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update lifter
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agilexrobotics committed Jan 14, 2022
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34 changes: 30 additions & 4 deletions Limo user manual(CN).md
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Expand Up @@ -980,7 +980,7 @@ roslaunch limo_bringup limo_gmapping.launch

构建完地图之后，需要运行以下命令，把地图保存到指定目录：

1、切换到需要保存地图的目录下，这里把地图保存到/agilex_ws/limo_bringup/maps，在终端中输入命令：
1、切换到需要保存地图的目录下，这里把地图保存到~/agilex_ws/src/limo_ros/limo_bringup/maps/，在终端中输入命令：

```
cd ~/agilex_ws/src/limo_ros/limo_bringup/maps/
Expand Down Expand Up @@ -1109,7 +1109,7 @@ roslaunch limo_bringup limo_navigation_diff.launch
注：如果是阿克曼运动模式，请运行

```
roslaunch limo_bringup limo_navigation_ackeman.launch
roslaunch limo_bringup limo_navigation_ackerman.launch
```

启动成功之后会打开rviz界面，如图
Expand Down Expand Up @@ -1153,7 +1153,7 @@ roslaunch limo_bringup limo_navigation_diff.launch
注：如果是阿克曼运动模式，请运行

```
roslaunch limo_bringup limo_navigation_ackeman.launch
roslaunch limo_bringup limo_navigation_ackerman.launch
```

（3）启动路径记录功能，开启一个新的终端，在终端中输入命令：
Expand Down Expand Up @@ -1476,7 +1476,33 @@ rostopic echo /detect_word_reslut

![](./LIMO_image/traffic_light.png)


### 8.3 控制升降杆

#### 8.3.1 功能简介

通过ar-track-alvar功能包识别升降杆上面的二维码，判断出Limo与升降杆的位置距离，当小于0.3M时，Limo会发送一个消息到/chatter_updown话题中，从而控制升降杆。

#### 8.1.2 运行功能

注：在运行命令之前，请确保其他终端中的程序已经终止，终止命令为：Ctrl+c

以ORBBEC®Dabai为例子，启动ORBBEC®Dabai深度相机，在终端中输入命令：

```
roslaunch astra_camera dabai_u3.launch
```

启动二维码标签识别功能，在终端中输入命令：

```
roslaunch detect_ros agx_ar_pose_dabai.launch
```

![](./LIMO_image/lifter.png)

当终端中出现pub num : 1时，升降杆将会抬起来，这时limo将有三秒钟的时间通过升降杆



## 九、语音模块

Expand Down
32 changes: 28 additions & 4 deletions Limo user manual(EN).md
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Expand Up @@ -963,7 +963,7 @@ At this time, you can adjust the handle to remote control mode to control limo t

After building the map, you need to run the following command to save the map to the specified directory:

1. Switch to the directory where you need to save the map, save the map to /agilex_ws/limo_bringup/maps, and enter the command in the terminal:
1. Switch to the directory where you need to save the map, save the map to ~/agilex_ws/src/limo_ros/limo_bringup/maps/, and enter the command in the terminal:

```
cd ~/agilex_ws/src/limo_ros/limo_bringup/maps/
Expand Down Expand Up @@ -1094,7 +1094,7 @@ roslaunch limo_bringup limo_navigation_diff.launch
**Note:** If it is Ackermann motion mode, please run

```
roslaunch limo_bringup limo_navigation_ackeman.launch
roslaunch limo_bringup limo_navigation_ackerman.launch
```

After launching successfully, the rviz interface will be opened, as shown in the figure:
Expand Down Expand Up @@ -1138,7 +1138,7 @@ roslaunch limo_bringup limo_navigation_diff.launch
**Note:** If it is Ackermann motion mode, please run

```
roslaunch limo_bringup limo_navigation_ackeman.launch
roslaunch limo_bringup limo_navigation_ackerman.launch
```

（3）Launch the path recording function, open a new terminal, and enter the command in the terminal:
Expand Down Expand Up @@ -1461,7 +1461,31 @@ Launch the traffic light recognition function:

![](./LIMO_image_EN/traffic_light.png)


### 8.3 Lifting barrier control

#### 8.3.1 Function introduction

LIMO can figure out the distance from the lifting barrier by detecting the QR code on it. When the distance is less than 0.3m，LIMO will send a message to the topic **/chatter_updown** to control the lifting barrier up and down.

#### 8.1.2 Run function

Note：Use Ctrl+C command to end all the processes before running the below commands.

