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onekey.sh
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#!/usr/bin/env bash
PATH=/bin:/sbin:/usr/bin:/usr/sbin:/usr/local/bin:/usr/local/sbin:~/bin
export PATH
#=================================================
# System Required: Ubuntu 14.04+
# Description: Install ROS And Spark
# Version: 1.0.21
# Author: J.xiao
# Site: http://www.nxrobo.com/
# SPARK技术讨论与反馈群：8346256
#=================================================
GAME_ENABLE="no"
sh_ver="1.1.0"
filepath=$(cd "$(dirname "$0")"; pwd)
Green_font_prefix="\033[32m" && Red_font_prefix="\033[31m" && Green_background_prefix="\033[42;37m" && Red_background_prefix="\033[41;37m" && Font_color_suffix="\033[0m" && Yellow_font_prefix="\e[1;33m" && Blue_font_prefix="\e[0;34m"
Info="${Green_font_prefix}[信息]${Font_color_suffix}"
Error="${Red_font_prefix}[错误]${Font_color_suffix}"
Warn="${Yellow_font_prefix}[警告]${Font_color_suffix}"
Tip="${Green_font_prefix}[注意]${Font_color_suffix}"
Separator_1="——————————————————————————————"
password="spark"
Version=$(lsb_release -r --short)
Codename=$(lsb_release -c --short)
OSDescription=$(lsb_release -d --short)
OSArch=$(uname -m)
calibra_default="${filepath}/../.ros/camera_info"
calibration="calibration"
color_block="color_block"
#检查系统要求
check_sys(){
if [[ "${Version}" == "14.04" ]]; then
ROS_Ver="indigo"
elif [[ "${Version}" == "16.04" ]]; then
ROS_Ver="kinetic"
elif [[ "${Version}" == "18.04" ]]; then
ROS_Ver="melodic"
else
echo -e "${Error} SPARK不支持当前系统 ${OSDescription} !" && exit 1
fi
}
#检查设备连接
check_dev(){
#检查底盘
if [ ! -n "$(lsusb -d 1a86:7523)" ]; then
echo -e "${Error} 底盘没有正确连接，请确认正确连接！！"
fi
#检查机械臂
if [ -n "$(lsusb -d 2341:0042)" ]; then
echo -e "${Info} 正在使用UARM机械臂"
ARMTYPE="uarm"
elif [ -n "$(lsusb -d 2e88:4603)" ]; then
echo -e "${Info} 正在使用射手座机械臂"
ARMTYPE="sagittarius_arm"
else
echo -e "${Error} 机械臂没有正确连接或未上电，请确认正确连接！！"
ARMTYPE="uarm"
fi
#检查摄像头
check_camera
#检查雷达
check_lidar
}
check_camera_no_print(){
#检查使用哪种设备
if [ -n "$(lsusb -d 2bc5:0403)" ]; then
CAMERATYPE="astrapro"
fi
if [ -n "$(lsusb -d 2bc5:0401)" ]; then
CAMERATYPE="astra"
fi
if [ -n "$(lsusb -d 8086:0b07)" ]; then
CAMERATYPE="d435"
fi
}
#检查摄像头设备
check_camera(){
camera_flag=0
calibra_backup="/opt/nxrobo/camera_info"
#检查使用哪种设备
if [ -n "$(lsusb -d 2bc5:0403)" ]; then
CAMERATYPE="astrapro"
depthtolaser="/camera/depth/image_rect_raw"
camera_flag=$[$camera_flag + 1]
fi
if [ -n "$(lsusb -d 2bc5:0401)" ]; then
CAMERATYPE="astra"
depthtolaser="/camera/depth/image_raw"
camera_flag=$[$camera_flag + 1]
fi
if [ -n "$(lsusb -d 8086:0b07)" ]; then
CAMERATYPE="d435"
depthtolaser="/camera/depth/image_rect_raw"
camera_flag=$[$camera_flag + 1]
fi
if [ $camera_flag -ge 2 ]; then
echo -e "${Warn} 正在使用多个摄像头设备，请退出并拔掉其中一个再使用!"
echo -e "${Warn} 退出请输入：Ctrl + c！"
elif [ $camera_flag -eq 1 ]; then
echo -e "${Info} 正在使用${CAMERATYPE}摄像头"
elif [ $camera_flag -eq 0 ]; then
echo -e "${Error} 没有找到摄像头，请确认摄像头已正确连接！！"
fi
#根据摄像头类型检查标定文件和备份文件
case $CAMERATYPE in
astrapro)
#检查是否有默认文件夹和备份文件夹
if [ ! -d "$calibra_default" ]; then
mkdir -p "$calibra_default"
fi
if [ ! -d "$calibra_backup" ]; then
echo -e "${Info} 创建标定文件备份文件夹..."
