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vision's Introduction

vision2019

环境依赖

  • ubuntu + ros(opencv)

规范

  • 代码规范参考 google
  • 日志统一用ROS_INFO \ ROS_WARN \ ROS_ERROR
  • 参数统一用ROS package + opencv + .xml / ros param
  • 如果配环境的水平有所提高，可以考虑 glog + google protobuf

roborts_bringup

所有的脚本、启动文件都在这里，但是.xml参数配置文件不在这里，而是和代码放在一起。

launch/包含所有机器人的启动文件，scripts/是所有的脚本文件，udev/创建接口规则，upstart/是自启动文件。

roborts_msgs

所有的ROS消息统一在这里，目前的代码是双ROS节点（serial + vision ），所以msg只用于这两个ROS节点之间互传。延迟大约0.3ms。

roborts_serial

这是一个统一所有机器人的串口的实现+协议，不要修改它，只给它发数据，以及读它发来的数据即可。

roborts_vision

  • camera / 相机统一接口
    • mercure / 大恒水星
    • realsense / 深度相机
    • stereo / 双目相机
    • uvc / 免驱相机
  • detect_factory / 目标检测统一接口
    • armor / 装甲板
    • rune / 大符
  • executor / 硬件层控制统一接口
    • chassis / 底盘麦轮解算
    • gimbal / 云台角度解算
  • node / 核心节点

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