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zhangningboo / robot_arm_calibration

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ROS melodic 安装

系统采用 ubuntu 18.04

清华源配置

$ sudo apt update
$ sudo apt install -y vim
$ sudo vim /etc/apt/sources.list
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb http://security.ubuntu.com/ubuntu/ bionic-security main restricted universe multiverse
:wq
$ sudo apt update && sudo apt upgrade

设置sudoer用户免密码

# 取消密码
$ sudo vim /etc/sudoers
# 添加内容：
ubuntu ALL=(ALL) NOPASSWD:ALL

安装openssh-server并配置互信

$ sudo apt install -y openssh-server
$ sudo /etc/init.d/ssh start
$ mkdir  ~/.ssh && touch ~/.ssh/authorized_keys
# 把主机的id_rsa.pub拷贝到authorized_keys

vscode ssh连接并安装插件

  • ROS
  • catkin-tools
  • XML
  • CMake
  • C/C++
  • Python

ROS melodic 安装

$ sudo vim /etc/apt/sources.list.d/ros-latest.list
# 添加内容：
deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ bionic main
:wq
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
$ sudo apt update
$ sudo apt install -y python-pip
$ python -m pip install --upgrade pip -i https://pypi.tuna.tsinghua.edu.cn/simple
$ python3 -m pip install --upgrade pip -i https://pypi.tuna.tsinghua.edu.cn/simple
$ pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple

$ sudo apt install -y ros-melodic-desktop-full
$ sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
$ sudo pip install rosdepc
$ sudo rosdepc init
$ rosdepc update
$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc && source ~/.bashrc
$ sudo apt install -y ros-melodic-rosparam-shortcuts
$ cd ~ && mkdir workspace && cd ~/workspace && git clone https://github.com/gflags/gflags.git
$ cd gflags && mkdir build && cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON - DGFLAGS_ NAMESPACE=gflags ..
$ make -j4 && sudo make install
$ sudo apt install -y ros-melodic-ros-control ros-melodic-ros-controllers
$ mkdir -p ~/workspace/catkin_ws/src && cd ~/workspace/catkin_ws && catkin_make
$ source ~/workspace/catkin_ws/devel/setup.bash

安装MoveIt

$ sudo apt install -y python-catkin-tools clang-format-3.9
$ sudo apt install -y ros-melodic-moveit \
                      ros-melodic-joint-state-publisher-gui \
                      ros-melodic-moveit-resources \
                      ros-melodic-moveit-visual-tools \
                      ros-melodic-code-coverage \
                      ros-melodic-franka-description \
                      ros-melodic-joy \
                      ros-melodic-canopen-motor-node \
                      ros-melodic-panda-moveit-config \
                      ros-melodic-ecl* \
                      ros-melodic-serial* \
                      ros-melodic-joint-state* \
                      ros-melodic-handeye \
                      
$ mkdir -p ~/workspace/moveit_ws/src && cd ~/workspace/moveit_ws/src
$ git clone https://github.com/ros-planning/moveit_tutorials.git -b melodic-devel
$ sudo rosdep fix-permissions && rosdep install -y --from-paths . --ignore-src --rosdistro melodic
$ cd ~/workspace/moveit_ws && catkin_make
$ sudo apt install -y ros-melodic-moveit ros-melodic-moveit-pr2
$ roslaunch moveit_setup_assistant setup_assistant.launch

安装easy_handeye

$ sudo -H /usr/bin/python2 -m pip install -U transforms3d==0.3.1
$ sudo apt install -y ros-melodic-freenect* ros-melodic-aruco*  ros-melodic-visp*
$ mkdir -p ~/workspace/calibration_ws/src && cd ~/workspace/calibration_ws/src
$ git clone https://github.com/IFL-CAMP/easy_handeye.git -b v0.4.3
$ cd ~/workspace/calibration_ws && catkin_make
$ pip install opencv-python==4.1.2.30 opencv-contrib-python==4.1.2.30
$ roslaunch easy_handeye eye_in_hand_calibration.launch
$

安装相机

$ sudo apt install -y build-essential freeglut3 freeglut3-dev
$ sudo apt install -y libgflags-dev \
    ros-$ROS_DISTRO-image-geometry \
    ros-$ROS_DISTRO-camera-info-manager \
    ros-$ROS_DISTRO-image-transport \
    ros-$ROS_DISTRO-image-publisher \
    libgoogle-glog-dev \
    libusb-1.0-0-dev \
    libeigen3-dev
$ mkdir -p ~/workspace/calibration_ws/src && cd ~/workspace/calibration_ws/src
$ git clone https://github.com/orbbec/OrbbecSDK_ROS1.git
$ cd ~/workspace/calibration_ws && catkin_make

# USB规则
$ source ./devel/setup.bash
$ roscd orbbec_camera && cd script
$ sudo cp 99-obsensor-libusb.rules /etc/udev/rules.d/99-obsensor-libusb.rules
$ sudo udevadm control --reload && sudo  udevadm trigger