sudo mkdir -p "$calibra_backup"
fi
#如果没有就拷贝一份
if [ ! -f "$calibra_backup/camera.yaml" ]||[ ! -f "$calibra_backup/depth_Astra_Orbbec.yaml" ]; then
if [ -f "$calibra_default/camera.yaml" ]&&[ -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then
echo -e "${Info} 备份标定文件..."
sudo cp -r "$calibra_default/." "$calibra_backup/."
elif [ ! -f "$calibra_default/camera.yaml" ]||[ ! -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then
echo -e "${Warn} 标定文件缺少其中一个，请确认rgb和depth标定文件都存在"
fi
elif [ -f "$calibra_backup/camera.yaml" ]&&[ -f "$calibra_backup/depth_Astra_Orbbec.yaml" ]; then
if [ ! -f "$calibra_default/camera.yaml" ]; then
echo -e "${Info} 缺少彩色摄像头标定文件，已拷贝"
cp "$calibra_backup/camera.yaml" $calibra_default
fi
if [ ! -f "$calibra_default/depth_Astra_Orbbec.yaml" ]; then
echo -e "${Info} 缺少深度摄像头标定文件，已拷贝"
cp "$calibra_backup/depth_Astra_Orbbec.yaml" $calibra_default
fi
fi
;;
astra)
#astra自带标定文件
#如果检查到有标定文件就删除
if [ -d "$calibra_default" ]; then
rm -rf "$calibra_default"
fi
;;
esac
}
#检查雷达设备
check_lidar(){
BASEPATH=$(cd `dirname $0`; pwd)
TYPE_LIDAR=$(cat /opt/lidar.txt)
if [[ "${TYPE_LIDAR}" == "ydlidar_g6" ]]; then
LIDARTYPE="ydlidar_g6"
rm -f ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
elif [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then
LIDARTYPE="ydlidar_g2"
touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then
LIDARTYPE="3iroboticslidar2"
touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
else
echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行"
LIDARTYPE="3iroboticslidar2"
touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
fi
lidar_flag=0
#检查使用哪种设备
if [ -n "$(lsusb -d 10c4:ea60)" ]; then
lidar_flag=$[$lidar_flag + 1]
fi
if [ $lidar_flag -ge 2 ]; then
echo -e "${Warn} 正在使用多个雷达设备，请退出并拔掉其中一个再使用!"
echo -e "${Warn} 退出请输入：Ctrl + c！"
elif [ $lidar_flag -eq 1 ]; then
echo -e "${Info} 正在使用${LIDARTYPE}雷达"
elif [ $lidar_flag -eq 0 ]; then
echo -e "${Error} 没有找到雷达，请确认雷达已正确连接！！"
fi
}
#安装ROS完整版
install_ros_full(){
sudo sh -c 'echo 1 > /proc/sys/net/ipv6/conf/all/disable_ipv6'
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install -y ros-${ROS_Ver}-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/${ROS_Ver}/setup.bash" >> ~/.bashrc
source /opt/ros/${ROS_Ver}/setup.bash
sudo apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
}
#检测是否需要安装完整版
check_install_ros_full(){
if [ -f "/usr/bin/rosversion" ]; then
ROSVER=`/usr/bin/rosversion -d`
if [ $ROSVER ]; then
echo -e "${Tip} 检测到当前系统已安装了ROS的${ROSVER}版本!"
