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        "提升系统稳定性；使用Git进行版本管理。",
        "相关技能：ROS2、Gazebo、Slam_toolbox、Navigation2（A*/DWA）、",
        "算法基础",
        "OpenCV、Python、C++",
        "SLAM、A*、DWA、",
        "HSV视觉识别，多传感器融合",
        "02",
        "基于ROS的机械臂视觉抓取与分拣仿真系统",
        "2026.08–2026.10",
        "独立开发",
        "工具与系统",
        "模型构建：基于开源六轴机械臂URDF基础模型二次开发，新增并调整夹爪连杆与关节",
        "限位，添加深度相机挂载连杆，配置碰撞体与惯性参数，使用Xacro拆分简化文件",
        "Git、Ubuntu 22.04",
        "并核对修正原模型运动学参数（DH）错误。",
        "仿真与可视化：自主配置Gazebo工作台、红绿目标方块、光照与深度相机传感器插件",
        "语言与证书",
        "（topic、噪声、图像频率），新建Rviz配置实时观测TF、相机图像与点云。",
        "视觉与坐标解算（Python）：基于OpenCVHSV阅值分割识别红绿方块并获取像素中心，",
        "CET-4",
        "读取深度图将像素坐标转为相机三维坐标，基于TF2编写相机坐标系到机械臂基坐标系",
        "转换并发布抓取位姿。",
        "抓取业务逻辑：使用Movelt配置助手生成基础包后，自行修改规划组与碰撞检测参数",
        "编写Python控制逻辑串接视觉目标位姿、Movelt规划、夹爪开合与抓取一放置一复位",
        "循环。",
        "问题定位与优化：定位相机静态外参旋转/平移符号写反导致的抓取偏移（逐级打印深度",
        "与TF核查），增加预抓取位姿与夹爪补偿偏移，反复测试后抓取稳定；另简化夹爪碰撞",
        "包围盒解决Movelt误报碰撞的规划失败。",
        "相关技能：ROS、Gazebo、Rviz、Movelt、TF2、OpenCV、URDF/Xacro、Python"
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