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This repository contains the ROS wrapper of Spark's driver plus various ROS noetic applications.This project includes some commonly used functions of robots, such as keyboard control, remote control, 2D and 3D mapping navigation, object recognition, voice control, visual grabbing, etc. Provides a quick-start robot platform for ROS beginner.

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NXROBO/spark_noetic

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NXROBO Spark

说明 Description

  • This is a tutorial for beginners, and Detailed version is here .
  • 本说明为初学者体验版,这里有详细说明的版本。

列表 Table of Contents

功能包说明packages-overview

  • src : Spark的源代码,包括底层配置,硬件驱动,和各个应用功能包等。
  • doc : 软硬件依赖包。

使用usage

系统要求 Prequirement

  • System: Ubuntu 20.04+
  • ROS Version: noetic(Desktop-Full Install)

下载安装 Download and install

  • 下载工作空间 Download the workspace:
git clone https://github.com/NXROBO/spark_noetic.git
  • 安装依赖库 Install libraries and dependencies:
cd spark_noetic

编译运行 compile and run

catkin_make
  • 如果编译一切正常,可根据提示运行相关例程。If everything goes fine, test the examples as follow:
./onekey.sh

视频展示Video

1.Spark跟随 Spark-Follower

follow-person

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_follower bringup.launch camera_type_tel:=d435

2.Spark建图 Spark-SLAM-Mapping

follow-person

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=gmapping camera_type_tel:=d435 lidar_type_tel:=ydlidar_g6

3.Spark导航 Spark-Navigation

follow-person

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=d435 lidar_type_tel:=ydlidar_g6

4.Spark-RtabMap建图 Spark-RtabMap-Mapping

follow-person

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_rtabmap spark_rtabmap_teleop.launch camera_type_tel:=d435

5.Spark机械臂视觉抓取 Spark-Carry_Object

follow-person

cd ~/spark_noetic
source devel/setup.bash
roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=d435 lidar_type_tel:=ydlidar_g6

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This repository contains the ROS wrapper of Spark's driver plus various ROS noetic applications.This project includes some commonly used functions of robots, such as keyboard control, remote control, 2D and 3D mapping navigation, object recognition, voice control, visual grabbing, etc. Provides a quick-start robot platform for ROS beginner.

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