echo && stty erase ^? && read -p "请选择是否继续安装？ y/n：" choose
if [[ "${choose}" == "y" ]]; then
echo -e "${Info}准备安装ROS系统！"
else
exit
fi
fi
fi
install_ros_full
}
#安装SPARK依赖库
install_spark_require(){
echo -e "${Info} 准备安装SPARK相关驱动……"
echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list
sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
if [[ "${ROS_Ver}" == "kinetic" ]]; then
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
elif [[ "${ROS_Ver}" == "melodic" ]]; then
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
fi
echo -e "${Info} 设置udev规则……"
BASEPATH=$(cd `dirname $0`; pwd)
sudo cp $BASEPATH/doc/rules/3ilidar-usb-serial.rules /etc/udev/rules.d/
sudo cp $BASEPATH/doc/rules/uarm-usb-serial.rules /etc/udev/rules.d/
sudo cp $BASEPATH/doc/rules/spark-usb-serial.rules /etc/udev/rules.d/
sudo cp $BASEPATH/doc/rules/orbbec-usb.rules /etc/udev/rules.d/556-orbbec-usb.rules
sudo udevadm trigger
echo -e "${Info} 安装所需要的依赖库……"
#sudo sh -c 'echo 1 > /proc/sys/net/ipv6/conf/all/disable_ipv6'
sudo apt-get update
sudo apt-get install -y ros-${ROS_Ver}-ecl ros-${ROS_Ver}-ecl-threads ros-${ROS_Ver}-rgbd-launch
sudo apt-get install -y ros-${ROS_Ver}-image-common
sudo apt-get install -y ros-${ROS_Ver}-move-base-*
sudo apt-get install -y ros-${ROS_Ver}-serial
sudo apt-get install -y ros-${ROS_Ver}-libuvc-camera
sudo apt-get install -y python-pip python-sklearn libudev-dev
sudo apt-get install -y ros-${ROS_Ver}-depthimage-to-laserscan ros-${ROS_Ver}-map-server ros-${ROS_Ver}-amcl ros-${ROS_Ver}-gmapping ros-${ROS_Ver}-navigation ros-${ROS_Ver}-navigation-stage ros-${ROS_Ver}-navigation-layers ros-${ROS_Ver}-navigation-tutorials
sudo apt-get install -y ros-${ROS_Ver}-hector-mapping
sudo apt-get install -y ros-${ROS_Ver}-frontier-exploration
sudo apt-get install -y ros-${ROS_Ver}-cartographer*
sudo apt-get install -y ros-${ROS_Ver}-rtabmap-ros
sudo apt-get install -y ros-${ROS_Ver}-slam-karto
sudo apt-get install -y librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg
sudo apt-get install -y ros-${ROS_Ver}-ddynamic-reconfigure
sudo apt-get install -y libasound2-dev mplayer
sudo apt-get install -y ros-${ROS_Ver}-usb-cam ros-${ROS_Ver}-openni2-launch
sudo apt-get install -y python-dev python-virtualenv
echo -e "${Info} 安装tensorflow依赖库……"
sudo apt install python-testresources
pip install setuptools -i https://pypi.douban.com/simple/
sudo pip install --upgrade setuptools -i https://pypi.douban.com/simple/
pip install virtualenv -i https://pypi.douban.com/simple/
sudo pip install --upgrade virtualenv -i https://pypi.douban.com/simple/
virtualenv --system-site-packages $BASEPATH/tensorflow
source $BASEPATH/tensorflow/bin/activate
easy_install -U pip
pip install --upgrade tensorflow==1.5.0 -i https://pypi.douban.com/simple/
source $BASEPATH/tensorflow/bin/activate
echo -e "${Info} 安装语音依赖库……"
sudo apt-get install -y swig portaudio19-dev
#sudo easy_install -U pip
sudo pip install pocketsphinx webrtcvad pyaudio wxpy
echo -e "${Info} 依赖库安装成功……"
}
#安装intel_movidius的相关驱动和程序
install_intel_movidius(){
BASEPATH=$(cd `dirname $0`; pwd)
if [[ ! -d "$BASEPATH/src/3rd_app/intel/ncappzoo" ]] || [[ ! -d "$BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs" ]] || [[ ! -d "/opt/movidius" ]] ; then
echo && stty erase ^? && read -p "检测到未安装INTEL MOVIDIUS的相关驱动和程序，是否现在安装y/n?" yorn
if [[ "${yorn}" == "y" ]]; then
echo -e "${Info} 准备安装intel movidius的相关驱动和代码…… "
echo -e "${Info} 安装过程中可能会花费挺长时间的。请耐心等待！"
cd $BASEPATH
mkdir $BASEPATH/src/3rd_app/intel
cd $BASEPATH/src/3rd_app/intel
echo -e "${Info} git clone https://github.com/movidius/ncsdk"
git clone https://github.com/movidius/ncsdk
echo -e "${Info} git clone https://github.com/movidius/ncappzoo"
git clone https://github.com/movidius/ncappzoo
