https://github.com/hongtai-yuan/autodock_frontside_ros2
此代码库允许人们在 ROS2 Humble 版本中使用 apriltag 代码进行正向定位和姿态的自动调整，并且已在实车上成功测试，但可能有一些繁琐的调整过程，参数需要调整以进一步优化。
https://github.com/hongtai-yuan/autodock_frontside_ros2
apriltag apriltag-ros2 d435 ros2-humble
Last synced: about 1 month ago
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此代码库允许人们在 ROS2 Humble 版本中使用 apriltag 代码进行正向定位和姿态的自动调整，并且已在实车上成功测试，但可能有一些繁琐的调整过程，参数需要调整以进一步优化。
- Host: GitHub
- URL: https://github.com/hongtai-yuan/autodock_frontside_ros2
- Owner: Hongtai-Yuan
- Created: 2024-10-29T05:33:41.000Z (7 months ago)
- Default Branch: main
- Last Pushed: 2025-01-25T12:51:06.000Z (4 months ago)
- Last Synced: 2025-03-25T08:22:33.908Z (about 2 months ago)
- Topics: apriltag, apriltag-ros2, d435, ros2-humble
- Language: C++
- Homepage:
- Size: 15.6 MB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Autodock_Frontside_ROS2
This repository allows people to use apriltag code for positioning and automatic adjustment of pose in ROS2 humble version, and it has been successfully tested in real cars, but there may be some cumbersome adjustment process, and parameters need to be adjusted to improve. In the project, we use the Behavior Tree to integrate our code, so that our project can first navigate, navigate to the target point, execute Apriltag code positioning, and then return to the second target point. But in this repository, i just show how to get Apriltag code and Follow.
## Device requirement
| 设备 | 描述 | 版本 | 依赖包 |
|----------|--------------------|--------|------------|
| REALSENSE DEPTH CAMERA D435 | 深度相机 | D435 | realsense2_camera |
| Esp32 | 底盘控制板 | ESP32-S3 | micro_ros_agent |
## Install dependencies
```bash
$ cd ~/autodock_ros2_humble/
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
$ git clone https://github.com/AprilRobotics/apriltag.git
$ cd apriltag
$ cmake -B build -DCMAKE_BUILD_TYPE=Release
$ sudo cmake --build build --target install
```
## Build BT_ros2 with main workspace:
```bash
$ git clone https://github.com/Y250HT/Behavior_Ros2.git
$ sudo apt-get install ros-humble-realsense2*
$ cd ~/autodock_ros2_humble/
$ source /opt/ros/humble/setup.bash
$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
```
## Use Physical Bot and RealSense D435
Step 1. Turn on MicroRos in your robot chRassis.
```bash
$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6
```
Step 2. Launch RealSenseD435 in real world.
```bash
$ ros2 launch realsense2_camera rs_launch.py
```
Step 3. Send request to start docking
```bash
$ ros2 launch bt_ros2 bt_ros2.launch.py
```
## BT configurations
```xml
```
## Reference link
https://github.com/micro-ROS/micro-ROS-Agent/tree/humble
https://github.com/Adlink-ROS/apriltag_docking
https://github.com/wjwwood/serial