# AICSIR 操作流程 ###### tags: `husky` ## 操作步驟 ==1.打開Joystick Control== ```bash= cd ~/catkin_ws/src roslaunch husky_base base.launch ``` ==2.打開IMU== ```bash= cd ~/catkin_ws/src roslaunch mavros px4.launch ``` ==3.打開Lidar== ```bash= cd ~/catkin_ws/src roslaunch velodyne_pointcloud VLP16_points.launch ``` ==4.打開Lio== ```bash= cd ~/catkin_ws/src roslaunch ncrl_lio runlauch ``` ==5.開啟husky 路徑規劃== ```bash= cd ~husky_ws/src roslaunch ncrl_ugv_ctrl husky1.launch ``` ==6.開啟相機相機== [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 ``` ==7.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 ``` * 注意須先打開Lio才可執行路徑規劃 * 重新執行路徑規劃前都需要重新啟動Lio,由於husky的路徑規劃的原點是Lio開啟時的位置 ## 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 - [QP](https://github.com/zhehui-chen/husky?fbclid=IwAR0A21MNz12ZxuUaSz4blt-s6QUyEpLdKkjza2t0TcfN8MdiPDsZiCqOrRA) 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