diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt similarity index 93% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt index 728b454..63fddec 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.0.2) -project(upbot_following) +project(FollowingCar) find_package(catkin REQUIRED COMPONENTS roscpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/Mat.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/Mat.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/align.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/align.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/lighthouse.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/lighthouse.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/mapping.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/mapping.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/senddata.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/senddata.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/type.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/type.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/uwb.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/uwb.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml similarity index 92% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml index 8bdc0fa..7415ed8 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml @@ -1,8 +1,8 @@ - upbot_following + FollowingCar 0.0.0 - The upbot_following package + The FollowingCar package @@ -19,7 +19,7 @@ - + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/Mat.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/Mat.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/align.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/align.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/align.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/align.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/lighthouse.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/lighthouse.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/main.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/mapping.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/mapping.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/senddata.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/senddata.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/uwb.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-09_08-06-34.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-09_08-06-34.txt new file mode 100644 index 0000000..818d722 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-09_08-06-34.txt @@ -0,0 +1,226 @@ +time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez +1712649995.270271216,-2.14681,-1.24004,-0.0680199,0.000126608,-0.118708,0.00108108,0,0.0666667,-0.2842111712649995.270350534, +1712649995.420440111,-2.14681,-1.24004,-0.0680199,0.0001273,-0.119356,0.00107517,0,0.0666667,-0.2842111712649995.420477729, +1712649995.570565265,-2.14681,-1.24004,-0.0680199,0.000128683,-0.120654,0.00116402,0,0.0666667,-0.2842111712649995.570598800, 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+1712650028.305864570,-2.14681,-1.24004,-0.0680199,0.000311668,-0.29222,0.000552286,0,0.0666667,-0.3221051712650028.305912395, +1712650028.456013945,-2.14681,-1.24004,-0.0680199,0.000312428,-0.292932,0.000550537,0,0.0666667,-0.3221051712650028.456069061, +1712650028.606180526,-2.14681,-1.24004,-0.0680199,0.000312806,-0.293287,0.000544279,0,0.0666667,-0.3221051712650028.606256637, +1712650028.756352355,-2.14681,-1.24004,-0.0680199,0.00031356,-0.293994,0.000532592,0,0,11712650028.756443339, +1712650028.906635582,-2.14681,-1.24004,-0.0680199,0.00031356,-0.293994,0.000484469,0,0,11712650028.906731232, diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h