diff --git a/Code/MowingRobot/pibot_ros/ros_ws/process_1.log b/Code/MowingRobot/pibot_ros/ros_ws/process_1.log new file mode 100644 index 0000000..e69de29 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/process_2.log b/Code/MowingRobot/pibot_ros/ros_ws/process_2.log new file mode 100644 index 0000000..e69de29 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/run.py b/Code/MowingRobot/pibot_ros/ros_ws/run.py new file mode 100755 index 0000000..cf97e4c --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/run.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python +import sys +from pynput.keyboard import Key, Listener +import subprocess + +running_process = None + +def execute_launch(key): + global running_process + launch_files = { + 'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo + 'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav + 'c': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch', ['robot_env:=10_10m']), # client + 'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server + } + # 检查按键是否对应一个.launch文件 + if key in launch_files: + # 获取对应的.launch文件和参数 + launch_file, launch_args = launch_files[key] + # 构造启动命令 + launch_command = ["roslaunch", launch_file] + launch_args + # 执行对应的.launch文件 + running_process = subprocess.Popen(launch_command) + +# 监听按键事件 +def on_press(key): + global running_process + + if key.char == 'q': + print("stop1") + if running_process: + running_process.terminate() + running_process = None # 清除已结束的进程 + print("stop2") + return False # 停止监听器 + + try: + if key.char == 's': + print("按下 's' 键，程序停止") + return False # 停止监听器 + + execute_launch(key.char) + + except AttributeError: + # 按下的不是字符键，忽略 + pass + +with Listener(on_press=on_press) as listener: + listener.join() diff --git a/Code/MowingRobot/pibot_ros/ros_ws/run1.py b/Code/MowingRobot/pibot_ros/ros_ws/run1.py new file mode 100755 index 0000000..72789e6 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/run1.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python +import subprocess +import keyboard + +def execute_launch(launch_file, launch_args=[]): + # 构造启动命令 + launch_command = ["roslaunch", launch_file] + launch_args + # 启动一个新的终端并执行对应的.launch文件 + subprocess.Popen(['gnome-terminal', '--', 'bash',' '.join(launch_command)]) + +# 监听按键事件 +def on_press(event): + key = event.name + + # 检查按键是否对应一个.launch文件 + launch_files = { + 'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo + 'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav + 'c': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch', ['robot_env:=10_10m']), # client + 'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server + } + + if key in launch_files: + # 获取对应的.launch文件和参数 + launch_file, launch_args = launch_files[key] + # 执行对应的.launch文件 + execute_launch(launch_file, launch_args) + +keyboard.on_press(on_press) + +# 运行程序 +keyboard.wait('q') # 等待按下 'q' 键 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/service.py b/Code/MowingRobot/pibot_ros/ros_ws/service.py new file mode 100644 index 0000000..8523e14 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/service.py @@ -0,0 +1,68 @@ +import socket +import threading +import subprocess +import netifaces + + +def create_server_socket(host, port): + socket_server = socket.socket() + socket_server.bind((host, port)) + socket_server.listen(5) + print(f"服务端已启动，地址{host}，端口{port}") + print(f"正在等待客户端连接...") + # 开启多线程，收发来自多个客户端的数据 + num = 0 # 标记客户端的编号 + while True: + num += 1 + conn, address = socket_server.accept() + print(f"服务端已接受到客户端 {num}号 的连接请求，客户端信息：{address}") + client_handler = threading.Thread(target=handle_client, args=(conn, address, num)) + client_handler.start() + + +# 处理收发数据 +def handle_client(conn, address, num): + while True: + # 接收客户端发来的数据 + data_from_client: str = conn.recv(1024).decode("UTF-8") + print(f"客户端 {num}号:{address}发来的消息是：{data_from_client}") + # 发送消息到客户端 + msg = input(f"请输入你要回复客户端 {num}号:{address}的消息：") + if msg == 'exit': + break + conn.send(msg.encode("UTF-8")) # encode将字符串编码为字节数组对象 + conn.close() +# def handle_client(conn, address, client_num): +# try: +# while True: +# data_from_client = conn.recv(1024).decode("UTF-8") +# if not data_from_client: +# break +# print(f"客户端 {client_num} 号({address}) 发来的消息是：{data_from_client}") +# if data_from_client.strip() == '1': +# print("执行 roscore 命令...") +# subprocess.run(['roscore']) +# else: +# msg = input(f"请输入你要回复客户端 {client_num} 号({address}) 的消息：") +# if msg.lower() == 'exit': +# break +# conn.send(msg.encode("UTF-8")) +# except Exception as e: +# print(f"客户端 {client_num} 号({address}) 处理时发生错误：{e}") +# finally: +# conn.close() +# print(f"客户端 {client_num} 号({address}) 已断开连接。") + + + + + +if __name__ == '__main__': + # 获取本机（计算机）名 + hostname = socket.gethostname() + # 获取本机（计算机）ip + ip = socket.gethostbyname(hostname) + print(hostname, ip) + server_host = ip + server_port = int(input("请输入服务端port:")) + create_server_socket(server_host, server_port) \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/service2.py b/Code/MowingRobot/pibot_ros/ros_ws/service2.py new file mode 100644 index 0000000..530fe72 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/service2.py @@ -0,0 +1,110 @@ +import socket +import threading +import subprocess +import netifaces + + +# LAUNCH_FILES = { +# '0x00': ['roslaunch', 'pibot_navigation', 'nav.launch'], +# '0x01': ['roslaunch', 'upbot_location', 'upbot_location.launch'], +# 'launch_file_1': ['roslaunch', 'package_name', 'launch_file_1.launch'], +# 'launch_file_2': ['roslaunch', 'package_name', 'launch_file_2.launch'] +# } +client_processes = {} +process_id_counter = 0 +def get_local_ip(): + interfaces = netifaces.interfaces() + for interface in interfaces: + addresses = netifaces.ifaddresses(interface) + if netifaces.AF_INET in addresses: + for address_info in addresses[netifaces.AF_INET]: + ip_address = address_info['addr'] + if ip_address.startswith('192.168.') or ip_address.startswith('10.'): + return ip_address + +def create_server_socket(host, port): + try: + socket_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + socket_server.bind((host, port)) + socket_server.listen(5) + print(f"服务端已启动，地址{host}，端口{port}") + print("正在等待客户端连接...") + + client_num = 0 + while True: + client_num += 1 + conn, address = socket_server.accept() + print(f"服务端已接受到客户端 {client_num} 号的连接请求，客户端信息：{address}") + client_handler = threading.Thread(target=handle_client, args=(conn, address, client_num)) + client_handler.start() + except Exception as e: + print(f"错误：{e}") + finally: + socket_server.close() + +def handle_client(conn, address, client_num): + global process_id_counter + try: + while True: + data_from_client = conn.recv(1024).decode("UTF-8") + if not data_from_client: + break + print(f"客户端 {client_num} 号({address}) 发来的消息是：{data_from_client}") + data = data_from_client.strip() + if data == '1': + process_id_counter += 1 + process_id = process_id_counter + process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch']) + client_processes.setdefault(client_num, []).append((process_id, process)) + conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == '2': + process_id_counter += 1 + process_id = process_id_counter + process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch']) + client_processes.setdefault(client_num, []).append((process_id, process)) + conn.send(f"手持标签划定范围已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == '3': + process_id_counter += 1 + process_id = process_id_counter + process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch']) + client_processes.setdefault(client_num, []).append((process_id, process)) + conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == '4': + process_id_counter += 1 + process_id = process_id_counter + process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_']) + client_processes.setdefault(client_num, []).append((process_id, process)) + conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data.startswith('stop'): + stop_data = data.split() + if len(stop_data) == 2: + process_id_to_stop = int(stop_data[1]) + if client_num in client_processes: + for process_tuple in client_processes[client_num]: + if process_tuple[0] == process_id_to_stop: + process_tuple[1].terminate() + client_processes[client_num].remove(process_tuple) + conn.send(f"已停止客户端 {client_num} 号的进程 {process_id_to_stop}".encode("UTF-8")) + break + else: + conn.send(f"客户端 {client_num} 号没有标识符为 {process_id_to_stop} 的进程".encode("UTF-8")) + else: + conn.send("没有启动的进程需要停止".encode("UTF-8")) + else: + conn.send("无效的停止命令格式".encode("UTF-8")) + else: + response = f"已收到消息: {data}" + conn.send(response.encode("UTF-8")) + + except Exception as e: + print(f"客户端 {client_num} 号({address}) 处理时发生错误：{e}") + finally: + conn.close() + print(f"客户端 {client_num} 号({address}) 已断开连接。") + +if __name__ == '__main__': + local_ip = get_local_ip() + print("本机在局域网内的IP地址:", local_ip) + + server_port = int(input("请输入服务端端口号: ")) + create_server_socket(local_ip, server_port) diff --git a/Code/MowingRobot/pibot_ros/ros_ws/service612.py b/Code/MowingRobot/pibot_ros/ros_ws/service612.py new file mode 100644 index 0000000..a74a0af --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/service612.py @@ -0,0 +1,102 @@ +import socket +import threading +import time +import subprocess +import netifaces + +# 初始化全局变量 +client_processes = {} +process_id_counter = 0 +lock = threading.Lock() + +def get_local_ip(): + interfaces = netifaces.interfaces() + for interface in interfaces: + addresses = netifaces.ifaddresses(interface) + if netifaces.AF_INET in addresses: + for address_info in addresses[netifaces.AF_INET]: + ip_address = address_info['addr'] + if ip_address.startswith('192.168.') or ip_address.startswith('10.'): + return ip_address + +def create_server_socket(host, port): + socket_server = socket.socket() # 创建socket对象 + socket_server.bind((host, port)) # 绑定主机和端口 + socket_server.listen(5) # 监听传入的连接 + print(f"服务端已启动，地址{host}，端口{port}") + print(f"正在等待客户端连接...") + num = 0 + try: + while True: + num += 1 + conn, address = socket_server.accept() # 接受连接 + print(f"服务端已接受到客户端 {num}号 的连接请求，客户端信息：{address}") + client_handler = threading.Thread(target=handle_client, args=(conn, address, num)) + client_handler.start() + except KeyboardInterrupt: + print("服务器正在关闭...") + socket_server.close() + for thread in threading.enumerate(): + if thread != threading.current_thread(): + thread.join() + except Exception as e: + print(f"服务器发生错误：{e}") + socket_server.close() + +def handle_client(conn, address, num): + global process_id_counter + with conn: + while True: + time.sleep(0.01) + try: + data_from_client_bytes = conn.recv(1024) + if len(data_from_client_bytes) == 0: + print(f"客户端 {num}号 已断开连接") + break + + data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes]) + print(f"客户端 {num}号:{address} 发来的消息是：{data_from_client_hex}") + + if len(data_from_client_bytes) > 4: + data = data_from_client_bytes[4] + + with lock: + process_id_counter += 1 + process_id = process_id_counter + + log_file = open(f"process_{process_id}.log", "w") + + if data == 0x0: + process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'], stdout=log_file, stderr=log_file) + # process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'],stdout=log_file, stderr=log_file) + + print("启动定位导航") + conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x5: + process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'], stdout=log_file, stderr=log_file) + conn.send(f"手持标签划定范围已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x2: + process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'], stdout=log_file, stderr=log_file) + conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8")) + process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'], stdout=log_file, stderr=log_file) + conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x7: + conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x10: + conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8")) + + client_processes.setdefault(num, []).append((process_id, process)) + except ConnectionResetError: + print(f"客户端 {num}号:{address} 连接重置") + break + except Exception as e: + print(f"客户端 {num}号:{address} 发生异常：{e}") + break + +if __name__ == '__main__': + local_ip = get_local_ip() + print("本机在局域网内的IP地址:", local_ip) + server_host = local_ip + server_port = 19890 + + create_server_socket(server_host, server_port) diff --git a/Code/MowingRobot/pibot_ros/ros_ws/service64.py b/Code/MowingRobot/pibot_ros/ros_ws/service64.py new file mode 100644 index 0000000..763dac2 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/service64.py @@ -0,0 +1,100 @@ +import socket +import threading +import time +import subprocess +import netifaces + +# 初始化全局变量 +client_processes = {} +process_id_counter = 0 +lock = threading.Lock() + +def get_local_ip(): + interfaces = netifaces.interfaces() + for interface in interfaces: + addresses = netifaces.ifaddresses(interface) + if netifaces.AF_INET in addresses: + for address_info in addresses[netifaces.AF_INET]: + ip_address = address_info['addr'] + if ip_address.startswith('192.168.') or ip_address.startswith('10.'): + return ip_address + +def create_server_socket(host, port): + socket_server = socket.socket() # 创建socket对象 + socket_server.bind((host, port)) # 绑定主机和端口 + socket_server.listen(5) # 监听传入的连接 + print(f"服务端已启动，地址{host}，端口{port}") + print(f"正在等待客户端连接...") + num = 0 + try: + while True: + num += 1 + conn, address = socket_server.accept() # 接受连接 + print(f"服务端已接受到客户端 {num}号 的连接请求，客户端信息：{address}") + client_handler = threading.Thread(target=handle_client, args=(conn, address, num)) + client_handler.start() + except KeyboardInterrupt: + print("服务器正在关闭...") + socket_server.close() + for thread in threading.enumerate(): + if thread != threading.current_thread(): + thread.join() + except Exception as e: + print(f"服务器发生错误：{e}") + socket_server.close() + +def handle_client(conn, address, num): + global process_id_counter + with conn: + while True: + time.sleep(0.01) + try: + data_from_client_bytes = conn.recv(1024) + if len(data_from_client_bytes) == 0: + print(f"客户端 {num}号 已断开连接") + break + + data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes]) + print(f"客户端 {num}号:{address} 发来的消息是：{data_from_client_hex}") + + if len(data_from_client_bytes) > 4: + data = data_from_client_bytes[4] + + with lock: + process_id_counter += 1 + process_id = process_id_counter + + if data == 0x0: + # process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch']) + process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch']) + + print("启动定位导航") + conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x5: + process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch']) + conn.send(f"手持标签划定范围已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x2: + process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch']) + conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8")) + process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_']) + conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x7: + conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8")) + elif data == 0x10: + conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8")) + + client_processes.setdefault(num, []).append((process_id, process)) + except ConnectionResetError: + print(f"客户端 {num}号:{address} 连接重置") + break + except Exception as e: + print(f"客户端 {num}号:{address} 发生异常：{e}") + break + +if __name__ == '__main__': + local_ip = get_local_ip() + print("本机在局域网内的IP地址:", local_ip) + server_host = local_ip + server_port = 19890 + + create_server_socket(server_host, server_port) diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt index 0529155..2bb322e 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt @@ -36,6 +36,7 @@ add_message_files( RoomSequence.msg dis_info.msg dis_info_array.msg + avoid.msg ) ## Generate services in the 'srv' folder diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/avoid.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/avoid.msg new file mode 100644 index 0000000..e7b14f8 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/avoid.msg @@ -0,0 +1,6 @@ +Header header +float32 ultrasonic_range +bool l1 +bool l2 +bool r1 +bool r2 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 deleted file mode 100644 index 818d722..0000000 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-04-09_08-06-34.txt +++ /dev/null @@ -1,226 +0,0 @@ -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, -1712649995.720681087,-2.14681,-1.24004,-0.0680199,0.000129375,-0.121302,0.00119952,0,0.0666667,-0.2842111712649995.720718121, 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+time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-06-12_04-02-19.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-06-12_04-02-19.txt new file mode 100644 index 0000000..ffa282c --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/data/data_2024-06-12_04-02-19.txt @@ -0,0 +1 @@ +time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez 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 7f205ab..a019d29 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 @@ -118,6 +118,7 @@ #include #include "ipa_building_msgs/dis_info.h" #include "ipa_building_msgs/dis_info_array.h" +#include "ipa_building_msgs/avoid.h" @@ -324,8 +325,8 @@ protected: 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()) { + outlog.open(filename); + if (outlog.is_open()) { std::cout << "start saving data" << std::endl; } else { std::cerr << "Unable to open file " << filename << std::endl; @@ -333,20 +334,21 @@ protected: } - void writetofile(const geometry_msgs::Pose2D& map_oriented_pose,const geometry_msgs::Pose2D& current_pose,const bool flag_,const geometry_msgs::Twist& cmd_vel_) + void writetofile(const geometry_msgs::Pose2D& map_oriented_pose,const geometry_msgs::Pose2D& current_pose,const bool flag_,const geometry_msgs::Twist& cmd_vel_,const double eps) { 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"; + << cmd_vel_.linear.x <<","<< cmd_vel_.angular.z<< ","\ + << eps <<"\n"; } void writetolog(const std::string& string) { std::lock_guard lock(log_mutex); ros::Time time=ros::Time::now(); - outlog << time <<","<< string <<"\n"; + outlog <<"time:"<< time <<"---------"<< "string:" < + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml index a78b786..68041b6 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml @@ -39,7 +39,7 @@ execute_path: true # can be turned off (0) when used with real robot # double # [pixel], where one pixel is the size of one cell in the navigation grid map -goal_eps: 0.0 #0.35 +goal_eps: 0.2 #0.35 # use a dynamic goal distance criterion: the larger the path's curvature, the more accurate the navigation. # Use 'goal_eps' param as maximum distance on straight paths and zero distance (accurate goal approaching) on 90° curves. diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-11_08-20-45.