- 00-readme/00-配置CAN手册.pdf
- 00-readme/04-R5-ROS-aloha.pdf (ubuntu 20.04)
- 00-readme/05-R5-ROS2-aloha.pdf (ubuntu 22.04)
- 电源线连接
- CAN转USB， 白色的
type-c转USB线，尽量用原装线，否则可能导致无法连接
- VR串口通讯设备
- 1根白色的双头
type-c线和一根白色的type-c线转usb口
see 4. VR connection for more details
system requirement: Ubuntu 22.04 + ROS humble
wget http://fishros.com/install -O fishros && . fishros
conda create -n arx python=3.8
conda activate arx # activate environment
sudo apt install git vim
pip install empy==3.3.4 catkin_pkg lark pyyaml numpy
python3 -m pip install --upgrade numpy # install the numpy
- bash
echo "conda activate arx" >> ~/.bashrc
source ~/.bashrc
- zsh
echo "conda activate arx" >> ~/.zshrc
source ~/.zshrc
python --version # check python version whether 3.8 or not
mkdir ~/ARX && cd ~/ARX
git clone https://github.com/ChangerC77/R5.git
sudo apt install can-utils
sudo apt install net-tools
├── arx_can
│ ├── arx_can0.sh
│ ├── arx_can1.sh
│ ├── arx_can2.sh
│ ├── arx_can3.sh
│ └── arx_can5.sh
├── arx_can.rules
├── can.sh
├── search.sh
└── set.sh
1 directory, 9 files
这些文件是配置can和打开can的，用来让SDK通过can与机器人通信。
整个过程分4步
1、执行search.sh
2、修改arx_can.rules
3、执行set.sh
4、执行can.sh
在使用两台臂（VR+两从臂）进行数据采集时，需要用到“arx_can.rules”文件中的can1 和 can3。
搜索CAN设备（黑色can板）的ID，注意要把USB插入电脑才能搜索到，且一次只能插入一个USB!!! 除键鼠
cd ~/ARX/R5/ARX_CAN
./search.sh
先将左臂与电脑连接，执行search.sh配置arxcan1
cd ~/ARX/ARX_R5/ARX_CAN
./search.sh # 若无法运行则执行：sh search.sh
然后终端会显示（不同的can设备显示的ID不同，下图的ID号只是一个例子）
lsusb
output
ATTRS{serial}=="207B32AE5052"
ATTRS{serial}=="0000:00:14.0"
拔出左臂usb，将右臂与电脑连接，执行search.sh 设置右臂arxcan3 的配置
cd ~/ARX/ARX_R5/ARX_CAN
./search.sh # 若无法运行则执行：sh search.sh
output
ATTRS{serial}=="206A32B75052"
ATTRS{serial}=="0000:00:14.0"
sudo vim arx_can.rules
左右臂分别对应arxcan1和arxcan3
SUBSYSTEM=="tty", ATTRS{idVendor}=="16d0", ATTRS{idProduct}=="117e", ATTRS{serial}=="207B32AE5052", SYMLINK+="arxcan1"
SUBSYSTEM=="tty", ATTRS{idVendor}=="16d0", ATTRS{idProduct}=="117e", ATTRS{serial}=="206A32B75052", SYMLINK+="arxcan3"
cd ~/ARX/R5/ARX_CAN
./set.sh
输入密码后出现类似窗口：只要没报错就行。
root@pc-MS-7D89:/home/pc/ARX/ARX_R5/ARX_CAN#
以上操作仅在第一次运行程序前进行，只要can设备不更改，以后及无需再次配置。
cd ~/ARX/R5/ARX_CAN/arx_can
./arx_can1.sh
cd ~/ARX/R5/ARX_CAN/arx_can
./arx_can3.sh
如果关掉上述窗口，can口不会关闭。 如果不关，这些脚本会有自动重连功能，可以自己拔掉usb再插上试试。
VR的连接方式如上图所示 连接后要看VR串口线是否亮起
ls /dev/ttyACM*
output
/dev/ttyACM0 /dev/ttyACM2 /dev/ttyACM3
git clone https://github.com/ChangerC77/pybind11.git && cd pybind11 && mkdir build
Download pybind11 successfully and generate buildfile. It will output the information below
output
Cloning into 'pybind11'...
remote: Enumerating objects: 30196, done.
remote: Counting objects: 100% (781/781), done.
remote: Compressing objects: 100% (408/408), done.
remote: Total 30196 (delta 625), reused 374 (delta 371), pack-reused 29415 (from 4)
Receiving objects: 100% (30196/30196), 12.28 MiB | 2.50 MiB/s, done.
Resolving deltas: 100% (21228/21228), done.
cd build && cmake ..
ouptut
-- The CXX compiler identification is GNU 11.4.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- pybind11 v3.0.0 dev1
-- CMake 3.22.1
-- Found Python: /home/tars/system/miniconda3/envs/arx/bin/python3.8 (found suitable version "3.8.20", minimum required is "3.8") found components: Interpreter Development.Module Development.Embed
-- Python 3.8.20
Using compatibility mode for Python, set PYBIND11_FINDPYTHON to NEW/OLD to silence this message
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
-- pybind11::lto enabled
-- pybind11::thin_lto enabled
-- Setting tests build type to MinSizeRel as none was specified
-- Building tests with Eigen v3.4.0
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found suitable version "1.74.0", minimum required is "1.56")
CMake Warning at tools/pybind11Common.cmake:275 (message):
Missing: pytest 3.1
Try: /home/tars/system/miniconda3/envs/arx/bin/python3.8 -m pip install
pytest
Call Stack (most recent call first):
tests/CMakeLists.txt:533 (pybind11_find_import)
-- Catch not detected. Interpreter tests will be skipped. Install Catch headers manually or use `cmake -DDOWNLOAD_CATCH=ON` to fetch them automatically.
