深蓝学院-ROS机械臂开发从入门到实战

┣━slxy001-深蓝学院-ROS机械臂开发从入门到实战

以往后端作为一个黑盒子，调用开源库如ceres，g2o等，对于初学者快速上手确实非常方便。但是我们通常不知道系统内发生了什么，出了问题也不知道如何下手。更重要的是对一些计算能力有限的平台，我们甚至都无法知道如何对后端优化进一步加速；通过课程我们对后端庖丁解牛，你就能看到后端求解矩阵是如何构建的，我们如何对他进一步加速，鲁棒核函数怎么实现的等等一系列问题。另外，学习了后端，你会发现VINS-mono后端可能有问题DSO代码竟然不再难读，它会打通你SLAM的任督二脉。
┣━第2节 风靡机器人圈的ROS到底是什么
┣━【课件】风靡机器人圈的ROS到底是什么.pdf
┣━风靡机器人圈的ROS到底是什么[16].mp4
┣━【代码】风靡机器人圈的ROS到底是什么.zip
┣━第7节 MoveIt!中不得不说的“潜规则”
┣━看看我.zip
┣━下载必看.txt
┣━资料2.zip
┣━课程总结[16].mp4
┣━海量优质it资源.url
┣━软件下载.txt
┣━【课件】MoveIt!中不得不说的“潜规则”.pdf
┣━面试合集.txt
┣━高薪学习it网.url
┣━MoveIt!中不得不说的“潜规则”[16].mp4
┣━【代码】MoveIt!中不得不说的“潜规则”.zip
┣━解压密码：dbbp.net
┣━【资料】MoveIt!中不得不说的“潜规则”.zip
┣━第1节 ROS的过去、现在和未来
┣━资料 (2).txt
┣━ROS的过去、现在和未来[16].mp4
┣━课件_ROS机械臂开发_1.ROS的过去、现在和未来.pdf
┣━第5节 搭建仿真环境一样玩转ROS机械臂
┣━搭建仿真环境一样玩转ROS机械臂[16].mp4
┣━【代码】搭建仿真环境一样玩转ROS机械臂.rar
┣━【课件】搭建仿真环境一样玩转ROS机械臂.pdf
┣━搭建仿真环境一样玩转ROS机械臂.rar
┣━第12节 ROS—机器人开发的神兵利器
┣━ROS—机器人开发的神兵利器[16].mp4
┣━【课件】ROS——机器人开发的神兵利器.pdf
┣━第3节 如何从零创建一个机器人模型
┣━【资料】如何从零创建一个机器人模型
┣━ur3step.zip
┣━sw2urdfSetup.exe
┣━【课件】如何从零创建一个机器人模型.pdf
┣━如何从零创建一个机器人模型[16].mp4
┣━【代码】如何从零创建一个机器人模型
┣━ur3
┣━textures
┣━config
┣━joint_names_ur3.yaml
┣━launch
┣━gazebo.launch
┣━display.launch
┣━package.xml
┣━urdf
┣━ur3.urdf
┣━meshes
┣━link1.STL
┣━link3.STL
┣━link2.STL
┣━base_link.STL
┣━link4.STL
┣━link5.STL
┣━link6.STL
┣━CMakeLists.txt
┣━marm_description
┣━CMakeLists.txt
┣━urdf
┣━marm.xacro
┣━launch
┣━view_marm.launch
┣━urdf.rviz
┣━package.xml
┣━第6节 MoveIt!编程驾驭机械臂运动控制
┣━【课件】MoveIt!编程驾驭机械臂运动控制.pdf
┣━6MoveIt!编程驾驭机械臂运动控制.rar
┣━【代码】MoveIt!编程驾驭机械臂运动控制.zip
┣━第8节 ROS机器视觉应用中的关键点
┣━【代码】ROS机器视觉应用中的关键点.zip
┣━【课件】ROS机器视觉应用中的关键点.pdf
┣━任务学习 – 深蓝学院 – 专注人工智能的在线教育 – Google Chrome 2019_4_19 10_44_58[16].mp4
┣━【代码】ROS机器视觉应用中的关键点
┣━probot_gazebo
┣━package.xml
┣━config
┣━probot_anno_gazebo_joint_states.yaml
┣━probot_anno_with_gripper_trajectory_control.yaml
┣━probot_anno_trajectory_control.yaml
┣━worlds
┣━tableObj.world
┣━tableObj2.world
┣━CMakeLists.txt
┣━launch
┣━probot_anno
┣━probot_anno_gazebo_states.launch
┣━probot_anno_gazebo_world.launch
┣━probot_anno_trajectory_controller.launch
┣━probot_anno_bringup_moveit.launch
┣━probot_anno_with_gripper
┣━probot_anno_with_gripper_bringup_moveit.launch
┣━probot_anno_with_gripper_gazebo_states.launch
┣━probot_anno_with_gripper_trajectory_controller.launch
┣━probot_anno_with_gripper_gazebo_world.launch
┣━probot_vision
┣━launch
┣━usb_cam.launch
┣━usb_cam_with_calibration.launch
┣━doc
┣━checkerboard.pdf
┣━camera_calibration.yaml