echo -e "${Info} git clone https://github.com/intel/object_msgs"
git clone https://github.com/intel/object_msgs
echo -e "${Info} git clone https://github.com/intel/ros_intel_movidius_ncs.git"
git clone https://github.com/intel/ros_intel_movidius_ncs.git
cd $BASEPATH/src/3rd_app/intel/ncsdk
make install
make examples
echo -e "${Info} sudo ln -s $BASEPATH/src/3rd_app/intel/ncappzoo /opt/movidius/ncappzoo"
sudo ln -s $BASEPATH/src/3rd_app/intel/ncappzoo /opt/movidius/ncappzoo
cd $BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs
git checkout master
cp $BASEPATH/src/3rd_app/intel/ros_intel_movidius_ncs/data/labels/* /opt/movidius/ncappzoo/data/ilsvrc12/
# AlexNet
echo -e "${Info} compile NCS graph--AlexNet"
cd /opt/movidius/ncappzoo/caffe/AlexNet
make
# GoogleNet
echo -e "${Info} compile NCS graph--GoogleNet"
cd /opt/movidius/ncappzoo/caffe/GoogLeNet
make
# SqueezeNet
echo -e "${Info} compile NCS graph--SqueezeNet"
cd /opt/movidius/ncappzoo/caffe/SqueezeNet
make
# Inception_V1
echo -e "${Info} compile NCS graph--Inception_V1"
cd /opt/movidius/ncappzoo/tensorflow/inception_v1/
make
# Inception_V2
echo -e "${Info} compile NCS graph--Inception_V2"
cd /opt/movidius/ncappzoo/tensorflow/inception_v2/
make
# Inception_V3
echo -e "${Info} compile NCS graph--Inception_V3"
cd /opt/movidius/ncappzoo/tensorflow/inception_v3/
make
# Inception_V4
echo -e "${Info} compile NCS graph--Inception_V4"
cd /opt/movidius/ncappzoo/tensorflow/inception_v4/
make
# MobileNet
echo -e "${Info} compile NCS graph--MobileNet"
cd /opt/movidius/ncappzoo/tensorflow/mobilenets/
make
# MobileNet_SSD
echo -e "${Info} compile NCS graph--MobileNet_SSD"
cd /opt/movidius/ncappzoo/caffe/SSD_MobileNet
make
# TinyYolo
echo -e "${Info} compile NCS graph--TinyYolo"
cd /opt/movidius/ncappzoo/caffe/TinyYolo
make
echo -e "${Info} finish compiling..."
echo -e "${Info} start to catkin_make..."
cd $BASEPATH
catkin_make
echo -e "${Info} finsh catkin_make..."
else
echo -e "${Info} 取消安装."
exit
fi
fi
}
#编译SPARK
install_spark(){
if [[ "${Version}" == "18.04" ]]; then
git checkout melodic-devel
fi
source /opt/ros/${ROS_Ver}/setup.bash
catkin_make
#catkin_make install
}
#完全安装
install_all(){
check_install_ros_full
install_spark_require
install_spark
}
#远程设置
master_uri_setup(){
eth_ip=`/sbin/ifconfig eth0|grep inet|awk '{print $2}'|awk -F: '{print $2}'`
wlp1s_ip=`/sbin/ifconfig wlp1s0|grep inet|awk '{print $2}'|awk -F: '{print $2}'`
wlp2s_ip=`/sbin/ifconfig wlp2s0|grep inet|awk '{print $2}'|awk -F: '{print $2}'`
wlan_ip=`/sbin/ifconfig wlan0|grep inet|awk '{print $2}'|awk -F: '{print $2}'`
enp3s_ip=`/sbin/ifconfig enp3s0|grep inet|awk '{print $2}'|awk -F: '{print $2}'`
wlp0s_ip=`/sbin/ifconfig wlp0s20f3|grep inet|awk '{print $2}'|awk -F: '{print $2}'`
if [ $eth_ip ]; then
echo -e "${Info}使用有线网络eth0"
local_ip=$eth_ip
elif [ $wlp1s_ip ]; then
echo -e "${Info}使用无线网络wlp1s0"
local_ip=$wlp1s_ip
elif [ $wlp2s_ip ]; then
echo -e "${Info}使用无线网络wlp2s0"
local_ip=$wlp2s_ip
elif [ $wlan_ip ]; then
echo -e "${Info}使用无线网络wlan0"
local_ip=$wlan_ip
elif [ $enp3s_ip ]; then
echo -e "${Info}使用无线网络enp3s0"
local_ip=$enp3s_ip
elif [ $wlp0s_ip ]; then
echo -e "${Info}使用无线网络wlp0s20f3"
local_ip=$wlp0s_ip
fi
export ROS_HOSTNAME=$local_ip
export ROS_MASTER_URI="http://${local_ip}:11311"
echo -e "${Info}Using ROS MASTER at ${Red_font_prefix}$ROS_MASTER_URI${Font_color_suffix} from ${Red_font_prefix}$ROS_HOSTNAME${Font_color_suffix}"
}
#让机器人动起来
let_robot_go(){
echo -e "${Info}"
echo -e "${Info} 让机器人动起来"
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}"
echo -e "${Info} 请在新的终端窗口操作"
echo -e "${Info}键盘“wsad”分别对应“前后左右”"
echo -e "${Info} "
echo -e "${Info} w前进 "
echo -e "${Info} a左转 d右转 "
echo -e "${Info} s后退 "
echo -e "${Info} "
