From 0377f50557ee96c6fb647cd31331baaded5cf956 Mon Sep 17 00:00:00 2001 From: UESTCsecurity Date: Thu, 14 Mar 2024 11:05:30 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E6=96=87=E6=A1=A3=E5=92=8C?= =?UTF-8?q?=E8=8B=A5=E5=B9=B2=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Code/MowingRobot/README.md | 57 +++++++++++++++--- Code/MowingRobot/UPbot_Script/runBringUp.sh | 4 -- .../UPbot_Script/runCarLocation.sh | 4 -- Code/MowingRobot/UPbot_Script/runPDR.sh | 4 -- .../UPbot_Script/runRoomExplorationClient.sh | 4 -- .../UPbot_Script/runRoomExplorationServer.sh | 4 -- Code/MowingRobot/UPbot_Script/runStereo.sh | 4 -- .../stereo_yolo/catpure_photo.py | 0 .../rknpu1/examples/3rdparty/cnpy/cnpy.cpp | 0 .../rknpu1/examples/3rdparty/cnpy/cnpy.h | 0 .../mpp/Linux/aarch64/librockchip_mpp.so | Bin .../mpp/Linux/aarch64/librockchip_mpp.so.0 | Bin .../mpp/Linux/aarch64/librockchip_mpp.so.1 | Bin 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=> Docs/ROS基础知识/ROS工作目录介绍.md (100%) diff --git a/Code/MowingRobot/README.md b/Code/MowingRobot/README.md index 8129aa2..80753c3 100644 --- a/Code/MowingRobot/README.md +++ b/Code/MowingRobot/README.md @@ -1,17 +1,60 @@ # 目录说明 -更新：2023-12-13 詹力 Review +> 更新：2024-03-14 詹力 Review 更新文档 +> +> 1. `pibot_ros` : 机器人硬件底盘控制 & 全覆盖、双目测距、目标检测、UWB融合算法。 +> 2. `test_map` : 跃杭测试代码 +> -1. `PIBot_ROS` : ROS小车的ROS上层支持包负责`IMU`和`ODM`等数据的读取 -2. `Robot_ROS_APP` : 定位融合代码 +### 一、PIbot_ROS说明 -其他资料： +​ [PIbot](https://gitee.com/pibot/pibot_bringup/blob/master/doc/README.md#1-%E8%AF%B4%E6%98%8E)原先淘宝购买的机器人底盘配套的ROS驱动代码，能够实现ROS和底盘的控制以及传感器数据的读取。 -PIBot官方资料：https://gitee.com/pibot/pibot_bringup/blob/master/doc/README.md#1-%E8%AF%B4%E6%98%8E +#### 1.1 Pibot的作用 -> 注意：`build`文件夹是编译生成，不需要纳入git管理 +#### 1.2 相关算法目录 -### 启动全覆盖 & 避障 +​ PIbot_ROS是一个ROS的工作空间，工作空间的介绍见`Docs/ROS工作目录介绍`。割草机器人项目的相关算法包在`pibot_ros\ros_ws\src\`下。 + +​ ipa_coverage_planning : 全覆盖路径规划算法，主要是跃杭在开发 + +​ upbot_following ：割草机器人UWB跟随算法包 + +​ upbot_location : 割草机器人UWB融合定位 + +​ upbot_vision : 割草机器人视觉包，负责目标检测和双目测距 + +#### 1.3 PIbot编译 + +​ `pibot_ros`的编译如下，相关支持功能包的安装以及PIbot使用的各种细节坑见`Docs\PIbot-ROS安装.md`。编译的时一定需要先编译pibot_msgs包(目前未彻底解决，无法准确控制catkin编译按照顺序和)。 + +```shell +# 进入home目录 +cd ~ +# 下载代码 +git clone http://logzhan.ticp.io:30000/logzhan/RobotKernal-UESTC.git +# 把PIBot_ROS移动到Home目录下 +mv RobotKernal-UESTC/Code/MowingRobot/pibot_ros ~/pibot_ros + +# 要运行pibot还得安装相关支持包 +#导航相关 +sudo apt-get install ros-noetic-navigation +#定位相关 +sudo apt-get install ros-noetic-robot-pose-ekf + +# 编译代码 +# 1.先编译pibot_msgs生成对应的头文件 +# 这是因为catkin_make编译顺序不可控，虽然参照网上的写法控制顺序，但是没有起到作用。这回导致自# 定义的msg还没有生成头文件就被引用导致编译不通过。 +catkin_make --pkg pibot_msgs +# 2.编译全部Package +catkin_make +``` + + + +### 二、实验测试 + +#### 2.1 启动全覆盖 & 避障 ```shell # 启动机器人和底盘通信连接 diff --git a/Code/MowingRobot/UPbot_Script/runBringUp.sh b/Code/MowingRobot/UPbot_Script/runBringUp.sh deleted file mode 100644 index 7e8b3d2..0000000 --- a/Code/MowingRobot/UPbot_Script/runBringUp.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash -cd ~/pibot_ros/ros_ws/ -source ./devel/setup.bash -roslaunch pibot_bringup bringup_with_imu.launch diff --git a/Code/MowingRobot/UPbot_Script/runCarLocation.sh b/Code/MowingRobot/UPbot_Script/runCarLocation.sh deleted file mode 100644 index df3e3d8..0000000 --- a/Code/MowingRobot/UPbot_Script/runCarLocation.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash -cd ~/project/projectCarLocation -source ./devel/setup.bash -rosrun ros_merge_test ros_merge_test_node diff --git a/Code/MowingRobot/UPbot_Script/runPDR.sh b/Code/MowingRobot/UPbot_Script/runPDR.sh deleted file mode 100644 index e6ba4e6..0000000 --- a/Code/MowingRobot/UPbot_Script/runPDR.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash -cd ~/project/projectPDR -source ./devel/setup.bash -rosrun ros_merge_test ros_merge_test_node diff --git a/Code/MowingRobot/UPbot_Script/runRoomExplorationClient.sh b/Code/MowingRobot/UPbot_Script/runRoomExplorationClient.sh deleted file mode 100644 index 5ff12fd..0000000 --- a/Code/MowingRobot/UPbot_Script/runRoomExplorationClient.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash -cd ~/pibot_ros/ros_ws/ -source ./devel/setup.bash -roslaunch ipa_room_exploration room_exploration_client.launch diff --git a/Code/MowingRobot/UPbot_Script/runRoomExplorationServer.sh b/Code/MowingRobot/UPbot_Script/runRoomExplorationServer.sh deleted file mode 100644 index ef1b740..0000000 --- a/Code/MowingRobot/UPbot_Script/runRoomExplorationServer.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash -cd ~/pibot_ros/ros_ws/ -source ./devel/setup.bash -roslaunch ipa_room_exploration room_exploration_action_server.launch diff --git a/Code/MowingRobot/UPbot_Script/runStereo.sh b/Code/MowingRobot/UPbot_Script/runStereo.sh deleted file mode 100644 index 7fa928d..0000000 --- a/Code/MowingRobot/UPbot_Script/runStereo.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/bash -cd ~/obj_dec/ -source ./devel/setup.bash -rosrun rknn_yolov5_demo main diff --git a/Code/MowingRobot/stereo_yolo/catpure_photo.py 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a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/matx.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/matx.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/matx.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/matx.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/neon_utils.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/neon_utils.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/neon_utils.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/neon_utils.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl_genbase.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl_genbase.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl_genbase.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ocl_genbase.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/ocl_defs.