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97734979dc
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7bb2ee4d5f
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该版本将所有的msg文件放在pibot_msgs文件下，编译时需先单独编译pibot_msgs功能包。再编译整个工作空间。
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单独编译pibot_msgs: `catkin_make --pkg pibot_msgs`
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编译整个工作空间：`catkin_make`
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运行目标检测： `rosrun upbot_vision main`
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运行定位：`rosrun upbot_location rosrun upbot_location upbot_location_node `
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运行跟随：`rosrun FollowingCar FollowingCar_node `
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cmake_minimum_required(VERSION 3.0.2)
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project(FollowingCar)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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message_generation
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geometry_msgs
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)
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# 寻找OpenCV库
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find_package(OpenCV REQUIRED)
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# 查找 Boost 库
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find_package(Boost REQUIRED)
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# catkin_package(
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# # INCLUDE_DIRS include
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# # LIBRARIES FollowingCar
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# # CATKIN_DEPENDS roscpp rospy std_msgs
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# # DEPENDS system_lib
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# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
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# )
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include_directories(
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# include
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${OpenCV_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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include
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)
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add_library(${PROJECT_NAME} SHARED
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src/system.cpp
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src/uwb.cpp
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src/mapping.cpp
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src/align.cpp
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src/Mat.cpp
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src/lighthouse.cpp
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# src/read_sensor_data.cpp
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include/senddata.h src/senddata.cpp)
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add_message_files(
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DIRECTORY msg
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FILES
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RawImu.msg
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dis_info_array.msg
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dis_info.msg
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)
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generate_messages(DEPENDENCIES std_msgs geometry_msgs)
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catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
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add_executable(${PROJECT_NAME}_node src/main.cpp)
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target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME})
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/******************** (C) COPYRIGHT 2022 Geek************************************
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* File Name : Mat.h
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* Current Version : V1.0
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* Author : logzhan
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* Date of Issued : 2022.09.14
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* Comments : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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********************************************************************************/
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/* Header File Including -----------------------------------------------------*/
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#ifndef _H_MAT_
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#define _H_MAT_
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#define MAT_MAX 15 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><DCB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#include <string.h>
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#define _USE_MATH_DEFINES
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#include <math.h>
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class Mat
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{
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public:
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Mat();
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Mat(int setm,int setn,int kind);//kind=1<><31>λ<EFBFBD><CEBB>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