-- Catch not detected. Interpreter tests will be skipped. Install Catch headers manually or use `cmake -DDOWNLOAD_CATCH=ON` to fetch them automatically.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tars/ARX/pybind11/build
make
output
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lto-wrapper: warning: using serial compilation of 84 LTRANS jobs
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lto-wrapper: warning: using serial compilation of 2 LTRANS jobs
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lto-wrapper: warning: using serial compilation of 3 LTRANS jobs
[100%] Built target eigen_tensor_avoid_stl_array
sudo make install # update the repository and generate .so file
output
Consolidate compiler generated dependencies of target pybind11_tests
[ 83%] Built target pybind11_tests
Consolidate compiler generated dependencies of target pybind11_cross_module_tests
[ 85%] Built target pybind11_cross_module_tests
Consolidate compiler generated dependencies of target cross_module_interleaved_error_already_set
[ 88%] Built target cross_module_interleaved_error_already_set
Consolidate compiler generated dependencies of target cross_module_gil_utils
[ 90%] Built target cross_module_gil_utils
Consolidate compiler generated dependencies of target exo_planet_pybind11
[ 92%] Built target exo_planet_pybind11
Consolidate compiler generated dependencies of target exo_planet_c_api
[ 95%] Built target exo_planet_c_api
Consolidate compiler generated dependencies of target home_planet_very_lonely_traveler
[ 97%] Built target home_planet_very_lonely_traveler
Consolidate compiler generated dependencies of target eigen_tensor_avoid_stl_array
[100%] Built target eigen_tensor_avoid_stl_array
Install the project...
-- Install configuration: "MinSizeRel"
-- Installing: /usr/local/include/pybind11
-- Installing: /usr/local/include/pybind11/stl
-- Installing: /usr/local/include/pybind11/stl/filesystem.h
-- Installing: /usr/local/include/pybind11/warnings.h
-- Installing: /usr/local/include/pybind11/numpy.h
-- Installing: /usr/local/include/pybind11/typing.h
-- Installing: /usr/local/include/pybind11/chrono.h
-- Installing: /usr/local/include/pybind11/detail
-- Installing: /usr/local/include/pybind11/detail/descr.h
-- Installing: /usr/local/include/pybind11/detail/type_caster_base.h
-- Installing: /usr/local/include/pybind11/detail/function_record_pyobject.h
-- Installing: /usr/local/include/pybind11/detail/using_smart_holder.h
-- Installing: /usr/local/include/pybind11/detail/cpp_conduit.h
-- Installing: /usr/local/include/pybind11/detail/init.h
-- Installing: /usr/local/include/pybind11/detail/native_enum_data.h
-- Installing: /usr/local/include/pybind11/detail/typeid.h
-- Installing: /usr/local/include/pybind11/detail/dynamic_raw_ptr_cast_if_possible.h
-- Installing: /usr/local/include/pybind11/detail/pybind11_namespace_macros.h
-- Installing: /usr/local/include/pybind11/detail/exception_translation.h
-- Installing: /usr/local/include/pybind11/detail/struct_smart_holder.h
-- Installing: /usr/local/include/pybind11/detail/common.h
-- Installing: /usr/local/include/pybind11/detail/value_and_holder.h
-- Installing: /usr/local/include/pybind11/detail/internals.h
-- Installing: /usr/local/include/pybind11/detail/class.h
-- Installing: /usr/local/include/pybind11/attr.h
-- Installing: /usr/local/include/pybind11/iostream.h
-- Installing: /usr/local/include/pybind11/buffer_info.h
-- Installing: /usr/local/include/pybind11/stl.h
-- Installing: /usr/local/include/pybind11/eigen
-- Installing: /usr/local/include/pybind11/eigen/tensor.h
-- Installing: /usr/local/include/pybind11/eigen/common.h
-- Installing: /usr/local/include/pybind11/eigen/matrix.h
-- Installing: /usr/local/include/pybind11/stl_bind.h
-- Installing: /usr/local/include/pybind11/type_caster_pyobject_ptr.h
-- Installing: /usr/local/include/pybind11/embed.h
-- Installing: /usr/local/include/pybind11/conduit
-- Installing: /usr/local/include/pybind11/conduit/pybind11_conduit_v1.h
-- Installing: /usr/local/include/pybind11/conduit/wrap_include_python_h.h
-- Installing: /usr/local/include/pybind11/conduit/pybind11_platform_abi_id.h
-- Installing: /usr/local/include/pybind11/conduit/README.txt
-- Installing: /usr/local/include/pybind11/options.h
-- Installing: /usr/local/include/pybind11/eval.h
-- Installing: /usr/local/include/pybind11/functional.h
-- Installing: /usr/local/include/pybind11/common.h
-- Installing: /usr/local/include/pybind11/native_enum.h
-- Installing: /usr/local/include/pybind11/eigen.h
-- Installing: /usr/local/include/pybind11/complex.h
-- Installing: /usr/local/include/pybind11/gil_safe_call_once.h
-- Installing: /usr/local/include/pybind11/pybind11.h
-- Installing: /usr/local/include/pybind11/trampoline_self_life_support.h
-- Installing: /usr/local/include/pybind11/pytypes.h
-- Installing: /usr/local/include/pybind11/gil.h
-- Installing: /usr/local/include/pybind11/cast.h
-- Installing: /usr/local/include/pybind11/operators.h
-- Installing: /usr/local/share/cmake/pybind11/pybind11Config.cmake
-- Installing: /usr/local/share/cmake/pybind11/pybind11ConfigVersion.cmake
-- Installing: /usr/local/share/cmake/pybind11/FindPythonLibsNew.cmake
-- Installing: /usr/local/share/cmake/pybind11/pybind11Common.cmake
-- Installing: /usr/local/share/cmake/pybind11/pybind11Tools.cmake
-- Installing: /usr/local/share/cmake/pybind11/pybind11NewTools.cmake
-- Installing: /usr/local/share/cmake/pybind11/pybind11GuessPythonExtSuffix.cmake
-- Installing: /usr/local/share/cmake/pybind11/pybind11Targets.cmake
-- Installing: /usr/local/share/pkgconfig/pybind11.pc
cd ~/ARX && git clone https://github.com/ChangerC77/orocos_kinematics_dynamics.git
cd orocos_kdl
mkdir build && cd build
cmake ..