echo -e "${Info} 退出请输入：Ctrl + c "
echo && stty erase ^? && read -p "按回车键（Enter）开始："
roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} arm_type_tel:=${ARMTYPE} enable_arm_tel:="false"
}
#远程（手机APP）控制SPARK
remote_control_robot(){
master_uri_setup
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info} "
echo -e "${Info} 远程（手机APP）控制SPARK"
echo -e "${Info}"
echo -e "${Info}远程控制的APP地址:${Yellow_font_prefix}https://raw.githubusercontent.com/iamzhuang/RobotCA/kinetic/Release/control_app-debug.apk"${Font_color_suffix}
echo -e "${Info}下载安装完成后，打开app，设置Master URI:${Red_font_prefix}http://${local_ip}:11311${Font_color_suffix}"
echo -e "${Info}接着就可以开始远程控制机器人了"
echo -e "${Info}退出请输入：Ctrl + c"
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
}
#让SPARK跟着你走
people_follow(){
echo -e "${Info} "
echo -e "${Info}让SPARK跟着你走"
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info} "
echo -e "${Info}请站在SPARK的正前方，与SPARK保持一米左右的距离，然后走动"
echo -e "${Info} "
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
roslaunch spark_follower bringup.launch camera_type_tel:=${CAMERATYPE}
}
#语音控制SPARK移动
voice_nav(){
echo -e "${Info}"
echo -e "${Info}语音控制SPARK移动"
echo -e "${Info}"
echo -e "${Info}请选择语音的方式：
${Green_font_prefix}1.${Font_color_suffix} 本地语音识别(识别准确度低,已不推荐使用,仅支持英文)
${Green_font_prefix}2.${Font_color_suffix} 在线语音识别(需要互联网连接,只支持中文)
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
echo && stty erase ^? && read -p "请输入数字 [1-3]：" asrnum
case "$asrnum" in
1)
ASRTYPE="voice_nav.launch"
;;
2)
ASRTYPE="baidu_nav.launch"
;;
*)
echo -e "${Error} 错误，默认使用在线方式"
ASRTYPE="baidu_nav.launch"
;;
esac
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info} "
echo -e "${Info}请确认连接线并设定正确的默认麦克风"
echo -e "${Info} "
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
roslaunch spark_voice ${ASRTYPE} camera_type_tel:=${CAMERATYPE}
}
#机械臂与摄像头匹对标定
cal_camera_arm(){
echo -e "${Info}"
echo -e "${Info}机械臂与摄像头匹对标定"
ROSVER=`/usr/bin/rosversion -d`
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}"
echo -e "${Info}请确定："
echo -e "${Info} A.摄像头已反向向下安装好。机械臂正常上电。"
echo -e "${Info} B.${Red_font_prefix}红色${Font_color_suffix}标定物已贴好在吸盘固定头正上方。"
echo -e "${Info} C.机械臂正常上电。"
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
if [ $ROSVER = "kinetic" ]; then
echo -e "${Info}It is kinetic."
roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
elif [ $ROSVER = "indigo" ]; then
echo -e "${Info}It is indigo."
roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
elif [ $ROSVER = "melodic" ]; then
echo -e "${Info}It is melodic."
roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
fi
}
#让SPARK使用激光雷达进行导航
spark_navigation_2d(){
echo -e "${Info}"
echo -e "${Info}让SPARK使用激光雷达进行导航"
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}"
echo -e "${Info}请注意："
echo -e "${Info} A.激光雷达已上电连接"
echo -e "${Info} B.导航正常启动后，点击‘2D Pose Estimate’后在地图上进行手动定位。"
echo -e "${Info} C.手动定位成功后，点击‘2D Nav Goal’后在地图上指定导航的目标点，机器人将进入自主导航。"
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase '^H' && read -p "按回车键（Enter）开始："
roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
}
#让SPARK使用深度摄像头进行导航
spark_navigation_3d(){
echo -e "${Info}"
echo -e "${Info}让SPARK使用深度摄像头进行导航"
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}请选择导航方式："
echo -e "${Info}1.使用2D地图"
echo -e "${Info}2.使用rtab_map地图"
echo && stty erase ^? && read -p "请输入数字 [1-2]：" slamnum
echo -e "${Info}"
echo -e "${Info}请注意："
echo -e "${Info}A.摄像头已连接"
case "$slamnum" in
1)
SLAMTYPE="2d"
echo -e "${Info}B.导航正常启动后，点击‘2D Pose Estimate’后在地图上进行手动定位。"
;;
2)
SLAMTYPE="rtab_map"
echo -e "${Info}B.把机器人放到原来建图的原点。导航正常启动后，如需查看原来建立的３Ｄ地图，点击rviz的Display->Rtabmap cloud->Download map加载３Ｄ地图。"
;;
*)
echo -e "${Error} 错误，默认使用2D地图"
SLAMTYPE="2d"
echo -e "${Info}B.导航正常启动后，点击‘2D Pose Estimate’后在地图上进行手动定位。"
