArrayOptions,32>::plain\_array()\[with T =float; int

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 30][]

![20201007204058535.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 31][]

** 原因:**

带分配结构体数据类型复杂导致的问题

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 32][]

解决:
    结构体类型必须这么写:

std::vector<Result, Eigen::aligned_allocator<Result>> results;

pcl控制操作

传入的参数  ./output/table_scene_0_ds.pcd
     控制台命令  ./03-TemplateRtMaker ./output/table_scene_0_ds.pcd
     控制台降采样命令 pcl_voxel_grid table_scene_0_ds.pcd table_scene_0_ds.pcd -leaf   0.003,0.003,0.003
     控制台显示点云图 pcl_viewer table_scene_0_ds.pcd
     控制台显示点云图 pcl_viewer -use_point_picking table_scene_0_ds.pcd    [shift + 鼠标左键可获取点云坐标]
     查看历史操作的命令 history
     /bin pcl_viewer ./data/chef.pcd
     /bin pcl_viewer ./data/rs1.pcd
     /bin pcl_viewer ./data/chef.pcd ./data/rs1.pcd
     /data1  pcl_viewer person.pcd object_template_*pcd
     按 u 标注尺
     按 1 切换颜色
     按 2 x方向颜色
     按 3 y方向颜色
     按 4 z方向颜色

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 33][]

https://github.com/itheima1?tab=repositories

https://github.com/PoplarTang

**添加控制台快捷命令 **

![20201024145311187.png][]

sudo vim ~/.bashrc

alias sd='source devel/setup.sh'

*  安装UVC相机管理工具 写双目

sudo apt install uvcdynctrl

ll /dev/video*

*  使用shell脚本修改输出

usb\_mode.sh    用这个uvcdynctrl工具给设备/dev/video$\{id\}  发送指令  '(LE)0x50ff'   可以用工具发送也可以用代码发送

#!/bin/bash
    id=$1
    mode=$2
    
    uvcdynctrl -d /dev/video${id} -S 6:8  '(LE)0x50ff'
    uvcdynctrl -d /dev/video${id} -S 6:15 '(LE)0x00f6'
    uvcdynctrl -d /dev/video${id} -S 6:8  '(LE)0x2500'
    uvcdynctrl -d /dev/video${id} -S 6:8  '(LE)0x5ffe'
    uvcdynctrl -d /dev/video${id} -S 6:15 '(LE)0x0003'
    uvcdynctrl -d /dev/video${id} -S 6:15 '(LE)0x0002'
    uvcdynctrl -d /dev/video${id} -S 6:15 '(LE)0x0012'
    uvcdynctrl -d /dev/video${id} -S 6:15 '(LE)0x0004'
    uvcdynctrl -d /dev/video${id} -S 6:8  '(LE)0x76c3'
    uvcdynctrl -d /dev/video${id} -S 6:10 "(LE)0x0${mode}00"

修改脚本权限

![20201024152740171.png][]

chmod +x usb_mode.sh

双目相机一般有四种模式

1.  左单目模式：LEFT\_EYE\_MODE
2.  右单目模式：RIGHT\_EYE\_MODE
3.  红蓝模式：RED\_BLUE\_MODE
4.  双目模式：BINOCULAR\_MODE

![20201024153151794.png][]

启动双目相机

![20201024153442184.png][]

![2020102415342380.png][]

脚本中切换:

1. 左单目模式：LEFT\_EYE\_MODE

./usb_mode.sh 2 1

2.右单目模式：RIGHT\_EYE\_MODE

./usb_mode.sh 2 2

3.红蓝模式：RED\_BLUE\_MODE

./usb_mode.sh 2 3

4.双目模式：BINOCULAR\_MODE

./usb_mode.sh 2 4

查看图片  接收topic发送的image图片消息 查看图片

rqt_image_view

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 34][]

## USB设备重置 ##

有时，可能会因为各种各样的原因，导致usb设备不能正常使用，我们可以通过c代码，给其发送reset重置指令，恢复其状态，从而避免重新拔插设备。以下我们直接编译一个工具对设备进行重置。