┣━CMakeLists.txt
┣━package.xml
┣━include
┣━probot_vision
┣━vision_manager.h
┣━src
┣━vision_manager.cpp
┣━image_converter.cpp
┣━probot_description
┣━urdf.rviz
┣━meshes
┣━link_5.STL
┣━gripper
┣━finger.stl
┣━F2.stl
┣━F11.stl
┣━ax12.stl
┣━F3.stl
┣━ax12.dae
┣━F4.stl
┣━F10.stl
┣━F9.stl
┣━base_link.STL
┣━link_6.STL
┣━link_3.STL
┣━sensors
┣━camera.STL
┣━link_1.STL
┣━link_4.STL
┣━link_2.STL
┣━urdf
┣━materials.urdf.xacro
┣━probot_anno.xacro
┣━probot_anno_with_gripper.xacro
┣━dynamixel_arm_hardware.xacro
┣━sensors
┣━camera.urdf.xacro
┣━camera.gazebo.xacro
┣━gripper.xacro
┣━CMakeLists.txt
┣━launch
┣━view_probot_anno.launch
┣━view_probot_anno_with_gripper.launch
┣━package.xml
┣━probot_anno_with_gripper_moveit_config
┣━launch
┣━warehouse_settings.launch.xml
┣━setup_assistant.launch
┣━moveit.rviz
┣━moveit_planning_execution.launch
┣━run_benchmark_ompl.launch
┣━move_group.launch
┣━sensor_manager.launch.xml
┣━joystick_control.launch
┣━default_warehouse_db.launch
┣━fake_moveit_controller_manager.launch.xml
┣━planning_pipeline.launch.xml
┣━ros_controllers.launch
┣━trajectory_execution.launch.xml
┣━ompl_planning_pipeline.launch.xml
┣━probot_anno_moveit_sensor_manager.launch.xml
┣━probot_anno_moveit_controller_manager.launch.xml
┣━warehouse.launch
┣━moveit_rviz.launch
┣━planning_context.launch
┣━demo.launch
┣━chomp_planning_pipeline.launch.xml
┣━package.xml
┣━CMakeLists.txt
┣━.setup_assistant
┣━config
┣━controllers_gazebo.yaml
┣━kinematics.yaml
┣━ros_controllers.yaml
┣━probot_anno.srdf
┣━ompl_planning.yaml
┣━fake_controllers.yaml
┣━chomp_planning.yaml
┣━joint_limits.yaml
┣━sensors_3d.yaml
┣━第11节 基于ROS设计一款机械臂控制系统
┣━【代码】基于ROS设计一款机械臂控制系统.zip
┣━【资料】基于ROS设计一款机械臂控制系统.zip
┣━课件_ROS机械臂开发_11.基于ROS设计一款机械臂控制系统.pdf
┣━【代码】基于ROS设计一款机械臂控制系统
┣━PROBOT_Anno
┣━docs
┣━PROBOT Anno机械臂产品介绍.pdf
┣━images
┣━PROBOT_Anno.png
┣━probot_vision_pick
┣━probot_vision
┣━calibration.txt
┣━msg
┣━VisionMatrix.msg
┣━src
┣━AdjustColorThreshold.cpp
┣━ComputeMapMatrix.cpp
┣━package.xml
┣━doc
┣━calibration.xlsx
┣━calibration_chart.docx
┣━srv
┣━DetectObjectSrv.srv
┣━launch
┣━deal_data.launch
┣━object_detect_test.launch
┣━object_detect.launch
┣━usb_cam.launch
┣━scripts
┣━ObjectDetect.py
┣━detector.pyc
┣━detector.py
┣━__pycache__
┣━detector.cpython-35.pyc
┣━ReadAndWriteYaml.py
┣━.object_detect.py.swo
┣━logitech920_calibration.yaml
┣━CMakeLists.txt
┣━config
┣━vision_config.yaml
┣━probot_pick_place
┣━CMakeLists.txt
┣━package.xml
┣━config
┣━pick_place_config.yaml
┣━scripts