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void Init(int setm,int setn,int kind);//kind=1<><31>λ<EFBFBD><CEBB>kind=0<><30><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݡ<EFBFBD>
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void Zero(void);
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//<2F><>Щ<EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>Ϊprivate<74>ġ<EFBFBD><C4A1><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˷<EFBFBD><CBB7>㣬<EFBFBD><E3A3AC>Ҳ<EFBFBD><D2B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>public
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int m;//<2F><><EFBFBD><EFBFBD>
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int n;//<2F><><EFBFBD><EFBFBD>
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double mat[MAT_MAX][MAT_MAX];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//<2F><><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD>
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Mat SubMat(int a,int b,int lm,int ln);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
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void FillSubMat(int a,int b,Mat s);//<2F><><EFBFBD><EFBFBD>Ӿ<EFBFBD><D3BE><EFBFBD>
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//<2F><><EFBFBD><EFBFBD>ר<EFBFBD><D7A8>
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double absvec();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD><C4B3>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>Ǹ<EFBFBD><C7B8><EFBFBD>Ԫ<EFBFBD>صľ<D8B5><C4BE><EFBFBD>ֵ<EFBFBD><D6B5>
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double Sqrt();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD>ƽ<EFBFBD><C6BD>
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friend Mat operator ^(Mat a,Mat b);//<2F><><EFBFBD>
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//<2F><><EFBFBD><EFBFBD>
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friend Mat operator *(double k,Mat a);
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friend Mat operator *(Mat a,double k);
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friend Mat operator /(Mat a,double k);
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friend Mat operator *(Mat a,Mat b);
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friend Mat operator +(Mat a,Mat b);
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friend Mat operator -(Mat a,Mat b);
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friend Mat operator ~(Mat a);//ת<><D7AA>
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friend Mat operator /(Mat a,Mat b);//a*inv(b)
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friend Mat operator %(Mat a,Mat b);//inv(a)*b
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//MAT inv();//<2F><><EFBFBD><EFBFBD><EFBFBD>
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private:
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// Ϊ<><CEAA><EFBFBD>ø<EFBFBD>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һЩ<D2BB><D0A9><EFBFBD><EFBFBD>
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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void RowExchange(int a, int b);
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// ijһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
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void RowMul(int a,double k);
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// <20><>ijһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
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void RowAdd(int a,int b, double k);
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||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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void ColExchange(int a, int b);
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// ijһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
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void ColMul(int a,double k);
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// <20><>ijһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
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void ColAdd(int a,int b,double k);
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||||
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};
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#endif
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#include <cmath>
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#include <ros/ros.h>
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#include <opencv2/opencv.hpp>
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#include <nav_msgs/Odometry.h>
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#include <utility>
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#include <queue>
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#include <fstream>
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#include "FollowingCar/RawImu.h"
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#include "type.h"
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#include "uwb.h"
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#include "lighthouse.h"
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#include "Mat.h"
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#ifndef ALIGN_H
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#define AlIGN_H
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namespace uwb_slam{
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class Align
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{
