AI-深蓝学院-智能机器人开发的神兵利器-ROS机械臂开发

本课程是一套专为机器人开发者量身打造的ROS（机器人操作系统）实战教程，旨在帮助学员从零开始，系统性地掌握ROS的核心概念、开发流程与高级应用。课程以“理论讲解 + 代码实战 + 仿真模拟”为核心，围绕PROBOT Anno机械臂这一真实案例，深入剖析从URDF模型创建、MoveIt!运动规划、Gazebo仿真环境搭建，到机器视觉集成与“手眼”标定，最终实现物体识别与抓取的完整开发链路。你将不仅学会ROS的基础操作，更能通过一个综合性项目，打通机器人开发的各个环节，具备独立开发复杂机器人应用的能力。
核心学习路径
1. ROS基础与机器人建模
ROS初探：了解ROS的过去、现在与未来，理解其在机器人领域的核心地位与生态系统。
核心概念：深入理解ROS的节点、话题、服务、消息等核心通信机制，为后续开发打下坚实基础。
机器人建模：学习如何从零开始，使用URDF/Xacro语言创建一个机器人模型，并掌握SolidWorks等工具与ROS的模型转换流程。
2. 运动规划与仿真环境搭建
MoveIt!核心：深入学习ROS机械臂开发的主角——MoveIt!，掌握其核心组件、配置助手（Setup Assistant）的使用以及运动规划的原理。
Gazebo仿真：学习如何搭建高保真的Gazebo仿真环境，将机器人模型、传感器、控制器与世界场景集成，实现“零成本”的算法验证与调试。
运动控制编程：通过C++和Python API，学习如何编程控制机械臂完成正/逆运动学求解、笛卡尔空间路径规划、避障等复杂运动。
3. 机器视觉与手眼协同
ROS视觉应用：学习在ROS中集成摄像头，处理图像数据，并掌握机器视觉应用中的关键点。
“手眼”标定：深入理解“手眼”标定的原理，学习如何建立机器人坐标系与相机坐标系之间的转换关系，这是实现精准抓取的前提。
物体抓取实战：综合运用MoveIt!和机器视觉，完成从物体识别、位姿估计到路径规划、最终抓取的完整应用开发。
4. 工业应用与系统开发
ROS-Industrial (ROS-I)：了解针对工业应用优化的ROS-I，探索ROS在工业机器人领域的标准化应用。
控制系统设计：通过一个完整的机械臂控制系统案例，学习如何设计一个模块化、可扩展的ROS软件架构，整合驱动、感知、规划与控制。
课程亮点
项目驱动，实战为王：全程围绕PROBOT Anno机械臂这一真实项目展开，从建模、仿真到视觉抓取，提供完整的代码和仿真环境，让你在实践中学习。
软硬结合，打通全栈：课程不仅涵盖软件层面的算法与编程，还涉及机器人建模、传感器集成等硬件相关知识，帮助你构建完整的机器人开发知识体系。
资料齐全，易于上手：提供每一节课的课件、源代码、仿真模型及相关资料，结构清晰，方便你快速复现和深入学习。
由浅入深，体系完整：课程从ROS基础概念讲起，逐步深入到MoveIt!、Gazebo、机器视觉等高级主题，学习路径清晰，适合系统性学习。

课程目录：
智能机器人开发
+—第01节 ROS的过去、现在和未来
| ROS的过去、现在和未来.mp4
| 课件_ROS机械臂开发_1.ROS的过去、现在和未来.pdf
|
+—第02节 风靡机器人圈的ROS到底是什么
| 【代码】风靡机器人圈的ROS到底是什么.zip
| 【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.mp4
|
+—第03节 如何从零创建一个机器人模型
| | 【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.mp4
| |
| +—【代码】如何从零创建一个机器人模型
| | +—marm_description
| | | | CMakeLists.txt
| | | | package.xml
| | | | urdf.rviz
| | | |
| | | +—launch
| | | | view_marm.launch
| | | |
| | | \—urdf
| | | marm.xacro
| | |
| | \—ur3
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—config
| | | joint_names_ur3.yaml
| | |
| | +—launch
| | | display.launch
| | | gazebo.launch
| | |
| | +—meshes
| | | base_link.STL
| | | link1.STL
| | | link2.STL
| | | link3.STL
| | | link4.STL
| | | link5.STL
| | | link6.STL
| | |
| | +—textures
| | \—urdf
| | ur3.urdf
| |
| \—【资料】如何从零创建一个机器人模型
| sw2urdfSetup.exe
| ur3step.zip
|
+—第04节 ROS机械臂开发中的主角MoveIt!