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-11_08-20-45.txt new file mode 100644 index 0000000..c27aa5c --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-11_08-20-45.txt @@ -0,0 +1,1003 @@ +1712823645.785311867,transform1178行 +1712823645.935654965,transform1178行 +1712823646.085987855,transform1178行 +1712823646.236311412,transform1178行 +1712823646.386554761,transform1178行 +1712823646.536866651,transform1178行 +1712823646.687093374,transform1178行 +1712823646.837330598,transform1178行 +1712823646.987642196,transform1178行 +1712823647.137867753,transform1178行 +1712823647.288102351,transform1178行 +1712823647.438397033,transform1178行 +1712823647.588631340,transform1178行 +1712823647.738860105,transform1178行 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goal could be reached. +1712828459.705547062,transform1178行 +1712828459.855678396,transform1178行 +1712828460.005811480,transform1178行 +1712828460.155942803,transform1178行 +1712828460.156015721,current goal could be reached. +1712828460.976136434,transform1178行 +1712828461.126280583,transform1178行 +1712828461.276413938,transform1178行 +1712828461.426550793,transform1178行 +1712828461.576694940,transform1178行 +1712828461.726826545,transform1178行 +1712828461.726902088,current goal could be reached. +1712828462.677900433,transform1178行 +1712828462.828040486,transform1178行 +1712828462.978170915,transform1178行 +1712828463.128299001,transform1178行 +1712828463.278433211,transform1178行 +1712828463.428586963,transform1178行 +1712828463.428684673,current goal could be reached. +1712828463.429496689,0.000000 +1712828463.900234417,25.638035 +1712828463.900279043,检测到物体 +1712828464.302218557,transform1178行 +1712828464.302294101,....bizhanging... +1712828464.327597834,stop!! +1712828464.354252301,bizhang +1712828464.354272426,turn right +1712828466.354342338,stop!! +1712828470.354521054,stop!! +1712828470.354642098,turn left +1712828472.354710660,stop!! +1712828478.354942873,stop!! +1712828479.131292887,transform1178行 +1712828479.281432489,transform1178行 +1712828479.431593674,transform1178行 +1712828479.581736776,transform1178行 +1712828479.731883670,transform1178行 +1712828479.882030563,transform1178行 +1712828480.032169580,transform1178行 +1712828480.182308298,transform1178行 +1712828480.332440308,transform1178行 +1712828480.482576693,transform1178行 +1712828480.632710744,transform1178行 +1712828480.632789204,current goal could be reached. +1712828481.459589896,transform1178行 +1712828481.609846732,transform1178行 +1712828481.760110569,transform1178行 +1712828481.910355739,transform1178行 +1712828481.910533367,current goal could be reached. +1712828482.619084951,transform1178行 +1712828482.769317571,transform1178行 +1712828482.919564773,transform1178行 +1712828483.069818097,transform1178行 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+1712828497.125594313,transform1178行 +1712828497.275735226,transform1178行 +1712828497.425870305,transform1178行 +1712828497.575998093,transform1178行 +1712828497.726185089,transform1178行 +1712828497.876453171,transform1178行 +1712828498.026707834,transform1178行 +1712828498.176974742,transform1178行 +1712828498.327223274,transform1178行 +1712828498.477444097,transform1178行 +1712828498.627634877,transform1178行 +1712828498.777779574,transform1178行 +1712828498.927916396,transform1178行 +1712828499.078046214,transform1178行 +1712828499.228182153,transform1178行 +1712828499.378334426,transform1178行 +1712828499.528475615,transform1178行 +1712828499.678609220,transform1178行 +1712828499.828733784,transform1178行 +1712828499.978861265,transform1178行 +1712828500.128991656,transform1178行 +1712828500.279139546,transform1178行 +1712828500.429279853,transform1178行 +1712828500.429355687,current goal could be reached. +1712828501.345271392,transform1178行 +1712828501.345451354,current goal could be reached. +1712828502.145799144,transform1178行 +1712828502.145887521,current goal could be reached. +1712828502.941940706,transform1178行 +1712828502.942025291,current goal could be reached. +1712828503.746199161,transform1178行 +1712828503.746275871,current goal could be reached. +1712828504.607297377,transform1178行 +1712828504.607470338,current goal could be reached. +1712828505.320655453,transform1178行 +1712828505.470792223,transform1178行 +1712828505.620940952,transform1178行 +1712828505.771142181,transform1178行 +1712828505.921453954,transform1178行 +1712828506.071698640,transform1178行 +1712828506.071882684,current goal could be reached. +1712828506.843260304,transform1178行 +1712828506.993481068,transform1178行 +1712828507.143624824,transform1178行 +1712828507.293758372,transform1178行 +1712828507.443886669,transform1178行 +1712828507.594016133,transform1178行 +1712828507.594089926,current goal could be reached. +1712828508.414479974,transform1178行 +1712828508.564682793,transform1178行 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+1712828513.978561754,transform1178行 +1712828513.978654506,current goal could be reached. +1712828514.687787607,transform1178行 +1712828514.838076935,transform1178行 +1712828514.988370931,transform1178行 +1712828515.138602212,transform1178行 +1712828515.288791492,transform1178行 +1712828515.438934396,transform1178行 +1712828515.439009065,current goal could be reached. +1712828516.236617548,transform1178行 +1712828516.386779698,transform1178行 +1712828516.536929013,transform1178行 +1712828516.687064328,transform1178行 +1712828516.837206935,transform1178行 +1712828516.987344292,transform1178行 +1712828516.987419544,current goal could be reached. +1712828517.801349110,transform1178行 +1712828517.801424945,current goal could be reached. +1712828518.549340794,transform1178行 +1712828518.699483683,transform1178行 +1712828518.849613738,transform1178行 +1712828518.999745251,transform1178行 +1712828519.149873842,transform1178行 +1712828519.300002142,transform1178行 +1712828519.450141525,transform1178行 +1712828519.600279741,transform1178行 +1712828519.750416208,transform1178行 +1712828519.901066601,transform1178行 +1712828520.051213566,transform1178行 +1712828520.201460572,transform1178行 +1712828520.351778453,transform1178行 +1712828520.501963624,transform1178行 +1712828520.652106210,transform1178行 +1712828520.802243547,transform1178行 +1712828520.952373883,transform1178行 +1712828521.102507132,transform1178行 +1712828521.252635130,transform1178行 +1712828521.402761961,transform1178行 +1712828521.552913584,transform1178行 +1712828521.703056749,transform1178行 +1712828521.853191163,transform1178行 +1712828521.853272832,current goal could be reached. +1712828522.719943385,transform1178行 +1712828522.720108180,current goal could be reached. +1712828523.553852952,transform1178行 +1712828523.704093817,transform1178行 +1712828523.854330599,transform1178行 +1712828524.004575547,transform1178行 +1712828524.154807948,transform1178行 +1712828524.305037141,transform1178行 +1712828524.455310960,transform1178行 +1712828524.605501943,transform1178行 +1712828524.755638676,transform1178行 +1712828524.905779784,transform1178行 +1712828525.055916806,transform1178行 +1712828525.206046825,transform1178行 +1712828525.356182095,transform1178行 +1712828525.506315322,transform1178行 +1712828525.656444175,transform1178行 +1712828525.806573319,transform1178行 +1712828525.956716463,transform1178行 +1712828526.106860771,transform1178行 +1712828526.256996618,transform1178行 +1712828526.407129257,transform1178行 +1712828526.557268605,transform1178行 +1712828526.707400661,transform1178行 +1712828526.857528050,transform1178行 +1712828527.007652522,transform1178行 +1712828527.157785156,transform1178行 +1712828527.307925665,transform1178行 +1712828527.458078133,transform1178行 +1712828527.609532336,transform1178行 +1712828527.759672262,transform1178行 +1712828527.909869356,transform1178行 +1712828528.060106990,transform1178行 +1712828528.210334705,transform1178行 +1712828528.360576419,transform1178行 +1712828528.510810259,transform1178行 +1712828528.661029515,transform1178行 +1712828528.811280563,transform1178行 +1712828528.961520820,transform1178行 +1712828529.111752322,transform1178行 +1712828529.261982948,transform1178行 +1712828529.412225533,transform1178行 +1712828529.562478618,transform1178行 +1712828529.712704578,transform1178行 +1712828529.862934037,transform1178行 +1712828530.013156788,transform1178行 +1712828530.163391201,transform1178行 +1712828530.313652448,transform1178行 +1712828530.463915445,transform1178行 +1712828530.464103282,current goal could be reached. +1712828531.233380039,transform1178行 +1712828531.233588293,current goal could be reached. +1712828531.998216939,transform1178行 +1712828531.998290732,current goal could be reached. +1712828532.688657189,transform1178行 +1712828532.688815859,current goal could be reached. +1712828533.458932575,transform1178行 +1712828533.459105829,current goal could be reached. +1712828534.157013160,transform1178行 +1712828534.157188747,current goal could be reached. +1712828534.911173604,transform1178行 +1712828535.061283160,transform1178行 +1712828535.211410504,transform1178行 +1712828535.361539308,transform1178行 +1712828535.511673361,transform1178行 +1712828535.661811497,transform1178行 +1712828535.661889082,current goal could be reached. +1712828536.423594181,transform1178行 +1712828536.573767022,transform1178行 +1712828536.724020948,transform1178行 +1712828536.874247457,transform1178行 +1712828537.024425839,transform1178行 +1712828537.174582049,transform1178行 +1712828537.174668093,current goal could be reached. +1712828538.037668681,transform1178行 +1712828538.187799220,transform1178行 +1712828538.338748192,transform1178行 +1712828538.488893606,transform1178行 +1712828538.639029103,transform1178行 +1712828538.789164308,transform1178行 +1712828538.789231976,current goal could be reached. +1712828539.469975718,27.795660 +1712828539.470020636,检测到物体 +1712828539.550769578,0.000000 +1712828539.599490258,transform1178行 +1712828539.599703179,....bizhanging... +1712828539.623351400,stop!! +1712828539.641168214,bizhang +1712828539.641250174,turn right +1712828540.000032116,23.232334 +1712828540.000125160,检测到物体 +1712828540.101582262,24.973202 +1712828540.101668014,检测到物体 +1712828541.641308091,stop!! +1712828545.641429966,stop!! +1712828545.641531468,turn left +1712828547.641589595,stop!! +1712828553.641761783,stop!! +1712828554.424515576,transform1178行 +1712828554.574776126,transform1178行 +1712828554.725006635,transform1178行 +1712828554.875240935,transform1178行 +1712828555.025483401,transform1178行 +1712828555.175733447,transform1178行 +1712828555.175903783,current goal could be reached. +1712828555.987062053,transform1178行 +1712828556.137323178,transform1178行 +1712828556.287563594,transform1178行 +1712828556.437750051,transform1178行 +1712828556.587883715,transform1178行 +1712828556.587964217,current goal could be reached. +1712828557.459344617,transform1178行 +1712828557.609625863,transform1178行 +1712828557.759859858,transform1178行 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+time:1713946957.715913575---------string:transform1178行 +time:1713946957.866195215---------string:transform1178行 +time:1713946958.016496106---------string:transform1178行 +time:1713946958.166787955---------string:transform1178行 +time:1713946958.166963545---------string:current goal could be reached. +time:1713946958.237493954---------string:1.000000 +time:1713946958.237591666---------string:64 +time:1713946958.586292055---------string:Sending goal with eps +time:1713946958.586394726---------string:1.000000 +time:1713946959.029418297---------string:transform1178行 +time:1713946959.179712771---------string:transform1178行 +time:1713946959.330006079---------string:transform1178行 +time:1713946959.480281011---------string:transform1178行 +time:1713946959.630575778---------string:transform1178行 +time:1713946959.780917213---------string:transform1178行 +time:1713946959.931262148---------string:transform1178行 +time:1713946959.931439780---------string:current goal could be reached. +time:1713946959.946907474---------string:1.000000 +time:1713946959.947007811---------string:65 +time:1713946960.229060904---------string:Sending goal with eps +time:1713946960.229174075---------string:1.000000 +time:1713946960.685433713---------string:transform1178行 +time:1713946960.835730230---------string:transform1178行 +time:1713946960.986019163---------string:transform1178行 +time:1713946961.136317431---------string:transform1178行 +time:1713946961.286615406---------string:transform1178行 +time:1713946961.436962384---------string:transform1178行 +time:1713946961.587244901---------string:transform1178行 +time:1713946961.587425450---------string:current goal could be reached. +time:1713946961.637072868---------string:1.000000 +time:1713946961.637118954---------string:66 +time:1713946961.950253859---------string:Sending goal with eps +time:1713946961.950300235---------string:0.625666 +time:1713946962.408414074---------string:transform1178行 +time:1713946962.558572045---------string:transform1178行 +time:1713946962.708748683---------string:transform1178行 +time:1713946962.858902279---------string:transform1178行 +time:1713946963.009057041---------string:transform1178行 +time:1713946963.159378060---------string:transform1178行 +time:1713946963.309691788---------string:transform1178行 +time:1713946963.459987723---------string:transform1178行 +time:1713946963.610339660---------string:transform1178行 +time:1713946963.760615178---------string:transform1178行 +time:1713946963.910821276---------string:transform1178行 +time:1713946964.060977497---------string:transform1178行 +time:1713946964.211134011---------string:transform1178行 +time:1713946964.361288191---------string:transform1178行 +time:1713946964.511444704---------string:transform1178行 +time:1713946964.661599176---------string:transform1178行 +time:1713946964.811758897---------string:transform1178行 +time:1713946964.811840859---------string:current goal could be reached. +time:1713946964.836967476---------string:0.625666 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-24_08-51-10.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-24_08-51-10.txt new file mode 100644 index 0000000..fe79658 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-24_08-51-10.txt @@ -0,0 +1,542 @@ +time:1713948670.835822283---------string:0 +time:1713948675.851325288---------string:Waiting for the move_base action server to come up +time:1713948680.851527126---------string:Waiting for the move_base action server to come up +time:1713948685.851720508---------string:Waiting for the move_base action server to come up +time:1713948690.851910684---------string:Waiting for the move_base action server to come up +time:1713948695.852141406---------string:Waiting for the move_base action server to come up +time:1713948700.852359297---------string:Waiting for the move_base action server to come up +time:1713948705.852530523---------string:Waiting for the move_base action server to come up +time:1713948710.852744628---------string:Waiting for the move_base action server to come up +time:1713948715.852907983---------string:Waiting for the move_base action server to come up +time:1713948720.853011256---------string:Waiting for the move_base action server to come up +time:1713948725.853106073---------string:Waiting for the move_base action server to come up +time:1713948730.853166182---------string:Waiting for the move_base action server to come up +time:1713948735.853268879---------string:Waiting for the move_base action server to come up +time:1713948740.853359037---------string:Waiting for the move_base action server to come up +time:1713948745.853447447---------string:Waiting for the move_base action server to come up +time:1713948750.853549568---------string:Waiting for the move_base action server to come up +time:1713948755.853661318---------string:Waiting for the move_base action server to come up +time:1713948760.853883033---------string:Waiting for the move_base action server to come up +time:1713948765.854076457---------string:Waiting for the move_base action server to come up +time:1713948770.854221465---------string:Waiting for the move_base action server to come up +time:1713948775.854447271---------string:Waiting for the move_base action server to come up +time:1713948780.854587617---------string:Waiting for the move_base action server to come up +time:1713948785.854768218---------string:Waiting for the move_base action server to come up +time:1713948790.854946195---------string:Waiting for the move_base action server to come up +time:1713948795.855103466---------string:Waiting for the move_base action server to come up +time:1713948800.855326658---------string:Waiting for the move_base action server to come up +time:1713948805.855541977---------string:Waiting for the move_base action server to come up +time:1713948810.855777425---------string:Waiting for the move_base action server to come up +time:1713948815.855972915---------string:Waiting for the move_base action server to come up +time:1713948820.856174824---------string:Waiting for the move_base action server to come up +time:1713948825.856343775---------string:Waiting for the move_base action server to come up +time:1713948830.856547147---------string:Waiting for the move_base action server to come up +time:1713948835.856744687---------string:Waiting for the move_base action server to come up +time:1713948840.856961480---------string:Waiting for the move_base action server to come up +time:1713948845.857093689---------string:Waiting for the move_base action server to come up +time:1713948850.857221524---------string:Waiting for the move_base action server to come up +time:1713948855.857400989---------string:Waiting for the move_base action server to come up +time:1713948860.857586289---------string:Waiting for the move_base action server to come up +time:1713948865.857718797---------string:Waiting for the move_base action server to come up +time:1713948870.857940270---------string:Waiting for the move_base action server to come up +time:1713948875.858133743---------string:Waiting for the move_base action server to come up +time:1713948880.858208213---------string:Waiting for the move_base action server to come up +time:1713948885.858271894---------string:Waiting for the move_base action server to come up +time:1713948890.860597544---------string:Waiting for the move_base action server to come up +time:1713948895.860694771---------string:Waiting for the move_base action server to come up +time:1713948900.860886796---------string:Waiting for the move_base action server to come up +time:1713948905.861041487---------string:Waiting for the move_base action server to come up +time:1713948910.861351645---------string:Waiting for the move_base action server to come up +time:1713948915.861518300---------string:Waiting for the move_base action server to come up +time:1713948920.861679705---------string:Waiting for the move_base action server to come up +time:1713948925.861861822---------string:Waiting for the move_base action server to come up +time:1713948930.862069900---------string:Waiting for the move_base action server to come up +time:1713948935.862236562---------string:Waiting for the move_base action server to come up +time:1713948940.862402350---------string:Waiting for the move_base action server to come up +time:1713948945.862573098---------string:Waiting for the move_base action server to come up +time:1713948950.862726931---------string:Waiting for the move_base action server to come up +time:1713948955.862897974---------string:Waiting for the move_base action server to come up +time:1713948960.863083312---------string:Waiting for the move_base action server to come up +time:1713948965.863270109---------string:Waiting for the move_base action server to come up +time:1713948970.863409948---------string:Waiting for the move_base action server to come up +time:1713948975.863638751---------string:Waiting for the move_base action server to come up +time:1713948980.863847721---------string:Waiting for the move_base action server to come up +time:1713948985.864050276---------string:Waiting for the move_base action server to come up +time:1713948990.864276750---------string:Waiting for the move_base action server to come up +time:1713948995.864458015---------string:Waiting for the move_base action server to come up +time:1713949000.864682742---------string:Waiting for the move_base action server to come up +time:1713949005.864884428---------string:Waiting for the move_base action server to come up +time:1713949010.865062781---------string:Waiting for the move_base action server to come up +time:1713949015.865284596---------string:Waiting for the move_base action server to come up +time:1713949020.865462952---------string:Waiting for the move_base action server to come up +time:1713949025.865692937---------string:Waiting for the move_base action server to come up +time:1713949030.865916798---------string:Waiting for the move_base action server to come up +time:1713949035.866141828---------string:Waiting for the move_base action server to come up +time:1713949040.866352858---------string:Waiting for the move_base action server to come up +time:1713949045.866562139---------string:Waiting for the move_base action server to come up +time:1713949050.866643959---------string:Waiting for the move_base action server to come up +time:1713949055.866735405---------string:Waiting for the move_base action server to come up +time:1713949060.866877896---------string:Waiting for the move_base action server to come up +time:1713949065.867035848---------string:Waiting for the move_base action server to come up +time:1713949070.867198468---------string:Waiting for the move_base action server to come up +time:1713949075.867382673---------string:Waiting