output
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Orocos KDL version (1.5.2)
-- Using CATKIN_DEVEL_PREFIX: /home/tars/ARX/orocos_kinematics_dynamics/orocos_kdl/build/devel
-- Using CMAKE_PREFIX_PATH: /home/tars/ARX/R5/ROS/R5_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/tars/ARX/R5/ROS/R5_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /home/tars/system/miniconda3/envs/arx/bin/python3 (found suitable version "3.8.20", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /home/tars/system/miniconda3/envs/arx/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /home/tars/system/miniconda3/envs/arx/lib/python3.8/site-packages/em.py
-- Using empy: /home/tars/system/miniconda3/envs/arx/lib/python3.8/site-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/tars/ARX/orocos_kinematics_dynamics/orocos_kdl/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /home/tars/system/miniconda3/envs/arx/bin/python3 (found version "3.8.20")
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- Setting build type to 'Release'
-- Performing Test HAVE_STL_CONTAINER_INCOMPLETE_TYPES
-- Performing Test HAVE_STL_CONTAINER_INCOMPLETE_TYPES - Success
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tars/ARX/orocos_kinematics_dynamics/orocos_kdl/build
make
Scanning dependencies of target orocos-kdl
[ 1%] Building CXX object src/CMakeFiles/orocos-kdl.dir/articulatedbodyinertia.cpp.o
[ 2%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chain.cpp.o
[ 4%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chaindynparam.cpp.o
[ 5%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainexternalwrenchestimator.cpp.o
[ 7%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainfdsolver_recursive_newton_euler.cpp.o
[ 8%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainfksolverpos_recursive.cpp.o
[ 10%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainfksolvervel_recursive.cpp.o
[ 11%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainhdsolver_vereshchagin.cpp.o
[ 13%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainidsolver_recursive_newton_euler.cpp.o
[ 14%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainidsolver_vereshchagin.cpp.o
[ 16%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainiksolverpos_lma.cpp.o
[ 17%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainiksolverpos_nr.cpp.o
[ 19%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainiksolverpos_nr_jl.cpp.o
[ 20%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainiksolvervel_pinv.cpp.o
[ 22%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainiksolvervel_pinv_givens.cpp.o
[ 23%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainiksolvervel_pinv_nso.cpp.o
[ 25%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainiksolvervel_wdls.cpp.o
[ 26%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainjnttojacdotsolver.cpp.o
[ 28%] Building CXX object src/CMakeFiles/orocos-kdl.dir/chainjnttojacsolver.cpp.o
[ 29%] Building CXX object src/CMakeFiles/orocos-kdl.dir/frameacc.cpp.o
[ 31%] Building CXX object src/CMakeFiles/orocos-kdl.dir/frames.cpp.o
[ 32%] Building CXX object src/CMakeFiles/orocos-kdl.dir/frames_io.cpp.o
[ 34%] Building CXX object src/CMakeFiles/orocos-kdl.dir/framevel.cpp.o
[ 35%] Building CXX object src/CMakeFiles/orocos-kdl.dir/jacobian.cpp.o
[ 37%] Building CXX object src/CMakeFiles/orocos-kdl.dir/jntarray.cpp.o
[ 38%] Building CXX object src/CMakeFiles/orocos-kdl.dir/jntarrayacc.cpp.o
[ 40%] Building CXX object src/CMakeFiles/orocos-kdl.dir/jntarrayvel.cpp.o
[ 41%] Building CXX object src/CMakeFiles/orocos-kdl.dir/jntspaceinertiamatrix.cpp.o
[ 43%] Building CXX object src/CMakeFiles/orocos-kdl.dir/joint.cpp.o
[ 44%] Building CXX object src/CMakeFiles/orocos-kdl.dir/kinfam_io.cpp.o
[ 46%] Building CXX object src/CMakeFiles/orocos-kdl.dir/path.cpp.o
[ 47%] Building CXX object src/CMakeFiles/orocos-kdl.dir/path_circle.cpp.o
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[ 50%] Building CXX object src/CMakeFiles/orocos-kdl.dir/path_cyclic_closed.cpp.o
[ 52%] Building CXX object src/CMakeFiles/orocos-kdl.dir/path_line.cpp.o
[ 53%] Building CXX object src/CMakeFiles/orocos-kdl.dir/path_point.cpp.o
[ 55%] Building CXX object src/CMakeFiles/orocos-kdl.dir/path_roundedcomposite.cpp.o
[ 56%] Building CXX object src/CMakeFiles/orocos-kdl.dir/rigidbodyinertia.cpp.o
[ 58%] Building CXX object src/CMakeFiles/orocos-kdl.dir/rotational_interpolation.cpp.o
[ 59%] Building CXX object src/CMakeFiles/orocos-kdl.dir/rotational_interpolation_sa.cpp.o