| ROS机械臂开发中的主角MoveIt!.mp4
| 代码_ROS机械臂开发_4.ROS机械臂开发中的主角MoveIt!.zip
| 课件_ROS机械臂开发_4.ROS机械臂开发中的主角MoveIt!.pdf
|
+—第05节 搭建仿真环境一样玩转ROS机械臂
| | 【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.mp4
| | 搭建仿真环境一样玩转ROS机械臂.rar
| | 搭建仿真环境一样玩转ROS机械臂_20230529173440.mp4
| |
| \—【代码】搭建仿真环境一样玩转ROS机械臂
| +—probot_anno_moveit_config
| | | .setup_assistant
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—config
| | | chomp_planning.yaml
| | | controllers_gazebo.yaml
| | | fake_controllers.yaml
| | | joint_limits.yaml
| | | joint_names.yaml
| | | kinematics.yaml
| | | ompl_planning.yaml
| | | probot_anno.srdf
| | | ros_controllers.yaml
| | | sensors_3d.yaml
| | |
| | \—launch
| | chomp_planning_pipeline.launch.xml
| | default_warehouse_db.launch
| | demo.launch
| | fake_moveit_controller_manager.launch.xml
| | joystick_control.launch
| | moveit.rviz
| | moveit_planning_execution.launch
| | moveit_rviz.launch
| | move_group.launch
| | ompl_planning_pipeline.launch.xml
| | planning_context.launch
| | planning_pipeline.launch.xml
| | probot_anno_moveit_controller_manager.launch.xml
| | probot_anno_moveit_sensor_manager.launch.xml
| | ros_controllers.launch
| | run_benchmark_ompl.launch
| | sensor_manager.launch.xml
| | setup_assistant.launch
| | trajectory_execution.launch.xml
| | warehouse.launch
| | warehouse_settings.launch.xml
| |
| +—probot_description
| | | CMakeLists.txt
| | | package.xml
| | | urdf.rviz
| | |
| | +—launch
| | | view_probot_anno.launch
| | |
| | +—meshes
| | | base_link.STL
| | | link_1.STL
| | | link_2.STL
| | | link_3.STL
| | | link_4.STL
| | | link_5.STL
| | | link_6.STL
| | |
| | \—urdf
| | probot_anno.xacro
| |
| \—probot_gazebo
| | CMakeLists.txt
| | package.xml
| |
| +—config
| | probot_anno_gazebo_joint_states.yaml
| | probot_anno_trajectory_control.yaml
| |
| \—launch
| \—probot_anno
| probot_anno_bringup_moveit.launch
| probot_anno_gazebo_states.launch
| probot_anno_gazebo_world.launch
| probot_anno_trajectory_controller.launch
|
+—第06节 MoveIt!编程驾驭机械臂运动控制
| 6MoveIt!编程驾驭机械臂运动控制.mp4
| 【代码】MoveIt!编程驾驭机械臂运动控制.zip
| 【课件】MoveIt!编程驾驭机械臂运动控制.pdf
|
+—第07节 MoveIt!中不得不说的“潜规则”
| MoveIt!中不得不说的“潜规则”.mp4
| 【代码】MoveIt!中不得不说的“潜规则”.zip
| 【课件】MoveIt!中不得不说的“潜规则”.pdf
| 【资料】MoveIt!中不得不说的“潜规则”.zip
|
+—第08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 .mp4
|
+—第09节 “手眼”结合完成物体抓取应用
| “手眼”结合完成物体抓取应用.mp4
| 【代码】“手眼”结合完成物体抓取应用.zip
| 【课件】“手眼”结合完成物体抓取应用.pdf
| 【资料】“手眼”结合完成物体抓取应用.zip
|
+—第10节 针对工业应用的ROS-I又是什么
| 【代码】针对工业应用的ROS-I又是什么.zip
| 【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.mp4
|
+—第11节 基于ROS设计一款机械臂控制系统
| | PROBOT Anno机械臂产品介绍.pdf
| | ros_control_an_overview.pdf
| | 基于ROS设计一款机械臂控制系统.mp4
| | 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
| | install.sh
| | LICENSE
| | README.md
| |
| +—docs
| | | PROBOT Anno机械臂产品介绍.pdf
| | |
| | \—images
| | PROBOT_Anno.png
| |
| +—probot_anno_ikfast_manipulator_plugin
| | | CMakeLists.txt
| | | package.xml
| | | probot_anno_manipulator_moveit_ikfast_plugin_description.xml
| | | update_ikfast_plugin.sh
| | |
| | +—include
| | | ikfast.h
| | |
| | \—src
