- src : Spark的源代码,包括底层配置,硬件驱动,和各个应用功能包等。
- doc : 软硬件依赖包。
- System: Ubuntu 14.04+
- ROS Version: indigo or kinetic(Desktop-Full Install)
- 下载工作空间 Download the workspace:
git clone https://github.com/NXROBO/spark.git
- 安装依赖库 Install libraries and dependencies:
cd spark
./onekey.sh
- 根据提示选择103 Choose NO.103
103
catkin_make
- 如果编译一切正常,可根据提示运行相关例程。If everything goes fine, test the examples as follow:
./onekey.sh
We also provide a downloadable mirror whose all environments have been configured.
- Download address: spark_mirror
1.Spark跟随 Spark-Follower
cd spark
source devel/setup.bash
roslaunch spark_follower bringup.launch
2.Spark建图 Spark-SLAM-Mapping
cd spark
source devel/setup.bash
roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=gmapping
3.Spark导航 Spark-Navigation
cd spark
source devel/setup.bash
roslaunch spark_navigation amcl_demo_lidar_rviz.launch
4.Spark-RtabMap建图 Spark-RtabMap-Mapping
cd spark
source devel/setup.bash
roslaunch spark_rtabmap spark_rtabmap_teleop.launch
5.Spark机械臂视觉抓取 Spark-Carry_Object
cd spark
source devel/setup.bash
roslaunch spark_carry_object spark_carry_object_only_cv3.launch