index 9669503..7f205ab 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h @@ -82,6 +82,10 @@ #include #include #include +#include +#include +#include + // services and actions #include #include @@ -118,6 +122,7 @@ #define PI 3.14159265359 +std::mutex log_mutex; typedef actionlib::SimpleActionClient MoveBaseClient; @@ -288,6 +293,63 @@ protected: mat.at(y,x) = map.data[y*mat.cols+x]; } + void fileinit(const std::string& directory) + { + std::time_t now = std::time(nullptr); + std::tm local_time = *std::localtime(&now); + + // 根据当前时间构建文件名 + std::stringstream filename_stream; + filename_stream << directory << "/data_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt"; + std::string filename = filename_stream.str(); + outfile.open(filename); + if (outfile.is_open()) { + std::cout << "start saving data" << std::endl; + outfile << "time,"\ + << "goalx,goaly,goaltheta,"\ + << "currentx,currenty,currenttheta,"\ + << "flag,"\ + << "linearx,anglez"\ + << "\n"; + } else { + std::cerr << "Unable to open file " << filename << std::endl; + } + } + void loginit(const std::string& directory) + { + std::time_t now = std::time(nullptr); + std::tm local_time = *std::localtime(&now); + + // 根据当前时间构建文件名 + std::stringstream filename_stream; + filename_stream << directory << "/log_" << std::put_time(&local_time, "%Y-%m-%d_%H-%M-%S") << ".txt"; + std::string filename = filename_stream.str(); + outfile.open(filename); + if (outfile.is_open()) { + std::cout << "start saving data" << std::endl; + } else { + std::cerr << "Unable to open file " << filename << std::endl; + } + } + + + void writetofile(const geometry_msgs::Pose2D& map_oriented_pose,const geometry_msgs::Pose2D& current_pose,const bool flag_,const geometry_msgs::Twist& cmd_vel_) + { + ros::Time time=ros::Time::now(); + outfile << time <<","\ + << map_oriented_pose.x << "," << map_oriented_pose.y << "," << map_oriented_pose.theta << ","\ + << current_pose.x << "," << current_pose.y << "," << current_pose.theta << ","\ + << flag_ << ","\ + << cmd_vel_.linear.x <<","<< cmd_vel_.angular.z<<"\n"; + } + void writetolog(const std::string& string) + { + std::lock_guard lock(log_mutex); + ros::Time time=ros::Time::now(); + outlog << time <<","<< string <<"\n"; + } + + // !!Important!! // define the Nodehandle before the action server, or else the server won't start @@ -296,13 +358,13 @@ protected: actionlib::SimpleActionServer room_exploration_server_; dynamic_reconfigure::Server room_exploration_dynamic_reconfigure_server_; - private: void turn(int lr,int time);//rad/s ,0.1s void gostraight(float v,int time);// 0.1s void publishZeroVelocity();//Publishes a velocity command of zero to the base + std::ofstream outfile,outlog; bool flag_=0; bool flag_ultra_=0; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp index f508352..ca19456 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp @@ -72,10 +72,13 @@ int main(int argc, char **argv) // std::string file_name; // priv_nh.param("image", file_name, "map.pgm"); std::string map_name; + //纯数字的map_name 不是string类型的读不上 priv_nh.param("robot_env", map_name, "lab_ipa"); // image_path = env_pack_path + "/envs/" + map_name + "/" + file_name; // --------------------修改地图路径------------------------------------------------------ image_path = "/home/firefly/pibot_ros/ros_ws/src/map/" + map_name + ".png"; + std::cout< robot_poses; geometry_msgs::Pose2D last_pose; - geometry_msgs::Pose2D pose; + geometry_msgs::Pose2D pose,posetmp; + + //file init + fileinit("/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data"); + loginit("/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log"); + for(size_t map_oriented_pose = 0; map_oriented_pose < exploration_path.size(); ++map_oriented_pose) { // check if the path should be continued or not @@ -738,6 +743,8 @@ void RoomExplorationServer::navigateExplorationPath(const std::vectordis) { float distance = obstacle_info.distance; + // std::cout<<"------------"<5&&distance<45&&cmd_vel_.linear.x!