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Repository Summary
Checkout URI | https://github.com/legendleochen/leorobot.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2025-01-01 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
mybot | 0.3.0 |
mybot_cartographer | 0.0.0 |
mybot_description | 0.0.0 |
mybot_navigation2 | 0.0.0 |
README
- author:legendleo
项目内容
- 技术框架:ROS2 humble + GAZEBO环境
YOLOv8:https://github.com/ultralytics/ultralytics
- 工作:
- 分支 base:基础任务,完成语音指令识别+视觉目标检测+SLAM+导航规划+简单抓取;(如下图节点结构)
- 分支 master:多任务,在基础任务的基础上可以执行序列任务——依次到多地点执行不同目标的抓取,添加了角度校准,增加场景航点。(如下图节点结构)
- 分支 base:基础任务,完成语音指令识别+视觉目标检测+SLAM+导航规划+简单抓取;(如下图节点结构)
- 机器人结构:
项目效果
- 基础任务效果
- 多任务效果
项目文件概览
进入mybot_desription文件夹下查看
- config:机械臂使用moveit助手生成的配置文件,用于配合moveit对机械臂进行控制;
- launch:启动文件
- display_rviz2.launch:启动rviz2;
- gazebo.launch:启动gazebo,加载地图和机器人,加载关节状态及其控制;
- move_arm.launch:启动moveit;
- my_moveit_rviz.launch:启动moveit和rviz;
- meshes:存放结构设计;
- mybot_description:节点文件
- audio_classify:语言节点,麦克风输入转文字,再输入大模型转为分类,输出给目标检测节点;
- image_detection:目标检测节点,将RGB/深度相机模组的图像输入YOLO8进行识别,得到目标位置及距离,输出指定类别目标的数据;
- move_arm:控制机械臂进行夹取物体的节点;
- move_claw:仅调试夹取动作的节点;
- moveit_move_arm:使用moveit的动作组规划控制机械臂的节点;
- rotate_wheel:控制小车车轮运动的节点;
- navigate:给定目标点和最终方向,机器人导航到目的地并转到该方向;
- urdf:存放机器人设计
- my_car:没有机械臂的小车,用于SLAM建图;
- six_arm:六轴机械臂的可移动的机器人;
- weights:存放YOLOv8模型权重;
- world:存放地图。
CONTRIBUTING
No CONTRIBUTING.md found.
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