itfanr的博客

原创 适合学习 fltk 的项目 tigervnc

https://github.com/TigerVNC/tigervnc

原创 Difference between plans obtained by CHOMP and OMPL

Optimizing planners optimize a cost function that may sometimes lead to surprising results: moving through a thin obstacle might be lower cost than a long, winding trajectory that avoids all collision...

原创 Running OMPL as a pre-processor for CHOMP

<launch> <!-- OMPL Plugin for MoveIt! --> <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" /> <!-- The request adapters (plugins) used when planning with OMP...

原创 逆解常用公式

原创 How to Calculate a Robot's Forward Kinematics in 5 Easy Steps

https://blog.robotiq.com/how-to-calculate-a-robots-forward-kinematics-in-5-easy-steps

原创 Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebr

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3707203/

原创 Kinematics: Why Robots Move Like They Do

https://blog.robotiq.com/kinematics-why-robots-move-like-they-do

原创 How Can an Industrial Robot Be Calibrated?

https://blog.robotiq.com/bid/73064/How-Can-an-Industrial-Robot-Be-Calibrated讲到了机器人模型、标定、补偿

原创 8 reasons why you should use ROS for robotics projects

8 reasons why you should use ROS for robotics projectsYou already know some programming and how to use a terminal, and you want to get into robotics. Or you are making the specs for an entire new ro...

原创 pilz机械臂直线规划

bool TrajectoryGeneratorLIN::generate(const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, ...

原创 手柄控制高斯机械臂

#!/usr/bin/env pythonimport rospy, actionlibfrom std_msgs.msg import Boolfrom sensor_msgs.msg import Joyfrom sensor_msgs.msg import JointStatefrom trajectory_msgs.msg import JointTrajectoryfr...

原创 高斯六轴机械臂画圆

#!/usr/bin/env python# Copyright (c) 2018 Pilz GmbH & Co. KG## This program is free software: you can redistribute it and/or modify# it under the terms of the GNU Lesser General Public Licens...

原创 cartographer_ros 命令行参数解析和日志打印

/* * Copyright 2016 The Cartographer Authors * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtai...

原创 树莓派_Linux串口编程_实现接收

recv.h#ifndef _RECV_H#define _RECV_H#include &lt;stdio.h&gt;#include &lt;stdlib.h&gt;#include &lt;unistd.h&gt;#include &lt;string.h&gt;#include &lt;errno.h&gt;#include &lt;sys/types.h&gt;#in...

原创 树莓派使用wiringSerial

#include &lt;stdio.h&gt;#include &lt;wiringPi.h&gt;#include &lt;wiringSerial.h&gt; int main(){ int fd; if(wiringPiSetup()&lt;0) return 1; if((fd=serialOpen("/dev/ttyAMA0",9600))&lt;0) retur...

原创 plotclock代码

// Plotclock// cc - by Johannes Heberlein 2014// v 1.02// thingiverse.com/joo wiki.fablab-nuernberg.de// units: mm; microseconds; radians// origin: bottom left of drawing surface// time librar...

转载 line-us机械臂编程

import socketimport timeclass LineUs: &quot;&quot;&quot;An example class to show how to use the Line-us API&quot;&quot;&quot; def __init__(self, line_us_name): self.__line_us = socket.socket(socket.AF_INET, so..

转载 Simple6DoFVer1.2.ino

/*Simple script to move my tiny 6dof robotic arm*/#include &amp;lt;math.h&amp;gt;#define PI 3.1415926535897932384626433832795//driver for the axis 1#define PUL1_PIN 39#define DIR1_PIN 37//driver for...

转载 Simple6DoFVer2.ino

/*Simple script to move my tiny 6dof robotic arm*/#include &amp;amp;lt;math.h&amp;amp;gt;#define PI 3.1415926535897932384626433832795//driver for the axis 1#define PUL1_PIN 39#define DIR1_PIN 37//driver for...

原创 python 发送blockly xml到blockly server，并产生python代码

#!/usr/bin/env pythonimport rospyimport subprocessimport socketimport osimport signalimport astHOST = '127.0.0.1'def cleanup_node_tcp_port(port_number): try: output = subprocess.check_...

原创 执行blockly的python代码

class SequenceCodeExecutor: def __init__(self): self.blockly_dir = rospy.get_param(&quot;~sequence_code_to_execute_path&quot;) self.python_file = str(self.blockly_dir) + '/generated_code.py...

原创 blockly server 产生python代码

#!/usr/bin/env nodevar fs = require('fs');var net = require('net'); var Blockly = require('./gauss_python_generators').Blockly;Blockly.Python.STATEMENT_PREFIX = 'n.highlight_block(%1)\n';Block...

原创 获取gauss机械臂的当前状态

//获取当前参数 currentParameter = () =&amp;gt; { let network = new Networking(); let sub = network.listen('/joint_states','sensor_msgs/JointState',(name , data) =&amp;gt; { this.setState({ ...

原创 gauss 机械臂示教模式切换

//示教模式切换 teaching = value =&gt; { this.setState({ teachStatus: value }); let status; if (value) { status = 1; } else { status = 0; } let network = new...