for the move_base action server to come up +time:1713949080.867547629---------string:Waiting for the move_base action server to come up +time:1713949085.867702961---------string:Waiting for the move_base action server to come up +time:1713949090.867892712---------string:Waiting for the move_base action server to come up +time:1713949095.868043088---------string:Waiting for the move_base action server to come up +time:1713949100.868206299---------string:Waiting for the move_base action server to come up +time:1713949105.868389638---------string:Waiting for the move_base action server to come up +time:1713949110.868573561---------string:Waiting for the move_base action server to come up +time:1713949115.868742901---------string:Waiting for the move_base action server to come up +time:1713949120.868871699---------string:Waiting for the move_base action server to come up +time:1713949125.869044833---------string:Waiting for the move_base action server to come up +time:1713949130.869244512---------string:Waiting for the move_base action server to come up +time:1713949135.869415607---------string:Waiting for the move_base action server to come up +time:1713949140.869599537---------string:Waiting for the move_base action server to come up +time:1713949145.869802428---------string:Waiting for the move_base action server to come up +time:1713949150.870052571---------string:Waiting for the move_base action server to come up +time:1713949155.870290466---------string:Waiting for the move_base action server to come up +time:1713949160.870504152---------string:Waiting for the move_base action server to come up +time:1713949165.870708505---------string:Waiting for the move_base action server to come up +time:1713949170.870807855---------string:Waiting for the move_base action server to come up +time:1713949175.870905165---------string:Waiting for the move_base action server to come up +time:1713949180.870989350---------string:Waiting for the move_base action server to come up +time:1713949185.871084037---------string:Waiting for the move_base action server to come up +time:1713949190.871178142---------string:Waiting for the move_base action server to come up +time:1713949195.871370413---------string:Waiting for the move_base action server to come up +time:1713949200.871564211---------string:Waiting for the move_base action server to come up +time:1713949205.871759945---------string:Waiting for the move_base action server to come up +time:1713949210.871911964---------string:Waiting for the move_base action server to come up +time:1713949215.872068804---------string:Waiting for the move_base action server to come up +time:1713949220.872214290---------string:Waiting for the move_base action server to come up +time:1713949225.872445977---------string:Waiting for the move_base action server to come up +time:1713949230.872640203---------string:Waiting for the move_base action server to come up +time:1713949235.872788160---------string:Waiting for the move_base action server to come up +time:1713949240.872983972---------string:Waiting for the move_base action server to come up +time:1713949245.873127366---------string:Waiting for the move_base action server to come up +time:1713949250.873291520---------string:Waiting for the move_base action server to come up +time:1713949255.873470651---------string:Waiting for the move_base action server to come up +time:1713949260.873620215---------string:Waiting for the move_base action server to come up +time:1713949265.873761282---------string:Waiting for the move_base action server to come up +time:1713949270.873951670---------string:Waiting for the move_base action server to come up +time:1713949275.874129125---------string:Waiting for the move_base action server to come up +time:1713949280.874356464---------string:Waiting for the move_base action server to come up +time:1713949285.874587204---------string:Waiting for the move_base action server to come up +time:1713949290.874772565---------string:Waiting for the move_base action server to come up +time:1713949295.874936069---------string:Waiting for the move_base action server to come up +time:1713949300.875079983---------string:Waiting for the move_base action server to come up +time:1713949305.875281499---------string:Waiting for the move_base action server to come up +time:1713949310.875457211---------string:Waiting for the move_base action server to come up +time:1713949315.875679978---------string:Waiting for the move_base action server to come up +time:1713949320.875817457---------string:Waiting for the move_base action server to come up +time:1713949325.875885121---------string:Waiting for the move_base action server to come up +time:1713949330.876077735---------string:Waiting for the move_base action server to come up +time:1713949335.876355701---------string:Waiting for the move_base action server to come up +time:1713949340.876554380---------string:Waiting for the move_base action server to come up +time:1713949345.876707971---------string:Waiting for the move_base action server to come up +time:1713949350.876895849---------string:Waiting for the move_base action server to come up +time:1713949355.877045545---------string:Waiting for the move_base action server to come up +time:1713949360.877200928---------string:Waiting for the move_base action server to come up +time:1713949365.877362703---------string:Waiting for the move_base action server to come up +time:1713949370.877501300---------string:Waiting for the move_base action server to come up +time:1713949375.877648389---------string:Waiting for the move_base action server to come up +time:1713949380.877818705---------string:Waiting for the move_base action server to come up +time:1713949385.878004010---------string:Waiting for the move_base action server to come up +time:1713949390.878183231---------string:Waiting for the move_base action server to come up +time:1713949395.878361822---------string:Waiting for the move_base action server to come up +time:1713949400.878577657---------string:Waiting for the move_base action server to come up +time:1713949405.878807930---------string:Waiting for the move_base action server to come up +time:1713949410.878994312---------string:Waiting for the move_base action server to come up +time:1713949415.879194509---------string:Waiting for the move_base action server to come up +time:1713949420.879389557---------string:Waiting for the move_base action server to come up +time:1713949425.879617082---------string:Waiting for the move_base action server to come up +time:1713949430.879830441---------string:Waiting for the move_base action server to come up +time:1713949435.880004305---------string:Waiting for the move_base action server to come up +time:1713949440.880175138---------string:Waiting for the move_base action server to come up +time:1713949445.880353216---------string:Waiting for the move_base action server to come up +time:1713949450.880543533---------string:Waiting for the move_base action server to come up +time:1713949455.880710897---------string:Waiting for the move_base action server to come up +time:1713949460.880877818---------string:Waiting for the move_base action server to come up +time:1713949465.881076769---------string:Waiting for the move_base action server to come up +time:1713949470.881239604---------string:Waiting for the move_base action server to come up +time:1713949475.881325033---------string:Waiting for the move_base action server to come up +time:1713949480.881429684---------string:Waiting for the move_base action server to come up +time:1713949485.881502068---------string:Waiting for the move_base action server to come up +time:1713949490.881574403---------string:Waiting for the move_base action server to come up +time:1713949495.881651480---------string:Waiting for the move_base action server to come up +time:1713949500.881707817---------string:Waiting for the move_base action server to come up +time:1713949505.881796327---------string:Waiting for the move_base action server to come up +time:1713949510.881979010---------string:Waiting for the move_base action server to come up +time:1713949515.882157482---------string:Waiting for the move_base action server to come up +time:1713949520.882321425---------string:Waiting for the move_base action server to come up +time:1713949525.882475711---------string:Waiting for the move_base action server to come up +time:1713949530.882652012---------string:Waiting for the move_base action server to come up +time:1713949535.882817309---------string:Waiting for the move_base action server to come up +time:1713949540.882952276---------string:Waiting for the move_base action server to come up +time:1713949545.883140519---------string:Waiting for the move_base action server to come up +time:1713949550.883348462---------string:Waiting for the move_base action server to come up +time:1713949555.883519173---------string:Waiting for the move_base action server to come up +time:1713949560.883670097---------string:Waiting for the move_base action server to come up +time:1713949565.883870022---------string:Waiting for the move_base action server to come up +time:1713949570.884083613---------string:Waiting for the move_base action server to come up +time:1713949575.884304138---------string:Waiting for the move_base action server to come up +time:1713949580.884518754---------string:Waiting for the move_base action server to come up +time:1713949585.884675230---------string:Waiting for the move_base action server to come up +time:1713949590.884890784---------string:Waiting for the move_base action server to come up +time:1713949595.885088145---------string:Waiting for the move_base action server to come up +time:1713949600.885288004---------string:Waiting for the move_base action server to come up +time:1713949605.885461207---------string:Waiting for the move_base action server to come up +time:1713949610.885638980---------string:Waiting for the move_base action server to come up +time:1713949615.885813456---------string:Waiting for the move_base action server to come up +time:1713949620.886010021---------string:Waiting for the move_base action server to come up +time:1713949625.886277123---------string:Waiting for the move_base action server to come up +time:1713949630.886475401---------string:Waiting for the move_base action server to come up +time:1713949635.886620047---------string:Waiting for the move_base action server to come up +time:1713949640.886779347---------string:Waiting for the move_base action server to come up +time:1713949645.886941399---------string:Waiting for the move_base action server to come up +time:1713949650.887105368---------string:Waiting for the move_base action server to come up +time:1713949655.887299890---------string:Waiting for the move_base action server to come up +time:1713949660.887429093---------string:Waiting for the move_base action server to come up +time:1713949665.887633015---------string:Waiting for the move_base action server to come up +time:1713949670.887833860---------string:Waiting for the move_base action server to come up +time:1713949675.888054447---------string:Waiting for the move_base action server to come up +time:1713949680.888225460---------string:Waiting for the move_base action server to come up +time:1713949685.888307317---------string:Waiting for the move_base action server to come up +time:1713949690.888537767---------string:Waiting for the move_base action server to come up +time:1713949695.888748055---------string:Waiting for the move_base action server to come up +time:1713949700.888942367---------string:Waiting for the move_base action server to come up +time:1713949705.889166873---------string:Waiting for the move_base action server to come up +time:1713949710.889368887---------string:Waiting for the move_base action server to come up +time:1713949715.889538891---------string:Waiting for the move_base action server to come up +time:1713949720.889731536---------string:Waiting for the move_base action server to come up +time:1713949725.889986301---------string:Waiting for the move_base action server to come up +time:1713949730.890176151---------string:Waiting for the move_base action server to come up +time:1713949735.890448182---------string:Waiting for the move_base action server to come up +time:1713949740.890600134---------string:Waiting for the move_base action server to come up +time:1713949745.890743539---------string:Waiting for the move_base action server to come up +time:1713949750.890929555---------string:Waiting for the move_base action server to come up +time:1713949755.891107570---------string:Waiting for the move_base action server to come up +time:1713949760.891264888---------string:Waiting for the move_base action server to come up +time:1713949765.891410984---------string:Waiting for the move_base action server to come up +time:1713949770.891597911---------string:Waiting for the move_base action server to come up +time:1713949775.891777984---------string:Waiting for the move_base action server to come up +time:1713949780.891923933---------string:Waiting for the move_base action server to come up +time:1713949785.892094236---------string:Waiting for the move_base action server to come up +time:1713949790.892319964---------string:Waiting for the move_base action server to come up +time:1713949795.892498909---------string:Waiting for the move_base action server to come up +time:1713949800.892708803---------string:Waiting for the move_base action server to come up +time:1713949805.892887392---------string:Waiting for the move_base action server to come up +time:1713949810.893050592---------string:Waiting for the move_base action server to come up +time:1713949815.893273227---------string:Waiting for the move_base action server to come up +time:1713949820.893488976---------string:Waiting for the move_base action server to come up +time:1713949825.893672636---------string:Waiting for the move_base action server to come up +time:1713949830.893905450---------string:Waiting for the move_base action server to come up +time:1713949835.894125477---------string:Waiting for the move_base action server to come up +time:1713949840.894306941---------string:Waiting for the move_base action server to come up +time:1713949845.894521183---------string:Waiting for the move_base action server to come up +time:1713949850.894698099---------string:Waiting for the move_base action server to come up +time:1713949855.894921864---------string:Waiting for the move_base action server to come up +time:1713949860.895125294---------string:Waiting for the move_base action server to come up +time:1713949865.895295454---------string:Waiting for the move_base action server to come up +time:1713949870.895496988---------string:Waiting for the move_base action server to come up +time:1713949875.895556568---------string:Waiting for the move_base action server to come up +time:1713949880.895736565---------string:Waiting for the move_base action server to come up +time:1713949885.895869776---------string:Waiting for the move_base action server to come up +time:1713949890.896051471---------string:Waiting for the move_base action server to come up +time:1713949895.896189985---------string:Waiting for the move_base action server to come up +time:1713949900.896351139---------string:Waiting for the move_base action server to come up +time:1713949905.896517056---------string:Waiting for the move_base action server to come up +time:1713949910.896723229---------string:Waiting for the move_base action server to come up +time:1713949915.896952074---------string:Waiting for the move_base action server to come up +time:1713949920.897181049---------string:Waiting for the move_base action server to come up +time:1713949925.897390826---------string:Waiting for the move_base action server to come up +time:1713949930.897470211---------string:Waiting for the move_base action server to come up +time:1713949935.897544822---------string:Waiting for the move_base action server to come up +time:1713949940.897756611---------string:Waiting for the move_base action server to come up +time:1713949945.897919144---------string:Waiting for the move_base action server to come up +time:1713949950.898054220---------string:Waiting for the move_base action server to come up +time:1713949955.898225341---------string:Waiting for the move_base action server to come up +time:1713949960.898457810---------string:Waiting for the move_base action server to come up +time:1713949965.898601656---------string:Waiting for the move_base action server to come up +time:1713949970.898773175---------string:Waiting for the move_base action server to come up +time:1713949975.898902598---------string:Waiting for the move_base action server to come up +time:1713949980.899079975---------string:Waiting for the move_base action server to come up +time:1713949985.899241663---------string:Waiting for the move_base action server to come up +time:1713949990.899375641---------string:Waiting for the move_base action server to come up +time:1713949995.899497595---------string:Waiting for the move_base action server to come up +time:1713950000.899646546---------string:Waiting for the move_base action server to come up +time:1713950005.899820685---------string:Waiting for the move_base action server to come up +time:1713950010.899976790---------string:Waiting for the move_base action server to come up +time:1713950015.900143676---------string:Waiting for the move_base action server to come up +time:1713950020.900284830---------string:Waiting for the move_base action server to come up +time:1713950025.900435778---------string:Waiting for the move_base action server to come up +time:1713950030.900583924---------string:Waiting for the move_base action server to come up +time:1713950035.900759546---------string:Waiting for the move_base action server to come up +time:1713950040.900936638---------string:Waiting for the move_base action server to come up +time:1713950045.901098816---------string:Waiting for the move_base action server to come up +time:1713950050.901304067---------string:Waiting for the move_base action server to come up +time:1713950055.901491680---------string:Waiting for the move_base action server to come up +time:1713950060.901726350---------string:Waiting for the move_base action server to come up +time:1713950065.901949410---------string:Waiting for the move_base action server to come up +time:1713950070.902057865---------string:Waiting for the move_base action server to come up +time:1713950075.902150536---------string:Waiting for the move_base action server to come up +time:1713950080.902239627---------string:Waiting for the move_base action server to come up +time:1713950085.902318680---------string:Waiting for the move_base action server to come up +time:1713950090.902409524---------string:Waiting for the move_base action server to come up +time:1713950095.902499285---------string:Waiting for the move_base action server to come up +time:1713950100.902601920---------string:Waiting for the move_base action server to come up +time:1713950105.902777758---------string:Waiting for the move_base action server to come up +time:1713950110.902920019---------string:Waiting for the move_base action server to come up +time:1713950115.903086701---------string:Waiting for the move_base action server to come up +time:1713950120.903271643---------string:Waiting for the move_base action server to come up +time:1713950125.903455558---------string:Waiting for the move_base action server to come up +time:1713950130.903618870---------string:Waiting for the move_base action server to come up +time:1713950135.903793623---------string:Waiting for the move_base action server to come up +time:1713950140.903943034---------string:Waiting for the move_base action server to come up +time:1713950145.904091568---------string:Waiting for the move_base action server to come up +time:1713950150.904227815---------string:Waiting for the move_base action server to come up +time:1713950155.904389657---------string:Waiting for the move_base action server to come up +time:1713950160.904600685---------string:Waiting for the move_base action server to come up +time:1713950165.904850075---------string:Waiting