*  创建`usbreset.c`文件，写入以下代码：

/* usbreset -- send a USB port reset to a USB device */
    
    #include <stdio.h>
    #include <unistd.h>
    #include <fcntl.h>
    #include <errno.h>
    #include <sys/ioctl.h>
    #include <linux/usbdevice_fs.h>
    
    int main(int argc, char **argv) {
    
        const char *filename;
        int fd;
        int rc;
        if (argc != 2) {
            fprintf(stderr, "Usage: usbreset device-filename");
            return 1;
        }
        filename = argv[1];
    
        fd = open(filename, O_WRONLY);
    
        if (fd < 0) {
            perror("Error opening output file");
            return 1;
        }
        printf("Resetting USB device %s", filename);
    
        rc = ioctl(fd, USBDEVFS_RESET, 0);
        if (rc < 0) {
            perror("Error in ioctl");
            return 1;
        }
        printf("Reset successful");
        close(fd);
    
        return 0;
    }

*  执行编译命令

cc usbreset.c -o usbreset

此时，可在当前目录得到编译后的可执行程序usbreset

*  进行USB设备重置

> 查看设备及其驱动：`sudo lsusb -t`，找到其前边的总线、设备序号

ty@ty-PC:~$ lsusb
    Bus 002 Device 002: ID 0bda:0411 Realtek Semiconductor Corp. 
    Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
    Bus 001 Device 007: ID 5986:066d Acer, Inc 
    Bus 001 Device 005: ID 8087:0a2a Intel Corp. 
    Bus 001 Device 003: ID 1532:0037 Razer USA, Ltd 
    Bus 001 Device 008: ID 18e3:5031 Fitipower Integrated Technology Inc 
    Bus 001 Device 004: ID 24ae:4005  
    Bus 001 Device 002: ID 0bda:5411 Realtek Semiconductor Corp. 
    Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

USB设备重置

sudo ./usbreset /dev/bus/usb/001/008

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 35][]

制作全局使用的USB设备重置功能![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 36][]

任何位置使用 usbreset

`sudo lsusb -t`

usbreset /dev/bus/usb/001/006

![2020102418105148.png][]

如何创建ROS工作区，比catkin\_workspace更方便

1.  第一步：

> cd〜/

mkdir ROS\_WORKSPACE

1.  编辑.bashrc

> gedit .bashrc＃在〜/下打开.bashrc

然后，将以下内容粘贴到源代码/opt/ros/indigo/setup.bash后面：

> ROS\_WORKSPACE = $ HOME / ROS\_WORKSPACE

> 导出ROS\_WORKSPACE

> ROS\_PACKAGE\_PATH = $ ROS\_WORKSPACE：$ ROS\_PACKAGE\_PATH

> 汇出ROS\_PACKAGE\_PATH

# **[eigen][]库安装** #

[http://eigen.tuxfamily.org/index.php?title=Main\_Page][eigen]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 37][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 38][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 39][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 40][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 41][]

![20201030201257803.png][]

**Install** eigen  看上面的(eigen安装是不需要编译的)

eigen\_example

In this demo project, it illustrate the basic operation of using eigen for pose processing and basic: dot, cross, inverse operation.

>  *  I have already include the eigen librarires in this folder: if you want to download by your own
>  *  download using: git clone [https://github.com/eigenteam/eigen-git-mirror.git][https_github.com_eigenteam_eigen-git-mirror.git] eigenLibrary

There is no need to compile eigen, just link to your project as:

>  *  include\_directories($\{PROJECT\_SOURCE\_DIR\}/eigenLibrary)

Then, under eigen\_example folder:

>  *  cd build
>  *  rm -r \*
>  *  cmake ..
>  *  make -j4

If you want to run the executable file:

>  *  ./eigenDemo

**Install Sophus**

1.  Download the file

> git clone [https://github.com/strasdat/Sophus.git][https_github.com_strasdat_Sophus.git]

shophus安装前需要

git checkout  a621ff

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 42][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 43][]

1.  Install

>  *  mkdir build
>  *  cd build
>  *  cmake ..
>  *  make check (optional, runs unit tests)
>  *  make install

Here are some quite [example][]

1.  For python users, please follow this [instruction][]

#  推荐相机 #

[https://github.com/stereolabs/zed-tracking-viewer][https_github.com_stereolabs_zed-tracking-viewer]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 44][]

ROS提供了许多摄像头计算数据的包

[http://wiki.ros.org/stereo\_image\_proc][http_wiki.ros.org_stereo_image_proc]

[http://wiki.ros.org/stereo\_image\_proc/Tutorials/ChoosingGoodStereoParameters][http_wiki.ros.org_stereo_image_proc_Tutorials_ChoosingGoodStereoParameters]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 45][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 46][]

深度学习选择开发版

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 47][]

#  rqt\_reconfigure 调试 #

rosrun dynamic_reconfigure dynamic_reconfigure 过时了
    
    
    
    rosrun rqt_reconfigure  rqt_reconfigure   新的

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 48][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 49][]

rosbag record -0 testbag /camera/rgb/image\_raw   后面节点参数自己加的 /camera/rgb/image\_raw

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 50][]

#  搜相机驱动: #

apt-cache cearch openni

![20201101150953543.png][]

下面两个就是kinect2相机的驱动

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 51][]

sudo apt install 上面查出来的

3d点云安装

apt-cache cearch pcl

![20201101152359161.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 52][]

安装 查询出来的pcl驱动

sudo apt install 上面查出来的

![20201101152627859.png][]

# 安装  ccmake #

apt-cache search ccmake

![20201101153719531.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 53][]

安装ccmake

apt-get install cmake-curses-gui

输入操作命令进ros的项目中的build目录中  ccmake..      它可以告诉你一些传参的参数如何改

ccmake ..