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public:
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Align(){
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};
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void Run();
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void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
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void imuCB(const FollowingCar::RawImu& imu);
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void odomCB(const nav_msgs::Odometry& odom);
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public:
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ros::NodeHandle nh_;
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ros::Subscriber wheel_odom_sub_;
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ros::Subscriber imu_sub_;
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ros::Subscriber odom_sub_;
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Imu_odom_pose_data imu_odom_;
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Uwb_data uwb_data_;
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ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime;
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ros::Time odom_tmp_ ;
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bool write_data_ = false;
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cv::Mat img1;
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std::queue<std::pair<Imu_odom_pose_data,Uwb_data>> data_queue;
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std::shared_ptr<uwb_slam::Uwb> uwb_;
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std::shared_ptr<uwb_slam::Lighthouse> lighthouse_;
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};
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};
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#endif
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#include <ros/ros.h>
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#include <mutex>
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#include <boost/asio.hpp>
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#include <iostream>
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#include <string>
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#include <cstdint>
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#include "type.h"
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#include <queue>
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#include <chrono>
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#ifndef __LIGHTHOUSE_H__
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#define __LIGHTHOUSE_H__
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namespace uwb_slam{
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class Lighthouse{
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public:
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Lighthouse();
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~Lighthouse();
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void Run();
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void UDPRead();
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// Listen PORT
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int PORT = 12345;
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int UdpSocket = -1;
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LightHouseData data;
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std::mutex mMutexLighthouse;
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};
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};
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#endif
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#include <queue>
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#include <opencv2/opencv.hpp>
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#include <mutex>
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#include "uwb.h"
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#include "align.h"
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#ifndef MAPPING_H
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#define MAPPING_H
|
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|
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|
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namespace uwb_slam{
|
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class Mapping
|
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{
|
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public:
|
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const double PIXEL_SCALE = 1.0; //xiangsudian cm
|
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const int AREA_SIZE = 1000; //map size cm
|
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Mapping() {};
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void Run();
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bool checkQueue();
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void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData);
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void process();
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std::mutex mMutexMap;
|
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std::shared_ptr<uwb_slam::Uwb> uwb_;
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std::shared_ptr<uwb_slam::Align> align_;
|
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|
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private:
|
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int realWidth, realHeight;