| | probot_anno_manipulator_ikfast_moveit_plugin.cpp
| | probot_anno_manipulator_ikfast_solver.cpp
| |
| +—probot_anno_moveit_config
| | | .setup_assistant
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—config
| | | chomp_planning.yaml
| | | controllers.yaml
| | | controllers_gazebo.yaml
| | | fake_controllers.yaml
| | | joint_limits.yaml
| | | joint_names.yaml
| | | kinematics.yaml
| | | ompl_planning (copy).yaml
| | | ompl_planning.yaml
| | | probot_anno.srdf
| | | ros_controllers.yaml
| | | sensors_3d.yaml
| | |
| | \—launch
| | chomp_planning_pipeline.launch.xml
| | default_warehouse_db.launch
| | demo.launch
| | fake_moveit_controller_manager.launch.xml
| | joystick_control.launch
| | moveit.rviz
| | moveit_planning_execution.launch
| | moveit_rviz.launch
| | move_group.launch
| | ompl_planning_pipeline.launch.xml
| | planning_context.launch
| | planning_pipeline.launch.xml
| | probot_anno_moveit_controller_manager.launch.xml
| | probot_anno_moveit_sensor_manager.launch.xml
| | ros_controllers.launch
| | run_benchmark_ompl.launch
| | sensor_manager.launch.xml
| | setup_assistant.launch
| | trajectory_execution.launch.xml
| | warehouse.launch
| | warehouse_settings.launch.xml
| |
| +—probot_anno_with_gripper_moveit_config
| | | .setup_assistant
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—config
| | | chomp_planning.yaml
| | | controllers_gazebo.yaml
| | | fake_controllers.yaml
| | | joint_limits.yaml
| | | kinematics.yaml
| | | ompl_planning.yaml
| | | probot_anno.srdf
| | | ros_controllers.yaml
| | | sensors_3d.yaml
| | |
| | \—launch
| | chomp_planning_pipeline.launch.xml
| | default_warehouse_db.launch
| | demo.launch
| | fake_moveit_controller_manager.launch.xml
| | joystick_control.launch
| | moveit.rviz
| | moveit_planning_execution.launch
| | moveit_rviz.launch
| | move_group.launch
| | ompl_planning_pipeline.launch.xml
| | planning_context.launch
| | planning_pipeline.launch.xml
| | probot_anno_moveit_controller_manager.launch.xml
| | probot_anno_moveit_sensor_manager.launch.xml
| | ros_controllers.launch
| | run_benchmark_ompl.launch
| | sensor_manager.launch.xml
| | setup_assistant.launch
| | trajectory_execution.launch.xml
| | warehouse.launch
| | warehouse_settings.launch.xml
| |
| +—probot_bringup
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—config
| | | PROBOT_Anno.rviz
| | |
| | \—launch
| | probot_anno_bringup.launch
| |
| +—probot_demo
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—scripts
| | | moveit_attached_object_demo.py
| | | moveit_cartesian_demo.py
| | | moveit_circle_demo.py
| | | moveit_fk_demo.py
| | | moveit_ik_demo.py
| | | moveit_revise_trejectory_demo.py
| | | probot_demo.py
| | | test_move.py
| | |
| | \—src
| | moveit_cartesian_demo.cpp
| | moveit_circle_demo.cpp
| | moveit_collision_demo.cpp
| | moveit_continue_trajectory_demo.cpp
| | moveit_fk_demo.cpp
| | moveit_ik_demo.cpp
| | moveit_random_demo.cpp
| | moveit_revise_trajectory_demo.cpp
| |
| +—probot_description
| | | CMakeLists.txt
| | | package.xml
| | | urdf.rviz
| | |
| | +—launch
| | | view_probot_anno.launch