;;
esac
echo -e "${Info}C.手动定位成功后，点击‘2D Nav Goal’后在地图上指定导航的目标点，机器人将进入自主导航。"
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
if [[ "${SLAMTYPE}" == "2d" ]]; then
roslaunch spark_navigation amcl_demo_rviz.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
else
roslaunch spark_rtabmap spark_rtabmap_nav.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
fi
}
#深度学习
spark_DeepLearn(){
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/tensorflow/bin/activate
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}运行深度学习的方式：
1.软件tensorflow
2.硬件计算棒（需将intel movidius接在spark的${Blue_font_prefix}蓝色${Font_color_suffix}的USB3.0上）"
echo && stty erase ^? && read -p "请选择 1 或 2 ：" chnum
case "$chnum" in
1)
roslaunch tensorflow_object_detector object_detect.launch camera_type_tel:=${CAMERATYPE}
;;
2)
spark_intel_movidius
;;
*)
echo -e "${Error} 错误，将运行默认的软件tensorflow"
roslaunch tensorflow_object_detector object_detect.launch camera_type_tel:=${CAMERATYPE}
;;
esac
}
#intel_movidius的功能列表
intel_movidius_list(){
echo -e "
请根据右侧的功能说明选择相应的序号。
${Green_font_prefix} NO.${Font_color_suffix} | CNN Model | Framework |
${Green_font_prefix} 1.${Font_color_suffix} | AlexNet | Caffe |
${Green_font_prefix} 2.${Font_color_suffix} | GoogleNet | Caffe |
${Green_font_prefix} 3.${Font_color_suffix} | SqueezeNet | Caffe |
${Green_font_prefix} 4.${Font_color_suffix} | Inception_v1 | tensorflow |
${Green_font_prefix} 5.${Font_color_suffix} | Inception_v2 | tensorflow |
${Green_font_prefix} 6.${Font_color_suffix} | Inception_v3 | tensorflow |
${Green_font_prefix} 7.${Font_color_suffix} | Inception_v4 | tensorflow |
${Green_font_prefix} 8.${Font_color_suffix} | MobileNet | tensorflow |
${Green_font_prefix} 9.${Font_color_suffix} | MobileNetSSD | Caffe |
${Green_font_prefix} 10.${Font_color_suffix} | TinyYolo | Caffe |"
}
#运行intel_movidius的相关功能
spark_intel_movidius(){
intel_device=`/usr/bin/lsusb |grep 03e7:|awk '{print $6}'`
if [ $intel_device ]; then
echo -e "${Info}检测到INTEL MOVIDIUS神经计算棒设备，请确定该设备已插入到SPARK主机的USB3.0的接口（${Blue_font_prefix}蓝色${Font_color_suffix}USB接口）。"
install_intel_movidius
echo -e "${Info}请选择下表的相关功能："
intel_movidius_list
echo && stty erase ^? && read -p "请输入数字 [1-10]：" chnum
case "$chnum" in
1)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=alexnet
;;
2)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=googlenet
;;
3)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=squeezenet
;;
4)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v1
;;
5)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v2
;;
6)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v3
;;
7)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=inception_v4
;;
8)
roslaunch app_shell intel_movidius_classification.launch cnn_model:=mobilenet
;;
9)
roslaunch app_shell intel_movidius_detection.launch cnn_model:=mobilenetssd
;;
10)
roslaunch app_shell intel_movidius_detection.launch cnn_model:=tinyyolo_v1
;;
*)
echo -e "${Error} 错误，将运行默认的mobilenetssd功能"
roslaunch app_shell intel_movidius_detection.launch cnn_model:=mobilenetssd
;;
esac
else
echo -e "${Info}没检测到已插入intel movidius神经计算棒。请先插入相关设备到${Blue_font_prefix}蓝色${Font_color_suffix}的USB3.0接口。"
exit
fi
}
#spark_test_mode
spark_test_mode(){
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/tensorflow/bin/activate
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}老化测试程序，请将机器人放在一个50X50CM的方格中间进行测试，请选择：
1.执行5分钟的检测功能；
2.执行老化检测功能，直至断电。"
echo -e "${Info}退出请输入：Ctrl + c "
echo && stty erase ^? && read -p "请选择 1 或 2 ：" chnum
case "$chnum" in
1)
roslaunch spark_test all_run_test_st.launch camera_type_tel:=${CAMERATYPE}
;;
2)
roslaunch spark_test all_run_test.launch camera_type_tel:=${CAMERATYPE}
;;
*)
echo -e "${Error} 退出!"