[ 61%] Building CXX object src/CMakeFiles/orocos-kdl.dir/rotationalinertia.cpp.o
[ 62%] Building CXX object src/CMakeFiles/orocos-kdl.dir/segment.cpp.o
[ 64%] Building CXX object src/CMakeFiles/orocos-kdl.dir/trajectory.cpp.o
[ 65%] Building CXX object src/CMakeFiles/orocos-kdl.dir/trajectory_composite.cpp.o
[ 67%] Building CXX object src/CMakeFiles/orocos-kdl.dir/trajectory_segment.cpp.o
[ 68%] Building CXX object src/CMakeFiles/orocos-kdl.dir/trajectory_stationary.cpp.o
[ 70%] Building CXX object src/CMakeFiles/orocos-kdl.dir/tree.cpp.o
[ 71%] Building CXX object src/CMakeFiles/orocos-kdl.dir/treefksolverpos_recursive.cpp.o
[ 73%] Building CXX object src/CMakeFiles/orocos-kdl.dir/treeidsolver_recursive_newton_euler.cpp.o
[ 74%] Building CXX object src/CMakeFiles/orocos-kdl.dir/treeiksolverpos_nr_jl.cpp.o
[ 76%] Building CXX object src/CMakeFiles/orocos-kdl.dir/treeiksolverpos_online.cpp.o
[ 77%] Building CXX object src/CMakeFiles/orocos-kdl.dir/treeiksolvervel_wdls.cpp.o
[ 79%] Building CXX object src/CMakeFiles/orocos-kdl.dir/treejnttojacsolver.cpp.o
[ 80%] Building CXX object src/CMakeFiles/orocos-kdl.dir/utilities/error_stack.cxx.o
[ 82%] Building CXX object src/CMakeFiles/orocos-kdl.dir/utilities/ldl_solver_eigen.cpp.o
[ 83%] Building CXX object src/CMakeFiles/orocos-kdl.dir/utilities/svd_HH.cpp.o
[ 85%] Building CXX object src/CMakeFiles/orocos-kdl.dir/utilities/svd_eigen_HH.cpp.o
[ 86%] Building CXX object src/CMakeFiles/orocos-kdl.dir/utilities/svd_eigen_Macie.cpp.o
[ 88%] Building CXX object src/CMakeFiles/orocos-kdl.dir/utilities/utility.cxx.o
[ 89%] Building CXX object src/CMakeFiles/orocos-kdl.dir/utilities/utility_io.cxx.o
[ 91%] Building CXX object src/CMakeFiles/orocos-kdl.dir/velocityprofile.cpp.o
[ 92%] Building CXX object src/CMakeFiles/orocos-kdl.dir/velocityprofile_dirac.cpp.o
[ 94%] Building CXX object src/CMakeFiles/orocos-kdl.dir/velocityprofile_rect.cpp.o
[ 95%] Building CXX object src/CMakeFiles/orocos-kdl.dir/velocityprofile_spline.cpp.o
[ 97%] Building CXX object src/CMakeFiles/orocos-kdl.dir/velocityprofile_trap.cpp.o
[ 98%] Building CXX object src/CMakeFiles/orocos-kdl.dir/velocityprofile_traphalf.cpp.o
[100%] Linking CXX shared library ../devel/lib/liborocos-kdl.so
[100%] Built target orocos-kdl
sudo make install
output
[100%] Built target orocos-kdl
Install the project...
-- Install configuration: "Release"
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/local_setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/local_setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/local_setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/share/orocos_kdl/package.xml
-- Installing: /usr/local/share/orocos_kdl/cmake/FindEigen3.cmake
-- Installing: /usr/local/share/orocos_kdl/cmake/orocos_kdl-config.cmake
-- Installing: /usr/local/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake
-- Installing: /usr/local/share/orocos_kdl/cmake/OrocosKDLTargets.cmake
-- Installing: /usr/local/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake
-- Installing: /usr/local/lib/pkgconfig/orocos-kdl.pc
-- Installing: /usr/local/lib/pkgconfig/orocos_kdl.pc
-- Installing: /usr/local/lib/liborocos-kdl.so.1.5.2
-- Installing: /usr/local/lib/liborocos-kdl.so.1.5
-- Set runtime path of "/usr/local/lib/liborocos-kdl.so.1.5.2" to "$ORIGIN/../lib"
-- Installing: /usr/local/lib/liborocos-kdl.so
-- Installing: /usr/local/include/kdl/articulatedbodyinertia.hpp
-- Installing: /usr/local/include/kdl/chain.hpp
-- Installing: /usr/local/include/kdl/chaindynparam.hpp
-- Installing: /usr/local/include/kdl/chainexternalwrenchestimator.hpp
-- Installing: /usr/local/include/kdl/chainfdsolver.hpp
-- Installing: /usr/local/include/kdl/chainfdsolver_recursive_newton_euler.hpp
-- Installing: /usr/local/include/kdl/chainfksolver.hpp
-- Installing: /usr/local/include/kdl/chainfksolverpos_recursive.hpp
-- Installing: /usr/local/include/kdl/chainfksolvervel_recursive.hpp
-- Installing: /usr/local/include/kdl/chainhdsolver_vereshchagin.hpp
-- Installing: /usr/local/include/kdl/chainidsolver.hpp
-- Installing: /usr/local/include/kdl/chainidsolver_recursive_newton_euler.hpp
-- Installing: /usr/local/include/kdl/chainidsolver_vereshchagin.hpp
-- Installing: /usr/local/include/kdl/chainiksolver.hpp
-- Installing: /usr/local/include/kdl/chainiksolverpos_lma.hpp
-- Installing: /usr/local/include/kdl/chainiksolverpos_nr.hpp
-- Installing: /usr/local/include/kdl/chainiksolverpos_nr_jl.hpp
-- Installing: /usr/local/include/kdl/chainiksolvervel_pinv.hpp
-- Installing: /usr/local/include/kdl/chainiksolvervel_pinv_givens.hpp