| | | view_probot_anno_with_gripper.launch
| | |
| | +—meshes
| | | | base_link.STL
| | | | link_1.STL
| | | | link_2.STL
| | | | link_3.STL
| | | | link_4.STL
| | | | link_5.STL
| | | | link_6.STL
| | | |
| | | +—gripper
| | | | ax12.dae
| | | | ax12.stl
| | | | F10.stl
| | | | F11.stl
| | | | F2.stl
| | | | F3.stl
| | | | F4.stl
| | | | F9.stl
| | | | finger.stl
| | | |
| | | \—sensors
| | | camera.STL
| | |
| | \—urdf
| | | dynamixel_arm_hardware.xacro
| | | gripper.xacro
| | | materials.urdf.xacro
| | | probot_anno.xacro
| | | probot_anno_with_gripper.xacro
| | |
| | \—sensors
| | camera.gazebo.xacro
| | camera.urdf.xacro
| |
| +—probot_driver
| | | CMakeLists.txt
| | | package.xml
| | |
| | \—bin
| | probot_cmd_interface
| | probot_io_interface
| | probot_log_interface
| |
| +—probot_gazebo
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—config
| | | probot_anno_gazebo_joint_states.yaml
| | | probot_anno_trajectory_control.yaml
| | | probot_anno_with_gripper_trajectory_control.yaml
| | |
| | +—launch
| | | +—probot_anno
| | | | probot_anno_bringup_moveit.launch
| | | | probot_anno_gazebo_states.launch
| | | | probot_anno_gazebo_world.launch
| | | | probot_anno_trajectory_controller.launch
| | | |
| | | \—probot_anno_with_gripper
| | | probot_anno_with_gripper_bringup_moveit.launch
| | | probot_anno_with_gripper_gazebo_states.launch
| | | probot_anno_with_gripper_gazebo_world.launch
| | | probot_anno_with_gripper_trajectory_controller.launch
| | |
| | \—worlds
| | tableObj.world
| | tableObj2.world
| |
| +—probot_grasping
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—include
| | | \—probot_grasping
| | | grasping_demo.h
| | | vision_manager(1).h
| | |
| | +—launch
| | | probot_anno_grasping_demo.launch
| | |
| | \—src
| | grasping_demo.cpp
| | vision_manager.cpp
| |
| +—probot_msgs
| | | CMakeLists.txt
| | | package.xml
| | |
| | \—msg
| | ControllerCtrl.msg
| | IOStatus.msg
| | JogJoint.msg
| | JogPose.msg
| | SetOutputIO.msg
| |
| +—probot_rviz_plugin
| | | CMakeLists.txt
| | | package.xml
| | | plugin_description.xml
| | | 文本文档.zip
| | |
| | \—plugin
| | libprobot_rviz_plugin.so
| |
| \—probot_vision_pick
| +—probot_pick_place
| | | CMakeLists.txt
| | | package.xml
| | |
| | +—config
| | | pick_place_config.yaml
| | |
| | \—scripts
| | probot_sorting_demo.py
| |
| \—probot_vision
| | calibration.txt
| | CMakeLists.txt
| | logitech920_calibration.yaml
| | package.xml
| |
| +—config
| | vision_config.yaml
| |
| +—doc
| | calibration.xlsx
| | calibration_chart.docx
| |
| +—launch
| | deal_data.launch
| | object_detect.launch
| | object_detect_test.launch
| | usb_cam.launch
| |
| +—msg
| | VisionMatrix.msg
| |
| +—scripts
| | | .object_detect.py.swo
| | | detector.py
| | | detector.pyc
| | | ObjectDetect.py
| | | ReadAndWriteYaml.py
| | |
| | \—__pycache__
| | detector.cpython-35.pyc
| |
| +—src
| | AdjustColorThreshold.cpp
| | ComputeMapMatrix.cpp
| |
| \—srv
| DetectObjectSrv.srv
|
\—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.mp4
【课件】ROS——机器人开发的神兵利器.pdf

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