mobile-grab-Robot

• Simulation design and Realization of face recognition, voice control, autonomous movement, recognition and grasping robot based on ROS
• Thanks for the great work: find-object, face_recognitionand古月居
• Video: Bilibili

详细内容，点此链接可以去我的CSDN博客!

Instalation

This instalation process is for catkin (ROS Indigo or newer version) Assuming that your catkin workspace is under ~/catkin_ws, if not replace ~/catkin_ws with appropriate location.

cd ~/catkin_ws/src
git clone https://github.com/pengxinyi-up/mobile-grab-Robot
cd ~/catkin_ws
catkin_make

人脸识别：

1、启动usb摄像头

roslaunch usb_cam usb_cam-test.launch

2、启动识别服务

rosrun face_recognition Fserver
rosrun face_recognition Fclient

3、添加样本,训练样本，更新样本并不断识别

rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 2 "your_name"
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 3 "none"
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 1 "none" 

4、识别样本(单次/循环/退出)

rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 0 "none"
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 1 "none" 
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 4 "none" 

建图：

1、启动仿真环境和moveit

roslaunch mbot_gazebo mbot_with_arm_bringup_moveit.launch

2、启动建图

roslaunch mbot_navigation gmapping_demo.launch

3、启动键盘

roslaunch mbot_teleop mbot_teleop.launch

4、保存地图

rosrun map_server map_saver -f /tmp/pxy_warehouse

导航：

1、启动仿真环境和和moveit

roslaunch mbot_gazebo mbot_with_arm_bringup_moveit.launch

2、启动导航

roslaunch mbot_navigation nav_room.launch

3、启动语音

rosrun robot_voice iat_publish
rosrun robot_voice voice_assistant

4、语音导航

python ~/ws_control/src/mbot_navigation/scripts/nav.py

5、打印位姿

rqt_plot /odom/pose/pose/position/x:y /odom/pose/pose/orientation/

目标识别：

1、启动识别程序

roslaunch find_object_2d find_object_3d.launch

抓取：

1、运动规划

python ~/ws_control/src/marm_planning/scripts/moveit_ik_demo.py

2、打印位姿

rqt_plot /joint_states/position[0]:position[1]:position[2]:position[3]:position[4]:position[5]:position[6]

Contact

Xinyi Peng, Email: [email protected]