;;
esac
}
#让SPARK通过机械臂进行视觉抓取
spark_carry_obj(){
echo -e "${Info}"
echo -e "${Info}让SPARK通过机械臂进行视觉抓取"
ROSVER=`/usr/bin/rosversion -d`
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}请选择移动的方式：
${Green_font_prefix}1.${Font_color_suffix} 固定位置移动
${Green_font_prefix}2.${Font_color_suffix} 手动地图指定位置导航(未完成。。)
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
echo && stty erase ^? && read -p "请输入数字 [1-2]：" armnum
case "$armnum" in
1)
MOVETYPE="fix"
;;
2)
MOVETYPE="slam"
;;
*)
echo -e "${Error} 错误，默认使用固定位置移动"
MOVETYPE="fix"
;;
esac
echo -e "${Info}"
echo -e "${Info}请确定："
echo -e "${Info} A.摄像头已反向向下安装好。机械臂正常上电。"
echo -e "${Info} B.机械臂正常上电。"
echo -e "${Info} C.准备好可吸附的${Blue_font_prefix}蓝色${Font_color_suffix}物品。"
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
if [ $ROSVER = "kinetic" ]; then
echo -e "${Info}It is kinetic."
roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
elif [ $ROSVER = "indigo" ]; then
echo -e "${Info}It is indigo."
roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
elif [ $ROSVER = "melodic" ]; then
echo -e "${Info}It is melodic."
roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
fi
}
#让SPARK使用激光雷达绘制地图(gmapping)
spark_build_map_2d(){
echo -e "${Info}"
echo -e "${Info}让SPARK使用激光雷达绘制地图"
echo -e "${Info}"
echo -e "${Info}请选择SLAM的方式：
${Green_font_prefix}1.${Font_color_suffix} gmapping
${Green_font_prefix}2.${Font_color_suffix} hector
${Green_font_prefix}3.${Font_color_suffix} frontier_exploration
${Green_font_prefix}4.${Font_color_suffix} karto
${Green_font_prefix}5.${Font_color_suffix} 退出请输入：Ctrl + c"
echo && stty erase ^? && read -p "请输入数字 [1-4]：" slamnum
case "$slamnum" in
1)
SLAMTYPE="gmapping"
;;
2)
SLAMTYPE="hector"
;;
3)
SLAMTYPE="frontier_exploration"
;;
4)
SLAMTYPE="karto"
;;
*)
echo -e "${Error} 错误，默认使用gmapping"
SLAMTYPE="gmapping"
;;
esac
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}"
echo -e "${Info} 请在新的终端窗口操作"
echo -e "${Info}键盘“wsad”分别对应“前后左右”"
echo -e "${Info} "
echo -e "${Info} w前进 "
echo -e "${Info} a左转 d右转 "
echo -e "${Info} s后退 "
echo -e "${Info} "
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
echo -e "roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
}
#让SPARK去充电
spark_dock(){
echo -e "${Info}"
echo -e "${Info} 让SPARK去充电。注：只适用于带充电座的SPARK使用！"
echo -e "${Info} 退出请输入：Ctrl + c "
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo && stty erase ^? && read -p "按回车键（Enter）继续："
echo && stty erase ^? && read -p "请再次确定是否有带充电座 y/n：" choose
if [[ "${choose}" == "y" ]]; then
roslaunch spark_test go2dock.launch
else
return
fi
}
spark_test(){
echo -e "${Info}"
echo -e "${Info} SPARK test"
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo && stty erase ^? && read -p "按回车键（Enter）开始："
roslaunch spark_test turn_test.launch
}
#让SPARK使用深度摄像头绘制地图
spark_build_map_3d(){
echo -e "${Info}"
echo -e "${Info}让SPARK使用深度摄像头绘制地图"
echo -e "${Info}"
echo -e "${Info}请选择SLAM的方式：
${Green_font_prefix}1.${Font_color_suffix} gmapping
${Green_font_prefix}2.${Font_color_suffix} hector
${Green_font_prefix}3.${Font_color_suffix} frontier_exploration
${Green_font_prefix}4.${Font_color_suffix} karto
${Green_font_prefix}5.${Font_color_suffix} rtab_map
${Green_font_prefix}6.${Font_color_suffix} 退出请输入：Ctrl + c"
echo && stty erase ^? && read -p "请输入数字 [1-5]：" slamnum
case "$slamnum" in
1)
SLAMTYPE="gmapping"
;;
2)
SLAMTYPE="hector"
;;
3)
