robodriver-robot-realman-aio-ros1

robodriver-robot-realman-aio-ros1

1. Get Start / 快速开始

1.1 Clone the repository / 克隆仓库

git clone https://github.com/FlagOpen/RoboDriver.git

1.2 Install the project to RoboDriver / 安装到 RoboDriver 环境

Make sure you are in the robodriver conda env.
确保你已经进入 robodriver 的 conda 环境：

conda create -n robodriver python=3.10
conda activate robodriver
pip install -e .

2. Start Collecting / 开始采集数据

2.1 Activate environment / 激活环境

conda activate robodriver

2.2 Prepare ROS1 environment / 准备 ROS1 环境

Make sure ROS1 (e.g. noetic) is installed and sourced.
确保已经安装并正确配置 ROS1（例如 noetic）：

source /opt/ros/noetic/setup.bash

如果你的 ROS 发行版不是 noetic，请根据实际安装路径进行修改。

2.3 Start dataflow (ROS1 → ZMQ bridge) / 启动 ROS1 → ZMQ 数据流

In this repository directory:
在本仓库目录中运行：

cd /path/to/your/RoboDriver/robodriver/robots/robodriver-robot-realman-aio-ros1
python -m robodriver_robot_realman_aio_ros1.ros1_zmq_bridge

2.4 Launch RoboXStudio / 启动 RoboXStudio

In your RoboDriver project directory:
在你的 RoboDriver 工程目录中：

cd /path/to/your/RoboDriver
conda activate robodriver
python robodriver/scripts/run.py   --robot.type=realman_aio_ros1

3. Notes / 注意事项

• Make sure the ROS1 bridge (ros1_zmq_bridge.py) is running before starting RoboDriver.
  启动 RoboDriver 前，请确保 ROS1 → ZMQ 桥接脚本已经在运行。

• If you encounter OpenCV cvShowImage related errors when launching RoboXStudio,
  you can comment out cv2.imshow / cv2.waitKey in robodriver/scripts/run.py.
  如果在启动 RoboXStudio 时遇到 OpenCV cvShowImage 的报错，可以在
  robodriver/scripts/run.py 中注释掉 cv2.imshow 和 cv2.waitKey 调用。