for the move_base action server to come up +time:1713950170.905092885---------string:Waiting for the move_base action server to come up +time:1713950175.905309542---------string:Waiting for the move_base action server to come up +time:1713950180.905452479---------string:Waiting for the move_base action server to come up +time:1713950185.905666029---------string:Waiting for the move_base action server to come up +time:1713950190.905864711---------string:Waiting for the move_base action server to come up +time:1713950195.906043831---------string:Waiting for the move_base action server to come up +time:1713950200.906194613---------string:Waiting for the move_base action server to come up +time:1713950205.906444185---------string:Waiting for the move_base action server to come up +time:1713950210.906609368---------string:Waiting for the move_base action server to come up +time:1713950215.906790463---------string:Waiting for the move_base action server to come up +time:1713950220.906960903---------string:Waiting for the move_base action server to come up +time:1713950225.907157119---------string:Waiting for the move_base action server to come up +time:1713950230.907410000---------string:Waiting for the move_base action server to come up +time:1713950235.907646026---------string:Waiting for the move_base action server to come up +time:1713950240.907821137---------string:Waiting for the move_base action server to come up +time:1713950245.908008803---------string:Waiting for the move_base action server to come up +time:1713950250.908216161---------string:Waiting for the move_base action server to come up +time:1713950255.908374400---------string:Waiting for the move_base action server to come up +time:1713950260.908589174---------string:Waiting for the move_base action server to come up +time:1713950265.908786072---------string:Waiting for the move_base action server to come up +time:1713950270.908966769---------string:Waiting for the move_base action server to come up +time:1713950275.909118941---------string:Waiting for the move_base action server to come up +time:1713950280.909288925---------string:Waiting for the move_base action server to come up +time:1713950285.909439554---------string:Waiting for the move_base action server to come up +time:1713950290.909613338---------string:Waiting for the move_base action server to come up +time:1713950295.909813977---------string:Waiting for the move_base action server to come up +time:1713950300.909949437---------string:Waiting for the move_base action server to come up +time:1713950305.910081745---------string:Waiting for the move_base action server to come up +time:1713950310.910269417---------string:Waiting for the move_base action server to come up +time:1713950315.910490996---------string:Waiting for the move_base action server to come up +time:1713950320.910649481---------string:Waiting for the move_base action server to come up +time:1713950325.910787033---------string:Waiting for the move_base action server to come up +time:1713950330.910949565---------string:Waiting for the move_base action server to come up +time:1713950335.911213906---------string:Waiting for the move_base action server to come up +time:1713950340.911452115---------string:Waiting for the move_base action server to come up +time:1713950345.911604205---------string:Waiting for the move_base action server to come up +time:1713950350.911790150---------string:Waiting for the move_base action server to come up +time:1713950355.911948776---------string:Waiting for the move_base action server to come up +time:1713950360.912146686---------string:Waiting for the move_base action server to come up +time:1713950365.912331152---------string:Waiting for the move_base action server to come up +time:1713950370.912492309---------string:Waiting for the move_base action server to come up +time:1713950375.912631965---------string:Waiting for the move_base action server to come up +time:1713950380.912844110---------string:Waiting for the move_base action server to come up +time:1713950385.913019696---------string:Waiting for the move_base action server to come up +time:1713950390.913195799---------string:Waiting for the move_base action server to come up +time:1713950395.913361938---------string:Waiting for the move_base action server to come up +time:1713950400.913597495---------string:Waiting for the move_base action server to come up +time:1713950405.913813231---------string:Waiting for the move_base action server to come up +time:1713950410.914013243---------string:Waiting for the move_base action server to come up +time:1713950415.914192864---------string:Waiting for the move_base action server to come up +time:1713950420.914544615---------string:Waiting for the move_base action server to come up +time:1713950425.914763084---------string:Waiting for the move_base action server to come up +time:1713950430.914986535---------string:Waiting for the move_base action server to come up +time:1713950435.915194535---------string:Waiting for the move_base action server to come up +time:1713950440.915399017---------string:Waiting for the move_base action server to come up +time:1713950445.915561738---------string:Waiting for the move_base action server to come up +time:1713950450.915645623---------string:Waiting for the move_base action server to come up +time:1713950455.915736108---------string:Waiting for the move_base action server to come up +time:1713950460.915937875---------string:Waiting for the move_base action server to come up +time:1713950465.916100363---------string:Waiting for the move_base action server to come up +time:1713950470.916252686---------string:Waiting for the move_base action server to come up +time:1713950475.916431834---------string:Waiting for the move_base action server to come up +time:1713950480.916557816---------string:Waiting for the move_base action server to come up +time:1713950485.916689208---------string:Waiting for the move_base action server to come up +time:1713950490.916835856---------string:Waiting for the move_base action server to come up +time:1713950495.916977857---------string:Waiting for the move_base action server to come up +time:1713950500.917164137---------string:Waiting for the move_base action server to come up +time:1713950505.917297769---------string:Waiting for the move_base action server to come up +time:1713950510.917501470---------string:Waiting for the move_base action server to come up +time:1713950515.917643011---------string:Waiting for the move_base action server to come up +time:1713950520.917818558---------string:Waiting for the move_base action server to come up +time:1713950525.917961511---------string:Waiting for the move_base action server to come up +time:1713950530.918126314---------string:Waiting for the move_base action server to come up +time:1713950535.918297989---------string:Waiting for the move_base action server to come up +time:1713950540.918479055---------string:Waiting for the move_base action server to come up +time:1713950545.918661520---------string:Waiting for the move_base action server to come up +time:1713950550.918889897---------string:Waiting for the move_base action server to come up +time:1713950555.919074811---------string:Waiting for the move_base action server to come up +time:1713950560.919246183---------string:Waiting for the move_base action server to come up +time:1713950565.919383758---------string:Waiting for the move_base action server to come up +time:1713950570.919518621---------string:Waiting for the move_base action server to come up +time:1713950575.919711021---------string:Waiting for the move_base action server to come up +time:1713950580.919874191---------string:Waiting for the move_base action server to come up +time:1713950585.920028120---------string:Waiting for the move_base action server to come up +time:1713950590.920224589---------string:Waiting for the move_base action server to come up +time:1713950595.920407452---------string:Waiting for the move_base action server to come up +time:1713950600.920564892---------string:Waiting for the move_base action server to come up +time:1713950605.920723593---------string:Waiting for the move_base action server to come up +time:1713950610.920887197---------string:Waiting for the move_base action server to come up +time:1713950615.921085298---------string:Waiting for the move_base action server to come up +time:1713950620.921352450---------string:Waiting for the move_base action server to come up +time:1713950625.921638322---------string:Waiting for the move_base action server to come up +time:1713950630.921850578---------string:Waiting for the move_base action server to come up +time:1713950635.922047684---------string:Waiting for the move_base action server to come up +time:1713950640.922229474---------string:Waiting for the move_base action server to come up +time:1713950645.922431360---------string:Waiting for the move_base action server to come up +time:1713950650.922602128---------string:Waiting for the move_base action server to come up +time:1713950655.922772520---------string:Waiting for the move_base action server to come up +time:1713950660.923024029---------string:Waiting for the move_base action server to come up +time:1713950665.923159594---------string:Waiting for the move_base action server to come up +time:1713950670.923290164---------string:Waiting for the move_base action server to come up +time:1713950675.923441515---------string:Waiting for the move_base action server to come up +time:1713950680.923651376---------string:Waiting for the move_base action server to come up +time:1713950685.923885727---------string:Waiting for the move_base action server to come up +time:1713950690.924081083---------string:Waiting for the move_base action server to come up +time:1713950695.924265545---------string:Waiting for the move_base action server to come up +time:1713950700.924482380---------string:Waiting for the move_base action server to come up +time:1713950705.924650014---------string:Waiting for the move_base action server to come up +time:1713950710.924779918---------string:Waiting for the move_base action server to come up +time:1713950715.924943935---------string:Waiting for the move_base action server to come up +time:1713950720.925116198---------string:Waiting for the move_base action server to come up +time:1713950725.925286002---------string:Waiting for the move_base action server to come up +time:1713950730.925483771---------string:Waiting for the move_base action server to come up +time:1713950735.925642501---------string:Waiting for the move_base action server to come up +time:1713950740.925796987---------string:Waiting for the move_base action server to come up +time:1713950745.926009148---------string:Waiting for the move_base action server to come up +time:1713950750.926162102---------string:Waiting for the move_base action server to come up +time:1713950755.926321264---------string:Waiting for the move_base action server to come up +time:1713950760.926447336---------string:Waiting for the move_base action server to come up +time:1713950765.926610686---------string:Waiting for the move_base action server to come up +time:1713950770.926797680---------string:Waiting for the move_base action server to come up +time:1713950775.927047475---------string:Waiting for the move_base action server to come up +time:1713950780.927197391---------string:Waiting for the move_base action server to come up +time:1713950785.927353958---------string:Waiting for the move_base action server to come up +time:1713950790.927530661---------string:Waiting for the move_base action server to come up +time:1713950795.927696652---------string:Waiting for the move_base action server to come up +time:1713950800.927819329---------string:Waiting for the move_base action server to come up +time:1713950805.927894382---------string:Waiting for the move_base action server to come up +time:1713950810.928161336---------string:Waiting for the move_base action server to come up +time:1713950815.928352792---------string:Waiting for the move_base action server to come up +time:1713950820.928577897---------string:Waiting for the move_base action server to come up +time:1713950825.928755334---------string:Waiting for the move_base action server to come up +time:1713950830.928942038---------string:Waiting for the move_base action server to come up +time:1713950835.929108316---------string:Waiting for the move_base action server to come up +time:1713950840.929287768---------string:Waiting for the move_base action server to come up +time:1713950845.929488615---------string:Waiting for the move_base action server to come up +time:1713950850.929671828---------string:Waiting for the move_base action server to come up +time:1713950855.929821711---------string:Waiting for the move_base action server to come up +time:1713950860.930011233---------string:Waiting for the move_base action server to come up +time:1713950865.930162279---------string:Waiting for the move_base action server to come up +time:1713950870.930359774---------string:Waiting for the move_base action server to come up +time:1713950875.930537850---------string:Waiting for the move_base action server to come up +time:1713950880.930740891---------string:Waiting for the move_base action server to come up +time:1713950885.930835943---------string:Waiting for the move_base action server to come up +time:1713950890.930950511---------string:Waiting for the move_base action server to come up +time:1713950895.931173891---------string:Waiting for the move_base action server to come up +time:1713950900.931356503---------string:Waiting for the move_base action server to come up +time:1713950905.931503348---------string:Waiting for the move_base action server to come up +time:1713950910.931718304---------string:Waiting for the move_base action server to come up +time:1713950915.931911288---------string:Waiting for the move_base action server to come up +time:1713950920.932062800---------string:Waiting for the move_base action server to come up +time:1713950925.932213421---------string:Waiting for the move_base action server to come up +time:1713950930.932359401---------string:Waiting for the move_base action server to come up +time:1713950935.932530819---------string:Waiting for the move_base action server to come up +time:1713950940.932663839---------string:Waiting for the move_base action server to come up +time:1713950945.932848332---------string:Waiting for the move_base action server to come up +time:1713950950.933037960---------string:Waiting for the move_base action server to come up +time:1713950955.933240926---------string:Waiting for the move_base action server to come up +time:1713950960.933421682---------string:Waiting for the move_base action server to come up +time:1713950965.933581720---------string:Waiting for the move_base action server to come up +time:1713950970.933775617---------string:Waiting for the move_base action server to come up +time:1713950975.933937782---------string:Waiting for the move_base action server to come up +time:1713950980.934129496---------string:Waiting for the move_base action server to come up +time:1713950985.934305875---------string:Waiting for the move_base action server to come up +time:1713950990.934494368---------string:Waiting for the move_base action server to come up +time:1713950995.934615673---------string:Waiting for the move_base action server to come up +time:1713951000.934816818---------string:Waiting for the move_base action server to come up +time:1713951005.934893960---------string:Waiting for the move_base action server to come up +time:1713951010.934955920---------string:Waiting for the move_base action server to come up +time:1713951015.935183556---------string:Waiting for the move_base action server to come up +time:1713951020.935346776---------string:Waiting for the move_base action server to come up +time:1713951025.935475063---------string:Waiting for the move_base action server to come up +time:1713951030.935700861---------string:Waiting for the move_base action server to come up +time:1713951035.935909863---------string:Waiting for the move_base action server to come up +time:1713951040.936070596---------string:Waiting for the move_base action server to come up +time:1713951045.936230918---------string:Waiting for the move_base action server to come up +time:1713951050.936420895---------string:Waiting for the move_base action server to come up +time:1713951055.936570845---------string:Waiting for the move_base action server to come up +time:1713951060.936727748---------string:Waiting for the move_base 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--git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-24_10-21-17.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-24_10-21-17.txt new file mode 100644 index 0000000..8ec3b9e --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-24_10-21-17.txt @@ -0,0 +1,83 @@ +time:1713954077.483632947---------string:0 +time:1713954077.859495475---------string:Sending goal with eps +time:1713954077.859592317---------string:0.000000 +time:1713954078.340348687---------string:transform1178行 +time:1713954078.490683664---------string:transform1178行 +time:1713954078.640971969---------string:transform1178行 +time:1713954078.791226437---------string:transform1178行 +time:1713954078.941515326---------string:transform1178行 +time:1713954079.091787962---------string:transform1178行 +time:1713954079.242077434---------string:transform1178行 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a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-26_09-10-25.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-26_09-10-25.txt new file mode 100644 index 0000000..6f7a393 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-04-26_09-10-25.txt @@ -0,0 +1,941 @@ +time:1714122625.576725209---------string:0 +time:1714122625.888540331---------string:Sending goal with eps +time:1714122625.888592540---------string:0.000000 +time:1714122626.351948357---------string:transform1178行 +time:1714122626.502215624---------string:transform1178行 +time:1714122626.652398599---------string:transform1178行 +time:1714122626.802568448---------string:transform1178行 +time:1714122626.952739465---------string:transform1178行 +time:1714122627.102919231---------string:transform1178行 +time:1714122627.253093456---------string:transform1178行 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+time:1714123741.136715394---------string:turn left +time:1714123743.136795845---------string:stop!! +time:1714123749.137064322---------string:stop!! +time:1714123749.466624064---------string:Sending goal with eps +time:1714123749.466710689---------string:1.000000 +time:1714123749.918970526---------string:transform1178行 +time:1714123749.919041984---------string:current goal could be reached. +time:1714123749.935546236---------string:1.000000 +time:1714123749.935621486---------string:27 +time:1714123750.230374307---------string:Sending goal with eps +time:1714123750.230452182---------string:1.000000 +time:1714123750.672852518---------string:transform1178行 +time:1714123750.672928060---------string:current goal could be reached. +time:1714123750.735746941---------string:1.000000 +time:1714123750.735824233---------string:28 +time:1714123751.130815606---------string:Sending goal with eps +time:1714123751.130851189---------string:1.000000 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the move_base action server to come up +time:1718163216.688290002---------string:Waiting for the move_base action server to come up +time:1718163221.688369778---------string:Waiting for the move_base action server to come up +time:1718163226.688453597---------string:Waiting for the move_base action server to come up diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-06-12_04-02-19.