|
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std::queue<std::vector<cv::Point2d>> posDataQueue;
|
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std::vector<cv::Point2d> posData = std::vector<cv::Point2d>(3, {-1, -1});
|
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//cv::Point2d imuPoint = {-1,-1};
|
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// std::queue<cv::Point2d> posDataQueue;
|
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|
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|
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bool readPos = false;
|
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cv::Mat img;
|
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};
|
||||
|
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}
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#endif
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#include <ros/ros.h>
|
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#include "nav_msgs/Odometry.h"
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#include "geometry_msgs/Twist.h"
|
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#include "sensor_msgs/Imu.h"
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#include "geometry_msgs/PoseStamped.h"
|
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#include "geometry_msgs/PoseWithCovarianceStamped.h"
|
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#include <boost/thread/mutex.hpp>
|
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#include "type.h"
|
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#include "uwb.h"
|
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|
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|
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#ifndef READ_SENSOR_DATA_H
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#define READ_SENSOR_DATA_H
|
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namespace uwb_slam{
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typedef boost::shared_ptr<nav_msgs::Odometry const> OdomConstPtr;
|
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typedef boost::shared_ptr<sensor_msgs::Imu const> ImuConstPtr;
|
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class Read_sensor_data
|
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{
|
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public:
|
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Read_sensor_data();
|
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|
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void Run(int argc, char* argv[]);
|
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//void set_uwb(Uwb * uwb);
|
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void imu_call_back(const ImuConstPtr& imu);
|
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void odom_call_back(const OdomConstPtr& odom);
|
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|
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private:
|
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ros::Subscriber imu_sub_;
|
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ros::Subscriber odom_sub_;
|
||||
|
||||
};
|
||||
}
|
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#endif
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|
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#include <ros/ros.h>
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#include <nav_msgs/Odometry.h>
|
||||
#include <geometry_msgs/Point.h>
|
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#include <geometry_msgs/Quaternion.h>
|
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#include <tf2/LinearMath/Quaternion.h>
|
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#include <mutex>
|
||||
#include "uwb.h"
|
||||
#include <geometry_msgs/Twist.h>
|
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#include "FollowingCar/dis_info.h"
|
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#include "FollowingCar/dis_info_array.h"
|
||||
|
||||
#ifndef SENDDATA_H
|
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#define SENDDATA_H
|
||||
|
||||
|
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namespace uwb_slam{
|
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|
||||
class Senddata
|
||||
{
|
||||
public:
|
||||
Senddata(){};
|
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void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
|
||||
void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
|
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void odomCB(const nav_msgs::Odometry& odom);
|
||||
void stereoCB(const FollowingCar::dis_info_array::ConstPtr& stereo);
|
||||
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb_;
|
||||
|
||||
|
||||
std::mutex mMutexSend;
|
||||
|
||||
private:
|
||||
ros::Publisher position_pub_;
|
||||
ros::Publisher cmd_vel_pub_;
|
||||
ros::Subscriber odom_sub_;
|
||||
ros::Subscriber obstacles_sub_;
|
||||
ros::NodeHandle nh_;
|
||||
|
||||
nav_msgs::Odometry odom_;//odom的消息类型
|
||||
nav_msgs::Odometry sub_odom_;//odom的消息类型
|
||||
geometry_msgs::Twist cmd_vel_;
|
||||
|
||||
bool flag_ = 0;
|
||||
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
#include <thread>
|
||||
#include <string>
|
||||
#include "mapping.h"
|
||||
#include "uwb.h"
|
||||
#include "senddata.h"
|
||||
// #include "align.h"
|
||||
#include <iostream>
|
||||
|
||||
#ifndef SYSTEM_H
|
||||
#define SYSTEM_H
|
||||
|
||||
namespace uwb_slam{
|
||||
class System{
|
||||
|
||||
public:
|
||||
System() {
|
||||
}
|
||||