-- Installing: /usr/local/include/kdl/chainiksolvervel_pinv_nso.hpp
-- Installing: /usr/local/include/kdl/chainiksolvervel_wdls.hpp
-- Installing: /usr/local/include/kdl/chainjnttojacdotsolver.hpp
-- Installing: /usr/local/include/kdl/chainjnttojacsolver.hpp
-- Installing: /usr/local/include/kdl/frameacc.hpp
-- Installing: /usr/local/include/kdl/frameacc.inl
-- Installing: /usr/local/include/kdl/frameacc_io.hpp
-- Installing: /usr/local/include/kdl/frames.hpp
-- Installing: /usr/local/include/kdl/frames.inl
-- Installing: /usr/local/include/kdl/frames_io.hpp
-- Installing: /usr/local/include/kdl/framevel.hpp
-- Installing: /usr/local/include/kdl/framevel.inl
-- Installing: /usr/local/include/kdl/framevel_io.hpp
-- Installing: /usr/local/include/kdl/jacobian.hpp
-- Installing: /usr/local/include/kdl/jntarray.hpp
-- Installing: /usr/local/include/kdl/jntarrayacc.hpp
-- Installing: /usr/local/include/kdl/jntarrayvel.hpp
-- Installing: /usr/local/include/kdl/jntspaceinertiamatrix.hpp
-- Installing: /usr/local/include/kdl/joint.hpp
-- Installing: /usr/local/include/kdl/kdl.hpp
-- Installing: /usr/local/include/kdl/kinfam.hpp
-- Installing: /usr/local/include/kdl/kinfam_io.hpp
-- Installing: /usr/local/include/kdl/motion.hpp
-- Installing: /usr/local/include/kdl/path.hpp
-- Installing: /usr/local/include/kdl/path_circle.hpp
-- Installing: /usr/local/include/kdl/path_composite.hpp
-- Installing: /usr/local/include/kdl/path_cyclic_closed.hpp
-- Installing: /usr/local/include/kdl/path_line.hpp
-- Installing: /usr/local/include/kdl/path_point.hpp
-- Installing: /usr/local/include/kdl/path_roundedcomposite.hpp
-- Installing: /usr/local/include/kdl/rigidbodyinertia.hpp
-- Installing: /usr/local/include/kdl/rotational_interpolation.hpp
-- Installing: /usr/local/include/kdl/rotational_interpolation_sa.hpp
-- Installing: /usr/local/include/kdl/rotationalinertia.hpp
-- Installing: /usr/local/include/kdl/segment.hpp
-- Installing: /usr/local/include/kdl/solveri.hpp
-- Installing: /usr/local/include/kdl/stiffness.hpp
-- Installing: /usr/local/include/kdl/trajectory.hpp
-- Installing: /usr/local/include/kdl/trajectory_composite.hpp
-- Installing: /usr/local/include/kdl/trajectory_segment.hpp
-- Installing: /usr/local/include/kdl/trajectory_stationary.hpp
-- Installing: /usr/local/include/kdl/tree.hpp
-- Installing: /usr/local/include/kdl/treefksolver.hpp
-- Installing: /usr/local/include/kdl/treefksolverpos_recursive.hpp
-- Installing: /usr/local/include/kdl/treeidsolver.hpp
-- Installing: /usr/local/include/kdl/treeidsolver_recursive_newton_euler.hpp
-- Installing: /usr/local/include/kdl/treeiksolver.hpp
-- Installing: /usr/local/include/kdl/treeiksolverpos_nr_jl.hpp
-- Installing: /usr/local/include/kdl/treeiksolverpos_online.hpp
-- Installing: /usr/local/include/kdl/treeiksolvervel_wdls.hpp
-- Installing: /usr/local/include/kdl/treejnttojacsolver.hpp
-- Installing: /usr/local/include/kdl/velocityprofile.hpp
-- Installing: /usr/local/include/kdl/velocityprofile_dirac.hpp
-- Installing: /usr/local/include/kdl/velocityprofile_rect.hpp
-- Installing: /usr/local/include/kdl/velocityprofile_spline.hpp
-- Installing: /usr/local/include/kdl/velocityprofile_trap.hpp
-- Installing: /usr/local/include/kdl/velocityprofile_traphalf.hpp
-- Installing: /usr/local/include/kdl/config.h
-- Installing: /usr/local/include/kdl/utilities/error.h
-- Installing: /usr/local/include/kdl/utilities/error_stack.h
-- Installing: /usr/local/include/kdl/utilities/hash_combine.h
-- Installing: /usr/local/include/kdl/utilities/kdl-config.h
-- Installing: /usr/local/include/kdl/utilities/ldl_solver_eigen.hpp
-- Installing: /usr/local/include/kdl/utilities/rall1d.h
-- Installing: /usr/local/include/kdl/utilities/rall1d_io.h
-- Installing: /usr/local/include/kdl/utilities/rall2d.h
-- Installing: /usr/local/include/kdl/utilities/rall2d_io.h
-- Installing: /usr/local/include/kdl/utilities/rallNd.h
-- Installing: /usr/local/include/kdl/utilities/scoped_ptr.hpp
-- Installing: /usr/local/include/kdl/utilities/svd_HH.hpp
-- Installing: /usr/local/include/kdl/utilities/svd_eigen_HH.hpp
-- Installing: /usr/local/include/kdl/utilities/svd_eigen_Macie.hpp
-- Installing: /usr/local/include/kdl/utilities/traits.h
-- Installing: /usr/local/include/kdl/utilities/utility.h
-- Installing: /usr/local/include/kdl/utilities/utility_io.h
https://github.com/ros/kdl_parser
cd ~/ARX
git clone https://github.com/ChangerC77/kdl_parser.git
cd kdl_parser/
git checkout noetic-devel
cd kdl_parser/
mkdir build
cd build
cmake ..