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-06-12_04-02-19.txt new file mode 100644 index 0000000..73cf48e --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/log/log_2024-06-12_04-02-19.txt @@ -0,0 +1,33 @@ +time:1718164939.773312845---------string:0 +time:1718164944.784281239---------string:Waiting for the move_base action server to come up +time:1718164949.784352871---------string:Waiting for the move_base action server to come up 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action server to come up +time:1718165009.786289708---------string:Waiting for the move_base action server to come up +time:1718165014.786425940---------string:Waiting for the move_base action server to come up +time:1718165019.786496668---------string:Waiting for the move_base action server to come up +time:1718165024.786640977---------string:Waiting for the move_base action server to come up +time:1718165029.786759659---------string:Waiting for the move_base action server to come up +time:1718165034.786948049---------string:Waiting for the move_base action server to come up +time:1718165039.787059689---------string:Waiting for the move_base action server to come up +time:1718165044.787109997---------string:Waiting for the move_base action server to come up +time:1718165049.787175064---------string:Waiting for the move_base action server to come up +time:1718165054.787288685---------string:Waiting for the move_base action server to come up +time:1718165059.787365070---------string:Waiting for the move_base action server to come up +time:1718165064.787590274---------string:Waiting for the move_base action server to come up +time:1718165069.787771756---------string:Waiting for the move_base action server to come up +time:1718165074.787871856---------string:Waiting for the move_base action server to come up +time:1718165079.787959958---------string:Waiting for the move_base action server to come up +time:1718165084.788156199---------string:Waiting for the move_base action server to come up +time:1718165089.788295750---------string:Waiting for the move_base action server to come up +time:1718165094.788412706---------string:Waiting for the move_base action server to come up +time:1718165099.788591329---------string:Waiting for the move_base action server to come up diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp index daae5f6..5324c44 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp @@ -198,7 +198,7 @@ RoomExplorationServer::RoomExplorationServer(ros::NodeHandle nh, std::string nam path_pub_ = node_handle_.advertise("coverage_path", 10000); cmd_vel_pub_ = node_handle_.advertise("cmd_vel", 10); obstacles_sub_ = node_handle_.subscribe("stereo_msg",1,boost::bind(&RoomExplorationServer::stereo_CB,this,_1)); - // ultrasonic_sub_ = node_handle_.subscribe("ultrasonic_msg",1,boost::bind(&RoomExplorationServer::ultrasonic_CB,this,_1)); + ultrasonic_sub_ = node_handle_.subscribe("ultrasonic_msg",1,boost::bind(&RoomExplorationServer::ultrasonic_CB,this,_1)); // collid_sub_ = node_handle_.subscribe("collid_msg",1,boost::bind(&RoomExplorationServer::collid_CB,this,_1)); cmd_vel_sub_ = node_handle_.subscribe("cmd_vel",1,boost::bind(&RoomExplorationServer::cmd_CB,this,_1)); cancel_pub_ = node_handle_.advertise("/move_base/cancel", 10); @@ -729,6 +729,8 @@ void RoomExplorationServer::navigateExplorationPath(const std::vector M_PI * 0.5) - delta_theta = M_PI * 0.5; - temp_goal_eps = (M_PI * 0.5 - delta_theta) / (M_PI * 0.5) * goal_eps_; + if (map_oriented_pose != 0) + { + double delta_theta = std::fabs(last_pose.theta - pose.theta); + if (delta_theta > M_PI * 0.5) + // delta_theta = M_PI * 0.5; + delta_theta = M_PI * 0.6 ;//防止出现走很慢的bug出现，增大这个值保证eps不为0 + temp_goal_eps = (M_PI * 0.5 - delta_theta) / (M_PI * 0.5) * goal_eps_; } } else @@ -823,6 +861,8 @@ void RoomExplorationServer::navigateExplorationPath(const std::vectorultrasonic_range; + float l1 = ul_dis->l1; + float l2 = ul_dis->l2; + float r1 = ul_dis->r1; + float r2 = ul_dis->r2; -// } -// } + if(dis <= 300 && dis > 50) + { + flag_=1; + writetolog("ultrasonic检测到物体"); + + } + if(l1 == 1){ + collid_left1_ = 1; + writetolog("左一碰撞"); + } + if(l2 == 1){ + collid_left2_ = 1; + writetolog("左二碰撞"); + } + if(r1 == 1){ + collid_right1_ = 1; + writetolog("右一碰撞"); + } + if(r2 == 1){ + collid_right2_ = 1; + writetolog("右二碰撞"); + } +} // void RoomExplorationServer::collid_CB(const std_msgs::String::ConstPtr& flag) // { // // if(flag) diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch index 6ad0702..fce96d5 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch @@ -17,7 +17,7 @@ - + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/1.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/1.png new file mode 100644 index 0000000..516ca1e Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/1.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/10_10m.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/10_10m.png new file mode 100644 index 0000000..1f8319e Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/10_10m.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/10_10m.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/10_10m.yaml new file mode 100644 index 0000000..a92c53a --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/10_10m.yaml @@ -0,0 +1,6 @@ +image: 10_10m.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/2.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/2.png new file mode 100644 index 0000000..2011203 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/2.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/3.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/3.png new file mode 100644 index 0000000..4b95e17 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/3.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/300_300.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/300_300.yaml new file mode 100644 index 0000000..71cb6b3 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/300_300.yaml @@ -0,0 +1,6 @@ +image: 300_300.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/4.28.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/4.28.png new file mode 100644 index 0000000..85205b2 Binary files /dev/null and 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/dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/4_.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/4_.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/4_.yaml new file mode 100644 index 0000000..9c75e36 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/4_.yaml @@ -0,0 +1,6 @@ +image: 4_.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/500_500.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/500_500.png deleted file mode 100644 index 7dff090..0000000 Binary files a/Code/MowingRobot/pibot_ros/ros_ws/src/map/500_500.png and /dev/null differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/5_3.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/5_3.yaml new file mode 100644 index 0000000..892fa40 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/5_3.yaml @@ -0,0 +1,6 @@ +image: 5_3.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/600_.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/600_.png deleted file mode 100644 index 1052959..0000000 Binary files a/Code/MowingRobot/pibot_ros/ros_ws/src/map/600_.png and /dev/null differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/618_.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/618_.png new file mode 100644 index 0000000..2d03e88 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/618_.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/618_.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/618_.yaml new file mode 100644 index 0000000..73e4fac --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/618_.yaml @@ -0,0 +1,6 @@ +image: 618_.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/6_12.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/6_12.png new file mode 100644 index 0000000..12c574b Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/6_12.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/6_12.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/6_12.yaml new file mode 100644 index 0000000..d3a8b17 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/6_12.yaml @@ -0,0 +1,6 @@ +image: 6_12.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/800.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/800.png deleted file mode 100644 index c937289..0000000 Binary files a/Code/MowingRobot/pibot_ros/ros_ws/src/map/800.png and /dev/null differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/a.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/a.png new file mode 100644 index 0000000..73c6c28 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/a.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/b.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/b.png new file mode 100644 index 0000000..d85b488 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/b.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go.png new file mode 100644 index 0000000..a6f5641 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go.yaml new file mode 100644 index 0000000..fb02c9c --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go.yaml @@ -0,0 +1,6 @@ +image: go.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go1.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go1.png new file mode 100644 index 0000000..5f28955 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go1.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go1.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go1.yaml new file mode 100644 index 0000000..45bbc33 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go1.yaml @@ -0,0 +1,6 @@ +image: go1.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go2.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go2.png new file mode 100644 index 0000000..eb32984 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go2.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go2.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go2.yaml new file mode 100644 index 0000000..96c1103 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go2.yaml @@ -0,0 +1,6 @@ +image: go2.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go3.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go3.png new file mode 100644 index 0000000..8101f0e Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go3.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/go3.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go3.yaml new file mode 100644 index 0000000..722b3db --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/go3.yaml @@ -0,0 +1,6 @@ +image: go3.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/l.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/l.png new file mode 100644 index 0000000..eb32984 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/l.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/l.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/l.yaml new file mode 100644 index 0000000..bae613c --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/l.yaml @@ -0,0 +1,6 @@ +image: l.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/mapping_ori.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/mapping_ori.png new file mode 100644 index 0000000..7fc09f3 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/mapping_ori.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/r.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/r.png new file mode 100644 index 0000000..dea5491 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/r.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/r.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/r.yaml new file mode 100644 index 0000000..c5c81ef --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/r.yaml @@ -0,0 +1,6 @@ +image: r.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/y1.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/y1.png new file mode 100644 index 0000000..5d934e4 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/y1.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/y1.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/y1.yaml new file mode 100644 index 0000000..5c944f4 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/y1.yaml @@ -0,0 +1,6 @@ +image: y1.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/yy.png b/Code/MowingRobot/pibot_ros/ros_ws/src/map/yy.png new file mode 100644 index 0000000..eb32984 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/map/yy.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/map/yy.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/map/yy.yaml new file mode 100644 index 0000000..221fbfc --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/map/yy.yaml @@ -0,0 +1,6 @@ +image: yy.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 3.141592] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/CMakeLists.txt index 5698069..7c4996d 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/CMakeLists.txt +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(pibot_msgs) -find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs) +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs sensor_msgs) add_message_files( DIRECTORY msg @@ -15,6 +15,7 @@ add_message_files( RelocateResult.msg dis_info.msg dis_info_array.msg + avoid.msg ) add_service_files( @@ -29,6 +30,6 @@ add_service_files( SetPoseParams.srv ) -generate_messages(DEPENDENCIES std_msgs geometry_msgs) +generate_messages(DEPENDENCIES std_msgs sensor_msgs geometry_msgs) catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs) diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/avoid.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/avoid.msg new file mode 100644 index 0000000..e7b14f8 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/avoid.msg @@ -0,0 +1,6 @@ +Header header +float32 ultrasonic_range +bool l1 +bool l2 +bool r1 +bool r2 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch index 1f4188c..b8d11db 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch @@ -7,9 +7,10 @@ - + - + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml index dac0c8d..14f6646 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml @@ -44,8 +44,10 @@ obstacle_layer: #cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns inflation_layer: enabled: true - cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) - inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + # cost_scaling_factor: 2.5 # exponential rate at which the obstacle cost drops off (default: 10) + # inflation_radius: 1.2 # max. distance from an obstacle at which costs are incurred for planning paths. + cost_scaling_factor: 3.0 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 0.2 # max. distance from an obstacle at which costs are incurred for planning paths. static_layer: enabled: true diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/CMakeLists.txt new file mode 100644 index 0000000..1ae14b9 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.0.2) +project(upbot_auto_recharge) + +find_package(catkin REQUIRED COMPONENTS + roscpp + geometry_msgs +) +catkin_package() + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +add_executable(${PROJECT_NAME}_node src/main.cpp) + + +target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ) + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/launch/upbot_init.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/launch/upbot_init.launch new file mode 100644 index 0000000..6651dd3 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/launch/upbot_init.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/package.xml new file mode 100644 index 0000000..f8cb2de --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/package.xml @@ -0,0 +1,68 @@ + + + upbot_auto_recharge + 0.0.0 + The upbot_auto_recharge package + + + + + firefly + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/src/main.cpp new file mode 100644 index 0000000..814df10 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_auto_recharge/src/main.cpp @@ -0,0 +1,47 @@ +#include +#include + +int main(int argc,char** argv){ + ros::init(argc,argv,"upbot_auto_recharge"); + ros::NodeHandle nh; + ros::Publisher goal_pub = nh.advertise("/move_base_simple/goal", 10); + + geometry_msgs::PoseStamped goal; + ros::Rate rate(1.0); + /* + while(ros:ok()){ + goal.header.frame_id = "map"; + goal.header.stamp = ros::Time::now(); + + goal.pose.position.x = 0.0; + goal.pose.position.y = 0.0; + goal.pose.position.z = 0.0; + + goal.pose.orientation.x = 0.0; + goal.pose.orientation.y = 0.0; + goal.pose.orientation.z = 0.0; + goal.pose.orientation.w = 0.0; + + goal_pub.publish(goal); + rate.sleep(); + } + */ + goal.header.frame_id = "map"; + goal.header.stamp = ros::Time::now(); + + goal.pose.position.x = 0.0; + goal.pose.position.y = 0.0; + goal.pose.position.z = 0.0; + + goal.pose.orientation.x = 0.0; + goal.pose.orientation.y = 0.0; + goal.pose.orientation.z = 0.0; + goal.pose.orientation.w = 0.0; + + goal_pub.publish(goal); + + ros::Duration(1.0).sleep(); // 等待发布器连接 + ROS_INFO("Goal published!"); + + return 0; +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt similarity index 90% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt index 63fddec..87600a9 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.0.2) -project(FollowingCar) +project(upbot_following) find_package(catkin REQUIRED COMPONENTS roscpp @@ -17,7 +17,7 @@ find_package(Boost REQUIRED) # catkin_package( # # INCLUDE_DIRS include -# # LIBRARIES FollowingCar +# # LIBRARIES upbot_following # # CATKIN_DEPENDS roscpp rospy std_msgs # # DEPENDS system_lib # CATKIN_DEPENDS message_runtime std_msgs geometry_msgs diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/Mat.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/Mat.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/align.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/align.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/lighthouse.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/lighthouse.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/mapping.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/mapping.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/senddata.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/senddata.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/type.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/type.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/uwb.h similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/include/uwb.h diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml similarity index 96% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml index 7415ed8..4f34db2 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/package.xml @@ -1,6 +1,6 @@ - FollowingCar + upbot_following 0.0.0 The FollowingCar package diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/Mat.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/Mat.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/align.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/align.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/align.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/align.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/lighthouse.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/lighthouse.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/main.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/main.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/mapping.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/mapping.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/senddata.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/senddata.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/uwb.cpp similarity index 100% rename from Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_following/src/uwb.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/CMakeLists.txt new file mode 100644 index 0000000..3f85c5d --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/CMakeLists.txt @@ -0,0 +1,38 @@ +cmake_minimum_required(VERSION 3.0.2) +project(upbot_init) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + pibot_msgs + geometry_msgs +) +catkin_package() +set(LIBUSB_INCLUDE_DIR /usr/include/libusb-1.0) +set(LIBUSB_LIBRARY /usr/lib/aarch64-linux-gnu/libusb-1.0.so) +# 寻找OpenCV库 +find_package(OpenCV REQUIRED) +# 查找 Boost 库 +find_package(Boost REQUIRED) + +include_directories( +# include + ${OpenCV_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${LIBUSB_INCLUDE_DIRS} + include +) + +add_library(${PROJECT_NAME} SHARED + src/uwb.cpp + src/runL.cpp + src/data.cpp + src/Filter.cpp + ) + +add_executable(${PROJECT_NAME}_node src/main.cpp) + + +target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME} ${LIBUSB_LIBRARY}) + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/data1.