alcatraz1337 / dut-comi-ros

The repo for Dalian University of Technology COMI-Lab.

DUT-COMI-ROS

The repo for Dalian University of Technology COMI-Lab.

System requirements

• Ubuntu18.04 ARM64
• ROS-Melodic
• python 2.7

Arm_requirement

• python 2.7

Other requirements

Please refer to requirements.txt for python packages details.

How to use (quick start)

1. Make sure you have installed ROS-Melodic and python 2.7. Installing ROS Melodic, CSDN
2. You should initialize a ROS workspace first. If you don't know how to do it, please refer to Installing and Configuring Your ROS Environment.
3. Clone this repo to another folder, and copy the src folder to the same folder as your ROS workspace.
4. Run catkin_make in command line. This is done by running catkin_make in the catkin_ws folder.
5. Run source devel/setup.bash in command line. You can put this command in your ~/.bashrc file to make it run automatically.
6. Make sure you have all robots and robotic arms connected to you computer.
7. Run rosrun multi_nav_server multi_nav_server_static.py in command line. This will start the server node and dispatch automatically.

Package details

arm_status_msgs / arm_work_msgs / car_status_msgs

These three packages are used to define the message types used in the project. You can find the message types in the msg folder of each package.

comicar_multi

This package should be put in the robot car's workspace. Start the car and run roslaunch comicar_multi comicar_nav_multi.launch to lauch the car and related nodes.

multi_nav_server

Refer to scripts folder to see details of each part's implementations.

Under params and config folder, you can find the configuration files for the jobs and arms.

When running rosrun multi_nav_server multi_nav_server_static.py in command line, the server will start and dispatch automatically. You can add the number of cars in the system by adding the number in the command line, like rosrun multi_nav_server multi_nav_server_static.py 3.

DUT-COMI-ROS

大连理工大学COMI实验室的代码仓库。

系统要求

• Ubuntu18.04 ARM64
• ROS-Melodic
• python 2.7

机械臂要求

• python 2.7

其他要求

请参考 requirements.txt 文件了解python包的详细信息。

如何使用（快速开始）

1. 确保您已安装ROS-Melodic和python 2.7。安装ROS Melodic, CSDN
2. 您应该首先初始化一个ROS工作空间。如果您不知道如何操作，请参考安装和配置ROS环境。
3. 将此仓库克隆到另一个文件夹，并将 src 文件夹复制到与您的ROS工作空间相同的文件夹中。
4. 在命令行中运行 catkin_make。这是通过在 catkin_ws 文件夹中运行 catkin_make 来完成的。
5. 在命令行中运行 source devel/setup.bash。您可以将此命令放在您的 ~/.bashrc 文件中，以使其自动运行。
6. 确保所有机器人和机械臂已连接到您的计算机。
7. 在命令行中运行 rosrun multi_nav_server multi_nav_server_static.py。这将启动服务器节点并自动调度。

包详情

arm_status_msgs / arm_work_msgs / car_status_msgs

这三个包用于定义项目中使用的消息类型。您可以在每个包的 msg 文件夗中找到消息类型。

comicar_multi

此包应放在机器人车的工作空间中。启动车辆并运行 roslaunch comicar_multi comicar_nav_multi.launch 来启动车辆及相关节点。

multi_nav_server

请参考 scripts 文件夹以查看每个部分的实现细节。

在 params 和 config 文件夹下，您可以找到作业和机械臂的配置文件。

当在命令行中运行 rosrun multi_nav_server multi_nav_server_static.py 时，服务器将自动启动并调度。您可以通过在命令行中添加车辆数量来增加系统中的车辆数量，例如 rosrun multi_nav_server multi_nav_server_static.py 3。

dut-comi-ros's Issues

关于在arm_car和arm_static中的两行代码的问题

中arm_car和arm_static中的init方法的以下两句代码我不确定是否可以这样用，我想的是在初始化时给 ArmStatus的状态置为False，返回是置为True
self._msg = ArmStatus()
self._msg.status = False # 机械臂的状态初始化为False

class `Arm_static` need update

在文件Arm_static.py中，类名需要更新。

In file Arm_static.py, the class name needs updating

@DickyNJ

Fix file encoding and specific python interpreter

请在所有Arm_util代码开头中添加以下内容：

#!/usr/bin/env python
# -*- coding: utf-8 -*-

代码有编码问题，以及ros1种需要指定python编译器使用python2