┣━probot_sorting_demo.py
┣━probot_demo
┣━scripts
┣━moveit_cartesian_demo.py
┣━moveit_circle_demo.py
┣━moveit_attached_object_demo.py
┣━test_move.py
┣━probot_demo.py
┣━moveit_revise_trejectory_demo.py
┣━moveit_fk_demo.py
┣━moveit_ik_demo.py
┣━src
┣━moveit_random_demo.cpp
┣━moveit_ik_demo.cpp
┣━moveit_circle_demo.cpp
┣━moveit_cartesian_demo.cpp
┣━moveit_revise_trajectory_demo.cpp
┣━moveit_continue_trajectory_demo.cpp
┣━moveit_fk_demo.cpp
┣━moveit_collision_demo.cpp
┣━package.xml
┣━CMakeLists.txt
┣━README.md
┣━LICENSE
┣━probot_anno_moveit_config
┣━launch
┣━warehouse_settings.launch.xml
┣━ros_controllers.launch
┣━move_group.launch
┣━ompl_planning_pipeline.launch.xml
┣━planning_context.launch
┣━moveit_rviz.launch
┣━joystick_control.launch
┣━sensor_manager.launch.xml
┣━chomp_planning_pipeline.launch.xml
┣━fake_moveit_controller_manager.launch.xml
┣━default_warehouse_db.launch
┣━probot_anno_moveit_sensor_manager.launch.xml
┣━moveit_planning_execution.launch
┣━moveit.rviz
┣━planning_pipeline.launch.xml
┣━probot_anno_moveit_controller_manager.launch.xml
┣━setup_assistant.launch
┣━demo.launch
┣━warehouse.launch
┣━trajectory_execution.launch.xml
┣━run_benchmark_ompl.launch
┣━CMakeLists.txt
┣━config
┣━ompl_planning.yaml
┣━controllers.yaml
┣━chomp_planning.yaml
┣━fake_controllers.yaml
┣━ros_controllers.yaml
┣━controllers_gazebo.yaml
┣━joint_names.yaml
┣━kinematics.yaml
┣━sensors_3d.yaml
┣━joint_limits.yaml
┣━ompl_planning (copy).yaml
┣━probot_anno.srdf
┣━package.xml
┣━.setup_assistant
┣━install.sh
┣━probot_grasping
┣━src
┣━vision_manager.cpp
┣━grasping_demo.cpp
┣━include
┣━probot_grasping
┣━grasping_demo.h
┣━vision_manager(1).h
┣━CMakeLists.txt
┣━launch
┣━probot_anno_grasping_demo.launch
┣━package.xml
┣━probot_driver
┣━package.xml
┣━CMakeLists.txt
┣━bin
┣━probot_cmd_interface
┣━probot_io_interface
┣━probot_log_interface
┣━probot_anno_with_gripper_moveit_config
┣━package.xml
┣━config
┣━probot_anno.srdf
┣━fake_controllers.yaml
┣━controllers_gazebo.yaml
┣━ros_controllers.yaml
┣━joint_limits.yaml
┣━chomp_planning.yaml
┣━kinematics.yaml
┣━ompl_planning.yaml
┣━sensors_3d.yaml
┣━CMakeLists.txt
┣━launch
┣━probot_anno_moveit_sensor_manager.launch.xml
┣━demo.launch
┣━ros_controllers.launch
┣━warehouse.launch
┣━planning_context.launch
┣━moveit_planning_execution.launch
┣━chomp_planning_pipeline.launch.xml
┣━warehouse_settings.launch.xml
┣━fake_moveit_controller_manager.launch.xml
┣━joystick_control.launch
┣━probot_anno_moveit_controller_manager.launch.xml
