update dev features @huiyu 20260105

2026-01-05 09:58:59 +08:00
parent ada14a30e3
commit 509be9bbef
15 changed files with 118 additions and 185 deletions
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,24 +1,27 @@
 [submodule "hivecore_robot_arm"]
 	path = hivecore_robot_arm
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_arm.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_arm.git
 [submodule "hivecore_robot_brain"]
 	path = hivecore_robot_brain
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_brain.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_brain.git
 [submodule "hivecore_robot_voice"]
 	path = hivecore_robot_voice
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_voice.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_voice.git
 [submodule "hivecore_robot_slam"]
 	path = hivecore_robot_slam
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_slam.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_slam.git
 [submodule "hivecore_robot_motion"]
 	path = hivecore_robot_motion
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_motion.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_motion.git
 [submodule "hivecore_robot_vision"]
 	path = hivecore_robot_vision
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_vision.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_vision.git
 [submodule "hivecore_robot_drivers"]
 	path = hivecore_robot_drivers
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_drivers.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_drivers.git
 [submodule "hivecore_robot_interfaces"]
 	path = hivecore_robot_interfaces
-	url = ssh://git@192.168.10.50:2222/HiveCoreRD/hivecore_robot_interfaces.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_interfaces.git
+[submodule "hivecore_robot_ctrlgui"]
+	path = hivecore_robot_ctrlgui
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_ctrl_gui.git
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,145 +0,0 @@
-{
-  "files.associations": {
-    "*.launch": "python",
-    "*.world": "xml",
-    "*.xacro": "xml",
-    "ostream": "cpp",
-    "cctype": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "csignal": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "any": "cpp",
-    "array": "cpp",
-    "atomic": "cpp",
-    "bit": "cpp",
-    "bitset": "cpp",
-    "chrono": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "coroutine": "cpp",
-    "cstdint": "cpp",
-    "deque": "cpp",
-    "forward_list": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "regex": "cpp",
-    "source_location": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "slist": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
-    "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "semaphore": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cfenv": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "valarray": "cpp",
-    "variant": "cpp",
-    "core": "cpp",
-    "charconv": "cpp",
-    "ranges": "cpp",
-    "shared_mutex": "cpp"
-  },
-  "C_Cpp_Runner.cCompilerPath": "gcc",
-  "C_Cpp_Runner.cppCompilerPath": "g++",
-  "C_Cpp_Runner.debuggerPath": "gdb",
-  "C_Cpp_Runner.cStandard": "",
-  "C_Cpp_Runner.cppStandard": "",
-  "C_Cpp_Runner.msvcBatchPath": "",
-  "C_Cpp_Runner.useMsvc": false,
-  "C_Cpp_Runner.warnings": [
-    "-Wall",
-    "-Wextra",
-    "-Wpedantic",
-    "-Wshadow",
-    "-Wformat=2",
-    "-Wcast-align",
-    "-Wconversion",
-    "-Wsign-conversion",
-    "-Wnull-dereference"
-  ],
-  "C_Cpp_Runner.msvcWarnings": [
-    "/W4",
-    "/permissive-",
-    "/w14242",
-    "/w14287",
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-    "/w14311",
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-    "/w44062",
-    "/w44242",
-    "/w14905",
-    "/w14906",
-    "/w14263",
-    "/w44265",
-    "/w14928"
-  ],
-  "C_Cpp_Runner.enableWarnings": true,
-  "C_Cpp_Runner.warningsAsError": false,
-  "C_Cpp_Runner.compilerArgs": [],
-  "C_Cpp_Runner.linkerArgs": [],
-  "C_Cpp_Runner.includePaths": [],
-  "C_Cpp_Runner.includeSearch": [
-    "*",
-    "**/*"
-  ],
-  "C_Cpp_Runner.excludeSearch": [
-    "**/build",
-    "**/build/**",
