# ros2_control_arm

**Repository Path**: xiaoyangjun123456/ros2_control_arm

## Basic Information

- **Project Name**: ros2_control_arm
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-01-27
- **Last Updated**: 2025-03-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# wsl通过ros2控制机械臂

## wsl读取串口

### 1. window11下载映射驱动

[点击下载](https://github.com/dorssel/usbipd-win/releases/tag/v4.3.0)

### 2. windows配置
打开windows上的powershell窗口，输入如下命令，查看usb设备
```
usbipd list
```
找到对应设备的编号，共享设备到wls2中：
usbipd attach --wsl --busid=<BUSID>

### 3. wsl中查看

输入
```
ls /dev
```
可以看到```ttyUSB0```

## wsl驱动电机

### 依赖安装

```
# Python
pip install pyserial pyserial-asyncio
# C++
sudo apt install ros-humble-asio-cmake-module
sudo apt install ros-humble-serial-driver
# foxgrove
sudo apt install ros-humble-rosbridge-server
# deepseek
curl -fsSL https://ollama.com/install.sh | sh
ollama run deepseek-r1:7b
# 语音识别
pip install vosk pyaudio
```

### 位置控制

- 16细分下发送3200个脉冲电机旋转一圈，32000个脉冲表示转10圈

### foxglove调试

```
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
```

### 语音识别
- window下载pulseaudio到D:\desk\pulseaudio-1.1
并运行
```
D:\desk\pulseaudio-1.1\bin\pulseaudio.exe --exit-idle-time=-1 -vvvv
```