原创 gauss 机械臂自动校准和手动校准

自动校准：//零点校准 calibration = () =&amp;gt; { let network = new Networking(); network.callService( &quot;/gauss/calibrate_motors&quot;, &quot;gauss_msgs/SetInt&quot;, { value: 1 }, ...

原创 通过rosbridge 修改 gauss 机械臂的末端工具

useActuator = (index) =&gt; { let indexNewForm = this.state.newForm[index] let network = new Networking(); let localStorage = new LocalStorage(); // 电磁铁,激光,直流电流(电磁铁...

原创 欢迎使用优快云-markdown编辑器 模板

这里写自定义目录标题欢迎使用Markdown编辑器新的改变功能快捷键合理的创建标题，有助于目录的生成如何改变文本的样式插入链接与图片如何插入一段漂亮的代码片生成一个适合你的列表创建一个表格设定内容居中、居左、居右SmartyPants创建一个自定义列表如何创建一个注脚注释也是必不可少的KaTeX数学公式新的甘特图功能，丰富你的文章UML 图表FLowchart流程图导出与导入导出导入欢迎使用Ma...

原创 通过rosbridge和roslibjs与 gauss 机械臂通信

let ROSLIB = require('roslib');import intl from 'react-intl-universal';import { isLegal } from './message.type'import { LocalStorage } from './localStorage'import { notification } from 'antd';le...

原创 rviz插件获取当前的执行进度代码

代码路径：moveit/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cppvoid TrajectoryVisualization::update(float wall_dt, float ros_dt){ if (drop_displaying_trajectory_) ...

原创 gdb调试ros node

rosrun --prefix ‘gdb -ex run --args’ [package_name] [node_name]rosrun --prefix ‘gdb -ex run --args’ marm_planning moveit_obstacles_demo记得：catkin_make -DCMAKE_BUILD_TYPE=Debug如果你用roslaunch，在你的lau...

原创 用CMake编译OpenSplice的HelloWord项目

Build a OpenSplice HelloWorld project with CMakehttps://github.com/itfanr/opensplice-cpp-cmake设置环境变量编译和运行都需要终端的环境变量！环境变量很重要，必须首先设置！cd 到 x86_64.linux 目录，然后执行：source release.com查看环境变量：itfanr@...

原创 已知两个坐标系下的坐标，求坐标系之间的转换矩阵（三）

#include &lt;iostream&gt;#include &lt;GTEngine/Mathematics/GteConvertCoordinates.h&gt;using namespace gte;int main(int argc, char const *argv[]){// // Affine change of basis. ConvertCoordinates...

原创 已知空间三个点画圆

https://www.geometrictools.com/GTEngine/Include/Mathematics/GteContScribeCircle3Sphere3.h

原创 已知两个坐标系下的坐标，求坐标系之间的转换矩阵（二）

包含平移和旋转变换：#include &lt;iostream&gt;#include &lt;GTEngine/Mathematics/GteConvertCoordinates.h&gt;using namespace gte;// #define Vector4&lt;double&gt; Vector&lt;4, double&gt;int main(int argc, cha...

原创 已知两个坐标系下的坐标，求坐标系之间的转换矩阵（一）

#include &amp;amp;lt;iostream&amp;amp;gt;#include &amp;amp;lt;GTEngine/Mathematics/GteConvertCoordinates.h&amp;amp;gt;using namespace gte;// #define Vector4&amp;amp;lt;double&amp;amp;gt; Vector&amp;amp;lt;4, double&amp;a

原创 GTEngine计算坐标变换

#include &amp;lt;iostream&amp;gt;#include &amp;lt;GTEngine/Mathematics/GteConvertCoordinates.h&amp;gt;using namespace gte;// #define Vector4&amp;lt;double&amp;gt; Vector&amp;lt;4, double&amp;gt;int main(int argc, char c

原创 Eigen计算坐标系变换

#include &amp;lt;vector&amp;gt;#include &amp;lt;Eigen/Geometry&amp;gt;#include &amp;lt;stdio.h&amp;gt;#include &amp;lt;iostream&amp;gt;#define Scalar double Eigen::Transform&amp;lt;Scalar, 3, Eigen::Affine&amp;

原创 通过Eigen计算直线在不同坐标系统的转换

//////////////////////////////////////////////////////////////////////////////////////////template &amp;lt;typename Scalar&amp;gt; boolpcl::transformBetween2CoordinateSystems (const Eigen::Matrix&amp;lt;Scalar,...

原创 boost::property_tree::ptree解析json数组

json数组如下：{&amp;quot;var_name&amp;quot;:&amp;quot;var1&amp;quot;,&amp;quot;positions&amp;quot;:[0.1,0.1,0.1,0.1,0.1,0.1]},;代码：#include &amp;amp;lt;boost/property_tree/ptree.hpp&amp;amp;gt;#include &amp;amp;lt;boost/p

原创 从ros parameter server 获取URDF

// get the general robot description, the lwr class will take care of parsing what’s useful to itself std::string urdf_string = getURDF(lwr_nh, “/robot_description”);// Get the URDF XML from the ...