┣━moveit.rviz
┣━moveit_rviz.launch
┣━trajectory_execution.launch.xml
┣━planning_pipeline.launch.xml
┣━ompl_planning_pipeline.launch.xml
┣━sensor_manager.launch.xml
┣━setup_assistant.launch
┣━move_group.launch
┣━default_warehouse_db.launch
┣━run_benchmark_ompl.launch
┣━.setup_assistant
┣━probot_description
┣━urdf
┣━materials.urdf.xacro
┣━probot_anno_with_gripper.xacro
┣━gripper.xacro
┣━probot_anno.xacro
┣━dynamixel_arm_hardware.xacro
┣━sensors
┣━camera.urdf.xacro
┣━camera.gazebo.xacro
┣━package.xml
┣━urdf.rviz
┣━meshes
┣━sensors
┣━camera.STL
┣━link_6.STL
┣━link_1.STL
┣━base_link.STL
┣━link_5.STL
┣━gripper
┣━finger.stl
┣━ax12.stl
┣━F4.stl
┣━F3.stl
┣━F2.stl
┣━F11.stl
┣━F10.stl
┣━ax12.dae
┣━F9.stl
┣━link_4.STL
┣━link_2.STL
┣━link_3.STL
┣━CMakeLists.txt
┣━launch
┣━view_probot_anno.launch
┣━view_probot_anno_with_gripper.launch
┣━probot_bringup
┣━package.xml
┣━launch
┣━probot_anno_bringup.launch
┣━CMakeLists.txt
┣━config
┣━PROBOT_Anno.rviz
┣━probot_anno_ikfast_manipulator_plugin
┣━src
┣━probot_anno_manipulator_ikfast_solver.cpp
┣━probot_anno_manipulator_ikfast_moveit_plugin.cpp
┣━probot_anno_manipulator_moveit_ikfast_plugin_description.xml
┣━update_ikfast_plugin.sh
┣━CMakeLists.txt
┣━include
┣━ikfast.h
┣━package.xml
┣━probot_gazebo
┣━launch
┣━probot_anno
┣━probot_anno_gazebo_world.launch
┣━probot_anno_trajectory_controller.launch
┣━probot_anno_gazebo_states.launch
┣━probot_anno_bringup_moveit.launch
┣━probot_anno_with_gripper
┣━probot_anno_with_gripper_gazebo_world.launch
┣━probot_anno_with_gripper_bringup_moveit.launch
┣━probot_anno_with_gripper_gazebo_states.launch
┣━probot_anno_with_gripper_trajectory_controller.launch
┣━worlds
┣━tableObj2.world
┣━tableObj.world
┣━package.xml
┣━CMakeLists.txt
┣━config
┣━probot_anno_trajectory_control.yaml
┣━probot_anno_with_gripper_trajectory_control.yaml
┣━probot_anno_gazebo_joint_states.yaml
┣━probot_rviz_plugin
┣━plugin
┣━libprobot_rviz_plugin.so
┣━plugin_description.xml
┣━package.xml
┣━CMakeLists.txt
┣━probot_msgs
┣━package.xml
┣━msg
┣━JogJoint.msg
┣━ControllerCtrl.msg
┣━SetOutputIO.msg
┣━IOStatus.msg
┣━JogPose.msg
┣━CMakeLists.txt
┣━基于ROS设计一款机械臂控制系统[16].mp4
┣━第9节 “手眼”结合完成物体抓取应用
┣━【课件】“手眼”结合完成物体抓取应用.pdf
┣━【代码】“手眼”结合完成物体抓取应用
┣━probot_anno_with_gripper_moveit_config
┣━package.xml
┣━.setup_assistant
┣━CMakeLists.txt
┣━config
┣━ompl_planning.yaml
┣━probot_anno.srdf
┣━kinematics.yaml
┣━chomp_planning.yaml
┣━sensors_3d.yaml
┣━fake_controllers.yaml
