# leo_agv_ws

**Repository Path**: nxrobo/leo_agv_ws

## Basic Information

- **Project Name**: leo_agv_ws
- **Description**: 狮子座AGV工作空间
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-11-04
- **Last Updated**: 2025-12-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# NXROBO Leo

<img src="./leo_agv/doc/image/LEO.png" alt="image" style="zoom:15%;"/>

# 列表 Table of Contents

* [功能包说明 packages-overview](#功能包说明-packages-overview)
* [使用 usage](#使用-usage)
* [功能展示 Function Display](#功能展示-function-display)

# 功能包说明 packages-overview

- **leo_agv：** 狮子座底盘功能工作空间
  - **src：** Leo底盘的源代码，包括底层配置、硬件驱动和各个应用功能包等
  - **doc：** 驱动安装脚本文件
- **ws_iron_moveit2：** 狮子座机械臂功能工作空间
  - **src：** 机械臂的源代码，包括C3、ES3和ES5三款机械臂的底层配置和硬件驱动


# 使用 usage

### 系统要求 Prequirement

- System: Ubuntu 22.04+
- ROS Version: Humble (Desktop-Full Install)

### **下载安装** Download and install

- 下载工作空间 Download the workspace:

```shell
git clone https://gitee.com/nxrobo/leo_agv_ws.git
```

### **编译运行** Build and run

- 编译**ws_iron_moveit2**工作空间 Build ws_iron_moveit2 workshop

```shell
cd leo_agv_ws/ws_iron_moveit2/
colcon build --executor sequential
```

- 配置环境文件 Setting path file

```
gedit ~/.bashrc
```

- 然后检查文件内是否存在下方内容，无则添加 **（否则机械臂功能将无法正常运行）** Check if the following content in the file. if not, add it
- 机器在出厂前已默认配置该环境 This configuration already by default

```
source ~/leo_agv_ws/ws_iron_moveit2/install/setup.bash
```

<img src="./leo_agv/doc/image/bashrc.png" alt="image" style="zoom:100%;"/>

- 编译**leo_agv**工作空间 Build leo_agv workshop

```shell
cd leo_agv_ws/leo_agv/
colcon build 
```

- 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:

```shell
cd leo_agv_ws/leo_agv
./onekey.sh
```

<img src="./leo_agv/doc/image/onekey.png" alt="onekey" style="zoom: 80%;"/>

### 程序更新 Program Update

- （非必须）进入到工作空间下，可进行代码更新，输入以下指令：

```shell
cd leo_agv_ws/
git pull
```

# 参数说明 Arguments description

Launch file arguments description

### camera_type_tel

深度摄像头的型号，其对应值如下表。The model type of the depth camera, and the corresponding values can be seen below...

| **Camera** **version** | **CAMERATYPE** **value** |
| ---------------------- | ------------------------ |
| Intel RealSense D435   | "d435"                   |



### RGB

深度摄像头的RGB信息topic，其对应值如下表。The RGB information topic of the depth camera, and the corresponding values can be seen below...

| **Camera** **version** | **RGBTopic** **value**             | **Description**                              |
| ---------------------- | ---------------------------------- | -------------------------------------------- |
| Intel RealSense D435   | "/camera/camera/color/image_raw"   | 底盘摄像头RGB图像话题 Base camera RGB Topic  |
|                        | "/camera1/camera1/color/image_raw" | 机械臂摄像头RGB图像话题 Arm camera RGB Topic |



### Depth

深度摄像头的深度信息topic，其对应值如下表。The depth information topic of the depth camera, and the corresponding values can be seen below...

| **Camera** **version** | **DepthTopic** **value**                | **Description**                                 |
| ---------------------- | --------------------------------------- | ----------------------------------------------- |
| Intel RealSense D435   | "/camera/camera/depth/image_rect_raw"   | 底盘摄像头深度图像话题 Base camera Depth Topic  |
|                        | "/camera1/camera1/depth/image_rect_raw" | 机械臂摄像头深度图像话题 Arm camera Depth Topic |



### lidar_type_tel

激光雷达的型号，其对应值如下表。The model type of the lidar, and the corresponding values can be seen below...

| **Lidar** **version** | **LIDARTYPE** **value** |
| --------------------- | ----------------------- |
| YDLIDAR G6            | "ydlidar_g6"            |



### slam_type

SLAM的算法，其对应值如下表。The algorithm of the SLAM, and the corresponding values can be seen below...

| **SLAM** **algorithm** | **SLAMTYPE** **value** |
| ---------------------- | ---------------------- |
| Gmapping               | "gmapping"             |
| Cartographer           | "cartographer"         |
| slam_toolbox           | "slam_toolbox"         |



### base_type

Leo底盘驱动方式，其对应值如下表。Leo chassis drive mode, and the corresponding values can be seen below...

| Driver mode | **LEO_DRIVER** **value** |
| ----------- | ------------------------ |
| Diff        | "diff"                   |



### arm_type_tel

机械臂的型号，其对应值如下表。The model type of arm, and the corresponding values can be seen below...

| Arm version | **LEO_DEVICE** **value** |
| ----------- | ------------------------ |
| AUBO_ES5    | "aubo_ES5"               |
| AUBO_ES3    | "aubo_ES3"               |
| None        | "None"                   |



### robot_ip

机械臂的IP地址，其对应值如下表。The ip address of arm, and the corresponding values can be seen below...

| Ip address     | **DEVICE_IP value** |
| -------------- | ------------------- |
| 192.168.47.101 | "192.168.47.101"    |
| None           | "None"              |