output
-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found ament_cmake_ros: 0.10.0 (/opt/ros/humble/share/ament_cmake_ros/cmake)
-- Found Python3: /home/tars/miniconda3/envs/arx/bin/python3 (found version "3.8.20") found components: Interpreter
-- Found orocos_kdl_vendor: 0.2.5 (/opt/ros/humble/share/orocos_kdl_vendor/cmake)
-- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
-- Found Eigen3: TRUE (found version "3.4.0")
-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
-- Found urdf: 2.6.1 (/opt/ros/humble/share/urdf/cmake)
-- Found ament_lint_auto: 0.12.12 (/opt/ros/humble/share/ament_lint_auto/cmake)
-- Added test 'cppcheck' to perform static code analysis on C / C++ code
-- Configured cppcheck include dirs: $<BUILD_INTERFACE:/home/tars/workspace/VR/kdl_parser/kdl_parser/include>
-- Configured cppcheck exclude dirs and/or files:
-- Added test 'cpplint' to check C / C++ code against the Google style
-- Configured cpplint exclude dirs and/or files:
-- Added test 'lint_cmake' to check CMake code style
-- Added test 'uncrustify' to check C / C++ code style
-- Configured uncrustify additional arguments:
-- Added test 'xmllint' to check XML markup files
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tars/workspace/VR/kdl_parser/kdl_parser/build
(arx) tars@tars-ZERO:~/workspace/VR/kdl_parser/kdl_parser/build$ make
[ 50%] Building CXX object CMakeFiles/kdl_parser.dir/src/kdl_parser.cpp.o
[100%] Linking CXX shared library libkdl_parser.so
[100%] Built target kdl_parser
make
ouput
[ 50%] Building CXX object CMakeFiles/kdl_parser.dir/src/kdl_parser.cpp.o
[100%] Linking CXX shared library libkdl_parser.so
[100%] Built target kdl_parse
sudo make install
output
Consolidate compiler generated dependencies of target kdl_parser
[100%] Built target kdl_parser
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/lib/libkdl_parser.so
-- Set runtime path of "/usr/local/lib/libkdl_parser.so" to ""
-- Installing: /usr/local/include/kdl_parser
-- Installing: /usr/local/include/kdl_parser/kdl_parser
-- Installing: /usr/local/include/kdl_parser/kdl_parser/kdl_parser.hpp
-- Installing: /usr/local/include/kdl_parser/kdl_parser/visibility_control.hpp
-- Installing: /usr/local/share/ament_index/resource_index/package_run_dependencies/kdl_parser
-- Installing: /usr/local/share/ament_index/resource_index/parent_prefix_path/kdl_parser
-- Installing: /usr/local/share/kdl_parser/environment/ament_prefix_path.sh
-- Installing: /usr/local/share/kdl_parser/environment/ament_prefix_path.dsv
-- Installing: /usr/local/share/kdl_parser/environment/path.sh
-- Installing: /usr/local/share/kdl_parser/environment/path.dsv
-- Installing: /usr/local/share/kdl_parser/local_setup.bash
-- Installing: /usr/local/share/kdl_parser/local_setup.sh
-- Installing: /usr/local/share/kdl_parser/local_setup.zsh
-- Installing: /usr/local/share/kdl_parser/local_setup.dsv
-- Installing: /usr/local/share/kdl_parser/package.dsv
-- Installing: /usr/local/share/ament_index/resource_index/packages/kdl_parser
-- Installing: /usr/local/share/kdl_parser/cmake/export_kdl_parserExport.cmake
-- Installing: /usr/local/share/kdl_parser/cmake/export_kdl_parserExport-noconfig.cmake
-- Installing: /usr/local/share/kdl_parser/cmake/ament_cmake_export_dependencies-extras.cmake
-- Installing: /usr/local/share/kdl_parser/cmake/ament_cmake_export_targets-extras.cmake
-- Installing: /usr/local/share/kdl_parser/cmake/kdl_parserConfig.cmake
-- Installing: /usr/local/share/kdl_parser/cmake/kdl_parserConfig-version.cmake
-- Installing: /usr/local/share/kdl_parser/package.xml
sudo find / -name "liborocos-kdl.so*" 2>/dev/null
output
/home/tars/ARX/orocos_kinematics_dynamics/orocos_kdl/build/devel/lib/liborocos-kdl.so.1.5.2
/home/tars/ARX/orocos_kinematics_dynamics/orocos_kdl/build/devel/lib/liborocos-kdl.so
/home/tars/ARX/orocos_kinematics_dynamics/orocos_kdl/build/devel/lib/liborocos-kdl.so.1.5
/media/tars/0fe44640-ffaf-4bc4-9237-4ffbaa68a76e/usr/lib/x86_64-linux-gnu/liborocos-kdl.so
/media/tars/0fe44640-ffaf-4bc4-9237-4ffbaa68a76e/usr/lib/x86_64-linux-gnu/liborocos-kdl.so.1.5.1
/media/tars/0fe44640-ffaf-4bc4-9237-4ffbaa68a76e/usr/lib/x86_64-linux-gnu/liborocos-kdl.so.1.5
/usr/local/lib/liborocos-kdl.so.1.5.2
/usr/local/lib/liborocos-kdl.so
/usr/local/lib/liborocos-kdl.so.1.5
/usr/lib/liborocos-kdl.so.1.4
/usr/lib/liborocos-kdl.so
/usr/lib/liborocos-kdl.so.1.4.0
问题可能与动态链接库路径（LD_LIBRARY_PATH）的设置有关。尽管你已经确认了 liborocos-kdl.so.1.5 文件存在于 /usr/local/lib 路径下，但系统可能并未正确加载该路径。因此，R5Controller 无法找到对应的动态链接库文件。
确保 /usr/local/lib 路径已经包含在你的 LD_LIBRARY_PATH 中。你可以通过以下命令验证：
