[](https://)2022申請入學Project
===
###### tags: `winter_project`

### 基礎工具（請照順序開啟）
- 搖桿
[husky github](https://github.com/husky/husky_robot.git)

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

- imu,lidar
[]()

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

- lio

    cd demo
    source devel/setup.bash
    roslaunch ncrl_lio run.launch 

- husky

    cd catkin_ws
    source devel/setup.bash
    roslaunch husky_error husky.launch 

- 相機
[github](https://github.com/zonghan0904/NCRL_Huskey_CV.git)

    cd catkin_ws
    source devel/setup.bash
    cd src/NCRL_huskey_CV
    python detect.py

- 手臂kinova

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

## 須完成任務
[參考影片](https://www.youtube.com/watch?v=i81yu-0wl_Q)

### 實作內容
1. 視覺辨識
- 辨識網球

2. 路徑規劃
- PQ

3. 手臂控制
- 抓球
- [學長寫的GUI](https://github.com/EasonHuang-tw/kinova_gui)
- 改寫上面的code ，讓流程可以自動化

4. 座標轉換