配置环境

$ echo "source ~/'WORKSPACE_PATH'/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

运行机械臂

roslaunch probot_grasping probot_anno_grasping_demo.launch

运行视觉处理

roslaunch probot_grasping ibvs.launch

运行传送带

rosservice call /conveyor/control "state: power: 12.0"

运行小车

q  w  e
a  s  d
z  x  c

效果图片

图像雅可比矩阵

小车随动抓取

传送带随动抓取

卸载自带的OpenCV3.2.0

sudo apt-get purge libopencv* 
sudo apt autoremove
pkg-config opencv --modversion

查看opencv版本，查不到，成功卸载。

重新安装OpenCV4.2.0

sudo apt install  build-essential
sudo apt install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev  
sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt upgrade
sudo apt install libjasper1 libjasper-dev

其中 libjasper1 是 libjasper-dev 的依赖包。 去官网下载Source源文件https://opencv.org/releases/ 解压到home/Tools下，新建build文件夹，进入build，

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local ..

这里的/usr/local 是 OpenCV 的安装路径 多线程编译sudo make -j8

sudo make install

配置OpenCV环境

添加路径

sudo gedit /etc/ld.so.conf.d/opencv.conf

添加/usr/local/lib 保存配置

sudo ldconfig

配置环境

sudo gedit /etc/bash.bashrc

在文末添加

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH

保存配置

source /etc/bash.bashrc

更新

sudo updatedb

测试安装成功与否

cd home/Tools/opencv/samples/cpp/example_cmake
cmake .
make
./opencv_example

出现摄像头图像，即为成功。

安装Anno机械臂

git clone https://github.com/ps-micro/PROBOT_Anno

查看ros版本：

/usr/bin/rosversion -d

下载依赖包

sudo apt-get install ros-melodic-moveit-*
sudo apt-get install ros-melodic-industrial-*   
sudo apt-get install ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers  
sudo apt-get install ros-melodic-trac-ik-kinematics-plugin   
sudo apt-get install ros-melodic-usb-cam

更新源列表

sudo apt-get update

安装可以更新的软件

sudo apt-get upgrade

把文件夹放入catkin_ws/src中

catkin_make