---
# System prepended metadata

title: '[](https://)2022申請入學Project'
tags: [winter_project]

---

[](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)
    
    ```bash=
    cd catkin_ws
    source devel/setup.bash
    roslaunch husky_base base.launch
    ```
    
- imu,lidar
    []()
    ```bash=
    cd catkin_ws    
    source devel/setup.bash
    roslaunch mavros px4.launch
    roslaunch velodyne_pointcloud VLP16_points.launch
    ```
    
- lio
    ```bash=
    cd demo
    source devel/setup.bash
    roslaunch ncrl_lio run.launch 
    ```
    
- husky 
    ```bash=
    cd catkin_ws
    source devel/setup.bash
    roslaunch husky_error husky.launch 
    ```

- 相機 
    [github](https://github.com/zonghan0904/NCRL_Huskey_CV.git)
    ```bash=
    cd catkin_ws
    source devel/setup.bash
    cd src/NCRL_huskey_CV
    python detect.py
    ```

- 手臂kinova 
    ```bash=
    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