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/data1.txt new file mode 100644 index 0000000..e69de29 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/data2.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/data2.txt new file mode 100644 index 0000000..e69de29 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/Filter.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/Filter.h new file mode 100644 index 0000000..4f2a4ab --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/Filter.h @@ -0,0 +1,22 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include +using namespace std; + +namespace uwb_slam{ + + class Filter{ + public: + Filter(); + void LPF(vector& data, int threshold); + private: + bool init_flag=true; + vector predata; + + }; +}; \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/data.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/data.h new file mode 100644 index 0000000..e6732d1 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/data.h @@ -0,0 +1,48 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include "Filter.h" +#include "uwb.h" +#include "runL.h" + + +namespace uwb_slam{ + class Data{ + public: + Data(); + ~Data(){}; + void Run(); + void odomCB(const nav_msgs::Odometry& odom); + void calculate(std::vector> &data); + + public: + ros::NodeHandle nh_; + ros::Subscriber odom_sub_; + + std::ofstream fileout,fileout1,fileout2; + std::string filename = "/home/firefly/pibot_ros/ros_ws/src/upbot_location/parameter/AnchorPos.txt"; + std::string filename1 = "/home/firefly/pibot_ros/ros_ws/src/upbot_init/data1.txt"; + std::string filename2 = "/home/firefly/pibot_ros/ros_ws/src/upbot_init/data2.txt"; + + nav_msgs::Odometry odom_; + + float H_0 = 25.0; // high of car tag + float H_tag = 85.0; // high of tag + int tag_num = 3; //nums of tag + + ros::Time imuDataRxTime; + std::vector data_,predata_; + std::vector> data_all; + float x=-1,y=-1; + Filter filter; + std::shared_ptr uwb_; + std::shared_ptr runL_; + + }; + +}; \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/runL.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/runL.h new file mode 100644 index 0000000..b972afe --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/runL.h @@ -0,0 +1,22 @@ +#pragma once +#include +#include + + +namespace uwb_slam{ + class RunL{ + public: + RunL(); + ~RunL(){}; + void Run(); + + public: + ros::NodeHandle nh_; + ros::Publisher cmd_vel_pub_; + + geometry_msgs::Twist cmd_vel_; + bool stop = false; + + }; + +}; \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/type.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/type.h new file mode 100644 index 0000000..93b8358 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/type.h @@ -0,0 +1,74 @@ +#include +#include +#ifndef TYPE_H +#define TYPE_H + +namespace uwb_slam{ +struct Imu_data +{ + ros::Time imu_t_; + double a_[3]; + double w_[3]; + Imu_data(){}; + Imu_data(double ax,double ay,double az, double wx, double wy, double wz) + :a_{ax,ay,az},w_{wz,wy,wz}{}; +}; + + + +struct Imu_odom_pose_data +{ + Imu_data imu_data_; + double pose_[3]; + double quat_[4]; + double vxy_; + double angle_v_; + Imu_odom_pose_data(){}; + Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){}; +}; + +/*struct Odom_data +{ + Imu_data imu_data_; + ros::Time odom_t_; + double pose_[3]; + double quat_[4]; + double vxy_,; + double angle_v_; + + Odom_data(double x,double y,double z, + double qw, double qx, double qy,double qz, + ros::Time odom_t,double vxy, double angle_v) + :pose_{x,y,z},quat_{qw,qx,qy,qz},odom_t_(odom_t),vxy_(vxy),angle_v_(angle_v){}; +}; +*/ + +struct Uwb_data +{ + float x_,y_; + ros::Time uwb_t_; + Uwb_data(){}; + Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){}; +}; + +struct LightHouseData +{ + float x_,y_,z_; + float qw_,qx_,qy_,qz_; + ros::Time lighthouse_t_; + LightHouseData(){}; + LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t): + x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){}; +}; + + + +/*struct Imu_odom_pose_data +{ + Imu_data imu_data_; + Odom_data odom_data; + Imu_odom_pose_data(Imu_data i_data, Odom_data o_data):imu_data_(i_data),odom_data(o_data){}; +}; +*/ +} +#endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/uwb.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/uwb.h new file mode 100644 index 0000000..0e9a255 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/include/uwb.h @@ -0,0 +1,45 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include "type.h" +#include +#include +#include +#ifndef UWB_H +#define UWB_H + +#define PI acos(-1) +namespace uwb_slam{ + + class Uwb + { + public: + Uwb(); + ~Uwb(); + void Run(); + void usb_hid_read(); + + public: + uint8_t tmpdata[13]; + int d[3]; + + Uwb_data uwb_data_; + + libusb_device_handle *dev_handle; + libusb_device **devs; + libusb_context *ctx = NULL; + int r; + ssize_t cnt; + + }; + +}; + + + +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/launch/upbot_init.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/launch/upbot_init.launch new file mode 100644 index 0000000..720f5ac --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/launch/upbot_init.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/package.xml new file mode 100644 index 0000000..920328e --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/package.xml @@ -0,0 +1,68 @@ + + + upbot_init + 0.0.0 + The upbot_init package + + + + + firefly + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/Filter.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/Filter.cpp new file mode 100644 index 0000000..aa91b76 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/Filter.cpp @@ -0,0 +1,20 @@ +#include "Filter.h" + +namespace uwb_slam{ + + Filter::Filter(){} + + void Filter::LPF(vector& data, int threshold){ + if (data.empty()) return; + if(init_flag){ + init_flag=false; + predata =data; + } + for(size_t i = 2;i<5;++i){ + if(fabs(data[i]-predata[i])>threshold){ + data = predata; + } + } + predata = data; + } +}; \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/data.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/data.cpp new file mode 100644 index 0000000..45f3f42 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/data.cpp @@ -0,0 +1,109 @@ +#include "data.h" + +using namespace cv; + +namespace uwb_slam{ + Data::Data():data_(5,0),predata_(5,0){ + odom_sub_ = nh_.subscribe("odom_imu_ekf",10,&Data::odomCB,this); + fileout.open(filename); + fileout1.open(filename1); + fileout2.open(filename2); + + if(fileout.is_open()||fileout1.is_open()||fileout2.is_open()){ + std::cout<<"open file"<stop){ + if(imuDataRxTime!=odom_.header.stamp){ + if(uwb_->d[0]>2000||uwb_->d[1]>2000||uwb_->d[2]>2000||uwb_->d[0]<0){ + continue; + }else{ + if(x!=odom_.pose.pose.position.x*100||y!=odom_.pose.pose.position.y*100){ + x = odom_.pose.pose.position.x*100; + y = odom_.pose.pose.position.y*100; + if(x==0&&y==0) continue; + data_[0] = x; + data_[1] = y; + data_[2] = uwb_->d[0]; + data_[3] = uwb_->d[1]; + data_[4] = uwb_->d[2]; + std::cout<<"data:"<d[0]<<","<d[1]<<","<d[2]<> &data){ + int N = data.size(); + + Mat S(N,3,CV_32F); //每个时刻的位置坐标 N*3(xi,yi,zi) + for(int i=0;i(i,0) = data[i][0]; + S.at(i,1) = data[i][1]; + S.at(i,2) = H_0; + } + + Mat dist(tag_num,N,CV_32F); //每个标签的距离 tag_num*N + for(int i=0;i(0,i) = data[i][2]; + dist.at(1,i) = data[i][3]; + dist.at(2,i) = data[i][4]; + } + + Mat A(N,4,CV_32F); + for(int i=0;i(i,0) = -2*S.at(i,0); + A.at(i,1) = -2*S.at(i,1); + A.at(i,2) = -2*S.at(i,2); + A.at(i,3) = 1.0; + } + + Mat k(N,1,CV_32F); + for(int i=0;i(i,0) = pow(S.at(i,0),2)+pow(S.at(i,1),2)+pow(S.at(i,2),2); + } + + // Mat loc(tag_num,2,CV_32F); + Mat ATA = A.t()*A; + Mat ATA_inv = ATA.inv(DECOMP_SVD); + + for(int i=0;i(j,0) = pow(dist.at(i,j),2)-k.at(j,0); + } + Mat pos = ATA_inv*A.t()*y_m; + // loc.at(i,0) = pos.at(0,0); + // loc.at(i,1) = pos.at(1,0); + // loc.at(i,2) = H_tag; + std::cout<(0,0)<<","<(1,0)<<","<(0,0)<<","<(1,0)<<","< +#include +#include +#include "data.h" + + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "upbot_init"); // Initialize the ROS node + std::shared_ptr uwb = std::make_shared(); + std::shared_ptr runL = std::make_shared(); + std::shared_ptr data = std::make_shared(); + + + + // mp->uwb_ = uwb; + // mp->align_ = align; + // align->uwb_ = uwb; + // sender->align_ = align; + data->uwb_ = uwb; + data->runL_ = runL; + + // uwb serried read + std::thread uwb_trd([&uwb]() { + uwb->Run(); + }); + + std::thread runL_trd([&runL]() { + runL->Run(); + }); + + std::thread data_trd([&data]() { + data->Run(); + }); + + + ros::spin(); +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/runL.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/runL.cpp new file mode 100644 index 0000000..b649887 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/runL.cpp @@ -0,0 +1,40 @@ +#include "runL.h" + + +namespace uwb_slam{ + RunL::RunL(){ + cmd_vel_pub_ = nh_.advertise("cmd_vel",50); + } + + void RunL::Run(){ + ros::Rate rate(10); + + cmd_vel_.linear.x = 0.2; + cmd_vel_.angular.z = 0; + for (int i = 0; i < 100; ++i) { + cmd_vel_pub_.publish(cmd_vel_); + rate.sleep(); + } + + cmd_vel_.linear.x = 0; + cmd_vel_.angular.z = 1; + + for (int i = 0; i < 17; ++i) { + cmd_vel_pub_.publish(cmd_vel_); + rate.sleep(); + } + + cmd_vel_.linear.x = 0.2; + cmd_vel_.angular.z = 0; + for (int i = 0; i < 100; ++i) { + cmd_vel_pub_.publish(cmd_vel_); + rate.sleep(); + } + + cmd_vel_.linear.x = 0; + cmd_vel_.angular.z = 0; + cmd_vel_pub_.publish(cmd_vel_); + + stop = true; + } +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/uwb.cpp new file mode 100644 index 0000000..66d0e28 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_init/src/uwb.cpp @@ -0,0 +1,119 @@ +#include "uwb.h" +#include + + +#define CARHEIGHT 35 + +namespace uwb_slam{ + + Uwb::Uwb(){ + + // 初始化 AnchorPos 数组后再初始化 libusb + int r = libusb_init(&ctx); + if (r < 0) { + ROS_ERROR("Failed to initialize libusb"); + return; + } + + // 获取设备列表 + ssize_t cnt = libusb_get_device_list(ctx, &devs); + if (cnt < 0) { + ROS_ERROR("Failed to get device list"); + libusb_exit(ctx); + return; + } + + // 使用指定的 vendor 和 product ID 打开设备 + dev_handle = libusb_open_device_with_vid_pid(ctx, 0x0483, 0x5750); + if (dev_handle == NULL) { + ROS_ERROR("Cannot open device"); + libusb_free_device_list(devs, 1); + libusb_exit(ctx); + return; + } + + ROS_INFO("Device opened"); + + libusb_free_device_list(devs, 1); // 释放设备列表 + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) { + // 检查是否有内核驱动程序激活 + ROS_INFO("Kernel driver active"); + if (libusb_detach_kernel_driver(dev_handle, 0) == 0) + ROS_INFO("Kernel driver detached"); + else + ROS_WARN("Failed to detach kernel driver"); + } + + // 请求接口 + r = libusb_claim_interface(dev_handle, 0); + if (r < 0) { + ROS_ERROR("Cannot claim interface"); + libusb_close(dev_handle); + libusb_exit(ctx); + return; + } + + ROS_INFO("Interface claimed"); + } + + + Uwb::~Uwb() { + // 释放接口 + int r = libusb_release_interface(dev_handle, 0); + if (r != 0) { + ROS_ERROR("Cannot release interface"); + } + + // 关闭设备 + libusb_close(dev_handle); + + // 退出 libusb + libusb_exit(ctx); + } + + void Uwb::Run() { + + while(1){ + this->usb_hid_read(); + } + + + } + void Uwb::usb_hid_read() + { + unsigned char tmp_char[64]; + int transferred; + tmp_char[0] = 0x01; + r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_OUT), tmp_char, 64, &transferred, 1000); + if (r == 0){ + printf("Set Success.\n"); + }else{ + printf("Set Error.\n"); + } + while (ros::ok()) + { + // 执行批量传输 + r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), tmp_char, 64, &transferred, 1000); + //std::cout<uwb_data_.uwb_t_ = ros::Time::now(); + memcpy(&this->d[0], &tmp_char[3], sizeof(uint16_t)); + memcpy(&this->d[1], &tmp_char[5], sizeof(uint16_t)); + memcpy(&this->d[2], &tmp_char[7], sizeof(uint16_t)); + std::cout<<"d:"< @@ -20,60 +20,55 @@ class Mat { public: Mat(); - 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� + 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。 void Zero(void); - //��Щ�ؼ�����Ӧ����Ϊprivate�ġ�����Ϊ�˷��㣬��Ҳ������public - int m;//���� - int n;//���� - double mat[MAT_MAX][MAT_MAX];//������������ + //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 - //����ľ��� - Mat SubMat(int a,int b,int lm,int ln);//��ȡ����һ���� - void FillSubMat(int a,int b,Mat s);//����Ӿ��� + //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 - //����ר�� - double absvec();//����������ij��ȡ����Ǹ���Ԫ�صľ���ֵ�� - double Sqrt();//�������ȵ�ƽ�� - friend Mat operator ^(Mat a,Mat b);//��� + //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 - //���� + //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);//ת�� + friend Mat operator ~(Mat a);//转置 friend Mat operator /(Mat a,Mat b);//a*inv(b) friend Mat operator %(Mat a,Mat b);//inv(a)*b - //MAT inv();//����� + //MAT inv();//逆矩阵 private: - // Ϊ���ø�˹��Ԫ��������һЩ���� - // �������� + // 为了用高斯消元法，做的一些函数 + // 交换两行 void RowExchange(int a, int b); - // ijһ�г���ϵ�� + // 某一行乘以系数 void RowMul(int a,double k); - // ��ijһ�мӼ���һ�еı��� + // 对某一行加减另一行的倍数 void RowAdd(int a,int b, double k); - // �������� + // 交换两列 void ColExchange(int a, int b); - // ijһ�г���ϵ�� + // 某一列乘以系数 void ColMul(int a,double k); - // ��ijһ�мӼ���һ�еı��� + // 对某一列加减另一列的倍数 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 482662c..8b43f10 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 @@ -2,11 +2,14 @@ #include #include #include +#include +#include #include #include #include "type.h" #include #include +#include #ifndef UWB_H #define UWB_H @@ -17,10 +20,38 @@ namespace uwb_slam{ { public: Uwb(); + ~Uwb(); void Run(); bool checknewdata(); void feed_imu_odom_pose_data(); void Serread(); + void usb_hid_read(); + + void readConfigFile(const std::string& filename) { + std::ifstream file(filename); + if (!file.is_open()) { + std::cerr << "无法打开配置文件: " << filename << std::endl; + return; + } + + std::string line; + int row = 0; + while (std::getline(file, line) && row < AnchorNum) { + std::istringstream iss(line); + int x, y, z; + char delimiter; + if (iss >> x >> delimiter>> y >> delimiter>>z) { + AnchorPos[row][0] = x; + AnchorPos[row][1] = y; + AnchorPos[row][2] = z; + row++; + } else { + std::cerr << "解析配置文件时出错: " << line << std::endl; + } + } + + file.close(); + } @@ -28,12 +59,14 @@ namespace uwb_slam{ int pre_seq = -1; int cur_seq = -1; int AnchorNum = 3; - 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 + float AnchorPos[3][3]; + //int AnchorPos[3][3]={320, -295, 50,\ + // 320,300, 50,\ + // -200, 300, 50}; + // int AnchorPos[3][3]={320, -160, 85,\ + // -320,-160, 85,\ + // 320, 240, 85};//基站坐标，序号+三维坐标 + uint8_t tmpdata[13]; int d[3]; @@ -45,10 +78,12 @@ namespace uwb_slam{ // std::queue imu_odom_queue_; // std::queue uwb_data_queue_; std::mutex mMutexUwb; - //boost::asio::io_service io; - //boost::asio::serial_port s_port; - - // Imu_odom_pose_data imu_odom_pose_data_; + libusb_device_handle *dev_handle; + libusb_device **devs; + libusb_context *ctx = NULL; + int r; + ssize_t cnt; + }; }; @@ -56,6 +91,4 @@ namespace uwb_slam{ - - #endif 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 deleted file mode 100644 index 76abbc6..0000000 Binary files a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/map/output_image.png and /dev/null differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/parameter/AnchorPos.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/parameter/AnchorPos.txt new file mode 100644 index 0000000..e69de29 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 4192cb5..8bbf4da 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 : ��������� +* Comments : 矩阵运算库 ********************************************************************************/ /* Header File Including -----------------------------------------------------*/ #include "Mat.h" @@ -28,7 +28,7 @@ int mini(int a,int b) } -//��Ҫ�ڳ�Ա�����ڵ��ù��캯�� +//不要在成员函数内调用构造函数 Mat::Mat() { Init(1,1,0); @@ -51,7 +51,7 @@ void Mat::Init(int setm,int setn,int kind) if(kind==1) { int x; - //Cԭ�е�max min�ᵼ�����������Ա������и��������Ķ�����Ҫֱ�ӷŵ�max���档 + //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。 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) { - //��˹��Ԫ�� + //高斯消元法 int x,xb; for(x=0;xuwb_data_.x_ << " " << uwb_->uwb_data_.y_ << std::endl; uwbPos.mat[0][0] = uwb_->uwb_data_.x_; uwbPos.mat[1][0] = uwb_->uwb_data_.y_; @@ -99,26 +93,27 @@ namespace uwb_slam{ 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::endl; + std::cout << "syncPos:" << syncPos.mat[0][0] << " " << syncPos.mat[1][0]; + 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; + //std::cout << "file d:" << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << std::endl; - outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\ - << imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\ + // 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_ << ","\ + << imu_odom_.vxy_ << "," <data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << "," << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n"; + outfile.flush(); } - } - outfile.close(); // std::cout<< "Data written to file." << std::endl; } @@ -141,6 +136,7 @@ namespace uwb_slam{ //imu里程计融合位姿 void Align::odom_imuCB(const nav_msgs::Odometry& odom) { + // odom_tmp_ = odom.header.stamp; odom_tmp_ = odom.header.stamp; imu_odom_.pose_[0] = odom.pose.pose.position.x; imu_odom_.pose_[1] = odom.pose.pose.position.y; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/lighthouse.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/lighthouse.cpp index 562b494..989a612 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/lighthouse.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/lighthouse.cpp @@ -4,7 +4,7 @@ namespace uwb_slam{ Lighthouse::Lighthouse(){ - std::cout << "Start Run. " << std::endl; + std::cout << "Start Run" << std::endl; // 创建UDP套接字 UdpSocket = socket(AF_INET, SOCK_DGRAM, 0); diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp index 5d7d868..db90c99 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp @@ -1,4 +1,3 @@ -#include "../include/lighthouse.h" #include "Mat.h" #include "mapping.h" #include @@ -9,20 +8,14 @@ int main(int argc, char** argv) { - ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node + ros::init(argc, argv, "upbot_location"); // Initialize the ROS node std::shared_ptr mp = std::make_shared(); std::shared_ptr uwb = std::make_shared(); std::shared_ptr sender = std::make_shared(); std::shared_ptr align = std::make_shared(); - std::shared_ptr lighthouse = std::make_shared(); - - - - mp->uwb_ = uwb; mp->align_ = align; align->uwb_ = uwb; - align->lighthouse_ = lighthouse; sender->align_ = align; // uwb serried read @@ -31,9 +24,9 @@ int main(int argc, char** argv) }); // build map - std::thread map_trd ([&mp]() { - mp->Run(); - }); + // std::thread map_trd ([&mp]() { + // mp->Run(); + // }); std::thread sender_trd ([&sender]() { sender->Run(); @@ -43,9 +36,5 @@ int main(int argc, char** argv) align->Run(); }); - std::thread lighthouse_trd ([&lighthouse]() { - lighthouse->Run(); - }); - ros::spin(); } diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp index d81a85d..7157078 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp @@ -47,7 +47,7 @@ namespace uwb_slam // std::cout << " imuPos:" <(imuPosPointY, imuPosPointX) = 0; img.at(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255); //imu trace is red - img.at(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green + // img.at(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green img.at(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0); //sync trace is blue } @@ -61,6 +61,7 @@ namespace uwb_slam realHeight = AREA_SIZE / PIXEL_SCALE; img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255)); + // img = cv::Mat(realHeight, realWidth, CV_8UC1, cv::Scalar(255)); //cankao for (int j=0;j("odom",10); + position_pub_=nh_.advertise("mapping",10); while(ros::ok()){ - // publishOdometry(); + publishOdometry(); publishtf(); ros::spinOnce(); loop_rate.sleep(); @@ -31,8 +31,8 @@ namespace uwb_slam // odom_imu_uwb_.header.frame_id = "odom"; // odom_imu_uwb_.child_frame_id = "map"; // 填充 Odometry 消息的位置信息 - odom_imu_uwb_.pose.pose.position.x = align_->syncPos.mat[0][0]/100; - odom_imu_uwb_.pose.pose.position.y = align_->syncPos.mat[1][0]/100; + odom_imu_uwb_.pose.pose.position.x = align_->uwb_->uwb_data_.x_; + odom_imu_uwb_.pose.pose.position.y = align_->uwb_->uwb_data_.y_; odom_imu_uwb_.pose.pose.position.z = 0.0; 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 85526a7..c655ae2 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 @@ -3,14 +3,16 @@ #include "Mat.h" -#define CARHEIGHT 20 +#define CARHEIGHT 35 namespace uwb_slam{ Mat A; Mat b; Mat uwbPos; + int M=3; // Uwb::Uwb(){ + readConfigFile("/home/firefly/pibot_ros/ros_ws/src/upbot_location/parameter/AnchorPos.txt"); for(int i=0; i<3; i++) { @@ -24,40 +26,165 @@ namespace uwb_slam{ A.Init(2,2,0); b.Init(2,1,0); uwbPos.Init(2,1,0); + for(int i=0; i<2; i++) { A.mat[i][0] = -2*(this->AnchorPos[0][0]-this->AnchorPos[i+1][0]); A.mat[i][1] = -2*(this->AnchorPos[0][1]-this->AnchorPos[i+1][1]); } - // for(int i=0; i<2; i++) - // { - // for(int j=0; j<2; j++) - // { - // std::cout<Serread(); - // std::cout<<"s"<x<Serread(); + this->usb_hid_read(); + } } - + void Uwb::usb_hid_read() + { + unsigned char tmp_char[64]; + int transferred; + tmp_char[0] = 0x01; + //std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl; + r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_OUT), tmp_char, 64, &transferred, 1000); + if (r == 0){ + printf("Set Success.