AICSIR SOP
===
###### tags: `AICSIR`
## 初始步驟
1. 打開husky搖桿控制

cd catkin_ws
source devel/setup.zsh
roslaunch husky_base base.launch

2. 打開imu,lidar

cd catkin_ws
source devel/setup.zsh
roslaunch mavros px4.launch
roslaunch velodyne_pointcloud VLP16_points.launch

3. 打開lio

cd catkin_ws
source devel/setup.zsh
roslaunch ncrl_lio run.launch

4. 開啟husky

cd motion_ws
source devel/setup.zsh
roslaunch ncrl_ugv_ctrl husky1.launch

5. 開啟視覺辨識

cd catkin_ws
source devel/setup.zsh
rosrun AICSIR detect.py

6. 開啟kinova 手臂

cd catkin_ws
source devel/setup.zsh
roslaunch kinova_bringup kinova_bringup
rosrun kinova_demo test.py

## 執行
1. 重新開啟 lidar
2. 執行 server

cd catkin_ws
source devel/setup.zsh
rosrun AICSIR server.py

:::warning
## 疑難排解
- 手臂初始失敗
- 確認是否開機上電
- 確認usb線是否接著
- 重新launch
- 相機初始失敗
- 查詢/dev 確定相機編號
- rviz掃描不到地圖
- 重啟imu,lidar,lio,且啟動順序需要正確。
- 如果還是不行(大概是IMU沒有detected)，就直接拔掉pixhawk的電源線並重新插上。
:::