如果重新编译的话,先catkin_make -DCATKIN_WHITELIST_PACKAGES="ur3_move", 因为ur3_move中定义了srv,必须先生成.h,所以强制先编译这个 然后再catkin_make -DCATKIN_WHITELIST_PACKAGES=''
如果重新编译的话，依次： catkin_make -DCATKIN_WHITELIST_PACKAGES="ur_msgs" catkin_make -DCATKIN_WHITELIST_PACKAGES="household_objects_database_msgs" catkin_make -DCATKIN_WHITELIST_PACKAGES="manipulation_msgs" catkin_make -DCATKIN_WHITELIST_PACKAGES="ur3_move" catkin_make -DCATKIN_WHITELIST_PACKAGES='' catkin_make
追踪banana roslaunch openni2_launch openni2.launch roslaunch ur3_move realUR3Cartesian.launch rosrun image_process detectMoveBanana rosrun ur3_move trackBanana
roslaunch openni2_launch openni2.launch报错 解决：sudo apt-get install ros-noetic-openni2-*
roslaunch ur3_move realUR3Cartesian.launch报错： 解决：sudo apt-get install roscontroller
手眼标定： roslaunch openni2_launch openni2.launch roslaunch ur3_move realUR3Cartesian.launch roslaunch easy_handeye ur3_xtion_calibration.launch rosrun rqt_gui rqt_gui 然后选菜单栏的plugins->visulization->image view,、topic选择/aruco_signal/result 移动机械臂（先看看移动后tf能不能更新），保证相机都能看到码，然后采点，师兄采了30组好像，最后计算
git@github.com:a-liukun/Arm.git