OpenManipulator机械臂入门教程-相机应用

说明

• 介绍如何安装多种相机的ros驱动和与AR识别的配合使用
• 测试环境：ROS Kinetic + Ubuntu 16.04 + OpenManipulator-X + Realsense D435i

Astra Pro

• 相机规格

Items	Specifications
RGB Image Resolution and Frame Rate	1280 x 720, @30fps
Depth Imgae Resolution and Frame Rate	640 x 480, @30fps
FOV (Field-of-View)	60°H x 49.5°V x 73°D
Range	0.6m - 8m
USB Port	USB 2.0
Dimensions	165mm x 30mm x 40mm
Operating Systems	Android/Linux/Windows 7/8/10
SDK	Astra SDK or OpenNI
Microphones	2 (Built - in)

• 安装相关的ROS包

• 安装相关的ROS包

  $ sudo apt-get install ros-kinetic-rgbd-launch ros-kinetic-libuvc-camera
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/orbbec/ros_astra_camera.git
  $ git clone https://github.com/ROBOTIS-GIT/ros_astra_launch.git
  $ cd ~/catkin_ws && catkin_make
  $ roscd astra_camera && ./scripts/create_udev_rules

• 测试使用

  $ sudo chmod a+rw /dev/bus/usb/${USB}/${PORT}
  $ roslaunch ros_astra_launch astra_pro.launch 

• 打开rqt_image_view查看图像

$ rqt_image_view

Realsense D435

• 相机规格

Items	Specifications
Use Environment	Indoor/Outdoor
RGB Sensor Resolution and Frame Rate	1920 x 1080 at 30 fps
RGB Sensor FOV	69.4°(H) x 42.5°(V) x 77°(D) (+/- 3°)
Depth Stream Output Resolution	Up to 1280 x 720
Depth Stream Output Frame Rate	Up to 90 fps
Depth Field of View (FOV)	85.2°(H) x 58°(V) x 94°(D) (+/- 3°)
Minimum Depth Distance (Min-Z)	0.2m
Maximum Range	Approx.10 meters
Dimension	90 mm x 25 mm x 25 mm
Connectors	USB 3.0 Type - C

• 安装相关的ROS包

• 安装相关的ROS包

$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
$ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
$ sudo apt-get install librealsense2-dev librealsense2-utils ros-kinetic-rgbd-launch ros-kinetic-ddynamic-reconfigure

$ cd ~/catkin_ws/src
$ git clone https://github.com/intel-ros/realsense.git
$ cd ~/catkin_ws && catkin_make

• 测试使用

$ roslaunch realsense2_camera rs_camera.launch

• 打开rqt_image_view查看图像

$ rqt_image_view

Raspberry Pi Camera V2

• 在树莓派上安装V2相机的ROS驱动：参考链接

AR Marker

• 安装相关的ROS包和软件

  $ sudo apt-get install ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs ros-kinetic-image-proc
  $ cd ~/openManipulator_ws/src
  $ git clone https://github.com/ROBOTIS-GIT/open_manipulator_perceptions.git
  $ cd ~/openManipulator_ws&& catkin_make

• 将可以下面AR标签图打印下来

• Astra Pro

• 启动相机

  $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=astra_pro

• Realsense D435

• 启动相机

  $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=realsense_d435

• Raspberry Pi Camera V2

• [Raspberry Pi] 启动相机

 $ roslaunch open_manipulator_camera raspicam.launch

• [Remote PC] 启动相机

$ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=realsense_d435

• 接下来可以在打开的RViz界面上看到，相机已经识别到AR标志，同时AR标志与相机的位姿在RViz上显示

演示视频