echo $LD_LIBRARY_PATH
如果输出中没有 /usr/local/lib，需要手动添加。
- 临时添加路径（仅对当前终端有效）：
运行以下命令，将
/usr/local/lib添加到LD_LIBRARY_PATH：
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
然后重启，看看是否解决问题。
sudo reboot
- 永久添加路径（推荐）：
将
/usr/local/lib添加到你的~/.bashrc或~/.zshrc文件中，这样每次启动终端时都会自动加载：
- bash
echo 'export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH' >> ~/.bashrc
source ~/.bashrc
- zsh
echo 'export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH' >> ~/.zshrc
source ~/.bashrc
- 更新动态链接库缓存：
确保系统动态链接器知道
/usr/local/lib中的库文件。运行以下命令：
sudo ldconfig
这会更新系统的动态链接库缓存。
- ubuntu 20.04
cd ~/ARX/R5/00-sh/ROS
./01make.sh
output 1
[ 87%] Built target arx5_arm_msg_generate_messages
[ 87%] Built target arm_control_generate_messages
[ 90%] Building CXX object arx_r5_ros/arx_r5_controller/CMakeFiles/R5KeyBoard.dir/src/KeyBoard.cpp.o
[ 93%] Building CXX object arx_r5_ros/arx_r5_controller/CMakeFiles/R5Controller.dir/src/R5Controller.cpp.o
[ 96%] Linking CXX executable /home/tars/R5/ROS/R5_ws/devel/lib/arx_r5_controller/R5KeyBoard
[ 96%] Built target R5KeyBoard
[100%] Linking CXX executable /home/tars/R5/ROS/R5_ws/devel/lib/arx_r5_controller/R5Controller
[100%] Built target R5Controller
output 2
安装依赖
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
ros-noetic-serial 已经是最新版 (1.2.1-1focal.20220104.154733)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 0 个软件包未被升级。
crw-rw-rw- 1 root dialout 166, 0 4月 14 14:59 /dev/ttyACM0
crw-rw-rw- 1 root dialout 166, 1 4月 14 14:59 /dev/ttyACM1
crw-rw-rw- 1 root dialout 166, 2 4月 14 14:59 /dev/ttyACM2
udev 规则文件已存在: /etc/udev/rules.d/99-ttyACM.rules
重新加载 udev 规则...
确保当前用户已被添加到 dialout 组...
操作完成。请重新登录，或运行 'newgrp dialout' 使更改生效。
您可以通过以下命令验证组成员信息：
groups tars
- ubuntu 22.04
cd ~/ARX/R5/00-sh/ROS2
./01make.sh
output 1
Starting >>> arm_control
Starting >>> arx5_arm_msg
--- stderr: arm_control
CMake Warning:
Manually-specified variables were not used by the project:
CATKIN_INSTALL_INTO_PREFIX_ROOT
---
Finished <<< arm_control [2.98s]
Finished <<< arx5_arm_msg [3.05s]
Starting >>> arx_r5_controller
Finished <<< arx_r5_controller [7.88s]
Summary: 3 packages finished [11.2s]
1 package had stderr output: arm_control
output 2
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
ros-humble-serial-driver 已经是最新版 (1.2.0-2jammy.20250325.213120)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 7 个软件包未被升级。
正在读取软件包列表... 完成
正在分析软件包的依赖关系树... 完成
正在读取状态信息... 完成
ros-humble-asio-cmake-module 已经是最新版 (1.2.0-2jammy.20250325.172400)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 7 个软件包未被升级。
crw-rw-rw- 1 root dialout 166, 0 4月 11 11:31 /dev/ttyACM0
crw-rw-rw- 1 root dialout 166, 1 4月 11 11:31 /dev/ttyACM1
udev 规则文件已存在: /etc/udev/rules.d/99-ttyACM.rules
重新加载 udev 规则...
确保当前用户已被添加到 dialout 组...
操作完成。请重新登录，或运行 'newgrp dialout' 使更改生效。
您可以通过以下命令验证组成员信息：
groups tars
全部子窗口编译结束后
the same step with ubuntu 20.4 and ubuntu 22.04
./02make.sh
output (ubuntu 20.04)
[ 11%] Generating Lisp code from pos_cmd_msg/PosCmd.msg
[ 22%] Generating C++ code from pos_cmd_msg/PosCmd.msg
[ 33%] Generating Python from MSG pos_cmd_msg/PosCmd
[ 44%] Generating EusLisp code from pos_cmd_msg/PosCmd.msg
[ 55%] Generating Javascript code from pos_cmd_msg/PosCmd.msg
[ 66%] Generating EusLisp manifest code for pos_cmd_msg
[ 66%] Built target pos_cmd_msg_generate_messages_nodejs
[ 66%] Built target pos_cmd_msg_generate_messages_lisp
[ 77%] Generating Python msg __init__.py for pos_cmd_msg
[ 77%] Built target pos_cmd_msg_generate_messages_cpp
[ 77%] Built target pos_cmd_msg_generate_messages_py
[ 77%] Built target pos_cmd_msg_generate_messages_eus
Scanning dependencies of target pos_cmd_msg_generate_messages
Scanning dependencies of target serial_port
[ 77%] Built target pos_cmd_msg_generate_messages
[ 88%] Building CXX object serial_port/CMakeFiles/serial_port.dir/src/serial_port.cpp.o
[100%] Linking CXX executable /home/tars/R5/ARX_VR_SDK/ROS/devel/lib/serial_port/serial_port
[100%] Built target serial_port
output (ubuntu 22.04)
Starting >>> arm_control
Finished <<< arm_control [2.32s]
Starting >>> serial_port
Finished <<< serial_port [3.26s]
Summary: 2 packages finished [5.71s]
等待编译结束，并无报错，关闭终端即可
启动程序前连接VR和双臂到电脑
设置免密登录，不然很可能在后面程序启动中因为密码未及时输入导致启动失败
sudo visudo
# Allow members of group sudo to execute any command
%sudo ALL=(ALL:ALL) NOPASSWD:ALL
- ubuntu 20.04
~/ARX/R5/00-sh/ROS
./05double_vr.sh
CAN 接口 can1 正常工作
CAN 接口 can3 正常工作
output 3
[ INFO] [1744607099.584055049]: Publishing RobotStatus message
output 4
[ERROR] [1744607001.752767584]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...