-    "**/.*",
-    "**/.*/**",
-    "**/.vscode",
-    "**/.vscode/**"
-  ],
-  "C_Cpp_Runner.useAddressSanitizer": false,
-  "C_Cpp_Runner.useUndefinedSanitizer": false,
-  "C_Cpp_Runner.useLeakSanitizer": false,
-  "C_Cpp_Runner.showCompilationTime": false,
-  "C_Cpp_Runner.useLinkTimeOptimization": false,
-  "C_Cpp_Runner.msvcSecureNoWarnings": false,
-  "cmake.sourceDirectory": "/home/demo/hivecore_robot_os1/hivecore_robot_arm/arm_keyboard_input"
-}
--- a/README.md
+++ b/README.md
@@ -1 +1,82 @@
-# hivecore_robot_os1
+# hivecore_robot_vision
+
+
+
+#### 安装教程
+
+1.  Gemini SDK:
+
+	> 安装 deb 依赖项:
+	```	
+	# ssume you have sourced ROS environment, same blow
+	sudo apt install libgflags-dev nlohmann-json3-dev  \
+	ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
+	ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
+	ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
+	ros-$ROS_DISTRO-backward-ros libdw-dev
+	```
+	> 安装 udev 规则
+	```
+	cd  ~/workspace/src/orbbec_camera/scripts
+	sudo bash install_udev_rules.sh
+	sudo udevadm control --reload-rules && sudo udevadm trigger
+	```
+
+2.  RealSense SDK:
+
+	```
+	sudo apt install ros-humble-librealsense2*
+	```
+	
+3.  Dependency:
+
+	```
+	"idge=3.2.1"
+	"numpy>=1.23.0, <2.0.0",
+	"matplotlib>=3.3.0",
+	"opencv-python>=4.6.0",
+	"pillow>=7.1.2",
+	"pyyaml>=5.3.1",
+	"requests>=2.23.0",
+	"scipy>=1.4.1",
+	"torch>=2.7.1",
+	"torch>=1.8.0,!=2.4.0; sys_platform == 'win32'",
+	"torchvision>=0.9.0",
+	"tqdm>=4.64.0",
+	"psutil",
+	"py-cpuinfo",
+	"pandas>=1.1.4",
+	"open3d",
+	```
+
+#### 使用说明
+1. 启动相机和检测节点: 
+
+        ros2 launch detect_part camera_detect.launch.py
+
+	> camera_detect.launch.py 中可以修改部分参数:set_confidence,   output_boxes, output_masks, checkpoint_name
+
+	> 坐标系设置为：Z为图像深度，XY平面为图像成象平面
+
+2. 接收位置话题节点: 
+
+        ros2 run detect_part sub_pose_node
+
+3. 位置话题接口: 
+
+        interface/msg/PoseWithID.msg, PoseWithIDArray.msg
+		
+4. 话题名称: 
+	 
+        /pose/cv_detect_pose # 位置
+        /image/detect_image  # 目标识别图片
+		
+5. PoseWithID.msg：
+
+        string class_name
+        int32 class_id
+        geometry_msgs/Pose[] pose_list
+
+6. PoseWithIDArray.msg：
+
+        PoseWithID[] objects
--- a/cpu7.sh
+++ b/cpu7.sh
@@ -1 +1,7 @@
-ros2 launch ethercat_control ethercat_node.launch.py
+# source /opt/ros/humble/setup.bash
+# sudo -E ros2 launch ethercat_control ethercat_node.launch.py
+
+# chrt -f 40 \
+# taskset -c 7 \
+
+ros2 launch ethercat_control ethercat_node.launch.py
--- a/cv.py
+++ b/cv.py
@@ -1,15 +0,0 @@
-import cv2
-import time
-cap = cv2.VideoCapture(2)  # 0表示第一个摄像头
-start=time.time()
-while True:
-    ret, frame = cap.read()
-    if not ret: break
-    end=time.time()
-    diff=end-start
-    print('cap img',1/diff)
-    start=end
-    ###cv2.imshow('USB Camera', frame)
-    if cv2.waitKey(1) == 27: break  # 按ESC退出
-cap.release()
-cv2.destroyAllWindows()
--- a/2
+++ b/2
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+++ b/2
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+++ b/2
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+++ b/2
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+++ b/2
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+++ b/2
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+++ b/2
--- a/launch.conf
+++ b/launch.conf
@@ -2,11 +2,14 @@
 # mode = run or launch
 # group multiple nodes in the same window by using the same title

-DRIVER|launch|ethercat_control|ethercat_node.launch.py|
-MOTOR|run|motor_dev|motor_dev_node|
-IMU|launch|imu_dev|imu_dev.launch.py|
-MOTION|launch|robot_control|robot_control.launch.py|
+#DRIVER|launch|ethercat_control|ethercat_node.launch.py|
+#DRIVER|run|led_dev|led_dev_node|
+#MOTOR|run|motor_dev|motor_dev_node|
+# IMU|launch|imu_dev|imu_dev.launch.py|
+#IMU|run|openzen_driver|openzen_node|
 ARM|launch|rm_arm_control|rm_arm_control.launch.py|
-IMG|launch|img_dev|img_dev.launch.py|
-BRAIN|run|brain|brain_node|
+#IMG|launch|img_dev|img_dev.launch.py|
+#BRAIN|run|brain|brain_node|
 TOOL|run|ctrlgui|ctrlgui_node|
+#MOTION|launch|robot_control|robot_control.launch.py|
+VISION|launch|vision_detect|medical_sense.launch.py|