\n"); + }else{ + printf("Set Error.\n"); + } + while (ros::ok()) + { + // 执行批量传输 + r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), tmp_char, 64, &transferred, 1000); + //std::cout<uwb_data_.uwb_t_ = ros::Time::now(); + memcpy(&this->d[0], &tmp_char[3], sizeof(uint16_t)); + memcpy(&this->d[1], &tmp_char[5], sizeof(uint16_t)); + memcpy(&this->d[2], &tmp_char[7], sizeof(uint16_t)); + std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl; + if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) { + continue; + } + else + { + // 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)); + // } + // 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; + Mat k(M,1,0); + for (int i = 0; i < M; ++i) { + double sum_squared = 0.0; + for (int j = 0; j < M; ++j) { + sum_squared += pow(AnchorPos[i][j], 2); + } + k.mat[i][0] = sum_squared; + } + // 构造矩阵 A + Mat A(M,4,0); + for (int i = 0; i < M; ++i) { + for (int j = 0; j < 3; ++j) { + A.mat[i][j] = -2 * AnchorPos[i][j]; + } + A.mat[i][3] = 1.0; + } + // 计算 y + Mat y(M,1,0); + for (int i = 0; i < M; ++i) { + y.mat[i][0] = pow(d[i], 2) - k.mat[i][0]; + } + Mat AT=~A; + uwbPos=(AT*A)%AT*y; + this->uwb_data_.x_ = uwbPos.mat[0][0]; + this->uwb_data_.y_ = uwbPos.mat[1][0]; + std::cout << "uwbPos:" << this->uwb_data_.x_ << " " << this->uwb_data_.y_ << std::endl; + } + } + else + { + std::cout<uwb_data_.uwb_t_ = ros::Time::now(); - - // for (int i=0;i< bytesRead;i++) - // { - // std::cout << std::hex<(tmpdata[i]) << " "; - // } - // std::cout << std::endl; memcpy(&this->d[0], &tmpdata[3], sizeof(uint16_t)); memcpy(&this->d[1], &tmpdata[5], sizeof(uint16_t)); memcpy(&this->d[2], &tmpdata[7], sizeof(uint16_t)); @@ -93,81 +214,59 @@ namespace uwb_slam{ 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; - + +/*2D 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]); } +*/ +// 3D + // double d[3]={179,517,379}; + Mat k(M,1,0); + for (int i = 0; i < M; ++i) { + double sum_squared = 0.0; + for (int j = 0; j < M; ++j) { + sum_squared += pow(AnchorPos[i][j], 2); + } + k.mat[i][0] = sum_squared; + // std::cout << k.mat[i][0]<<"," ; + } + // std::cout << std::endl; + // 构造矩阵 A + Mat A(M,4,0); + // std::cout<< "A" << std::endl; + for (int i = 0; i < M; ++i) { + for (int j = 0; j < 3; ++j) { + A.mat[i][j] = -2 * AnchorPos[i][j]; + // std::cout<< A.mat[i][j] <<","; + } + A.mat[i][3] = 1.0; + // std::cout<< A.mat[i][3] <<","; + // std::cout << std::endl; + } + // 计算 y + Mat y(M,1,0); + // std::cout<< "y" << std::endl; + for (int i = 0; i < M; ++i) { + y.mat[i][0] = pow(d[i], 2) - k.mat[i][0]; + // std::cout<< y.mat[i][0] <<","; + } + // std::cout << std::endl; Mat AT=~A; - uwbPos=(AT*A)%AT*b; + uwbPos=(AT*A)%AT*y; this->uwb_data_.x_ = uwbPos.mat[0][0]; this->uwb_data_.y_ = uwbPos.mat[1][0]; - //std::cout << "uwbPos:" << this->uwb_data_.x_ << " " << this->uwb_data_.y_ << std::endl; - - - // uwb_data_queue_.push(uwb_data_); - - //std::cout << "uwb_data_: " << uwb_data_.uwb_t_<< std::endl; - // cur_seq = static_cast(tmpdata[3]); - //std::cout << "****** cur _ sequence: " << cur_seq << "x: " << x << " y: " << y <(tmpdata[3]); - - // std::cout << "theta: " << theta << " distance: " << distance << std::endl; - //std::cout std::endl; + std::cout << "uwbPos:" << this->uwb_data_.x_ << " " << this->uwb_data_.y_ << std::endl; } catch (const std::exception& ex) { std::cerr << "Exception: " << ex.what() << std::endl; } - } - - - void fusion() - { - - } - - - - }; -// bool Uwb::checknewdata() -// { -// std::unique_lock lock(mMutexUwb); -// return !v_buffer_imu_odom_pose_data_.empty(); -// } - -// void Uwb::Run() { -// while(1) -// { -// if(checknewdata()) -// { -// { -// std::unique_lock lock(mMutexUwb); -// Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front(); -// v_buffer_imu_odom_pose_data_.pop(); -// } - - - -// } -// } - - - -// } - -// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){ -// std::unique_lock lock(mMutexUwb); -// v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data); -// } - diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/CMakeLists.txt new file mode 100644 index 0000000..e2e9042 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/CMakeLists.txt @@ -0,0 +1,69 @@ +cmake_minimum_required(VERSION 3.0.2) +project(upbot_mapping) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation + pibot_msgs + geometry_msgs + #tf2_ros +) +set(LIBUSB_INCLUDE_DIR /usr/include/libusb-1.0) +set(LIBUSB_LIBRARY /usr/lib/aarch64-linux-gnu/libusb-1.0.so) +# 寻找OpenCV库 +find_package(OpenCV REQUIRED) +# 查找 Boost 库 +find_package(Boost REQUIRED) + +# catkin_package( +# # INCLUDE_DIRS include +# # LIBRARIES upbot_mapping +# # CATKIN_DEPENDS roscpp rospy std_msgs tf2_ros +# # DEPENDS system_lib +# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs +# ) + + +include_directories( +# include + ${OpenCV_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${LIBUSB_INCLUDE_DIRS} + include +) + +add_library(${PROJECT_NAME} SHARED + src/uwb.cpp + src/mapping.cpp + src/align.cpp + src/Mat.cpp + src/UWBFilter.cpp + include/senddata.h src/senddata.cpp) + +# add_message_files( +# DIRECTORY msg +# FILES +# RawImu.msg + +# ) +generate_messages(DEPENDENCIES std_msgs geometry_msgs) + +catkin_package(CATKIN_DEPENDS std_msgs geometry_msgs) +add_executable(${PROJECT_NAME}_node src/main.cpp) +# add_executable(lll src/lll.cpp) + + + +target_link_libraries(${PROJECT_NAME}_node + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${Boost_LIBRARIES} + pthread + ${PROJECT_NAME} + ${LIBUSB_LIBRARY} +) + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/data_align.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/data_align.txt new file mode 100644 index 0000000..e69de29 diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/data_fliter.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/data_fliter.txt new file mode 100644 index 0000000..e541422 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/data_fliter.txt @@ -0,0 +1,1198 @@ +lastX,lastY,lastXf,lastYf,lastV +1.04375,-9.51875,1.04375,-9.51875,0 +-37.3117,-76.2012,0.276641,-10.8524,76.9266 +-45.1906,-45,-4.27009,-14.2672,32.1807 +-64.4125,-32.9938,-10.2843,-16.1398,22.6634 +-38.343,-74.405,-13.0902,-21.9663,48.9338 +-39.2812,-85.53,-15.7093,-28.3227,11.1645 +-39.6211,-67.815,-18.1005,-32.2719,17.7183 +-48.3563,-68.5687,-21.1261,-35.9016,8.76762 +-63.4125,-36.5887,-25.3547,-35.9703,35.347 +-68.7602,-45.2637,-29.6952,-36.8997,10.1908 +-75,-23.22,-34.2257,-35.5317,22.9099 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b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/Mat.h @@ -0,0 +1,78 @@ +/******************** (C) COPYRIGHT 2022 Geek************************************ +* File Name : Mat.h +* Current Version : V1.0 +* Author : logzhan +* Date of Issued : 2022.09.14 +* Comments : 导航的矩阵计算 +********************************************************************************/ +/* Header File Including -----------------------------------------------------*/ +#ifndef _H_MAT_ +#define _H_MAT_ + +#define MAT_MAX 15 //决定了能处理的最大矩阵 + + +#include +#define _USE_MATH_DEFINES +#include + +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。 + + 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 + + //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 + + //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 + + //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,Mat b);//a*inv(b) + friend Mat operator %(Mat a,Mat b);//inv(a)*b + + //MAT inv();//逆矩阵 + +private: + // 为了用高斯消元法，做的一些函数 + // 交换两行 + void RowExchange(int a, int b); + // 某一行乘以系数 + void RowMul(int a,double k); + // 对某一行加减另一行的倍数 + 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 + void ColMul(int a,double k); + // 对某一列加减另一列的倍数 + void ColAdd(int a,int b,double k); + + +}; + +#endif + + + + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/UWBFilter.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/UWBFilter.h new file mode 100644 index 0000000..0245790 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/UWBFilter.h @@ -0,0 +1,17 @@ +#pragma once +#include +class UWBFilter { +public: + UWBFilter(); + void update(float& x, float& y); +private: + float lastX; + float lastY; + float lastXf; + float lastYf; + float lastV = 0.0f; + int thres = 50; + bool initFlag = false; + std::ofstream outfile; + +}; \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/align.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/align.h new file mode 100644 index 0000000..90def14 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/align.h @@ -0,0 +1,57 @@ +#ifndef MAPPING_ALIGN_H +#define MAPPING_AlIGN_H +#include +#include +#include +#include +#include +#include +#include +#include "pibot_msgs/RawImu.h" +#include "type.h" +#include "uwb.h" +#include "Mat.h" +#include "UWBFilter.h" + + + +namespace uwb_slam{ + class Align + { + public: + Align(){ + imu_odomPos.Init(2, 1, 0); + uwbPos.Init(2, 1, 0); + syncPos.Init(2, 1, 0); + imu_odom_StartPos.Init(2, 1, 0); + Rotate.Init(2,2,0); + uwbStartPos.Init(2,1,0); + }; + void Run(); + void imuCB(const pibot_msgs::RawImu& imu); + void odom_imuCB(const nav_msgs::Odometry& odom); + + public: + ros::NodeHandle nh_; + ros::Subscriber imu_sub_; + ros::Subscriber odom_imu_sub_; + Imu_odom_pose_data imu_odom_; + Uwb_data uwb_data_; + ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime; + Mat imu_odom_StartPos; + Mat imu_odomPos; + Mat uwbPos; + Mat syncPos; + Mat Rotate; + Mat uwbStartPos; + double qx, qy, qz, qw; + ros::Time odom_tmp_ ; + bool write_data_ = false; + cv::Mat img1; + std::queue> data_queue; + std::shared_ptr uwb_; + UWBFilter filter; + + }; +}; +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/mapping.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/mapping.h new file mode 100644 index 0000000..4dc03fa --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/mapping.h @@ -0,0 +1,50 @@ +#include +#include +#include +#include +#include "uwb.h" +#include "align.h" +#include "UWBFilter.h" +// #include "senddata.h" + +#ifndef MAPPING_H +#define MAPPING_H + + +namespace uwb_slam{ + class Mapping + { + public: + const double PIXEL_SCALE = 5.0; //xiangsudian cm + const int AREA_SIZE = 2000; //map size cm + Mapping() {}; + void Run(); + bool checkQueue(); + void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData); + // void feedPos(const cv::Point2d & uwb); + void process(); + std::mutex mMutexMap; + std::shared_ptr uwb_; + std::shared_ptr align_; + + private: + int realWidth, realHeight; + std::queue> posDataQueue; + // std::queue posDataQueue; + std::vector posData = std::vector(3, {-1, -1}); + + nav_msgs::Odometry mapping; + ros::NodeHandle nh_; + ros::Subscriber odom_imu_sub_; + void odom_imuCB(const nav_msgs::Odometry& odom); + + + + bool readPos = false; + cv::Mat img; + UWBFilter filter; + }; + +} + +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/senddata.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/senddata.h new file mode 100644 index 0000000..6f47748 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/senddata.h @@ -0,0 +1,41 @@ + +// #ifndef SENDDATA_H +// #define SENDDATA_H +// #include +// #include +// #include +// #include +// #include +// #include +// #include +// #include +// #include "uwb.h" +// #include "align.h" + + + +// namespace uwb_slam{ +// class Senddata +// { +// public: +// Senddata(){}; +// void publishOdometry(); +// void publishtf(); +// void Run(); + +// public: +// std::shared_ptr align_; +// std::mutex mMutexSend; + +// private: +// ros::NodeHandle nh_; +// ros::Publisher position_pub_; +// tf2_ros::TransformBroadcaster broadcaster; +// nav_msgs::Odometry odom_imu_uwb_;//消息类型 发布融合uwb imu 里程计信息 +// geometry_msgs::TransformStamped transformStamped;//坐标变换消息 + +// }; + +// } + +// #endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/type.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/type.h new file mode 100644 index 0000000..93b8358 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/type.h @@ -0,0 +1,74 @@ +#include +#include +#ifndef TYPE_H +#define TYPE_H + +namespace uwb_slam{ +struct Imu_data +{ + ros::Time imu_t_; + double a_[3]; + double w_[3]; + Imu_data(){}; + Imu_data(double ax,double ay,double az, double wx, double wy, double wz) + :a_{ax,ay,az},w_{wz,wy,wz}{}; +}; + + + +struct Imu_odom_pose_data +{ + Imu_data imu_data_; + double pose_[3]; + double quat_[4]; + double vxy_; + double angle_v_; + Imu_odom_pose_data(){}; + Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){}; +}; + +/*struct Odom_data +{ + Imu_data imu_data_; + ros::Time odom_t_; + double pose_[3]; + double quat_[4]; + double vxy_,; + double angle_v_; + + Odom_data(double x,double y,double z, + double qw, double qx, double qy,double qz, + ros::Time odom_t,double vxy, double angle_v) + :pose_{x,y,z},quat_{qw,qx,qy,qz},odom_t_(odom_t),vxy_(vxy),angle_v_(angle_v){}; +}; +*/ + +struct Uwb_data +{ + float x_,y_; + ros::Time uwb_t_; + Uwb_data(){}; + Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){}; +}; + +struct LightHouseData +{ + float x_,y_,z_; + float qw_,qx_,qy_,qz_; + ros::Time lighthouse_t_; + LightHouseData(){}; + LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t): + x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){}; +}; + + + +/*struct Imu_odom_pose_data +{ + Imu_data imu_data_; + Odom_data odom_data; + Imu_odom_pose_data(Imu_data i_data, Odom_data o_data):imu_data_(i_data),odom_data(o_data){}; +}; +*/ +} +#endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/uwb.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/uwb.h new file mode 100644 index 0000000..6ea2f64 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/include/uwb.h @@ -0,0 +1,74 @@ +#include +#include +#include +#include +#include +#include +#include "type.h" +#include +#include +#include +#include +#include "UWBFilter.h" +#ifndef UWB_H +#define UWB_H + +#define PI acos(-1) +namespace uwb_slam{ + + class Uwb + { + public: + Uwb(); + ~Uwb(); + void Run(); + bool checknewdata(); + void feed_imu_odom_pose_data(); + // void Serread(); + void usb_hid_read(); + + + + public: + int pre_seq = -1; + int cur_seq = -1; + int AnchorNum = 3; + //int AnchorPos[3][3]={320, -160, 85,\ + // -320,-160, 85,\ + // 320, 240, 85}; + int AnchorPos[3][3]={560, -80, 85,\ + -80,-80, 85,\ + 560, 320, 85};//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]; + + // std::queue v_buffer_imu_odom_pose_data_; + + std::ofstream outfile; + Uwb_data uwb_data_; + // ros_merge_test::RawImu sub_imu_; + // std::queue imu_odom_queue_; + // std::queue uwb_data_queue_; + std::mutex mMutexUwb; + libusb_device_handle *dev_handle; + libusb_device **devs; + libusb_context *ctx = NULL; + int r; + int a; + ssize_t cnt; + UWBFilter filter; + float fx,fy; + + }; + +}; + + + + + + +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/launch/upbot_mapping.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/launch/upbot_mapping.launch new file mode 100644 index 0000000..f982d50 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/launch/upbot_mapping.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/map/output_image.png b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/map/output_image.png new file mode 100644 index 0000000..835fcf4 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/map/output_image.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/package.xml new file mode 100644 index 0000000..b9b9efc --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/package.xml @@ -0,0 +1,75 @@ + + + upbot_mapping + 0.0.0 + The upbot_mapping package + + + + + luoruidi + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + geometry_msgs + pibot_msgs + + + + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + geometry_msgs + + + + + + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/Mat.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/Mat.cpp new file mode 100644 index 0000000..8bbf4da --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/Mat.cpp @@ -0,0 +1,368 @@ +/******************** (C) COPYRIGHT 2022 Geek************************************ +* File Name : Mat.cpp +* Current Version : V1.0 +* Author : logzhan +* Date of Issued : 2022.09.14 +* Comments : 矩阵运算库 +********************************************************************************/ +/* Header File Including -----------------------------------------------------*/ +#include "Mat.h" + +double mind(double a,double b) +{ + double c = a; + if(b < c){ + c = b; + } + return c; +} + +int mini(int a,int b) +{ + int c=a; + if(bm = setm; + this->n = setn; + if((kind==0)||(kind==1)) + { + memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double)); + } + + 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。 + int xend = mini(this->m, this->n); + for(x=0;x < xend;x++){ + mat[x][x] = 1; + } + } +} +void Mat::Zero() { + +} + +Mat Mat::SubMat(int a,int b,int lm,int ln) +{ + + int aend=a+lm-1; + int bend=b+ln-1; + + + Mat s(lm,ln,-1); + int x,y; + for(x=0;xs) + { + p=xb; + s=sxb; + } + } + //同时变换两侧矩阵 + if(x!=p) + { + a.ColExchange(x,p); + b.ColExchange(x,p); + } + + //这一列归一 + double k=1/b.mat[x][x];//这一句不要嵌套到下面两行中，否则会因为更新不同步导致计算错误。 + a.ColMul(x,k); + b.ColMul(x,k); + + //把其它列归零 + for(xb=0;xbs) + { + p=xb; + s=sxb; + } + } + //同时变换两侧矩阵 + if(x!=p) + { + a.RowExchange(x,p); + b.RowExchange(x,p); + } + + //这一行归一 + double k=1/a.mat[x][x];//这一句不要嵌套到下面两行中，否则会因为更新不同步导致计算错误。 + a.RowMul(x,k); + b.RowMul(x,k); + + //把其它行归零 + for(xb=0;xbuwb_data_.uwb_t_) { + // std::cout << "uwb received" << std::endl; + + // Rotate.mat[0][0] = cos(yaw); + // Rotate.mat[0][1] = -sin(yaw); + // Rotate.mat[1][0] = sin(yaw); + // Rotate.mat[1][1] = cos(yaw); + // std::cout << "Pos:" << uwb_->uwb_data_.x_ << " " << uwb_->uwb_data_.y_ << std::endl; + + uwbPos.mat[0][0] = uwb_->uwb_data_.x_; + uwbPos.mat[1][0] = uwb_->uwb_data_.y_; + + // uwbPos = uwbPos - Rotate * uwbStartPos; + + predPos = F * syncPos + deltaPos; + Z = H * uwbPos; + P = F * P * (~F) + Q; + Kg = P * (~H) / (H * P * (~H) + R); + syncPos = predPos + Kg * (Z - H * predPos); + P = (I - Kg * H) * P; + uwbDataRxTime = uwb_->uwb_data_.uwb_t_; + } else { + 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::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; + + // std::cout << "file d:" << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << 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_ << "," <d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n"; + // float fx,fy; + // fx = uwb_->uwb_data_.x_; + // fy = uwb_->uwb_data_.y_; + // filter.update(fx,fy); + outfile << uwbPos.mat[0][0] << "," << uwbPos.mat[1][0] << "," << uwb_->fx <<"," << uwb_->fy <<"\n"; + } + + } + + outfile.close(); + // std::cout<< "Data written to file." << std::endl; + } + +//imu原始数据，不知道有没有纠正零偏的 + void Align::imuCB(const pibot_msgs::RawImu& imu) + { + imu_odom_.imu_data_.imu_t_ = imu.header.stamp; + imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x; + imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y; + imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z; + + imu_odom_.imu_data_.w_[0] = imu.raw_angular_velocity.x; + imu_odom_.imu_data_.w_[1] = imu.raw_angular_velocity.y; + imu_odom_.imu_data_.w_[2] = imu.raw_angular_velocity.z; + + return; + } + +//imu里程计融合位姿 + void Align::odom_imuCB(const nav_msgs::Odometry& odom) + { + odom_tmp_ = odom.header.stamp; + imu_odom_.pose_[0] = odom.pose.pose.position.x; + imu_odom_.pose_[1] = odom.pose.pose.position.y; + imu_odom_.pose_[2] = odom.pose.pose.position.z; + imu_odom_.quat_[0] = odom.pose.pose.orientation.x; + imu_odom_.quat_[1] = odom.pose.pose.orientation.y; + imu_odom_.quat_[2] = odom.pose.pose.orientation.z; + imu_odom_.quat_[3] = odom.pose.pose.orientation.w; + + imu_odom_.vxy_= odom.twist.twist.linear.x; + imu_odom_.angle_v_ = odom.twist.twist.angular.z; + } + + +}; + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/main.cpp new file mode 100644 index 0000000..d2b79df --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/main.cpp @@ -0,0 +1,39 @@ +#include "Mat.h" +#include "mapping.h" +#include +#include +#include + + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "upbot_mapping"); // Initialize the ROS node + std::shared_ptr mp = std::make_shared(); + std::shared_ptr uwb = std::make_shared(); + // std::shared_ptr sender = std::make_shared(); + std::shared_ptr align = std::make_shared(); + + mp->uwb_ = uwb; + mp->align_ = align; + align->uwb_ = uwb; + // sender->align_ = align; + + // uwb serried read + std::thread uwb_trd([&uwb]() { + uwb->Run(); + }); + + // build map + std::thread map_trd ([&mp]() { + mp->Run(); + }); + + std::thread align_trd ([&align]() { + align->Run(); + }); + + + + ros::spin(); +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/mapping.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/mapping.cpp new file mode 100644 index 0000000..bf4c5e9 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/mapping.cpp @@ -0,0 +1,134 @@ +#include "mapping.h" +#include +#include // 包含 usleep() 函数所在的头文件 +#include +#include + +namespace uwb_slam +{ + bool Mapping::checkQueue() + { + //std::unique_lock lock(mMutexMap); + return !posDataQueue.empty(); + } + + void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData) + { + //std::unique_lock lock(mMutexMap); + posDataQueue.push({imuPosData, uwbPosData, syncPosData}); + + } + + + void Mapping::process() + { + { + + //std::unique_lock lock(mMutexMap); + //std::cout << "SIZE: " <(imuPosPointY, imuPosPointX) = 0; + img.at(imuPosPointY, imuPosPointX) = 0; + + // img.at(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255); //imu trace is red + // img.at(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green + // img.at(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0); //sync trace is blue + } + + + void Mapping::Run() + { + + //int key = cv::waitKey(0);//等待用户按下按键 + //std::cout << key << std::endl; + + realWidth = AREA_SIZE / PIXEL_SCALE; + realHeight = AREA_SIZE / PIXEL_SCALE; + + // img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255)); + img = cv::Mat(realHeight, realWidth, CV_8UC1, cv::Scalar(255)); + //cankao + + // for (int j=0;j(j, i) = 0; + + // for (int j=realHeight/2-1; j<=realHeight/2+1; j+=1) + // for (int i=realWidth/2-1; i<=realWidth/2+1; i+=1) + // img.at(j, i) = 0; + + // int i = 0, j = 0; + // img.at(j, i) = 0; + + + cv::imshow("mapping",img); + + while(1){ + int key = cv::waitKey(0); + if (key == 'm' ) { + readPos = true; + std::cout << "start mapping" << key << std::endl; + + //cv::destroyAllWindows(); + } + while( readPos )//按下空格键 + { + int key2 = cv::waitKey(1); + if (key2 == 'm') { + //TODO: save + + std::string pngimage="/home/firefly/pibot_ros/ros_ws/src/map/mapping_ori.png";//保存的图片文件路径 + cv::imwrite(pngimage,img); + readPos = false; + + // outfile.close(); + // printFlag = 0; + // std::cout<< "Data written to file." << std::endl; + + break; + } + // float fx,fy; + // fx = uwb_->uwb_data_.x_; + // fy = uwb_->uwb_data_.y_; + // filter.update(fx,fy); + if(uwb_->fx==0&&uwb_->fy==0){ + continue; + }else{ + this->feedPos(cv::Point2d(uwb_->fx, uwb_->fy), cv::Point2d(uwb_->uwb_data_.x_,uwb_->uwb_data_.y_), cv::Point2d(0,0)); + } + + + if(checkQueue()) + { + process(); + + } + } + + } + + + } + +} // namespace uwb_slam + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/senddata.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/senddata.cpp new file mode 100644 index 0000000..6fc5e7f --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/senddata.cpp @@ -0,0 +1,73 @@ +// #include "senddata.h" + + +// namespace uwb_slam +// { +// void Senddata::Run(){ + +// ros::Rate loop_rate(100); +// position_pub_=nh_.advertise("mapping",10); +// while(ros::ok()){ +// publishOdometry(); +// publishtf(); +// ros::spinOnce(); +// loop_rate.sleep(); +// } + + +// } + +// void Senddata::publishOdometry() +// { + +// std::mutex mMutexSend; +// ros::Time current_time = ros::Time::now(); + +// // 设置 Odometry 消息的头部信息 +// odom_imu_uwb_.header.stamp = current_time; +// odom_imu_uwb_.header.frame_id = "odom"; // 设置坐标系为 "map" +// odom_imu_uwb_.child_frame_id = "base_link"; // 设置坐标系为 "base_link" + +// // odom_imu_uwb_.header.frame_id = "odom"; +// // odom_imu_uwb_.child_frame_id = "map"; +// // 填充 Odometry 消息的位置信息 uwb_->uwb_data_.x_; +// odom_imu_uwb_.pose.pose.position.x = align_->syncPos.mat[0][0]/100; +// odom_imu_uwb_.pose.pose.position.y = align_->syncPos.mat[1][0]/100; +// odom_imu_uwb_.pose.pose.position.z = 0.0; + + +// // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态） +// odom_imu_uwb_.pose.pose.orientation.x = align_->qx; +// odom_imu_uwb_.pose.pose.orientation.y = align_->qy; +// odom_imu_uwb_.pose.pose.orientation.z = align_->qz; +// odom_imu_uwb_.pose.pose.orientation.w = align_->qw; + + +// // 发布 Odometry 消息 +// position_pub_.publish(odom_imu_uwb_); + + +// } + +// void Senddata::publishtf() +// { +// transformStamped.header.stamp = ros::Time::now(); + +// transformStamped.header.frame_id = "odom"; // 父坐标系为 "odom" +// transformStamped.child_frame_id = "base_link"; // 子坐标系为 "base_link" +// transformStamped.transform.translation.x = align_->syncPos.mat[0][0]/100; // 设置坐标变换的平移部分 +// transformStamped.transform.translation.y = align_->syncPos.mat[1][0]/100; +// transformStamped.transform.translation.z = 0.0; +// transformStamped.transform.rotation.x = align_->qx; // 设置坐标变换的旋转部分（使用四元数表示） +// transformStamped.transform.rotation.y = align_->qy; +// transformStamped.transform.rotation.z = align_->qz; +// transformStamped.transform.rotation.w = align_->qw; + +// broadcaster.sendTransform(transformStamped); +// } + + + + + +// } // namespace uwb_slam \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/uwb.cpp new file mode 100644 index 0000000..cc26a3b --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_mapping/src/uwb.cpp @@ -0,0 +1,199 @@ +#include "uwb.h" +#include +#include "Mat.h" + + +#define CARHEIGHT 35 + +namespace uwb_slam{ + Mat A; + Mat b; + Mat uwbPos; + int M=3; + // + Uwb::Uwb(){ + + + // 初始化 AnchorPos 数组后再初始化 libusb + int r = libusb_init(NULL); + if (r < 0) { + ROS_ERROR("Failed to initialize libusb"); + return; + } + + // 获取设备列表 + ssize_t cnt = libusb_get_device_list(NULL, &devs); + if (cnt < 0) { + ROS_ERROR("Failed to get device list"); + libusb_exit(NULL); + return; + } + + // 使用指定的 vendor 和 product ID 打开设备 + dev_handle = libusb_open_device_with_vid_pid(NULL, 0x0483, 0x5750); + if (dev_handle == NULL) { + ROS_ERROR("Cannot open device"); + libusb_free_device_list(devs, 1); + libusb_exit(NULL); + return; + } + + ROS_INFO("Device opened"); + + libusb_free_device_list(devs, 1); // 释放设备列表 + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) { + // 检查是否有内核驱动程序激活 + ROS_INFO("Kernel driver active"); + if (libusb_detach_kernel_driver(dev_handle, 0) == 0) + ROS_INFO("Kernel driver detached"); + else + ROS_WARN("Failed to detach kernel driver"); + } + + // 请求接口 + r = libusb_claim_interface(dev_handle, 0); + if (r < 0) { + ROS_ERROR("Cannot claim interface"); + libusb_close(dev_handle); + libusb_exit(NULL); + return; + } + + ROS_INFO("Interface claimed"); + } + + + Uwb::~Uwb() { + + + // 释放接口 + int r = libusb_release_interface(dev_handle, 0); + if (r != 0) { + ROS_ERROR("Cannot release interface"); + } + + // 关闭设备 + libusb_close(dev_handle); + + // 退出 libusb + libusb_exit(NULL); + } + + void Uwb::Run() { + // std::string filename = "/home/firefly/pibot_ros/ros_ws/src/upbot_mapping/data.txt"; + // outfile.open(filename); + // if(outfile.is_open()) { + // std::cout << "start saving data" << std::endl; + // outfile << "x,y"<<"\n"; + // } else { + // std::cout<<"file can not open"<Serread(); + this->usb_hid_read(); + + // std::cout<<"s"<x<uwb_data_.uwb_t_ = ros::Time::now(); + this->d[0] = *(int16_t *)(tmp_char + 3); + this->d[1] = *(int16_t *)(tmp_char + 5); + this->d[2] = *(int16_t *)(tmp_char + 7); + + + std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl; + if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) { + continue; + } + else + { + 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)); + } + 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; + Mat k(M,1,0); + for (int i = 0; i < M; ++i) { + double sum_squared = 0.0; + for (int j = 0; j < M; ++j) { + sum_squared += pow(AnchorPos[i][j], 2); + } + k.mat[i][0] = sum_squared; + } + // 构造矩阵 A + Mat A(M,4,0); + for (int i = 0; i < M; ++i) { + for (int j = 0; j < 3; ++j) { + A.mat[i][j] = -2 * AnchorPos[i][j]; + } + A.mat[i][3] = 1.0; + } + // 计算 y + Mat y(M,1,0); + for (int i = 0; i < M; ++i) { + y.mat[i][0] = pow(d[i], 2) - k.mat[i][0]; + } + Mat AT=~A; + uwbPos=(AT*A)%AT*y; + this->uwb_data_.x_ = uwbPos.mat[0][0]; + this->uwb_data_.y_ = uwbPos.mat[1][0]; + float o,p; + o = uwbPos.mat[0][0]; + p = uwbPos.mat[1][0]; + if(uwbPos.mat[0][0]==0&&uwbPos.mat[1][0]==0){ + return; + } + filter.update(o,p); + this->fx = o; + this->fy = p; + std::cout << "uwbPos:" << this->uwb_data_.x_ << " " << this->uwb_data_.y_ << std::endl; + } + + }else{ + printf("Read Error\n"); + } + // outfile << uwb_data_.x_ <<","<< uwb_data_.y_ <<"\n"; + + } + // outfile.close(); + + // // 睡眠延时100ms + // usleep(1000 * 10); + + } + + + +}; 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 f39ac6e..2bcb41b 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 @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.0.2) project(upbot_vision) + +set(LIBUSB_INCLUDE_DIR /usr/include/libusb-1.0) +set(LIBUSB_LIBRARY /usr/lib/aarch64-linux-gnu/libusb-1.0.so) find_package(catkin REQUIRED COMPONENTS roscpp std_msgs @@ -8,7 +11,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation ) - +find_package(Boost REQUIRED COMPONENTS thread chrono) find_package(OpenCV REQUIRED) find_package(Threads REQUIRED) @@ -25,11 +28,17 @@ catkin_package( ) +# catkin_install_python(PROGRAMS scripts/run.py +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + include_directories( include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} + ${LIBUSB_INCLUDE_DIRS} + /home/firefly/pibot_ros/runtime/RK3588/Linux/librknn_api/include /home/firefly/pibot_ros/third_party/rga/RK3588/include ) @@ -41,10 +50,14 @@ 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}) @@ -53,13 +66,16 @@ target_link_libraries(head ) add_executable(main src/main.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}) +add_executable(ultrasonic src/ultrasonic.cc) +add_executable(usb_hid src/usb_hid.cc) -# target_link_libraries(sub_dis -# ${catkin_LIBRARIES} -# ) +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 ${catkin_EXPORTED_TARGETS}) + + target_link_libraries(sub_dis +${catkin_LIBRARIES} +) target_link_libraries(main head ${catkin_LIBRARIES} @@ -70,6 +86,14 @@ Threads::Threads /home/firefly/pibot_ros/third_party/so/librknnrt.so ) + target_link_libraries(usb_hid + ${catkin_LIBRARIES} + ${LIBUSB_LIBRARY}#让CMake知道在构建过程中使用libusb-1.0 + ) + target_link_libraries(ultrasonic + ${catkin_LIBRARIES} + ${LIBUSB_LIBRARY}#让CMake知道在构建过程中使用libusb-1.0 + ) 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 c63787f..20470dd 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 @@ -90,16 +90,13 @@ private: public: Ranging(){}; - Ranging(int index, int imgw, int imgh); + Ranging(int imgw, int imgh); void rectifyImage(cv::Mat &oriImgL, cv::Mat &oriImgR); void getInfo(cv::Mat &imgl, cv::Mat &imgr, cv::Mat &detBoxes, cv::Mat &info); std::vector pic2cam(int u, int v); 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 new file mode 100644 index 0000000..6720cce --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ultrasonic.h @@ -0,0 +1,37 @@ +#include +#include +#include +#include +#include +#include "pibot_msgs/avoid.h" +#include + + + +class UltrasonicNode { +public: + ros::NodeHandle nh; + ros::Publisher ultrasonic_pub; + libusb_device_handle *dev_handle; + libusb_device **devs; + libusb_context *ctx = NULL; + int r; + ssize_t cnt; + float range; + // 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)); + // } + UltrasonicNode(); + ~UltrasonicNode(); + + + void readUltrasonic(); +}; + \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch new file mode 100644 index 0000000..8aba747 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch @@ -0,0 +1,7 @@ + + + + + + + \ 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 3c310b3..a725cba 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 @@ -16,21 +16,7 @@ #define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000) -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; -// } +Ranging r(640, 480); std::queue> frameInfo; std::mutex g_mutex; @@ -60,7 +46,7 @@ void *ranging(void *args) // ranging线程 data.height = info.at(i,2); data.angle = info.at(i,3); dis_array.dis.push_back(data); - std::cout<= 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 e1255ca..0b9151c 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 @@ -241,7 +241,7 @@ void Ranging::getInfo(Mat &imgL, Mat &imgR, Mat &detBoxes, Mat &info) } -Ranging::Ranging(int index, int imgw, int imgh) : //初始化 +Ranging::Ranging(int imgw, int imgh) : //初始化 mapX1(imgh, imgw, CV_64F), //初始化矩阵 ，用于计算无畸变和修正转换映射。 mapX2(imgh, imgw, CV_64F), mapY1(imgh, imgw, CV_64F), @@ -251,7 +251,19 @@ Ranging::Ranging(int index, int imgw, int imgh) : //初始化 imgh(imgh) { // Z = Mat::zeros(2, 1, CV_32FC1); - vcapture = cv::VideoCapture(index); + + + vcapture = cv::VideoCapture(0); + + if (!vcapture.isOpened()) { + vcapture = cv::VideoCapture(40); + } + + if (!vcapture.isOpened()) { + std::cerr << "Error: Could not open camera." << std::endl; + // 处理打开摄像头失败的情况 + return; + } //vcapture.set(CAP_PROP_FOURCC, CAP_OPENCV_MJPEG); vcapture.set(cv::CAP_PROP_FPS, 30); vcapture.set(cv::CAP_PROP_FRAME_WIDTH, imgw * 2); diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/sub_dis.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/sub_dis.cc index b0aca3e..c429ec7 100644 --- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/sub_dis.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/sub_dis.cc @@ -1,48 +1,24 @@ -/* - 单元测试：测试双目检测得到的障碍物信息是否通过话题发出 -*/ - #include "ros/ros.h" -#include "upbot_vision/dis_info.h" -#include "upbot_vision/dis_info_array.h" +#include "pibot_msgs/avoid.h" // 包含你要订阅的消息类型的头文件 -void doMsg(const upbot_vision::dis_info_array::ConstPtr& ceju_msg){ - - for (const auto& obstacle_info : ceju_msg->dis) - { - - float distance = obstacle_info.distance; - float width = obstacle_info.width; - float height = obstacle_info.height; - ROS_INFO("distance: %.2f ", distance); - - // // 执行避障逻辑 - // if (distance < obstacle_distance_threshold) - // { - // ROS_INFO("Obstacle detected at distance: %.2f meters. Avoiding obstacle.", distance); - - // // 在这里执行避障动作，例如停止机器人 - // geometry_msgs::Twist cmd_vel; - // cmd_vel.linear.x = 0.0; - // cmd_vel.angular.z = 0.0; - // cmd_vel_pub.publish(cmd_vel); - - // // 这里可以添加更复杂的避障逻辑，例如避开障碍物或调整方向 - // } - // else - // { - // ROS_INFO("No obstacle detected at distance: %.2f meters. Continuing.", distance); - // } - } +// 回调函数，用于处理接收到的消息 +void ultrasonicCallback(const pibot_msgs::avoid::ConstPtr& msg) { + // 打印接收到的超声波数据 + ROS_INFO("Received ultrasonic data: %f mm", msg->ultrasonic_range); } -int main(int argc, char *argv[]) -{ - setlocale(LC_ALL,""); - ros::init(argc,argv,"sub_dis"); + +int main(int argc, char** argv) { + // 初始化 ROS 节点 + ros::init(argc, argv, "ultrasonic_subscriber"); + + // 创建节点句柄 ros::NodeHandle nh; - ros::Subscriber sub = nh.subscribe("ceju_info",10,doMsg); - - ros::spin();//循环读取接收的数据，并调用回调函数处理 + + // 创建订阅者，并指定回调函数 + ros::Subscriber sub = nh.subscribe("ultrasonic_data", 10, ultrasonicCallback); + + // 循环等待回调函数 + ros::spin(); return 0; -} \ No newline at end of file +} 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 new file mode 100644 index 0000000..21cbfc0 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ultrasonic.cc @@ -0,0 +1,112 @@ +#include "upbot_vision/ultrasonic.h" + +UltrasonicNode::UltrasonicNode(){ + r = libusb_init(&ctx); // 初始化libusb + if (r < 0) + { + ROS_ERROR("Failed to initialize libusb"); + return ; + } + + cnt = libusb_get_device_list(ctx, &devs); // 获取设备列表 + if (cnt < 0) + { + ROS_ERROR("Failed to get device list"); + libusb_exit(ctx); + return ; + } + + dev_handle = libusb_open_device_with_vid_pid(ctx, 0x048d, 0x5750); // 使用指定的vendor和product ID打开设备 + if (dev_handle == NULL) + { + ROS_ERROR("Cannot open device"); + libusb_free_device_list(devs, 1); + libusb_exit(ctx); + return ; + } + + // ROS_INFO("Device opened"); + + libusb_free_device_list(devs, 1); // 释放设备列表 + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) + { // 检查是否有内核驱动程序激活 + ROS_INFO("Kernel driver active"); + if (libusb_detach_kernel_driver(dev_handle, 0) == 0) + ROS_INFO("Kernel driver detached"); + else + ROS_WARN("Failed to detach kernel driver"); + } + + r = libusb_claim_interface(dev_handle, 0); // 请求接口 + if (r < 0) + { + ROS_ERROR("Cannot claim interface"); + libusb_close(dev_handle); + libusb_exit(ctx); + return ; + } + + ROS_INFO("Interface claimed"); + ultrasonic_pub = nh.advertise("ultrasonic_data", 10); +} +UltrasonicNode::~UltrasonicNode(){ + r = libusb_release_interface(dev_handle, 0); // 释放接口 + if (r != 0) + ROS_ERROR("Cannot release interface"); + libusb_close(dev_handle); // 关闭设备 + libusb_exit(ctx); + +} +void UltrasonicNode::readUltrasonic() { + unsigned char data[64]; + int transferred; + + while (ros::ok()) + { + r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), data, 64, &transferred, 1000); // 执行批量传输 + // std::cout< +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "usb_hid_node"); + ros::NodeHandle nh; + + libusb_device_handle *dev_handle; + libusb_device **devs; + libusb_context *ctx = NULL; + int r; + ssize_t cnt; + + r = libusb_init(&ctx); // 初始化libusb + if (r < 0) + { + ROS_ERROR("Failed to initialize libusb"); + return 1; + } + + cnt = libusb_get_device_list(ctx, &devs); // 获取设备列表 + if (cnt < 0) + { + ROS_ERROR("Failed to get device list"); + libusb_exit(ctx); + return 1; + } + + dev_handle = libusb_open_device_with_vid_pid(ctx, 0x048d, 0x5750); // 使用指定的vendor和product ID打开设备 + if (dev_handle == NULL) + { + ROS_ERROR("Cannot open device"); + libusb_free_device_list(devs, 1); + libusb_exit(ctx); + return 1; + } + + ROS_INFO("Device opened"); + + libusb_free_device_list(devs, 1); // 释放设备列表 + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) + { // 检查是否有内核驱动程序激活 + ROS_INFO("Kernel driver active"); + if (libusb_detach_kernel_driver(dev_handle, 0) == 0) + ROS_INFO("Kernel driver detached"); + else + ROS_WARN("Failed to detach kernel driver"); + } + + r = libusb_claim_interface(dev_handle, 0); // 请求接口 + if (r < 0) + { + ROS_ERROR("Cannot claim interface"); + libusb_close(dev_handle); + libusb_exit(ctx); + return 1; + } + + ROS_INFO("Interface claimed"); + + ros::Rate loop_rate(2); // 设置循环频率 + + unsigned char data[64]; + int transferred; + int actual; + + while (ros::ok()) + { + r = libusb_interrupt_transfer(dev_handle, (0x01 | LIBUSB_ENDPOINT_IN), data, 64, &transferred, 1000); // 执行批量传输 + // std::cout<