[](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

1.change 4th button to 1.00

2.catch point(test)

## 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/




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





## 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