Take ORBBEC®Dabai as an example. Start realsense RGBD camera. Terminal command is：

```
roslaunch astra_camera dabai_u3.launch
```

Start the detection function of QR code, the command is：

```
roslaunch detect_ros agx_ar_pose_dabai.launch
```

![](./LIMO_image_EN/lifter.png)

When **pub num : 1** shown in the Terminal，the lifting barrier will be up . Then the LIMO will have three seconds to pass through the lifting barrier.

## 9 Voice module

Expand Down
42 changes: 25 additions & 17 deletions Limo沙盘快速安装指南.md
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Expand Up @@ -10,17 +10,17 @@ Limo沙盘是配套Limo小车使用的交互沙盘。可在沙盘上实现Limo

### 1.2 产品列表

| ***\*名称\**** | ***\*规格\**** | ***\*数量\**** |
| --------------- | -------------------------------------------- | -------------- |
| 沙盘底板 | 750*750*5mm | 16 |
| 沙盘围板 | 750*200*5mm | 16 |
| 沙盘卡扣 | L型10个，U型30个 | 40 |
| 模型树 | 15cm模型树带底座 | 30 |
| 红绿灯 | 自动变灯手动变灯双模式红绿灯 | 1 |
| 上坡 | 拼装上坡 | 1 |
| 小白板+识别字符 | 小白板+ EVA磁贴识别字符大小写字母，数字各1组 | 1 |
| 地点识别字符 | 亚克力ABCD字符 | 1 |
| 升降杆 | 二维码识别通信 | 1 |
| 名称 | 规格 | 数量 |
| --------------- | -------------------------------------------- | ---- |
| 沙盘底板 | 750 *750 *5mm | 16 |
| 沙盘围板 | 750 *200 *5mm | 16 |
| 沙盘卡扣 | L型10个，U型30个 | 40 |
| 模型树 | 15cm模型树带底座 | 30 |
| 红绿灯 | 自动变灯手动变灯双模式红绿灯 | 1 |
| 上坡 | 拼装上坡 | 1 |
| 小白板+识别字符 | 小白板+ EVA磁贴识别字符大小写字母，数字各1组 | 1 |
| 地点识别字符 | 亚克力ABCD字符 | 1 |
| 升降杆 | 二维码识别通信 | 1 |

<img src="sand table_image/sand table_3.png" style="zoom:67%;" />

Expand All @@ -32,6 +32,16 @@ Limo沙盘是配套Limo小车使用的交互沙盘。可在沙盘上实现Limo



**注：需要把信号收发器插到Limo的USB接口上，才能控制升降杆。**

指示灯状态指示

| 颜色 | 状态 |
| ---- | ---------- |
| 红灯 | 未连接 |
| 绿灯 | 正常连接 |
| 蓝灯 | 低电压闪烁 |

## 二、Limo沙盘搭建步骤

### 2.1 搭建底板
Expand Down Expand Up @@ -62,7 +72,7 @@ Limo沙盘是配套Limo小车使用的交互沙盘。可在沙盘上实现Limo



2.3 安装地点识别字符、小白板、红绿灯、上坡
### 2.3 安装地点识别字符、小白板、红绿灯、上坡

将ABCD字符贴在道路尽头，用于小车识别定位地点，定点导航。

Expand All @@ -76,16 +86,14 @@ Limo沙盘是配套Limo小车使用的交互沙盘。可在沙盘上实现Limo



2.4 放置模型数
### 2.4 放置模型数

完成图：

<img src="sand table_image/sand table_13.png" style="zoom:67%;" />
<img src="sand table_image/sand table_1.png" />

2.5 完成搭建
### 2.5 完成搭建

备注：

前期版本二维码识别通信升降杆未在沙盘内，后续会陆续补发。

如地面与沙盘底面摩擦力小导致limo跑动引起板面位移时，可用配件里的胶布从底面将底板粘合防止位移。
51 changes: 37 additions & 14 deletions README.md
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Expand Up @@ -64,11 +64,11 @@ Version: 1.0.0
</tr>
<tr>
<td rowspan="3">负载</td>
<td>差速/履带模式（1kg）</td>
<td>四轮差速（1kg）</td>
<tr>
<td>阿克曼模式（4kg）</td>
</tr>
<tr>
<tr>
<td>麦轮模式（4kg）</td>
</tr>
</tr>
Expand Down Expand Up @@ -179,9 +179,6 @@ Version: 1.0.0