=0) - if(distance>10&&distance<45) + if(distance>10&&distance<60) { flag_ = 1; + std::cout<<"-------jiancewuti-----"< --> - - + - + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/2_3.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/2_3.png new file mode 100644 index 0000000..c04969c 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and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/800.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch index 3b4bb48..dcc1a30 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch @@ -69,7 +69,7 @@ - + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py index 87b9862..718671a 100755 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py @@ -67,8 +67,8 @@ class OdomEKF(): def pub_ekf_odom(self, msg): odom = Odometry() odom.header = msg.header - # odom.header.frame_id = '/odom' - # odom.child_frame_id = 'base_link' + #odom.header.frame_id = '/odom' + #odom.child_frame_id = 'base_link' odom.pose = msg.pose odom.twist = self.twist self.ekf_pub.publish(odom) diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz index 938a4ce..d5617f9 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz @@ -4,12 +4,12 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Global Options1 - /Status1 - - /Grid1 - - /RobotModel1 + - /TF1 + - /TF1/Status1 - /TF1/Frames1 - /TF1/Tree1 - - /Map1 - /Global Map1/Planner1 - /Local Map1/Planner1 Splitter Ratio: 0.5 @@ -99,6 +99,8 @@ Visualization Manager: Value: true odom: Value: true + odom_combined: + Value: true Marker Alpha: 1 Marker Scale: 1 Name: TF @@ -113,6 +115,8 @@ Visualization Manager: {} imu_link: {} + odom_combined: + {} Update Interval: 0 Value: true - Alpha: 1 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h index 0586c6c..f8cc745 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h @@ -3,13 +3,13 @@ * Current Version : V1.0 * Author : logzhan * Date of Issued : 2022.09.14 -* Comments : 导航的矩阵计算 +* Comments : �����ľ������ ********************************************************************************/ /* Header File Including -----------------------------------------------------*/ #ifndef _H_MAT_ #define _H_MAT_ -#define MAT_MAX 15 //决定了能处理的最大矩阵 +#define MAT_MAX 15 //�������ܴ����������� #include @@ -20,55 +20,60 @@ class Mat { public: Mat(); - Mat(int setm,int setn,int kind);//kind=1单位阵，kind=0零矩阵,其它不初始化内容。 - void Init(int setm,int setn,int kind);//kind=1单位阵，kind=0零矩阵,其它不初始化内容。 + Mat(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ� + void Init(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ� void Zero(void); - //这些关键数本应该作为private的。但是为了方便，我也做成了public - int m;//行数 - int n;//列数 - double mat[MAT_MAX][MAT_MAX];//矩阵数据内容 + //��Щ�ؼ�����Ӧ����Ϊprivate�ġ�����Ϊ�˷��㣬��Ҳ������public + int m;//���� + int n;//���� + double mat[MAT_MAX][MAT_MAX];//������������ - //特殊的矩阵 - Mat SubMat(int a,int b,int lm,int ln);//获取矩阵一部分 - void FillSubMat(int a,int b,Mat s);//填充子矩阵 + //����ľ��� + Mat SubMat(int a,int b,int lm,int ln);//��ȡ����һ���� + void FillSubMat(int a,int b,Mat s);//����Ӿ��� - //向量专用 - double absvec();//这个是向量的长度。不是个别元素的绝对值。 - double Sqrt();//向量长度的平方 - friend Mat operator ^(Mat a,Mat b);//叉乘 + //����ר�� + double absvec();//����������ij��ȡ����Ǹ���Ԫ�صľ���ֵ�� + double Sqrt();//�������ȵ�ƽ�� + friend Mat operator ^(Mat a,Mat b);//��� - //运算 + //���� friend Mat operator *(double k,Mat a); friend Mat operator *(Mat a,double k); friend Mat operator /(Mat a,double k); friend Mat operator *(Mat a,Mat b); friend Mat operator +(Mat a,Mat b); friend Mat operator -(Mat a,Mat b); - friend Mat operator ~(Mat a);//转置 + friend Mat operator ~(Mat a);//ת�� friend Mat operator /(Mat a,Mat b);//a*inv(b) friend Mat operator %(Mat a,Mat b);//inv(a)*b - //MAT inv();//逆矩阵 + //MAT inv();//����� private: - // 为了用高斯消元法，做的一些函数 - // 交换两行 + // Ϊ���ø�˹��Ԫ��������һЩ���� + // �������� void RowExchange(int a, int b); - // 某一行乘以系数 + // ijһ�г���ϵ�� void RowMul(int a,double k); - // 对某一行加减另一行的倍数 + // ��ijһ�мӼ���һ�еı��� void RowAdd(int a,int b, double k); - // 交换两列 + // �������� void ColExchange(int a, int b); - // 某一列乘以系数 + // ijһ�г���ϵ�� void ColMul(int a,double k); - // 对某一列加减另一列的倍数 + // ��ijһ�мӼ���һ�еı��� void ColAdd(int a,int b,double k); }; + + + + + #endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h index 4718fed..482662c 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h @@ -28,9 +28,12 @@ namespace uwb_slam{ int pre_seq = -1; int cur_seq = -1; int AnchorNum = 3; - int AnchorPos[3][3]={-240, 400, 113,\ - 240, 400, 113,\ - -400, -240, 113};//基站坐标，序号+三维坐标 + int AnchorPos[3][3]={-245, 240, 50,\ + 240,240, 50,\ + -245, -115, 50};//基站坐标，序号+三维坐标 + // int AnchorPos[3][3]={-240, 400, 113,\ + // 240, 400, 113,\ + // -400, -240, 113};//基站坐标，序号+三维坐标 uint8_t tmpdata[13]; int d[3]; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/map/2.png b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/map/2.png new file mode 100644 index 0000000..6c7d1fc Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/map/2.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/map/output_image.png b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/map/output_image.png new file mode 100644 index 0000000..76abbc6 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/map/output_image.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp index 8bbf4da..4192cb5 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp @@ -3,7 +3,7 @@ * Current Version : V1.0 * Author : logzhan * Date of Issued : 2022.09.14 -* Comments : 矩阵运算库 +* Comments : ��������� ********************************************************************************/ /* Header File Including -----------------------------------------------------*/ #include "Mat.h" @@ -28,7 +28,7 @@ int mini(int a,int b) } -//不要在成员函数内调用构造函数 +//��Ҫ�ڳ�Ա�����ڵ��ù��캯�� Mat::Mat() { Init(1,1,0); @@ -51,7 +51,7 @@ void Mat::Init(int setm,int setn,int kind) if(kind==1) { int x; - //C原有的max min会导致两次运行自变量。有附带操作的东西不要直接放到max里面。 + //Cԭ�е�max min�ᵼ�����������Ա������и��������Ķ�����Ҫֱ�ӷŵ�max���档 int xend = mini(this->m, this->n); for(x=0;x < xend;x++){ mat[x][x] = 1; @@ -184,12 +184,12 @@ Mat operator ~(Mat a) Mat operator /(Mat a,Mat b) { - //高斯消元法 + //��˹��Ԫ�� int x,xb; for(x=0;xuwb_data_.uwb_t_) { // std::cout << "uwb received" << std::endl; - //这一步是为了把上述提到的UWB设备与imu设备不在同一坐标轴上设计的坐标轴对齐操作 + // Rotate.mat[0][0] = cos(yaw); // Rotate.mat[0][1] = -sin(yaw); // Rotate.mat[1][0] = sin(yaw); @@ -85,8 +85,7 @@ namespace uwb_slam{ uwbPos.mat[1][0] = uwb_->uwb_data_.y_; // uwbPos = uwbPos - Rotate * uwbStartPos; - //后期如UWB摆放在imu正上方即删除 - //卡尔曼更新过程 + predPos = F * syncPos + deltaPos; Z = H * uwbPos; P = F * P * (~F) + Q; @@ -95,32 +94,32 @@ namespace uwb_slam{ P = (I - Kg * H) * P; uwbDataRxTime = uwb_->uwb_data_.uwb_t_; } else { - syncPos = syncPos + deltaPos;//如果UWB没有更新信息，则使用imu对齐位置进行更新 + syncPos = syncPos + deltaPos; } imuDataRxTime = imu_odom_.imu_data_.imu_t_; odomDataRxTime = odom_tmp_; std::cout << "syncPos:" << syncPos.mat[0][0] << " " << syncPos.mat[1][0]; - std::cout << " uwbPos:" << uwbPos.mat[0][0] << " " << uwbPos.mat[1][0]; - std::cout << " imu_odomPos:" << imu_odomPos.mat[0][0] << " " << imu_odomPos.mat[1][0]<< std::endl; + std::cout << " uwbPos:" << uwbPos.mat[0][0] << " " << uwbPos.mat[1][0] << std::endl; + // std::cout << " imu_odomPos:" << imu_odomPos.mat[0][0] << " " << imu_odomPos.mat[1][0]<< std::endl; // std::cout << " lightHousePos:" << lighthouse_->data.x_ << " " << lighthouse_->data.y_ << std::endl; - // outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\ - // << imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\ - // << imu_odom_.imu_data_.w_[0] << "," << imu_odom_.imu_data_.w_[1] << "," << imu_odom_.imu_data_.w_[2] << ","\ - // << qx << "," << qy << "," << qz << "," << qw << ","\ - // << imu_odom_.vxy_ << "," <data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\ - // << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n"; + outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\ + << imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\ + << imu_odom_.imu_data_.w_[0] << "," << imu_odom_.imu_data_.w_[1] << "," << imu_odom_.imu_data_.w_[2] << ","\ + << qx << "," << qy << "," << qz << "," << qw << ","\ + << imu_odom_.vxy_ << "," <data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\ + << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n"; } } - // outfile.close(); + outfile.close(); // std::cout<< "Data written to file." << std::endl; } @@ -156,15 +155,6 @@ namespace uwb_slam{ } - - - - - - - - - }; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp index e295b0a..59045c0 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp @@ -1,41 +1,22 @@ - /**--------------------------------------------------------------------- - * Function : Senddata::publishOdometry - * Description : 发布UWB IMU 里程计融合的定位信息 一个发布给导航 一个发布给tftree 坐标变换使用 - * Date : 2024/3/19 linyuehang - *---------------------------------------------------------------------**/ - #include "senddata.h" namespace uwb_slam { void Senddata::Run(){ - // 初始化了一个名为loop_rate的ros::Rate对象,频率设置为10赫兹 - ros::Rate loop_rate(10); - // 初始化一个ROS发布者，用于发布nav_msgs::Odometry类型的消息 - // 主题被设置为"uwb_odom"，队列大小为50 - position_pub_=nh_.advertise("odom",10); - // 初始化了一个ROS订阅者，用于订阅"odom"主题。它指定了当在该主题上接收到 - // 消息时，将调用Senddata类的odomCB回调函数。队列大小被设置为10 + ros::Rate loop_rate(100); + position_pub_=nh_.advertise("odom",10); while(ros::ok()){ - // 按照10Hz频率发布uwb信息 - publishOdometry(); - publishtf(); + // publishOdometry(); + publishtf(); ros::spinOnce(); - // 用于控制循环速率 loop_rate.sleep(); } } - - /**--------------------------------------------------------------------- - * Function : Senddata::publishOdometry - * Description : 发布UWB里程计数据，这里读取的数据到底是什么，依旧存在疑问 - * Date : 2023/12/13 zhanli@review - *---------------------------------------------------------------------**/ void Senddata::publishOdometry() { diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp index 6d41146..85526a7 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp @@ -45,14 +45,22 @@ namespace uwb_slam{ while(1){ this->Serread(); + // std::cout<<"s"<x<d[1], &tmpdata[5], sizeof(uint16_t)); memcpy(&this->d[2], &tmpdata[7], sizeof(uint16_t)); // std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl; - // 如果距离过大说明数据无效 if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) { return; } - // 修正车子和标签的高度差 - // d[i]是三维距离， for(int i=0; i<3; i++) { this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) * (AnchorPos[i][2] - CARHEIGHT)); } - // 多项式拟合，用于提高精度，注释之后不影响 - // 在不同的距离采集数据，然后拟合出一条曲线 - // 这个地方的参数纯粹和设备特性有关，和标签位置无关 d[0] = ((((4.9083e-07 * d[0]) - 4.6166e-04) * d[0]) + 1.0789) * d[0] + 5.4539; d[1] = ((((-4.1679e-07 * d[1]) + 5.0999e-04) * d[1]) + 0.7930) * d[1] + 29.8296; d[2] = ((((2.3514e-07 * d[2]) - 1.8277e-04) * d[2]) + 0.9935) * d[2] + 