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 54][]

看的项目依赖的 library 在哪个目录中

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 55][]

# 保证主机系统与树莓派系统时钟一致 #

主机ip:

![20201102094804253.png][]

ping通树莓派地址

![20201102094839767.png][]

操作树莓派小车建图需要保证主机与树莓派之间的时钟是一致的

在树莓派中输入命令

sudo ntpdate 10.42.0.73

![20201102095006394.png][]

树莓派中

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 56][]

# 树莓派机器人-中有二维码-语音\\hawkbo中有二维码-语音\\hawkbot树莓派ROS基础包\\【理论学习】--ROS理论视频\\ROS机器人系列视频+资料+代码\\05第五章：机器人感知 #

# ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 57][] #

#  二维码识别安装功能包 #

sudo apt-get install ros-kinetic-ar-track-alvar

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 58][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 59][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 60][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 61][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 62][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 63][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 64][]

#  集成语音 #

![20201103104548218.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 65][]

ros提供的识别率不高

![2020110310480668.png][]

** sdk在线版需要连接网络**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 66][]

### [https://www.xfyun.cn/][https_www.xfyun.cn] ###

需要进入skd目录编译一下 make

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 67][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 68][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 69][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 70][]

catkin\_make 与catkin\_make\_isolate --install --use-ninja 的区别是后者单独编译每一个功能包

![20201103134755959.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 71][]

设置代理：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 72][]

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[20201219103737592.png]: /images/20221123/2639a09ef4c649378d6897912d0d48e2.png
[Link 1]: http://robot.czxy.com/docs/linux/env/01-env-base/#python-pip
[Link 2]: http://robot.czxy.com/docs/linux/env/01-env-base/#python
[Link 3]: http://robot.czxy.com/docs/linux/env/01-env-base/#_16
[Link 4]: http://robot.czxy.com/docs/linux/env/01-env-base/#_17
[Link 5]: http://robot.czxy.com/docs/linux/env/01-env-base/#pip
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[20200913191635396.png]: /images/20221123/11a8a7347fa54ab89088052abd7d4d8b.png
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[20200915114249482.png]: /images/20221123/b459c7c1ba85478caa6c3aa44f1cfb03.png
[20200915114501525.png]: /images/20221123/b34896db99db49aeb147b1ea4e5da7dc.png
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[http_andre-gaschler.com_rotationconverter]: http://andre-gaschler.com/rotationconverter/
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[https_quaternions.online]: https://quaternions.online/
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 26]: /images/20221123/7828ebddec1848ac96cbc99c5fb8888c.png
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[http_wiki.ros.org]: http://wiki.ros.org/
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[https_moveit.ros.org]: https://moveit.ros.org/
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[20201007204058535.png]: /images/20221123/4281c5583e254ecbbbf9cc6ac42e70b5.png
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[20201024145311187.png]: /images/20221123/ecf76b9f592a4cffac948043ae283d22.png
[20201024152740171.png]: /images/20221123/051985bd8c664b0c8d2419568af21833.png
[20201024153151794.png]: /images/20221123/9c42db008c0f44de8dd6b08e97587d40.png
[20201024153442184.png]: /images/20221123/55223f9e9e8943a5835248751a9cf0dc.png
[2020102415342380.png]: /images/20221123/2414b690ab0144fab2186727aa7003ff.png
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[2020102418105148.png]: /images/20221123/e98b8112c3054da193e2353908e461e2.png
[eigen]: http://eigen.tuxfamily.org/index.php?title=Main_Page
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[20201030201257803.png]: /images/20221123/173d5dec686047fd8c1c0dd3980f5ad2.png
[https_github.com_eigenteam_eigen-git-mirror.git]: https://github.com/eigenteam/eigen-git-mirror.git
[https_github.com_strasdat_Sophus.git]: https://github.com/strasdat/Sophus.git
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[example]: https://github.com/strasdat/Sophus/tree/master/test/core
[instruction]: https://github.com/arntanguy/PySophus
[https_github.com_stereolabs_zed-tracking-viewer]: https://github.com/stereolabs/zed-tracking-viewer
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[http_wiki.ros.org_stereo_image_proc]: http://wiki.ros.org/stereo_image_proc
[http_wiki.ros.org_stereo_image_proc_Tutorials_ChoosingGoodStereoParameters]: http://wiki.ros.org/stereo_image_proc/Tutorials/ChoosingGoodStereoParameters
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