### 1.4 Nvidia Jetson Nano介绍

Nvidia Jetson Nano 是一款功能强大的小型计算机，专为支持入门级边缘 AI 应用程序和设备而设计。依托完善的 NVIDIA JetPack™ SDK 包含用于深度学习、计算机视觉、图形、多媒体等方面的加速库。搭载在limo高配版本，可以用于拓展机器人导航定位、图像处理、语音识别等技术的拓展。
Expand Down Expand Up @@ -985,7 +982,7 @@ roslaunch limo_bringup limo_gmapping.launch

构建完地图之后，需要运行以下命令，把地图保存到指定目录：

1、切换到需要保存地图的目录下，这里把地图保存到/agilex_ws/limo_bringup/maps，在终端中输入命令：
1、切换到需要保存地图的目录下，这里把地图保存到~/agilex_ws/src/limo_ros/limo_bringup/maps/，在终端中输入命令：

```
cd ~/agilex_ws/src/limo_ros/limo_bringup/maps/
Expand Down Expand Up @@ -1114,14 +1111,14 @@ roslaunch limo_bringup limo_navigation_diff.launch
注：如果是阿克曼运动模式，请运行

```
roslaunch limo_bringup limo_navigation_ackeman.launch
roslaunch limo_bringup limo_navigation_ackerman.launch
```

启动成功之后会打开rviz界面，如图

![](./LIMO_image/navi_1.png)

注：如需自定义打开的地图，请打开limo_navigation_diff.launch 文件修改参数, 请把map02修改为需要更换的地图名称。
注：如需自定义打开的地图，请打开limo_navigation_diff.launch 文件修改参数, 文件所在目录为：~/agilex_ws/src/limo_ros/limo_bringup/launch。请把map02修改为需要更换的地图名称。

![](./LIMO_image/navi_diff.png)

Expand Down Expand Up @@ -1158,7 +1155,7 @@ roslaunch limo_bringup limo_navigation_diff.launch
注：如果是阿克曼运动模式，请运行

```
roslaunch limo_bringup limo_navigation_ackeman.launch
roslaunch limo_bringup limo_navigation_ackerman.launch
```

（3）启动路径记录功能，开启一个新的终端，在终端中输入命令：
Expand Down Expand Up @@ -1481,7 +1478,33 @@ rostopic echo /detect_word_reslut

![](./LIMO_image/traffic_light.png)


### 8.3 控制升降杆

#### 8.3.1 功能简介

通过ar-track-alvar功能包识别升降杆上面的二维码，判断出Limo与升降杆的位置距离，当小于0.3M时，Limo会发送一个消息到/chatter_updown话题中，从而控制升降杆。

#### 8.1.2 运行功能

注：在运行命令之前，请确保其他终端中的程序已经终止，终止命令为：Ctrl+c

以ORBBEC®Dabai为例子，启动ORBBEC®Dabai深度相机，在终端中输入命令：

```
roslaunch astra_camera dabai_u3.launch
```

启动二维码标签识别功能，在终端中输入命令：

```
roslaunch detect_ros agx_ar_pose_dabai.launch
```

![](./LIMO_image/lifter.png)

当终端中出现pub num : 1时，升降杆将会抬起来，这时limo将有三秒钟的时间通过升降杆



## 九、语音模块

Expand Down Expand Up @@ -1541,11 +1564,11 @@ rosrun voice voice_ctr_node.py

### 附录1、三视图

<img src="LIMO_image/三视图尺寸-正视.svg" style="zoom:60%;" />
<img src="LIMO_image/三视尺寸-正视.svg" width="800" height = "600" />

<img src="LIMO_image/三视图尺寸-左视.svg" style="zoom:60%;" />
<img src="LIMO_image/三视尺寸-侧视.svg" width="800" height = "600" />

<img src="LIMO_image/三视图尺寸-俯视.svg" style="zoom:60%;" />
<img src="LIMO_image/三视尺寸-俯视.svg" width="800" height = "600" />



Expand Down Expand Up @@ -2238,7 +2261,7 @@ rosrun rqt_tf_tree rqt_tf_tree

#### 5.2 下载需要烧录的镜像

这里以我司提供的官方镜像为例，使用百度云盘下载镜像，下载链接为：
这里以我司提供的官方镜像为例，使用百度云盘下载镜像，下载链接为：https://pan.baidu.com/s/1MyyAR4y-Umyf_OwMk-rinA 提取码: 50d9

#### 5.3 软件使用说明

Expand Down
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