void Run();
|
||||
public:
|
||||
|
||||
std::shared_ptr<uwb_slam::Mapping>Mapping_;
|
||||
std::shared_ptr<uwb_slam::Uwb>Uwb_;
|
||||
std::shared_ptr<uwb_slam::Senddata>Sender_;
|
||||
std::shared_ptr<uwb_slam::Align>Align_;
|
||||
std::shared_ptr<uwb_slam::Lighthouse>Lighthouse_;
|
||||
|
||||
// Uwb* Uwb_ ;
|
||||
// Senddata* Sender_;
|
||||
// Mapping* Mapping_;
|
||||
};
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,50 @@
|
|||
#include <ros/ros.h>
|
||||
#include <ros/time.h>
|
||||
#ifndef TYPE_H
|
||||
#define TYPE_H
|
||||
|
||||
namespace uwb_slam{
|
||||
struct Imu_data
|
||||
{
|
||||
ros::Time imu_t_;
|
||||
double a_[3];
|
||||
double g_[3];
|
||||
double m_[3];
|
||||
Imu_data(){};
|
||||
Imu_data(double ax,double ay,double az, double gx, double gy, double gz, double mx, double my, double mz)
|
||||
:a_{ax,ay,az},g_{gx,gy,gz},m_{mx,my,mz}{};
|
||||
};
|
||||
|
||||
|
||||
|
||||
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 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){};
|
||||
};
|
||||
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,60 @@
|
|||
#include <ros/ros.h>
|
||||
#include <mutex>
|
||||
#include <boost/asio.hpp>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <cstdint>
|
||||
#include "type.h"
|
||||
#include <queue>
|
||||
#include <chrono>
|
||||
#ifndef UWB_H
|
||||
#define UWB_H
|
||||
|
||||
#define PI acos(-1)
|
||||
namespace uwb_slam{
|
||||
|
||||
class Uwb
|
||||
{
|
||||
public:
|
||||
Uwb();
|
||||
void Run();
|
||||
bool checknewdata();
|
||||
void feed_imu_odom_pose_data();
|
||||
void Serread();
|
||||
|
||||
|
||||
|
||||
public:
|
||||
int pre_seq = -1;
|
||||
int cur_seq = -1;
|
||||
int AnchorNum = 3;
|
||||
int AnchorPos[3][3]={
|
||||
-240, 400, 113,\
|
||||
240, 400, 113,\
|
||||
-400, -240, 113
|
||||
};//基站坐标，序号+三维坐标
|
||||
int d[3];
|
||||
int aoa[3];
|
||||
|
||||
// std::queue<Imu_odom_pose_data> v_buffer_imu_odom_pose_data_;
|
||||
|
||||
|
||||
Uwb_data uwb_data_;
|
||||
// ros_merge_test::RawImu sub_imu_;
|
||||
// std::queue<Imu_odom_pose_data > imu_odom_queue_;
|
||||
// std::queue<Uwb_data> 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_;
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
Header header
|
||||
bool accelerometer
|
||||
bool gyroscope
|
||||
bool magnetometer
|
||||
geometry_msgs/Vector3 raw_linear_acceleration
|
||||
geometry_msgs/Vector3 raw_angular_velocity
|
||||
geometry_msgs/Vector3 raw_magnetic_field
|
||||
|
|
@ -0,0 +1 @@
|
|||
FollowingCar/dis_info[] dis
|
||||
|
|
@ -0,0 +1,73 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>FollowingCar</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The FollowingCar package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but multiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/FollowingCar</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, multiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintainers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
|
||||
<!-- <depend>roscpp</depend> -->
|
||||
<!-- Note that this is equivalent to the following: -->
|
||||
<!-- <build_depend>roscpp</build_depend> -->
|
||||
<!-- <exec_depend>roscpp</exec_depend> -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use build_export_depend for packages you need in order to build against this package: -->
|
||||
<!-- <build_export_depend>message_generation</build_export_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use exec_depend for packages you need at runtime: -->
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<!-- Use doc_depend for packages you need only for building documentation: -->
|
||||
<!-- <doc_depend>doxygen</doc_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>message_generation</build_depend>
|
||||
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
<build_export_depend>std_msgs</build_export_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
<exec_depend>geometry_msgs</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
|
|
@ -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 : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
********************************************************************************/
|
||||
/* 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(b<c)
|
||||
{
|
||||
c=b;
|
||||
}
|
||||
return c;
|
||||
|
||||
}
|
||||
|
||||
//<2F><>Ҫ<EFBFBD>ڳ<EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5>ù<EFBFBD><C3B9>캯<EFBFBD><ECBAAF>
|
||||
Mat::Mat()
|
||||
{
|
||||
Init(1,1,0);
|
||||
}
|
||||
|
||||
Mat::Mat(int setm,int setn,int kind)
|
||||
{
|
||||
Init(setm,setn,kind);
|
||||
}
|
||||
|
||||
void Mat::Init(int setm,int setn,int kind)
|
||||
{
|
||||
this->m = setm;
|
||||
this->n = setn;
|
||||
if((kind==0)||(kind==1))
|
||||
{
|
||||
memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double));
|
||||
}
|
||||
|
||||
if(kind==1)
|
||||
{
|
||||
int x;
|
||||
//Cԭ<43>е<EFBFBD>max min<69>ᵼ<EFBFBD><E1B5BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD><C4B6><EFBFBD><EFBFBD><EFBFBD>Ҫֱ<D2AA>ӷŵ<D3B7>max<61><78><EFBFBD>档
|
||||
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;x<lm;x++)
|
||||
{
|
||||
for(y=0;y<ln;y++)
|
||||
{
|
||||
s.mat[x][y]=mat[a+x][b+y];
|
||||
}
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
|
||||
void Mat::FillSubMat(int a,int b,Mat s)
|
||||
{
|
||||
int x,y;
|
||||
for(x=0;x<s.m;x++)
|
||||
{
|
||||
for(y=0;y<s.n;y++)
|
||||
{
|
||||
mat[a+x][b+y]=s.mat[x][y];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Mat operator *(double k, Mat a)
|
||||
{
|
||||
Mat b(a.m,a.n,-1);
|
||||
