suyixiu / robot_sim Goto Github PK
View Code? Open in Web Editor NEWA ROS based Open Source Simulation Environment for Robotics Beginners
A ROS based Open Source Simulation Environment for Robotics Beginners
Hello, thank you very much for your selfless sharing, it is a very rewarding work. When I run 'roslaunch yixiuge_ur10_moveit_config yixiuge_ur_moveit.launch'on ros melodic, the following problems occur, and I would like to consult you how to solve them?
Thanks in advance for your reply, best wishes for you!
真的写得太乱了,忙完这阵子重构一下吧。见谅,respect!salute!
运行到这一步rosrun robot_sim camera_calibration报错,我确定已经加了权限
[rosrun] Couldn't find executable named camera_calibration below /home/ghm/ghm_robot_ws/src/robot_sim/experiment
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/ghm/ghm_robot_ws/src/robot_sim/experiment/camera_calibration
但是报错了
Updating ModelState: model [wooden_peg] does not exist
可以使用其他深度学习中6D姿态估计的方法替换掉GPD嘛? 比如DOPE
在运行过程出出现以下问题,麻烦博主帮助解答一下。ubuntu16.04.
1,在手眼标定部分,执行roslaunch robot_sim hand_eye_calibration.launch命令过程中报错:No robot state or robot model loaded.
2,执行完roslaunch robot_sim hand_eye_calibration.launch,没有加载出rqt-image-view,
3,在改变姿态进行手眼标定时,点击Take Sample后再点check starting pose,rqt_easy_handeye.perspective-rqt闪退,报错如下:
Traceback (most recent call last):
File "camera_calibration.py", line 67, in
calibration_photo(RGB_photo_path, "RGB_camera")
File "camera_calibration.py", line 45, in calibration_photo
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(world_position, image_position, (1280, 720), None, None) # 计算内参
cv2.error: OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:3681: error: (-215:Assertion failed) nimages > 0 in function 'calibrateCameraRO'
怎么解决
参考资料, 问题出现的原因是代码中使用了using namespace cv;
using namespace cv
,并在对应的位置补上cv::
参考资料,但修改完仍有问题 ``对‘vtkRenderingOpenGL_AutoInit_Destruct()’未定义的引用,再参考资料,在~/catkin_ws/src/robot_sim/experiment/CMakeLists.txt
的GPD_method_grasp和data_collection的target_link_libraries中添加${PCL_LIBRARIES}
## GPD_method_grasp ##
aux_source_directory(${PROJECT_SOURCE_DIR}/grasp/GPD_method/src GPD_method_SrcFiles)
add_executable(GPD_method_grasp ${GPD_method_SrcFiles})
add_dependencies(GPD_method_grasp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}
target_link_libraries(GPD_method_grasp ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
# 数据采集部分 #
aux_source_directory(${PROJECT_SOURCE_DIR}/data_collection/src data_collection_SrcFiles)
add_executable(data_collection ${data_collection_SrcFiles})
add_dependencies(data_collection ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(data_collection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
请问博主这种VTK报错应该如何解决呢,卡在这里了。。。
环境:
Ubuntu 16.04
gazebo7
ROS Kinetic
PCL 1.9.0
VTK 7.1
CMakeFiles/GPD_method_grasp.dir/grasp/GPD_method/src/main.cpp.o:在函数‘__static_initialization_and_destruction_0(int, int)’中:
main.cpp:(.text+0x3a34):对‘vtkObjectFactoryRegistryCleanup::vtkObjectFactoryRegistryCleanup()’未定义的引用
main.cpp:(.text+0x3a43):对‘vtkObjectFactoryRegistryCleanup::~vtkObjectFactoryRegistryCleanup()’未定义的引用
CMakeFiles/GPD_method_grasp.dir/grasp/GPD_method/src/main.cpp.o:在函数‘vtkRenderingCore_AutoInit::vtkRenderingCore_AutoInit()’中:
main.cpp:(.text._ZN25vtkRenderingCore_AutoInitC2Ev[_ZN25vtkRenderingCore_AutoInitC5Ev]+0x17):对‘vtkRenderingOpenGL2_AutoInit_Construct()’未定义的引用
CMakeFiles/GPD_method_grasp.dir/grasp/GPD_method/src/main.cpp.o:在函数‘vtkRenderingCore_AutoInit::~vtkRenderingCore_AutoInit()’中:
main.cpp:(.text._ZN25vtkRenderingCore_AutoInitD2Ev[_ZN25vtkRenderingCore_AutoInitD5Ev]+0x17):对‘vtkRenderingOpenGL2_AutoInit_Destruct()’未定义的引用
collect2: error: ld returned 1 exit status
robot_sim/experiment/CMakeFiles/GPD_method_grasp.dir/build.make:601: recipe for target '/home/boron/catkin_ws/devel/lib/robot_sim/GPD_method_grasp' failed
make[2]: *** [/home/boron/catkin_ws/devel/lib/robot_sim/GPD_method_grasp] Error 1
CMakeFiles/Makefile2:13484: recipe for target 'robot_sim/experiment/CMakeFiles/GPD_method_grasp.dir/all' failed
make[1]: *** [robot_sim/experiment/CMakeFiles/GPD_method_grasp.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
gripper_angle = 0.0033113173071797 * grasp_distance + 0.127363015998244;
上面这句怎了来的,我想着用仿真控制robotiq,但是只能控制关节,我想知道关节和robotiq的两个tip间的宽度对应关系。
double roll = theta * sin(-phi);
double pitch = theta * cos(phi);
double yaw = 0;
这段不太懂,能解释一下?
依赖:Eigen3.0 PCL1.9.0 opencv3.3.1 VTK8.1.0
相机标定的时候出错了,提示gray是局部变量,不知博主是否有注意到?
cv::imshow无法显示窗口,使用传统方法抓取,程序会卡死在imshow这一行,这是因为什么呀,opencv测试可用
你好,非常感谢你的工作。
我编译完你的工程,然后想跑一下“在仿真环境中进行相机标定”测试,gazebo和标定程序都能正常启动,但是当输入下面这个指令时就段错误了,请问你知道怎么解决吗?
$ rosrun robot_sim camera_calibration
qx, qy, qz, qw= 0.15893, 0.173378, 0.130033, 0.96321
x,y,z = -0.145, 0.046, 0.1625
Segmentation fault (core dumped)
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.