---
# System prepended metadata

title: '[](https://)申請入學Project'
tags: [winter_project]

---

[](https://)申請入學Project
===
###### tags: `winter_project`
[TOC]
## reference:
https://hackmd.io/ECnyUpF_RBSBagN9eKxKPg?view




## Assignments
hua:kinova + computer vision
fan:SLAM + husky controll
bbq:整合



:::info

pseudocode

    int main(){

        switch(state){

            state=0:{        //husky at home
                kinova reset;
            }
            
            state=1:{        //husky go to waypoint1
                kinova reset; 
                path plan();
            }
            
            state=2:{
                first time : recognize();
                other : kinova_move(); //kinova move above the ball
            }
            
            state=3:{        //grab
                kinova_move();
            }
            
            state=4:{        //husky go to waypoint2
                kinova reset; 
                path plan();
            } 
            
            state=5:{        //throw ball
                kinova_open_finger(); 
            } 
        
        }

    }





:::

## SOP
cd catkin_ws
source devel/setup.bash
roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300
cd ~/kinova_gui
python test.py

https://www.cnblogs.com/lonelypinky/p/11588979.html


## kinova coordinate

rostopic echo /j2n6s300_driver/out/cartesian_command 

setpoint
![](https://i.imgur.com/hZyKMws.png)

1.change 4th button to 1.00
![](https://i.imgur.com/iGOOVKq.png)

2.catch point(test)
![](https://i.imgur.com/BCMAFad.png)



## 已完成事項
1.從 /camera_cooradinate 得到球相對於相機的座標

## 待辦事項
1.得到球相對於相機的座標將其轉換到手臂的座標系
2.裝好相機調參數


## Camera
1.usb_cam
http://wiki.ros.org/usb_cam
2.camera_calibration
http://wiki.ros.org/camera_calibration
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

TypeError “argument 1 must be type, not classobj” when parent does not inherit from object
https://stackoverflow.com/questions/1713038/super-fails-with-error-typeerror-argument-1-must-be-type-not-classobj-when?fbclid=IwAR2alPe5mzbZH6hkxKbWY_T2J7-g8Bgi9lMbPeNzpuCDAaJqdK-Dsr2VNHE

https://sunjiadai.xyz/blog/2019/01/24/ROS%E4%B8%8B%E7%9B%B8%E6%9C%BA%E5%86%85%E5%8F%82%E7%9A%84%E6%A0%87%E5%AE%9A-usb_cam/


![](https://i.imgur.com/MJy7Ics.png)



![](https://i.imgur.com/VO1mjRZ.png)


![](https://i.imgur.com/yX5nGYY.png)



1. 打開husky搖桿控制
```
cd catkin_ws
source devel/setup.bash
roslaunch husky_base base.launch
```
2. 打開imu,lidar
```
cd catkin_ws    
source devel/setup.bash
roslaunch mavros px4.launch
roslaunch velodyne_pointcloud VLP16_points.launch
```
3. 打開lio
```
cd demo
source devel/setup.bash
roslaunch ncrl_lio run.launch 
```
4. 開啟husky
```
cd catkin_ws
source devel/setup.bash
roslaunch husky_error husky.launch 
```
5. 開啟相機
```
cd catkin_ws
source devel/setup.bash
cd src/NCRL_huskey_CV
python detect.py
```
6. 開啟座標轉換程式
```
cd catkin_ws
source devel/setup.bash
cd src/kinova_go/scripts
python kinova_frame.py
```
7. 開啟kinova控制程式
```
cd catkin_ws
source devel/setup.bash
cd src/kinova_go/scripts
python camera_demo.py
```

![](https://i.imgur.com/OLsWLqh.png)

![](https://i.imgur.com/NRezZSL.png)

![](https://i.imgur.com/utTaVek.png)


![](https://i.imgur.com/WWOmHAT.png)


## source code

https://github.com/WangMahua/husky_error/tree/main/src

## notice
1.手臂抓取角度 
2.camera呈現
3.手臂路徑
4.車子路徑規劃：R型  實際距離差＆自轉角度
5.yaw




## 在ubuntu啟用遠端桌面
https://github.com/twtrubiks/linux-note/tree/master/enable-ubuntu-remote-tutorial