int x,y;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<a.n;y++)
|
||||
{
|
||||
b.mat[x][y]=k*a.mat[x][y];
|
||||
}
|
||||
}
|
||||
return b;
|
||||
}
|
||||
Mat operator *(Mat a,double k)
|
||||
{
|
||||
return k*a;
|
||||
}
|
||||
Mat operator /(Mat a,double k)
|
||||
{
|
||||
return (1/k)*a;
|
||||
}
|
||||
Mat operator *(Mat a,Mat b)
|
||||
{
|
||||
Mat c(a.m,b.n,-1);
|
||||
int x,y,z;
|
||||
double s;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<b.n;y++)
|
||||
{
|
||||
s=0;
|
||||
for(z=0;z<a.n;z++)
|
||||
{
|
||||
s=s+a.mat[x][z]*b.mat[z][y];
|
||||
}
|
||||
c.mat[x][y]=s;
|
||||
}
|
||||
}
|
||||
return c;
|
||||
|
||||
}
|
||||
|
||||
Mat operator +(Mat a,Mat b)
|
||||
{
|
||||
|
||||
Mat c=a;
|
||||
int x,y;
|
||||
for(x=0;x<c.m;x++)
|
||||
{
|
||||
for(y=0;y<c.n;y++)
|
||||
{
|
||||
c.mat[x][y]+=b.mat[x][y];
|
||||
}
|
||||
}
|
||||
return c;
|
||||
}
|
||||
Mat operator -(Mat a,Mat b)
|
||||
{
|
||||
|
||||
Mat c=a;
|
||||
int x,y;
|
||||
for(x=0;x<c.m;x++)
|
||||
{
|
||||
for(y=0;y<c.n;y++)
|
||||
{
|
||||
c.mat[x][y]-=b.mat[x][y];
|
||||
}
|
||||
}
|
||||
return c;
|
||||
}
|
||||
Mat operator ~(Mat a)
|
||||
{
|
||||
Mat b(a.n,a.m,-1);
|
||||
int x,y;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
for(y=0;y<a.n;y++)
|
||||
{
|
||||
b.mat[y][x]=a.mat[x][y];
|
||||
|
||||
}
|
||||
}
|
||||
return b;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Mat operator /(Mat a,Mat b)
|
||||
{
|
||||
//<2F><>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA>
|
||||
|
||||
int x,xb;
|
||||
for(x=0;x<b.n;x++)
|
||||
{
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>ѵ<EFBFBD><D1B5>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>ʼԪ<CABC><D4AA><EFBFBD><EFBFBD><EFBFBD>
|
||||
double s=0;
|
||||
int p=x;
|
||||
double sxb;
|
||||
for(xb=x;xb<b.n;xb++)
|
||||
{
|
||||
sxb=fabs(b.mat[x][xb]);
|
||||
if(sxb>s)
|
||||
{
|
||||
p=xb;
|
||||
s=sxb;
|
||||
}
|
||||
}
|
||||
//ͬʱ<CDAC>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
if(x!=p)
|
||||
{
|
||||
a.ColExchange(x,p);
|
||||
b.ColExchange(x,p);
|
||||
}
|
||||
|
||||
//<2F><>һ<EFBFBD>й<EFBFBD>һ
|
||||
double k=1/b.mat[x][x];//<2F><>һ<EFBFBD>䲻ҪǶ<D2AA><EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>²<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
a.ColMul(x,k);
|
||||
b.ColMul(x,k);
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><D0B9><EFBFBD>
|
||||
for(xb=0;xb<b.n;xb++)
|
||||
{
|
||||
if(xb!=x)
|
||||
{
|
||||
k=(-b.mat[x][xb]);
|
||||
a.ColAdd(xb,x,k);
|
||||
b.ColAdd(xb,x,k);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return a;
|
||||
}
|
||||
|
||||
|
||||
Mat operator %(Mat a,Mat b)
|
||||
{
|
||||
//<2F><>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA>
|
||||
int x,xb;
|
||||
for(x=0;x<a.m;x++)
|
||||
{
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>ѵ<EFBFBD><D1B5>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD>ʼԪ<CABC><D4AA><EFBFBD><EFBFBD><EFBFBD>
|
||||
double s=0;
|
||||
int p=x;
|
||||
double sxb;
|
||||
for(xb=x;xb<a.m;xb++)
|
||||
{
|
||||
sxb=fabs(a.mat[xb][x]);
|
||||
if(sxb>s)
|
||||
{
|
||||
p=xb;
|
||||
s=sxb;
|
||||
}
|
||||
}
|
||||
//ͬʱ<CDAC>任<EFBFBD><E4BBBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
if(x!=p)
|
||||
{
|
||||
a.RowExchange(x,p);
|
||||
b.RowExchange(x,p);
|
||||
}
|
||||
|
||||
//<2F><>һ<EFBFBD>й<EFBFBD>һ
|
||||
double k=1/a.mat[x][x];//<2F><>һ<EFBFBD>䲻ҪǶ<D2AA><EFBFBD><D7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>²<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
a.RowMul(x,k);
|
||||
b.RowMul(x,k);
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>й<EFBFBD><D0B9><EFBFBD>
|
||||
for(xb=0;xb<a.m;xb++)
|
||||
{
|
||||
if(xb!=x)
|
||||
{
|
||||
k=(-a.mat[xb][x]);
|
||||
a.RowAdd(xb,x,k);
|
||||
b.RowAdd(xb,x,k);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return b;
|
||||
}
|
||||
|
||||
|
||||
void Mat::RowExchange(int a, int b)
|
||||
{
|
||||
double s[MAT_MAX];
|
||||
int ncpy=n*sizeof(double);
|
||||
memcpy(s,mat[a],ncpy);
|
||||
memcpy(mat[a],mat[b],ncpy);
|
||||
memcpy(mat[b],s,ncpy);
|
||||
}
|
||||
void Mat::RowMul(int a,double k)
|
||||
{
|
||||
int y;
|
||||
for(y=0;y<n;y++)
|
||||
{
|
||||
mat[a][y]= mat[a][y]*k;
|
||||
}
|
||||
}
|
||||
void Mat::RowAdd(int a,int b,double k)
|
||||
{
|
||||
int y;
|
||||
for(y=0;y<n;y++)
|
||||
{
|
||||
mat[a][y]= mat[a][y]+ mat[b][y]*k;
|
||||
}
|
||||
}
|
||||
|
||||
void Mat::ColExchange(int a, int b)
|
||||
{
|
||||
double s;
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
s=mat[x][a];
|
||||
mat[x][a]=mat[x][b];
|
||||
mat[x][b]=s;
|
||||
}
|
||||
}
|
||||
void Mat::ColMul(int a,double k)
|
||||
{
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
mat[x][a]=mat[x][a]*k;
|
||||
}
|
||||
}
|
||||
void Mat::ColAdd(int a,int b,double k)
|
||||
{
|
||||
int x;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
mat[x][a]=mat[x][a]+mat[x][b]*k;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
double Mat::Sqrt()
|
||||
{
|
||||
int x;
|
||||
double numx;
|
||||
double s=0;
|
||||
for(x=0;x<m;x++)
|
||||
{
|
||||
numx=mat[x][0];
|
||||
s+=(numx*numx);
|
||||
}
|
||||
return s;
|
||||
}
|
||||
double Mat::absvec()
|
||||
{
|
||||
return sqrt(Sqrt());
|
||||
}
|
||||
|
||||
Mat operator ^(Mat a, Mat b)
|
||||
{
|
||||
double ax=a.mat[0][0];
|
||||
double ay=a.mat[1][0];
|
||||
double az=a.mat[2][0];
|
||||
double bx=b.mat[0][0];
|
||||
double by=b.mat[1][0];
|
||||
double bz=b.mat[2][0];
|
||||
|
||||
Mat c(3,1,-1);
|
||||
c.mat[0][0]=ay*bz-az*by;
|
||||
c.mat[1][0]=(-(ax*bz-az*bx));
|
||||
c.mat[2][0]=ax*by-ay*bx;
|
||||
|
||||
return c;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,101 @@
