# 重要更新:
models已更新至由主办方提供的图片制作的图片识别板
> 若使用过此包旧版本的仿真,需要重新执行使用方法下的步骤3
world文件夹下的arena-1, arena-2, arena-3 分别为三套仿真比赛
> 图像识别板的位置参考了赛前会议抽取的三套识别板摆放位置,图像内容组合非参考比赛题库中的组合
> (详见:抽取结果.pdf, img-floder)
![image](https://github.com/wenchowD/ucar_sim/blob/main/img-folder/32images.png)
# 效果图:
仿真场地中使用同终点地块图样的地块来标记随机图像板以及固定图像板的位置
> 图像板详细坐标区域的信息需参见:抽取结果.pdf, img-folder/map.png
![image](https://github.com/wenchowD/ucar_sim/blob/main/img-folder/arena.png)
# 使用方法:
1. 将ucar_sim包复制到工作空间src目录下
2. 先catkin_make编译,再 source ~/.bashrc 或 devel/setup.bash
> 为了防止启动时编码报错,更改 python2 的默认编码
> 解决方案:
> 打开终端输入如下指令 ( 使用 anaconda 的同学要定位到自己的虚拟环境 ):
> ```
> sudo gedit /usr/lib/python2.7/site.py
> ```
> 找到 setencoding() 函数
> 修改第 一 个 encoding="utf-8"
> 重启电脑
3. 把ucar_sim包中的models文件夹内的东西全部复制到.gazebo/models下
> (.gazebo为隐藏文件,如果没有models请自行创建此文件夹)
> 前提:没有打开过gazebo的同学,请在终端中输入gazebo运行一次
4. 运行比赛的仿真
```
roslaunch ucar_sim simulation.launch
```
> 其他情况:
> 现象: 在终端出现
> Gazebo [Err] [REST.cc:205] Error in REST request
> 解决方法:
> 打开终端输入:
> ```
> sudo gedit ~/.ignition/fuel/config.yaml
> ```
> 用 url: https://api.ignitionrobotics.org 替换 url : https://api.ignitionfuel.org
# Package说明:
- 包内的models文件夹在完成了上述的操作后便不再需要
- meshes文件夹包含模型的文件无需修改
1. world文件夹存储仿真用的世界
下有arena-empty.world arena-1.world,分别为空场地和模拟比赛的场地
2. urdf文件夹存储机器人描述文件
xacro文件包含机器人的长,宽,高,颜色,传感器等信息,我已根据比赛使用的机器人做了相应的修改
3. launch文件夹存储启动文件
修改可选择所启动的世界,和机器人出生位置(当前为启动arena-1.world,出生在比赛起点)
4. 修改视觉识别任务的目标图片
进入.gazebo/models目录,找到需要替换的类别对应的文件夹(e.g. 05-person-1)并进入该文件夹
替换 materials/textures目录下的 XXX.png(e.g. 05-person-1.png)
注意图片格式为png且名称保持前后一致
# 编辑自己的场地:
1. 终端输入以下命令来导入一个现成的世界:
gazebo /XXX_ws/src/ucar_sim/world/XXX.world (替换成自己的存储.world文件的地址)
2. gazebo图形界面左上角点击Insert,再点击想要添加的模型名称可向世界添加模型
3. gazebo图形界面上方可调整模型位置以及姿态
*.更多操作请见参考
# 参考:
画墙:https://classic.gazebosim.org/tutorials?cat=build_world&tut=building_editor
贴图:https://www.guyuehome.com/37739
URDF:略
没有合适的资源?快使用搜索试试~ 我知道了~
温馨提示
【目标受众】: 本项目适合IT相关专业各种计算机技术的源代码和项目资料,如计科、人工智能、通信工程、自动化和电子信息等的在校学生、老师或者企业员工下载使用。 也适合小白学习进阶,可以用作比赛项目、可以进行项目复刻去参加同赛道比赛。 【资源内容】: 源码与竞赛资料:教育部认可的大学生竞赛备赛资料代码、源码、竞赛总结。 功能与质量保证:这个资源库是一个宝贵的学习平台,有助于他们深入了解计算机技术的原理和应用。这些源码经过测试和验证,可以直接运行,方便学生快速上手并开始实践。 【应用场景】: 竞赛准备:适用于各种教育部认可的竞赛,如全国电子设计大赛、全国大学生智能汽车竞赛等,他们可以借助这些资料了解竞赛的规则、要求和技巧。 学习与项目开发:可以用作毕设、课设、作业和竞赛项目的开发基础,可以使用这些源码作为项目开发的基础,快速构建出具有竞争力的作品。 【互动与交流】: 资料鼓励下载和使用这些资源,并欢迎学习者进行沟通交流、互相学习、共同进步。这种互动式的学习方式有助于形成良好的学习氛围,促进知识的共享和传播,为计算机相关专业的学习者提供了一个全面的学习和发展平台。
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