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Ubuntu 机械臂(睿尔曼)与摄像头(奥比中光、RealSense)标定教程(眼在手上)
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2022-07-16
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Ubuntu系统下机械臂(睿尔曼)与摄像头(奥比中光、RealSense)标定教程(眼在手上) ROS系统搭建 系统:Ubuntu 18.04 ROS:melodic OpenCV 库:OpenCV 3.2.0 Realsense D435: Marker 标记识别:Aruco 功能包 手眼标定:easy_handeye 功能包 Moveit! RM 机械臂 ROS 功能包 Catkin-tools 工具包 各个库的搭建、测试 资源包下载 问题
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RM
机
械
臂
与
相
机
(AstraMini&RealSense)
⼿
眼
标
定
教
程
1.
环
境
介
绍
•
系
统
:
Ubuntu18.04.6
•
ROS
:
melodic
•
OpenCV
库
:
OpenCV3.2.0
•
Moveit
!
•
Marker
标
记识
别
:
Aruco
功
能
包
•
⼿
眼
标
定
:
easy_handeye
功
能
包
•
Catkin-tools
⼯
具
包
•
RM
机
械
臂
ROS
功
能
包
(
以
RM65-B
机
械
臂
配
套
的
ROS
包即
rm_65_robot
为
例
)
•
AstraMini
:
ros_astra_camera
功
能
包
(
地址
、
使
⽤
⼿
册
)(
下
载
地址
、
使
⽤
⼿
册
)
备
注
:
catkin_ws
:
⼯
作
空
间
。
catkin_ws
、
src
可
以
通过
右
键
⽅
式
创
建
;
也
可
以
⽤
过
命
令
⽅
式
创
建
1.1
环
境
搭
建
1.1.1
备
份
源
配
置
⽂
件
防
⽌

1
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
1.1.2
更
改
配
置
⽂
件
内
容
1
sudo gedit /etc/apt/sources.list
源
,
直
接
将
以
下
内
容
替
换
sources.listz
中
的
内
容
即
可
。
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#
默
认
注
释
了
源
码
镜
像
以
提
⾼
apt update
速
度
,
如
有
需
要
可
⾃
⾏
取
消注
释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multivers
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe mul
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe m
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted univ
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted un
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted uni
#
预
发
布
软
件
源
,
不
建
议
启
⽤
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted univers
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted uni
或
者
替
换
下
⾯
的
源
包
含
:
清
华
、
⽹
易
、
阿
⾥
云
、
中
科
⼤
,
直
接
将
以
下
内
容
替
换
sources.listz
中
的
内
容
即
可
。

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# deb cdrom:[Ubuntu 18.04.6 LTS _Bionic Beaver_ - Release amd64 (20210915)]/ bionic main
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ bionic main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic main restricted
## Major bug fix updates produced after the final release of the
## distribution.
deb http://cn.archive.ubuntu.com/ubuntu/ bionic-updates main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates main restricted
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ bionic universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic universe
deb http://cn.archive.ubuntu.com/ubuntu/ bionic-updates universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates universe
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://cn.archive.ubuntu.com/ubuntu/ bionic multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic multiverse
deb http://cn.archive.ubuntu.com/ubuntu/ bionic-updates multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates multiverse
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://cn.archive.ubuntu.com/ubuntu/ bionic-backports main restricted universe multiv
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-backports main restricted universe
## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu bionic partner
# deb-src http://archive.canonical.com/ubuntu bionic partner
deb http://security.ubuntu.com/ubuntu bionic-security main restricted
# deb-src http://security.ubuntu.com/ubuntu bionic-security main restricted
deb http://security.ubuntu.com/ubuntu bionic-security universe
# deb-src http://security.ubuntu.com/ubuntu bionic-security universe
deb http://security.ubuntu.com/ubuntu bionic-security multiverse
# deb-src http://security.ubuntu.com/ubuntu bionic-security multiverse

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#1
、
阿
⾥
云
Ubuntu 18.04
源
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multivers
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiv
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multive
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiv
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multi
#2
、
⽹
易
Ubuntu 18.04
源
deb http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multivers
deb-src http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multivers
deb-src http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiver
#3
、
中
科
⼤
Ubuntu 18.04
源

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deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multivers
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multi
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multive
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe mul
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiver
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe mult
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiver
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe mult
#4
、
清
华
Ubuntu 18.04
源
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiver
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe mult
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted unive
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted univers
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted uni
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted univ
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted univ
deb https://librealsense.intel.com/Debian/apt-repo bionic main
# deb-src https://librealsense.intel.com/Debian/apt-repo bionic main
deb http://ppa.launchpad.net/nemh/systemback/ubuntu xenial main
# deb-src http://ppa.launchpad.net/nemh/systemback/ubuntu xenial main
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