$ sudo apt install -y ros-melodic-rqt ros-melodic-rqt-common-plugins
# gemini.launch 可以换成实际使用的设备型号
$ roslaunch orbbec_camera gemini.launch

# 创建新terminal
$ rqt_image_view

$ rostopic list
$ rosservice list
$ rosparam list

机械臂

$ mkdir -p ~/workspace/calibration_ws/src && cd ~/workspace/calibration_ws/src
$ git clone https://github.com/FAIR-INNOVATION/frcobot_ros.git
$ sudo apt install -y \
    ros-melodic-rosparam-shortcuts \
    ros-melodic-ros-control \
    ros-melodic-ros-controllers \
    ros-melodic-moveit \
    ros-melodic-xmlrpcpp \
    ros-melodic-xmlrpcpp-dbgsym \
    libxmlrpcpp-dev \
    libxmlrpcpp1d
$ cd ~/workspace/calibration_ws && catkin_make
# 修改 frcobot_hw.launch文件中机器人的ip地址
# 注意！rvs_ip修改为ROS的主机ip
$ sudo cp -R ~/workspace/calibration_ws/src/frcobot_ros/frcobot_hw/include/* /usr/local/include/
$ sudo cp -R ~/workspace/calibration_ws/src/frcobot_ros/frcobot_hw/lib/* /usr/local/lib/
$ sudo cp -R ~/workspace/calibration_ws/src/frcobot_ros/frcobot_gripper/include/* /usr/local/include/
$ sudo cp -R ~/workspace/calibration_ws/src/frcobot_ros/frcobot_gripper/lib/* /usr/local/lib/
$ sudo cp -R ~/workspace/calibration_ws/src/frcobot_ros/frcobot_camera/include/* /usr/local/include/
$ sudo cp -R ~/workspace/calibration_ws/src/frcobot_ros/frcobot_camera/lib/* /usr/local/lib/
$ roslaunch frcobot_hw frcobot_hw.launch

$ rostopic echo /frcobot_status
  • 本教程版本：
$ sudo cp -R ~/workspace/calibration_ws/src/fr5_real_moveit/include/* /usr/local/include/
$ sudo cp -R ~/workspace/calibration_ws/src/fr5_real_moveit/lib/* /usr/local/lib/
$ roslaunch fr5_real_moveit fr5robot_rviz.launch

标定步骤

  • 打印ArUco码
  • 启动机械臂
  • 启动相机
  • 启动标定
$ roslaunch orbbec_camera gemini.launch
$ roslaunch fr5_real_moveit demo.launch
$ roslaunch easy_handeye eye_in_hand_calibration.launch
$ roslaunch easy_handeye start_calibrate.launch

route delete 0.0.0.0 mask 0.0.0.0 route add 0.0.0.0 mask 0.0.0.0 192.168.3.1 route add 192.168.33.0 mask 255.255.255.0 192.168.33.1

translation: x: -0.01301511916 y: 0.115340741301 z: 0.0882395030907 rotation: x: -0.206876181051 y: -0.699971847352 z: -0.268517827779 w: 0.628601491243

Computed calibration: [[-0.04291248 0.62296193 -0.78107423 -0.0528288 ] [ 0.02377933 0.78220978 0.62256117 0.06588526] [ 0.99879581 0.00814223 -0.04838018 0.04474217] [ 0. 0. 0. 1. ]] /home/ubuntu/.ros/easy_handeye/fr5_orbbec_hand_eye_calibration_eye_on_hand.yaml https://blog.csdn.net/laoli_/article/details/128144613

DEBUG有用的命令

  • tf树查询： rosrun tf view_frames
  • 查询TF消息结构： rosmsg show tf2_msgs/TFMessage
geometry_msgs/TransformStamped[] transforms
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  string child_frame_id
  geometry_msgs/Transform transform
    geometry_msgs/Vector3 translation
      float64 x
      float64 y
      float64 z
    geometry_msgs/Quaternion rotation
      float64 x
      float64 y
      float64 z
      float64 w
  • 查询JointState消息结构： rosmsg show sensor_msgs/JointState
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string[] name
float64[] position  # 关节位置，单位：rad 或 m
float64[] velocity  # 关节速度，单位：rad/m 或 m/s
float64[] effort  # 关节受到的力，单位：N·m 或 N
  • 查询关节关系图：rosrun rqt_graph rqt_graph
  • 查询机械臂TF树：rosrun rqt_tf_tree rqt_tf_tree
  • 报错Waiting for frrobot/position_trajectory_controller/follow_joint_trajectory
    • 解决办法：
  • catkin_make -DCATKIN_WHITELIST_PACKAGES="fr5_real_moveit"

报错处理

ROS兼容Python3

  • 安装conda并激活环境
  • 安装ros的包：
$ conda install catkin-tools rospkg
  • 在python3的脚本中，加入python3的指定：
#env/usr/bin python3

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