9.8852; + std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl; + for(int i=0; i<2; i++) { b.mat[i][0] = (this->d[0]*this->d[0]-this->d[i+1]*this->d[i+1])\ -(this->AnchorPos[0][0]*this->AnchorPos[0][0]-this->AnchorPos[i+1][0]*this->AnchorPos[i+1][0])\ -(this->AnchorPos[0][1]*this->AnchorPos[0][1]-this->AnchorPos[i+1][1]*this->AnchorPos[i+1][1]); } - // 构造线性最小二乘求解位置 Mat AT=~A; uwbPos=(AT*A)%AT*b; this->uwb_data_.x_ = uwbPos.mat[0][0]; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/CMakeLists.txt index 95f81b0..f39ac6e 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/CMakeLists.txt +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/CMakeLists.txt @@ -11,7 +11,6 @@ find_package(catkin REQUIRED COMPONENTS find_package(OpenCV REQUIRED) find_package(Threads REQUIRED) -find_package(Boost REQUIRED COMPONENTS thread chrono) # generate_messages( @@ -42,13 +41,10 @@ add_library( include/upbot_vision/preprocess.h include/upbot_vision/ranging.h include/upbot_vision/Timer.h - include/upbot_vision/ultrasonic.h - src/detection.cc src/postprocess.cc src/preprocess.cc src/ranging.cc - src/ultrasonic.cc ) add_dependencies(head ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) @@ -57,14 +53,13 @@ target_link_libraries(head ) add_executable(main src/main.cc) -add_executable(ultrasonic src/ultrasonic.cc) +# add_executable(sub_dis src/sub_dis.cc) add_dependencies(main ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) # add_dependencies(sub_dis ${${PROJECT_NAME}_EXPORTED_TARGETS} upbot_vision_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) -target_link_libraries(ultrasonic - ${Boost_LIBRARIES} Boost::thread Boost::chrono - ${catkin_LIBRARIES} - ) +# target_link_libraries(sub_dis +# ${catkin_LIBRARIES} +# ) target_link_libraries(main head ${catkin_LIBRARIES} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h index 3af5a21..c63787f 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h @@ -17,28 +17,28 @@ private: // rknn_handle hdx; cv::VideoCapture vcapture; Detection yolov5s; - - /* new stereo +/* 2-stereo Mat cam_matrix_left = (Mat_(3, 3) << - 4.809895643547006e+02, 0, 0, - 0,4.807599168204821e+02, 0, - 3.362108165786334e+02, 2.298502481932070e+02, 1); + 4.791153893499601e+02, 0, 0, + 0,4.798785696902847e+02, 0, + 3.195422157433843e+02, 2.355081129251360e+02, 1); Mat cam_matrix_right = (Mat_(3, 3) << - 4.903260126250775e+02, 0, 0, - 0,4.900310486342847e+02, 0, - 3.230124997386542e+02, 2.346297967642670e+02, 1); - Mat distortion_l = (Mat_(1, 5) <<0.113688825569154,-0.106166584327678, 0, + 4.851946576927952e+02, 0, 0, + 0,4.848412081674973e+02, 0, + 3.139237321746737e+02, 2.316610217516937e+02, 1); + Mat distortion_l = (Mat_(1, 5) <<0.091215339806518,-0.088601421082219, 0, 0, 0); - Mat distortion_r = (Mat_(1, 5) <<0.121425307936153,-0.141892782717707, 0, + Mat distortion_r = (Mat_(1, 5) <<0.086266675232625,-0.070869167707634, 0, 0, 0); Mat rotate = (Mat_(3, 3) << - 0.999996295879846, 8.723884080433472e-04, 0.002578209660240, - -8.682590894537506e-04,0.999998339366207, -0.001602308016931, - -0.002579603213718,0.001600063527818,0.999995392711370); + 0.999999240684794, -5.243648990073547e-05, -0.001231210888060, + 5.272610271745578e-05, 0.999999970951700, -0.002653487630467, + 0.001231198519510, -2.352594617066257e-04,0.999999214401287); Mat trans = (Mat_(3, 1) << - -60.348359844102470,-0.030699794141365, 0.495248628081046); + -61.636981845981540, -1.107000282904877, -1.084419989523733); */ +/* Mat cam_matrix_left = (Mat_(3, 3) << 4.869084743604942e+02, 0, 0, 0,4.859921620798602e+02, 0, @@ -58,7 +58,27 @@ private: 0.012484284819374, 0.002658381435011,0.999918534502034); Mat trans = (Mat_(3, 1) << -60.319997608188590, -0.019664800882533, -0.638993708428792); +*/ +// 3_stereo: + Mat cam_matrix_left = (Mat_(3, 3) << + 4.926816600424309e+02, 0, 0, + 0,4.926464996604736e+02, 0, + 2.968913145354954e+02, 2.282943456903496e+02, 1); + Mat cam_matrix_right = (Mat_(3, 3) << + 4.936169711204374e+02, 0, 0, + 0,4.934446944784490e+02, 0, + 2.874782972788689e+02, 2.301583475160467e+02, 1); + Mat distortion_l = (Mat_(1, 5) <<0.109321356376779,-0.134909702605162, 0, + 0, 0); + Mat distortion_r = (Mat_(1, 5) <<0.103636140273929,-0.111420134027036, 0, + 0, 0); + Mat rotate = (Mat_(3, 3) << + 0.999971802318130, -3.077374593154837e-04, -0.007503323682689, + -3.351245877303192e-04,0.999993286165984, -0.003649015547566, + 0.007502150367846, 0.003651427202043,0.999965191803818); + Mat trans = (Mat_(3, 1) << + -60.284286962670556, -0.093489637356761,-0.264272235561136); cv::Mat mapX1, mapX2, mapY1, mapY2, q, Z; int imgw, imgh; @@ -77,4 +97,9 @@ public: std::vector muban(cv::Mat &left_image, cv::Mat &right_image, const int *coordinates); std::vector get_range(); void horizon_estimate(cv::Mat& img, cv::Mat& bboxs,int k); + Ranging& operator=(const Ranging& other) { + if (this != &other) { + } + return *this; +} }; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ultrasonic.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ultrasonic.h deleted file mode 100644 index 6ff8f5d..0000000 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ultrasonic.h +++ /dev/null @@ -1,24 +0,0 @@ -#include -#include -#include -#include -#include - - -class UltrasonicNode { -private: - ros::NodeHandle nh; - ros::Publisher ultrasonic_pub; - boost::asio::io_service io; - boost::asio::serial_port serial; - -public: - UltrasonicNode() : nh("~"), serial(io), ultrasonic_pub(nh.advertise("ultrasonic", 1)) { - std::string port_name; - nh.param("port", port_name, "/dev/ttyUSB0"); - serial.open(port_name); - serial.set_option(boost::asio::serial_port_base::baud_rate(9600)); - } - void readUltrasonic(); -}; - \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc index b8ecf6e..e9f648b 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc @@ -196,6 +196,6 @@ detect_result_group_t Detection::outputParse(cv::Mat netInputImg) post_process((int8_t *)outputs[0].buf, (int8_t *)outputs[1].buf, (int8_t *)outputs[2].buf, height, width, box_conf_threshold, nms_threshold, pads, scale_w, scale_h, out_zps, out_scales, &detect_result_group); - + rknn_outputs_release(ctx, io_num.n_output,outputs); return detect_result_group; } \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc index 7438b1a..3c310b3 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc @@ -10,12 +10,28 @@ #include "opencv2/imgcodecs/imgcodecs.hpp" #include #include +#include #include "pibot_msgs/dis_info.h" #include "pibot_msgs/dis_info_array.h" #define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000) -Ranging r(11, 640, 480); +Ranging r(40, 640, 480); +// int findCameraIndex(); +// Ranging r(findCameraIndex(), 640, 480); + +// int findCameraIndex() { +// cv::VideoCapture cap(0); +// if (cap.isOpened()) { +// return 0; +// } +// cap.open(40); +// if (cap.isOpened()) { +// return 40; +// } +// return -1; +// } + std::queue> frameInfo; std::mutex g_mutex; @@ -49,20 +65,7 @@ void *ranging(void *args) // ranging线程 } dis_pub_.publish(dis_array); - // if (!dis_array.dis.empty()) - // { - // for (const auto& data : dis_array.dis) - // { - // ROS_INFO("distance: %.2f, width: %.2f, height: %.2f, angle: %.2f", - // data.distance, data.width, data.height, data.angle); - // } - // } - - } - // else{ - // std::cerr << "Info matrix is empty!" << std::endl; - // } g_mutex.lock(); for (uchar i = 0; i < frameInfo.size(); i++) // 只保存当前最新的图片帧信息 frameInfo.pop(); @@ -75,6 +78,10 @@ void *ranging(void *args) // ranging线程 int main(int argc, char **argv) { ros::init(argc, argv, "stereo"); + // if (argc >= 2) { + // index = atoi(argv[1]); + // r = Ranging(index, 640, 480); + // } ros::NodeHandle nh; pthread_t tids[1]; // 执行ranging线程 int ret = pthread_create(&tids[0], NULL, ranging, NULL); diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc index 96589c2..e1255ca 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc @@ -301,7 +301,7 @@ std::vector Ranging::get_range() if (detect_result_group.count<=0) { - std::cout<<"detect nothing"< Ranging::get_range() { detect_result_t *det_result = &(detect_result_group.results[i]); - // if(strcmp(det_result->name, "vase") == 0 || strcmp(det_result->name, "suitcase") == 0) - if(strcmp(det_result->name, "vase") == 0|| strcmp(det_result->name, "suitcase") == 0|| - // strcmp(det_result->name, "mouse") == 0|| strcmp(det_result->name, "keyboard") == 0|| + if(strcmp(det_result->name, "vase") == 0) + // if(strcmp(det_result->name, "vase") == 0|| strcmp(det_result->name, "suitcase") == 0|| + // strcmp(det_result->name, "person") == 0|| strcmp(det_result->name, "keyboard") == 0|| // strcmp(det_result->name, "mouse") == 0|| strcmp(det_result->name, "bowl") == 0|| - strcmp(det_result->name, "cup") == 0|| strcmp(det_result->name, "bottle")==0) + // strcmp(det_result->name, "cup") == 0|| strcmp(det_result->name, "bottle")==0) { count++; sprintf(text, "%s %.1f%%", det_result->name, det_result->prop * 100); // printf("%s @ (%d %d %d %d) %f\n", det_result->name, det_result->box.left, det_result->box.top, // det_result->box.right, det_result->box.bottom, det_result->prop); + if(det_result->prop <=0.2) + continue; int xmin = det_result->box.left; int ymin = det_result->box.top; int xmax = det_result->box.right; int ymax = det_result->box.bottom; + rectangle(Rframe, cv::Point(xmin, ymin), cv::Point(xmax, ymax), cv::Scalar(256, 0, 0, 256), 3); putText(Rframe, text, cv::Point(xmin, ymin + 12), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255)); // (x,y) (x,y) conf + detBoxes.at(count-1, 0) = xmin; detBoxes.at(count-1, 1) = ymin; detBoxes.at(count-1, 2) = xmax; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ultrasonic.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ultrasonic.cc deleted file mode 100644 index 02e946b..0000000 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ultrasonic.cc +++ /dev/null @@ -1,46 +0,0 @@ -#include "upbot_vision/ultrasonic.h" - - -void UltrasonicNode::readUltrasonic() { - try { - while (true) { - // 发送数据 - serial.write_some(boost::asio::buffer("\xA0", 1)); - // ROS_INFO("Data sent: 0xA0"); - - // 读取数据 - char data[3]; - boost::asio::read(serial, boost::asio::buffer(data, 3)); - sensor_msgs::Range range_msg; - range_msg.header.stamp = ros::Time::now(); - range_msg.header.frame_id = "ultrasonic_sensor"; - range_msg.radiation_type = sensor_msgs::Range::ULTRASOUND; - range_msg.field_of_view = M_PI; // Assuming 180 degrees - range_msg.min_range = 0.0; // Minimum range in meters - range_msg.max_range = 5.0; // Maximum range in meters - range_msg.range = ((data[0] << 16) + (data[1] << 8 ) + data[2]) / 1000.0; // Convert to meters - ultrasonic_pub.publish(range_msg); - ROS_INFO("Received ultrasonic data: %f mm", range_msg.range); - - // 延迟一段时间 - boost::this_thread::sleep_for(boost::chrono::milliseconds(100)); - } - } catch (std::exception& e) { - ROS_ERROR("Error reading ultrasonic data: %s", e.what()); - } -} - - -int main(int argc, char** argv) { - ros::init(argc, argv, "ultrasonic_node"); - UltrasonicNode ultrasonic_node; - ros::Rate rate(10); // 10 Hz - - while (ros::ok()) { - ultrasonic_node.readUltrasonic(); - ros::spinOnce(); - rate.sleep(); - } - - return 0; -}