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/ocl_defs.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/ocl_defs.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/ocl_defs.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_info.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_info.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_info.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_info.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_svm.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_svm.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_svm.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/opencl_svm.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdblas.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdblas.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdblas.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdblas.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdfft.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdfft.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdfft.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_clamdfft.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core_wrappers.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core_wrappers.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core_wrappers.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_core_wrappers.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl_wrappers.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl_wrappers.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl_wrappers.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/autogenerated/opencl_gl_wrappers.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdblas.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdblas.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdblas.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdblas.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdfft.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdfft.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdfft.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_clamdfft.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core_wrappers.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core_wrappers.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core_wrappers.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_core_wrappers.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl_wrappers.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl_wrappers.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl_wrappers.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_gl_wrappers.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_20.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_20.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_20.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_20.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_definitions.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_definitions.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_definitions.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_definitions.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_hsa_extension.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_hsa_extension.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_hsa_extension.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opencl/runtime/opencl_svm_hsa_extension.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opengl.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opengl.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opengl.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/opengl.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/operations.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/operations.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/operations.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/operations.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/optim.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/optim.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/optim.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/optim.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ovx.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ovx.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ovx.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ovx.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/persistence.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/persistence.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/persistence.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/persistence.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ptr.inl.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ptr.inl.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ptr.inl.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/ptr.inl.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/saturate.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/saturate.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/core/saturate.hpp rename to Code/RK3588 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diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/objdetect/objdetect_c.h b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/objdetect/objdetect_c.h similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/objdetect/objdetect_c.h rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/objdetect/objdetect_c.h diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/opencv.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/opencv.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/opencv.hpp rename to Code/RK3588 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Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/autocalib.