Original: https://www.jianshu.com/p/06dfb093f0c0
1.ROS connect the camera
NOTE: The first command for installing the function package
The second line for activating the function package (with the keyboard arrow keys to select)
The third line data for the data list
2.ROS connection Kinect
$ sudo apt-get installros-kinect-freenect-*
Installation for the function package (startup file, parameter configuration file)
Notes: 1. for installing the drive for 32bit, if it is 64bit, 86 into 64.
2.freenect.launch (launch files more freedom, can be placed in any space)
3. Open the terminal at $ roslaunch freenect.launch launch root
3.ROS connection lidar
Robot system
Robot has human-like organ function. Is intelligent (Audio-visual), versatility (type of work varied, flexible program)
1. robots: drive control + + + perform sensing
Note: ROS + robot (Taobao search)
8.1.1 Implementation: robot chassis, motor, servo
1.2 drive system: robot driving plate: power subsystem, motor drive sub-system (closed-loop control of the motor control signal to an electrical signal), a sensor interface
NOTE: odometer distance measurement principle (for speed and number of revolutions of the motor);
IMU inertial measurement unit measuring speed of an object pose, accelerometers, gyroscopes
Part of the learning process in literacy
1. The three-dimensional distance sensor Kinect
2.USB camera: the prepared USB camera connected to a computer's USB port. The camera connection information: opening a new terminal window, using the following press "lsusb" command check connections shown in FIG. If you have a generic UVC system, you can check if the camcorder is connected to a message underlined.
3.Depth Camera (depth camera) has a variety of names, referred to in a similar Depth sensor LDS (laserdistance sensor, laser distance sensor) is visible, also referred to as RGB-D camera may be obtained when a color image, and Microsoft the success of the popularity of the depth camera is called Kinect camera.
4. The laser distance sensor (Laser Distance Sensor, LDS) have various names, such as a laser radar (the LIDAR), a laser rangefinder (Laser Range Finder, LRF) and laser scanner (Laser Scanner). LDS is a sensor using a laser light source and the object to measure the distance. LDS sensor has the advantage of high-performance, high-speed and real-time data acquisition, thus it has wide application in terms of the distance measurement.
5.OpenCR (Open-source ControlModule for ROS) 3 is embedded a support panel of ROS, it is used as the main controller TurtleBot3. Such circuitry / firmware / hardware information such as the Gerber data for TurtleBot3 4 and 5 of the source code OpenCR been disclosed, and the user can modify and redistribute. OpenCR basic development environment is the Arduino IDE. OpenCR is compatible with the Arduino control board, additional hardware to extend the functionality by providing additional library functions. Arduino IDE OpenCR mounted in and complete the settings. Arduino IDE use Arduino.cc in the published version, and add and manage control panel via the Dashboard Manager (Board Manager). Let's set up a development environment with the following procedure.
Author: Section size stone
link: https: //www.jianshu.com/p/06dfb093f0c0
Source: Jane books
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