SLAMTYPE="frontier_exploration"
;;
4)
SLAMTYPE="karto"
;;
5)
SLAMTYPE="rtab_map"
;;
*)
echo -e "${Error} 错误，默认使用gmapping"
SLAMTYPE="gmapping"
;;
esac
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}"
echo -e "${Info} 请在新的终端窗口操作"
echo -e "${Info}键盘“wsad”分别对应“前后左右”"
echo -e "${Info} "
echo -e "${Info} w前进 "
echo -e "${Info} a左转 d右转 "
echo -e "${Info} s后退 "
echo -e "${Info} "
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo && stty erase ^? && read -p "按回车键（Enter）开始："
if [[ "${SLAMTYPE}" == "rtab_map" ]]; then
echo -e "${Tip}"
echo -e "${Tip}现在使用rtab_map建图，将会删除之前保存的地图，选择‘y’继续建图，其它键直接退出。"
echo -e "${Tip}"
echo && stty erase ^? && read -p "请选择是否继续y/n：" choose
if [[ "${choose}" == "y" ]]; then
roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
else
return
fi
else
roslaunch spark_slam depth_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} depthtolaser:=${depthtolaser}
fi
}
#给摄像机做标定
calibrate_camera(){
echo -e "${Info} "
echo -e "${Info}给摄像头做标定"
echo -e "${Info} "
echo -e "${Info}请选择：
${Green_font_prefix}1.${Font_color_suffix} 彩色(rgb)摄像头标定
${Green_font_prefix}2.${Font_color_suffix} 深度(depth/ir)摄像头标定
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
echo && stty erase ^? && read -p "请输入数字 [1-2]：" calinum
case "$calinum" in
1)
CALIBRATETYPE="rgb"
;;
2)
CALIBRATETYPE="depth"
;;
*)
echo -e "${Error} 错误，退出" && exit
;;
esac
echo -e "${Info}"
echo -e "${Info}标定步骤 "
echo -e "${Info}1.准备格子大小为20x20mm的9x7的黑白棋盘（在doc文件夹中可以找到） "
echo -e "${Info} "
echo -e "${Info}2.倾斜或移动棋盘格子使X，Y，Size，Skew指标变成${Green_font_prefix}绿色 "
echo -e "${Info} "
echo -e "${Info}3.点击窗口中的CALIBRATE进行标定 "
echo -e "${Info}${Yellow_font_prefix}注意：${Font_color_suffix}点击后图像窗口将会卡顿！请耐心等候至新终端窗口出现标定矩阵数据！ "
echo -e "${Info} "
echo -e "${Info}4.点击SAVE按钮保存标定文件 "
echo -e "${Info} "
echo -e "${Info}标定文件储存在/tmp/calibrationdata.tar.gz中 "
echo -e "${Info}请把压缩文件中的yaml格式文件拷贝至/home/spark/.ros/camera_info中 "
echo -e "${Info} "
echo -e "${Info}${Yellow_font_prefix}注意：${Font_color_suffix}请把yaml文件命名为当以下两种"
echo -e "${Info}rgb标定：camera.yaml depth标定：depth_Astra_Orbbec.yaml"
echo -e "${Info} "
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info} "
echo && stty erase ^? && read -p "按回车键（Enter）开始："
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
roslaunch camera_calibrator camera_calibrate.launch calibrate_type:=${CALIBRATETYPE} camera_type_tel:=${CAMERATYPE}
}
#hsv范围值查找
spark_hsv_detection(){
echo -e "${Info}"
echo -e "${Info}hsv值自动查找"
ROSVER=`/usr/bin/rosversion -d`
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}"
echo -e "${Info}请确定："
echo -e "${Info} A.摄像头已反向向下安装好。机械臂正常上电。"
echo -e "${Info} B.${Red_font_prefix}红色${Font_color_suffix}标定物已贴好在吸盘固定头正上方。"
echo -e "${Info} C.机械臂正常上电。"
echo -e "${Info}退出请输入：Ctrl + c "
echo -e "${Info}"
echo -e "${Info}请选择比赛方式：
${Green_font_prefix}1.${Font_color_suffix} 获取吸盘上方hsv值
${Green_font_prefix}2.${Font_color_suffix} 获取颜色块hsv值,需要将颜色块放在图像的矩形框中
${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c"
echo && stty erase ^? && read -p "请输入数字 [1-2]：" armnum
case "$armnum" in
1)
roslaunch spark_carry_object hsv_detection.launch camera_type_tel:=${CAMERATYPE} color:=${calibration}
;;
2)
roslaunch spark_carry_object hsv_detection.launch camera_type_tel:=${CAMERATYPE} color:=${color_block}
;;
*)
echo -e "${Error} 错误，请填入正确的数字"
;;
esac
}
#让SPARK夺宝奇兵比赛用示例程序
spark_carry_game(){
echo -e "${Info}"