┣━ros_controllers.yaml
┣━joint_limits.yaml
┣━controllers_gazebo.yaml
┣━launch
┣━probot_anno_moveit_controller_manager.launch.xml
┣━demo.launch
┣━run_benchmark_ompl.launch
┣━ompl_planning_pipeline.launch.xml
┣━chomp_planning_pipeline.launch.xml
┣━default_warehouse_db.launch
┣━probot_anno_moveit_sensor_manager.launch.xml
┣━ros_controllers.launch
┣━setup_assistant.launch
┣━joystick_control.launch
┣━moveit_rviz.launch
┣━moveit_planning_execution.launch
┣━moveit.rviz
┣━trajectory_execution.launch.xml
┣━planning_pipeline.launch.xml
┣━move_group.launch
┣━warehouse.launch
┣━planning_context.launch
┣━fake_moveit_controller_manager.launch.xml
┣━sensor_manager.launch.xml
┣━warehouse_settings.launch.xml
┣━probot_grasping
┣━src
┣━grasping_demo.cpp
┣━vision_manager.cpp
┣━CMakeLists.txt
┣━launch
┣━probot_anno_grasping_demo.launch
┣━package.xml
┣━include
┣━probot_grasping
┣━grasping_demo.h
┣━vision_manager.h
┣━probot_description
┣━urdf.rviz
┣━package.xml
┣━CMakeLists.txt
┣━launch
┣━view_probot_anno_with_gripper.launch
┣━view_probot_anno.launch
┣━urdf
┣━gripper.xacro
┣━sensors
┣━camera.urdf(1).xacro
┣━camera.gazebo.xacro
┣━probot_anno_with_gripper.xacro
┣━probot_anno.xacro
┣━dynamixel_arm_hardware.xacro
┣━materials.urdf.xacro
┣━meshes
┣━link_4.STL
┣━link_5.STL
┣━link_2.STL
┣━sensors
┣━camera.STL
┣━gripper
┣━F4.stl
┣━F2.stl
┣━F10.stl
┣━F3.stl
┣━ax12.stl
┣━F9.stl
┣━ax12.dae
┣━finger.stl
┣━F11.stl
┣━link_6.STL
┣━link_1.STL
┣━base_link.STL
┣━link_3.STL
┣━probot_gazebo
┣━config
┣━probot_anno_gazebo_joint_states.yaml
┣━probot_anno_trajectory_control.yaml
┣━probot_anno_with_gripper_trajectory_control.yaml
┣━worlds
┣━tableObj2.world
┣━tableObj.world
┣━CMakeLists.txt
┣━package.xml
┣━launch
┣━probot_anno
┣━probot_anno_gazebo_states.launch
┣━probot_anno_bringup_moveit.launch
┣━probot_anno_trajectory_controller.launch
┣━probot_anno_gazebo_world.launch
┣━probot_anno_with_gripper
┣━probot_anno_with_gripper_gazebo_world.launch
┣━probot_anno_with_gripper_trajectory_controller.launch
┣━probot_anno_with_gripper_bringup_moveit(1).launch
┣━probot_anno_with_gripper_gazebo_states.launch
┣━【代码】“手眼”结合完成物体抓取应用.zip
┣━【资料】“手眼”结合完成物体抓取应用
┣━PROBOT Anno手眼标定步骤（easy_handeye-眼在外).pdf
┣━【资料】“手眼”结合完成物体抓取应用.zip
┣━“手眼”结合完成物体抓取应用[16].mp4
┣━第10节 针对工业应用的ROS-I又是什么
┣━【课件】针对工业应用的ROS-I又是什么.pdf
┣━针对工业应用的ROS-I又是什么[16].mp4
┣━【代码】针对工业应用的ROS-I又是什么.zip
┣━第4节 ROS机械臂开发中的主角MoveIt!
┣━课件_ROS机械臂开发_4.ROS机械臂开发中的主角MoveIt!.pdf
┣━代码_ROS机械臂开发_4.ROS机械臂开发中的主角MoveIt!.zip
┣━ROS机械臂开发中的主角MoveIt!.rar