|
|||
#include "align.h"
|
||||
|
||||
namespace uwb_slam{
|
||||
void Align::Run()
|
||||
{
|
||||
imuDataRxTime = ros::Time::now();
|
||||
uwbDataRxTime = ros::Time::now();
|
||||
|
||||
wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this);
|
||||
imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this);
|
||||
odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this);
|
||||
|
||||
std::ofstream outfile("data.txt",std::ofstream::out);
|
||||
if(outfile.is_open()) {
|
||||
std::cout << "start saving data" << std::endl;
|
||||
outfile << "imuDataRxTime,odomDataRxTime,uwbDataRxTime,"\
|
||||
<< "aX,aY,aZ,"\
|
||||
<< "gX,gY,gZ"\
|
||||
<< "mX,mY,mZ,"\
|
||||
<< "qW,qX,qY,qZ,"\
|
||||
<< "vXY,angleV,"\
|
||||
<< "imuPosX,imuPosY,"\
|
||||
<< "lightHousePosX,lightHousePosY,lightHousePosZ,"\
|
||||
<< "lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZ"\
|
||||
<< "d1,d2,d3\n";
|
||||
} else {
|
||||
std::cout<<"file can not open"<<std::endl;
|
||||
}
|
||||
|
||||
while(1){
|
||||
if(imuDataRxTime!=imu_odom_.imu_data_.imu_t_){
|
||||
//std::cout << "imu received" << std::endl;
|
||||
imuDataRxTime = imu_odom_.imu_data_.imu_t_;
|
||||
odomDataRxTime = odom_tmp_;
|
||||
uwbDataRxTime = uwb_->uwb_data_.uwb_t_;
|
||||
|
||||
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_.g_[0] << "," << imu_odom_.imu_data_.g_[1] << "," << imu_odom_.imu_data_.g_[2] << ","\
|
||||
<< imu_odom_.imu_data_.m_[0] << "," << imu_odom_.imu_data_.m_[1] << "," << imu_odom_.imu_data_.m_[2] << ","\
|
||||
<< imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << ","\
|
||||
<< imu_odom_.vxy_ << "," << imu_odom_.angle_v_ << ","\
|
||||
<< imu_odom_.pose_[0] << "," << imu_odom_.pose_[1] << ","\
|
||||
<< lighthouse_->data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\
|
||||
<< lighthouse_->data.qw_ << "," << lighthouse_->data.qx_ << "," << lighthouse_->data.qy_ << "," << lighthouse_->data.qz_ << ","\
|
||||
<< uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n";
|
||||
}
|
||||
}
|
||||
// outfile.close();
|
||||
// std::cout<< "Data written to file." << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom)
|
||||
{
|
||||
imu_odom_.vxy_= wheel_odom.twist.twist.linear.x;
|
||||
imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z;
|
||||
// imu_odom_.pose_[0] = wheel_odom.pose.pose.position.x;
|
||||
// imu_odom_.pose_[1] = wheel_odom.pose.pose.position.y;
|
||||
// imu_odom_.pose_[2] = wheel_odom.pose.pose.position.z;
|
||||
// imu_odom_.quat_[0] = wheel_odom.pose.pose.orientation.x;
|
||||
// imu_odom_.quat_[1] = wheel_odom.pose.pose.orientation.y;
|
||||
// imu_odom_.quat_[2] = wheel_odom.pose.pose.orientation.z;
|
||||
// imu_odom_.quat_[3] = wheel_odom.pose.pose.orientation.w;
|
||||
return;
|
||||
}
|
||||
void Align::imuCB(const FollowingCar::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_.g_[0] = imu.raw_angular_velocity.x;
|
||||
imu_odom_.imu_data_.g_[1] = imu.raw_angular_velocity.y;
|
||||
imu_odom_.imu_data_.g_[2] = imu.raw_angular_velocity.z;
|
||||
|
||||
imu_odom_.imu_data_.m_[0] = imu.raw_magnetic_field.x;
|
||||
imu_odom_.imu_data_.m_[1] = imu.raw_magnetic_field.y;
|
||||
imu_odom_.imu_data_.m_[2] = imu.raw_magnetic_field.z;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void Align::odomCB(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.w;
|
||||
imu_odom_.quat_[1] = odom.pose.pose.orientation.x;
|
||||
imu_odom_.quat_[2] = odom.pose.pose.orientation.y;
|
||||
imu_odom_.quat_[3] = odom.pose.pose.orientation.z;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,79 @@
|
|||
#include "lighthouse.h"
|
||||
#include <cmath>
|
||||
#include <string>
|
||||
|
||||
namespace uwb_slam{
|
||||
Lighthouse::Lighthouse(){
|
||||
std::cout << "Start Run. " << std::endl;
|
||||
|
||||
// 创建UDP套接字
|
||||
UdpSocket = socket(AF_INET, SOCK_DGRAM, 0);
|
||||
if (UdpSocket == -1) {
|
||||
std::cerr << "Error creating UDP socket." << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::cout << "Creating UDP socket sucess. " << std::endl;
|
||||
|
||||
// 设置套接字地址结构
|
||||
sockaddr_in udpAddress;
|
||||
std::memset(&udpAddress, 0, sizeof(udpAddress));
|
||||
udpAddress.sin_family = AF_INET;
|
||||
udpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
|
||||
udpAddress.sin_port = htons(PORT);
|
||||
|
||||
// 将套接字绑定到地址
|
||||
if (bind(UdpSocket, (struct sockaddr*)&udpAddress, sizeof(udpAddress)) == -1) {
|
||||
std::cerr << "Error binding UDP socket." << std::endl;
|
||||
close(UdpSocket);
|
||||
}
|
||||
}
|
||||
|
||||
Lighthouse::~Lighthouse(){
|
||||
close(UdpSocket);
|
||||
}
|
||||
|
||||
void Lighthouse::Run() {
|
||||
while(1){
|
||||
// 这是一个阻塞线程
|
||||
this->UDPRead();
|
||||
}
|
||||
}
|
||||
|
||||
void Lighthouse::UDPRead(){
|
||||
char buffer[1024];
|
||||
ssize_t bytesRead = recvfrom(UdpSocket, buffer, sizeof(buffer), 0, nullptr, nullptr);
|
||||
if (bytesRead == -1) {
|
||||
std::cerr << "Error receiving data." << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
std::string data(buffer);
|
||||
|
||||
float x,y,z,qw,qx,qy,qz;
|
||||
|
||||
qw = 1.0;
|
||||
|
||||
sscanf(data.c_str(),"%f %f %f %f %f %f",&x,&y,&z,&qx,&qy,&qz);
|
||||
|
||||
mMutexLighthouse.lock();
|
||||
|
||||
this->data.x_ = x;
|
||||
this->data.y_ = y;
|
||||
this->data.z_ = z;
|
||||
|
||||
this->data.qw_ = qw;
|
||||
this->data.qx_ = qx;
|
||||
this->data.qy_ = qy;
|
||||
this->data.qz_ = qz;
|
||||
|
||||
|
||||
|
||||
mMutexLighthouse.unlock();
|
||||
|
||||
// 打印接收到的消息
|
||||
buffer[bytesRead] = '\0';
|
||||
//std::cout << "Received: " << buffer << std::endl;
|
||||
|
||||
}
|
||||
};
|
