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修改readme中的超链接 #1

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Simo-realman Jan 22, 2025
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Simo-realman Jan 22, 2025
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8 changes: 3 additions & 5 deletions README.md
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Expand Up @@ -123,7 +123,7 @@ The robotic arm is connected to the main control through a network cable, the ca

### 3.1.ROS noetic environment

For ROS environment installation, please refer to: [ROS的最简单安装——鱼香一键安装_鱼香ros一键安装-CSDN博客](https://blog.csdn.net/m0_73745340/article/details/135281023)
Execute the following commands to complete the installation of the ROS environment.

```
wget http://fishros.com/install -O fishros && . fishros
Expand All @@ -133,8 +133,6 @@ wget http://fishros.com/install -O fishros && . fishros

This function package example uses jetson xariver NX and cuda with jatpack installed.

To flash Jetson NX and install cuda and other deep learning environments, please refer to [英伟达官方源Jetson Xavier NX安装Ubuntu20.04，配置CUDA，cuDNN，Pytorch等环境教程](https://blog.csdn.net/m0_53717069/article/details/128536837)

### 3.3.YOLOV8 dependency requirements

YOLOV8's official requirement for python version is 3.8 or above, so after installing the basic environment, you need to establish a python3.8 environment (it can be a conda virtual environment, or you can use the system's own 3.8 environment)
Expand Down Expand Up @@ -212,7 +210,7 @@ pip install pyrealsense2 -i https://pypi.tuna.tsinghua.edu.cn/simple/

## 4.Test steps

1. First confirm whether the ROS function package of the robotic arm can be used normally, because there is a corresponding relationship between the ROS function package and the version of the robotic arm. You can enter [realman资料官网](https://develop.realman-robotics.com/robot/summarize/) to view the specific version corresponding information. If there is a problem with the ROS package, please download the latest ROS package from the official website and replace rm_robot in the src directory.
1. First confirm whether the ROS function package of the robotic arm can be used normally, because there is a corresponding relationship between the ROS function package and the version of the robotic arm. You can enter [realman Official Documentation Website](https://develop.realman-robotics.com/en/robot/summarize/) to view the specific version corresponding information. If there is a problem with the ROS package, please download the latest ROS package from the official website and replace rm_robot in the src directory.

```
sudo apt-get update # 更新在线包列表
Expand Down Expand Up @@ -701,4 +699,4 @@ def catch(result,arm_orientation_msg):

## 2.抓取问题

如果在实际使用中，发现抓取不准，可以通过两个方面判断原因，一个是手眼标定结果是否正确，另外一个是物体坐标是否正确，比如识别的时候由于模型和光线的原因，会导致识别的坐标为0，0，0的情况出现，这样经过解算后的机械臂到达位置肯定就不正确，因此需要保证物体识别在初始姿态下拥有较好的效果。
如果在实际使用中，发现抓取不准，可以通过两个方面判断原因，一个是手眼标定结果是否正确，另外一个是物体坐标是否正确，比如识别的时候由于模型和光线的原因，会导致识别的坐标为0，0，0的情况出现，这样经过解算后的机械臂到达位置肯定就不正确，因此需要保证物体识别在初始姿态下拥有较好的效果。
10 changes: 4 additions & 6 deletions YOLOV8 视觉识别功能包使用说明.md
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Expand Up @@ -123,17 +123,15 @@ YOLOV8 视觉识别功能包基于RM产品开发，利用YOLOV8和D435相机视

### 3.1.ROS noetic 环境

ROS环境安装可以参考：[ROS的最简单安装——鱼香一键安装_鱼香ros一键安装-CSDN博客](https://blog.csdn.net/m0_73745340/article/details/135281023)
执行以下命令完成ROS环境安装：

```
wget http://fishros.com/install -O fishros && . fishros
```

### 3.2.Ubuntu20.04系统

本功能包示例使用安装好jatpack的jetson xariver NX，cuda

Jetson NX刷机安装cuda等深度学习环境可以参考[英伟达官方源Jetson Xavier NX安装Ubuntu20.04，配置CUDA，cuDNN，Pytorch等环境教程](https://blog.csdn.net/m0_53717069/article/details/128536837)
本功能包示例使用安装好Jatpack的Jetson Xariver NX，Cuda。

### 3.3.YOLOV8 依赖需求

Expand Down Expand Up @@ -212,7 +210,7 @@ pip install pyrealsense2 -i https://pypi.tuna.tsinghua.edu.cn/simple/

## 4.测试步骤

1.首先确认机械臂ROS功能包是否可以正常使用，因为ROS功能包与机械臂的版本存在对应关系，可以进入[realman资料官网](https://develop.realman-robotics.com/robot/summarize/)查看具体版本对应信息。若ROS包存在问题，请下载官网最新的ROS包替换src目录下的rm_robot。
1.首先确认机械臂ROS功能包是否可以正常使用，因为ROS功能包与机械臂的版本存在对应关系，可以进入[realman资料官网](https://develop.realman-robotics.com/zh/robot/summarize/)查看具体版本对应信息。若ROS包存在问题，请下载官网最新的ROS包替换src目录下的rm_robot。

```
sudo apt-get update # 更新在线包列表
Expand Down Expand Up @@ -486,4 +484,4 @@ def catch(result,arm_orientation_msg):

## 2.抓取问题

如果在实际使用中，发现抓取不准，可以通过两个方面判断原因，一个是手眼标定结果是否正确，另外一个是物体坐标是否正确，比如识别的时候由于模型和光线的原因，会导致识别的坐标为0，0，0的情况出现，这样经过解算后的机械臂到达位置肯定就不正确，因此需要保证物体识别在初始姿态下拥有较好的效果。
如果在实际使用中，发现抓取不准，可以通过两个方面判断原因，一个是手眼标定结果是否正确，另外一个是物体坐标是否正确，比如识别的时候由于模型和光线的原因，会导致识别的坐标为0，0，0的情况出现，这样经过解算后的机械臂到达位置肯定就不正确，因此需要保证物体识别在初始姿态下拥有较好的效果。