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/autocalib.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/autocalib.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/blenders.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/blenders.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/blenders.hpp rename to Code/RK3588 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a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/motion_estimators.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/motion_estimators.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/motion_estimators.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/motion_estimators.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/seam_finders.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/seam_finders.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/seam_finders.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/seam_finders.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/timelapsers.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/timelapsers.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/timelapsers.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/timelapsers.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util_inl.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util_inl.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util_inl.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/util_inl.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/warpers.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/warpers.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/warpers.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/warpers.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/warpers_inl.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/stitching/detail/warpers_inl.hpp similarity index 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Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/superres.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/superres.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/superres.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/superres/optical_flow.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/superres/optical_flow.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/superres/optical_flow.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/superres/optical_flow.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/background_segm.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/background_segm.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/background_segm.hpp rename to Code/RK3588 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Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/tracking_c.h rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/tracking_c.h diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/video.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/video.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/video.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/video/video.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/cap_ios.h b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/cap_ios.h similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/cap_ios.h rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/cap_ios.h diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/videoio.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/videoio.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/videoio.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/videoio.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/videoio_c.h b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/videoio_c.h similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videoio/videoio_c.h rename to Code/RK3588 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Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/fast_marching_inl.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/fast_marching_inl.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/fast_marching_inl.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/frame_source.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/frame_source.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/frame_source.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/frame_source.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/global_motion.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/global_motion.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/global_motion.hpp rename to Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/global_motion.hpp diff --git a/Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/inpainting.hpp b/Code/RK3588 Develop/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/inpainting.hpp similarity index 100% rename from Code/MowingRobot/stereo_yolo/rknpu1/examples/3rdparty/opencv/opencv-linux-aarch64/include/opencv2/videostab/inpainting.hpp rename to 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b/Docs/2.PIbot-ROS安装.md @@ -37,7 +37,7 @@ cd ~ # clone代码 git clone http://logzhan.ticp.io:30000/logzhan/RobotKernal-UESTC # 把PIBot_ROS移动到Home目录下 -mv RobotKernal-UESTC/Code/MowingRobot/PIBot_ROS ~/pibot_ros +mv RobotKernal-UESTC/Code/MowingRobot/pibot_ros ~/pibot_ros ``` #### 2.2 在RK3588上编译PIbot_ROS（主要是全覆盖部分） @@ -60,6 +60,10 @@ sudo apt-get install ros-noetic-robot-pose-ekf # 进入到Pibot的ROS的工作空间 cd ~/pibot_ros/ros_ws # 编译代码 +# 先编译pibot_msgs生成对应的头文件 +# 这是因为catkin_make编译顺序不可控，虽然参照网上的写法控制顺序，但是没有起到作用。这回导致自定义的msg还没有生成头文件就被引用导致编译不通过。 +catkin_make --pkg pibot_msgs +# 编译全部 catkin_make ``` diff --git a/Code/MowingRobot/PIBot_ROS.md b/Docs/ROS基础知识/ROS工作目录介绍.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS.md rename to Docs/ROS基础知识/ROS工作目录介绍.md