# 功能展示 Function Display

**1. Leo 跟随 Leo-Follower**

```shell
cd leo_agv_ws/leo_agv
source install/setup.bash

ros2 launch leo_follower leo_follower.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6' base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3' robot_ip:='192.168.47.101'
```

- **camera_type_tel** : 填写对应摄像头型号。 **camera_type_tel** fill in the corresponding camera model
- **lidar_type_tel** : 填写对应激光雷达型号。 **lidar_type_tel** fill in the corresponding LiDAR model
- **base_type** : 填写对应底盘驱动方式。 **base_type** fill in the corresponding chassis drive mode
- **enable_arm_tel** : 是否启动机械臂。 **enable_arm_tel** activate the robotic arm
- **arm_type_tel** : 填写对应机械臂型号。 **arm_type_tel** fill in the corresponding model of the robotic arm
- **robot_ip** : 填写对应机械臂有线IP地址。 **robot_ip** fill in the corresponding IP address of the robotic arm

<img src="./leo_agv/doc/image/follow.png" alt="follow" style="zoom: 67%;" />



**2. Leo 2D建图 Leo -SLAM-2DMapping**

```shell
cd leo_agv_ws/leo_agv
source install/setup.bash

ros2 launch leo_slam_transfer start_build_map_gmapping.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6'  base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3'  robot_ip:='192.168.47.101' rviz_config:='leo_arm_gmapping.rviz'
```

<img src="./leo_agv/doc/image/gmapping.png" alt="gmapping" style="zoom: 38%;" />



**3. Leo-RtabMap建图 Leo-RtabMap-Mapping**

```shell
cd leo_agv_ws/leo_agv
source install/setup.bash

ros2 launch leo_rtab_map start_rtabmap_rgbd_sync.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6' localization:='false' base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3'  robot_ip:='192.168.47.101' rviz_config:='leo_arm_rtabmap.rviz'
```

<img src="./leo_agv/doc/image/rtab.png" alt="rtab" style="zoom: 67%;" />



**4. Leo导航 Leo-Navigation**

```shell
cd leo_agv_ws/leo_agv
source install/setup.bash

ros2 launch leo_navigation2 start_leo_navigation2.launch.py camera_type_tel:='d435' lidar_type_tel:='ydlidar_g6' base_type:='diff' enable_arm_tel:='true' arm_type_tel:='aubo_ES3'  robot_ip:='192.168.47.101' rviz_config:='leo_arm_navigation2.rviz'
```

<img src="./leo_agv/doc/image/navigation.png" alt="navigation" style="zoom: 67%;" />

# LEO型号配置

> 源文件路径：/home/leo/leo_agv_ws/leo_agv/doc/driver_install.sh
>

打开终端，执行以下命令运行安装脚本

```Bash
cd leo_agv_ws/leo_agv/doc
sudo ./driver_install.sh
```

输入密码：leo，回车运行

<img src="./leo_agv/doc/image/install1.png" style="zoom: 80%;" />

根据狮子座当前配置选择对应选项，狮子座默认底盘类型为**差速底盘，**输入`1`回车确定：

<img src="./leo_agv/doc/image/install2.png" style="zoom: 80%;" />

同理，带有独立控制柜的机械臂型号为`aubo_C3`，如果狮子座未有安装机械臂则选择`None`，这里选择狮子座机械臂型号为**aubo_ES3，**输入`2`回车确定：

<img src="./leo_agv/doc/image/install3.png" style="zoom: 80%;" />

最后输入先前在**遨博STUDIO**配置的**机械臂IP**及**摄像头数量**即可，其中机械臂IP默认为：**192.168.47.101。**

# 相机显示校正

> 源文件路径：/home/leo/leo_agv_ws/leo_agv/doc/chcam.sh
>

**安装脚本所需系统包**

```Bash
sudo apt-get install dbus-x11
```

打开终端，执行以下命令运行安装脚本

```Bash
cd leo_agv_ws/leo_agv/doc
sudo ./chcam.sh
```

输入密码：leo，回车运行

<img src="./leo_agv/doc/image/chcam1.png" style="zoom: 80%;" />

狮子座在只安装一个相机的情况下，在终端输入`n`，即可完成校正

## **1. 双相机图像切换**

<img src="./leo_agv/doc/image/chcam2.png" style="zoom: 80%;" />

**base camera、arm camera**分别为**底盘相机画面**与**机械臂相机画面。**

如启动后画面如上所示，底盘相机对应**base camera**，机械臂相机画面对应**arm camera**；则在终端输入`n`，回车确认即可。

## 2. 画面相反情况

<img src="./leo_agv/doc/image/chcam3.png" style="zoom: 80%;" />

这种情况为底盘相机与机械臂相机位置相反，此时在终端输入`y`，即切换成功。

<img src="./leo_agv/doc/image/chcam4.png" style="zoom: 100%;" />

## 3. 在ROS中查看校正结果

启动onekey脚本，选择第一个demo

```Bash
cd leo_agv_ws/leo_agv
./onekey.sh
```

切换两个相机话题查看图像

<img src="./leo_agv/doc/image/rviz1.png" style="zoom: 100%;" />

## **4. 校正标准**

`camera`话题要正确显示**底盘相机**图像；`camera1`话题显示**机械臂相机**图像

<img src="./leo_agv/doc/image/rviz2.png" style="zoom: 60%;" />

### **校正结果最终以ROS端为准！**