[ INFO] [1744607001.904112611]: Connected to master at [localhost:11311]
DEV/tty NAME: /dev/serial/by-id/usb-Openlight_Labs_CANable2_b158aa7_github.com_normaldotcom_canable2.git_207B32AE5052-if00 -> ../../ttyACM2
DEV/tty NAME: /dev/serial/by-id/usb-Openlight_Labs_CANable2_b158aa7_github.com_normaldotcom_canable2.git_206A32B75052-if00 -> ../../ttyACM1
DEV/tty NAME: /dev/serial/by-id/usb-1a86_USB_Single_Serial_5909045851-if00 -> ../../ttyACM0
Matching device: /dev/ttyACM0
output 5 (at first it won't output anything until use VR to control)
z: -0.03109
roll: 0.13548
pitch: 0.09784
yaw: 0.12702
gripper: 5.0
quater_x: 0.0
quater_y: 0.0
quater_z: 0.0
quater_w: 0.0
chx: 0.0
chy: 0.0
chz: 0.0
vel_l: 0.0
vel_r: 0.0
height: 0.0
head_pit: -0.29948
head_yaw: -0.00075
tempFloatData: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
tempIntData: [0, 0, 0, 0, 0, 0]
mode1: 0
mode2: 0
timeCount: 0
- ubuntu 22.04
~/ARX/R5/00-sh/ROS2
./05double_vr.sh
CAN 接口 can1 正常工作
CAN 接口 can3 正常工作
如果CAN口不正常，频繁掉线，那么重新执行ARX_CAN的部分
- left arm
~/ARX/R5/ARX_CAN/arx_can
./arx_can1.sh
- right arm
~/ARX/R5/ARX_CAN/arx_can
./arx_can3.sh
[INFO] [1744343304.435289966] [IoContext::IoContext]: Thread(s) Created: 32
DEV/tty NAME: /dev/serial/by-id/usb-Openlight_Labs_CANable2_b158aa7_github.com_normaldotcom_canable2.git_207B32AE5052-if00 -> ../../ttyACM1
DEV/tty NAME: /dev/serial/by-id/usb-Openlight_Labs_CANable2_b158aa7_github.com_normaldotcom_canable2.git_206A32B75052-if00 -> ../../ttyACM0
DEV/tty NAME: /dev/serial/by-id/usb-1a86_USB_Single_Serial_5909045851-if00 -> ../../ttyACM2
Matching device: /dev/ttyACM2
device choose: /dev/ttyACM2
[INFO] [1744343304.436588324] [serial_port_node]: /dev/ttyACM2 is opened.
Traceback (most recent call last):
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
return importlib.import_module(module_name, package=pkg_name)
File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
File "<frozen importlib._bootstrap>", line 1004, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'arm_control.arm_control_s__rosidl_typesupport_c'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/opt/ros/humble/bin/ros2", line 33, in <module>
sys.exit(load_entry_point('ros2cli==0.18.12', 'console_scripts', 'ros2')())
File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 91, in main
rc = extension.main(parser=parser, args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/command/topic.py", line 41, in main
return extension.main(args=args)
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/echo.py", line 235, in main
self.subscribe_and_spin(
File "/opt/ros/humble/lib/python3.10/site-packages/ros2topic/verb/echo.py", line 258, in subscribe_and_spin
node.create_subscription(
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py", line 1374, in create_subscription
check_is_valid_msg_type(msg_type)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 35, in check_is_valid_msg_type
check_for_type_support(msg_type)
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/type_support.py", line 29, in check_for_type_support
msg_or_srv_type.__class__.__import_type_support__()
File "/home/tars/ARX/R5/ARX_VR_SDK/ROS2/install/arm_control/lib/python3.8/site-packages/arm_control/msg/_pos_cmd.py", line 35, in __import_type_support__
module = import_type_support('arm_control')
File "/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
raise UnsupportedTypeSupport(pkg_name)
rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'arm_control'
output 4的输出不是报错
带上VR，用右手柄的A键点击打开右下角黑色图标的APP
点进去后会提示
此时VR会一直发出锁定的声音 而后双手按住手柄的AB+ XY解锁
而后同时长按 左右摇杆键（直至语音提示控制器上线）机械臂完整解锁
而后按X和A复位
按住扳机开始进行遥操作
按两侧按钮控制夹爪开合
VR使用之后一定要退出VR APP，否则可能会在使用中出现初始位姿错误的情况
按右手柄上的Meta图标按钮可以进入后台，然后使用手柄让APP退出