||||
|
|
@ -0,0 +1,65 @@
|
|||
#include "../include/system.h"
|
||||
#include "../include/uwb.h"
|
||||
#include "../include/lighthouse.h"
|
||||
#include "Mat.h"
|
||||
|
||||
|
||||
#include <iostream>
|
||||
#include <ros/ros.h>
|
||||
#include <thread>
|
||||
#include "senddata.h"
|
||||
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node
|
||||
|
||||
std::shared_ptr<uwb_slam::System> system = std::make_shared<uwb_slam::System>();
|
||||
std::shared_ptr<uwb_slam::Mapping> mp = std::make_shared<uwb_slam::Mapping>();
|
||||
std::shared_ptr<uwb_slam::Uwb> uwb = std::make_shared<uwb_slam::Uwb>();
|
||||
std::shared_ptr<uwb_slam::Senddata> sender = std::make_shared<uwb_slam::Senddata>();
|
||||
std::shared_ptr<uwb_slam::Align> align = std::make_shared<uwb_slam::Align>();
|
||||
std::shared_ptr<uwb_slam::Lighthouse> lighthouse = std::make_shared<uwb_slam::Lighthouse>();
|
||||
|
||||
|
||||
system->Mapping_ = mp;
|
||||
system->Uwb_ = uwb;
|
||||
system->Sender_ = sender;
|
||||
system->Align_ = align;
|
||||
system->Lighthouse_ = lighthouse;
|
||||
|
||||
mp->uwb_ = system->Uwb_;
|
||||
mp->align_ = system->Align_;
|
||||
align->uwb_ = system->Uwb_;
|
||||
align->lighthouse_ = system->Lighthouse_;
|
||||
sender->uwb_ = system->Uwb_;
|
||||
// // control data fllow in system
|
||||
// std::thread rose_trd ([&system]() {
|
||||
// system->Run();
|
||||
// });
|
||||
|
||||
// uwb serried read
|
||||
std::thread uwb_trd([&uwb]() {
|
||||
uwb->Run();
|
||||
});
|
||||
|
||||
// build map
|
||||
// std::thread map_trd ([&mp]() {
|
||||
// mp->Run();
|
||||
// });
|
||||
|
||||
std::thread sender_trd ([&sender, uwb]() {
|
||||
sender->Run(uwb);
|
||||
});
|
||||
|
||||
// std::thread align_trd ([&align]() {
|
||||
// align->Run();
|
||||
// });
|
||||
|
||||
// std::thread lighthouse_trd ([&lighthouse]() {
|
||||
// lighthouse->Run();
|
||||
// });
|
||||
|
||||
ros::spin();
|
||||
}
|
||||
|
|
@ -0,0 +1,149 @@
|
|||
#include "mapping.h"
|
||||
#include <mutex>
|
||||
#include <unistd.h>// 包含 usleep() 函数所在的头文件
|
||||
#include <opencv2/core.hpp>
|
||||
#include <opencv2/highgui.hpp>
|
||||
|
||||
namespace uwb_slam
|
||||
{
|
||||
bool Mapping::checkQueue()
|
||||
{
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
return !posDataQueue.empty();
|
||||
}
|
||||
|
||||
void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData)
|
||||
{
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
posDataQueue.push({imuPosData, uwbPosData, syncPosData});
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Mapping::process()
|
||||
{
|
||||
{
|
||||
|
||||
//std::unique_lock<std::mutex> lock(mMutexMap);
|
||||
//std::cout << "SIZE: " <<posDataQueue.size() << std::endl;
|
||||
posData = posDataQueue.front();
|
||||
//std::cout << "x: " <<cur_point.x << " y:" << cur_point.y << std::endl;
|
||||
posDataQueue.pop();
|
||||
}
|
||||
/*生成图*/
|
||||
|
||||
int imuPosPointX = posData[0].x / PIXEL_SCALE + ( fmod(posData[0].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int imuPosPointY = posData[0].y / PIXEL_SCALE + ( fmod(posData[0].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
int uwbPosPointX = posData[1].x / PIXEL_SCALE + ( fmod(posData[1].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int uwbPosPointY = posData[1].y / PIXEL_SCALE + ( fmod(posData[1].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
int syncPosPointX = posData[2].x / PIXEL_SCALE + ( fmod(posData[2].x ,PIXEL_SCALE) != 0) + realWidth / 2;
|
||||
int syncPosPointY = posData[2].y / PIXEL_SCALE + ( fmod(posData[2].y ,PIXEL_SCALE) != 0) + realHeight / 2;
|
||||
// std::cout << "syncPos:" <<posData[2].x << " " << posData[2].y;
|
||||
// std::cout << " uwbPos:" <<posData[1].x << " " << posData[1].x;
|
||||
// std::cout << " imuPos:" <<posData[0].x << " " << posData[0].y << std::endl;
|
||||
|
||||
// std::cout << "syncPos:" <<syncPosPointX << " " << syncPosPointY;
|
||||
// std::cout << " uwbPos:" <<uwbPosPointX << " " << uwbPosPointY;
|
||||
// std::cout << " imuPos:" <<imuPosPointX << " " << imuPosPointY << std::endl;
|
||||
// img.at<unsigned char>(imuPosPointY, imuPosPointX) = 0;
|
||||
img.at<cv::Vec3b>(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255); //imu trace is red
|
||||
img.at<cv::Vec3b>(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green
|
||||
img.at<cv::Vec3b>(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));
|
||||
//cankao
|
||||
for (int j=0;j<AREA_SIZE / PIXEL_SCALE;j+=10)
|
||||
for (int i=0;i<AREA_SIZE / PIXEL_SCALE;i+=10)
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
|
||||
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<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
int i = 0, j = 0;
|
||||
img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
|
||||
|
||||
|
||||
|
||||
cv::imshow("Image",img);
|
||||
|
||||
// bool printFlag = 0;
|
||||
// std::ofstream outfile("data.txt",std::ofstream::out);
|
||||
// if(outfile.is_open()) {
|
||||
// std::cout << "start saving data" << key << std::endl;
|
||||
// printFlag = 1;
|
||||
// } else {
|
||||
// std::cout<<"file can not open"<<std::endl;
|
||||
// }
|
||||
|
||||
/*
|
||||
std::cout << "waiting" <<std::endl;
|
||||
int key = cv::waitKey(0);
|
||||
if (key == 'q' || key == 27) {
|
||||
this->feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y));
|
||||
readPos = true;
|
||||
std::cout << "non" << key << std::endl;
|
||||
cv::destroyAllWindows();
|
||||
}
|
||||
*/
|
||||
while(1){
|
||||
int key = cv::waitKey(0);
|
||||
if (key == 'q' ) {
|
||||
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 == 'q') {
|
||||
//TODO: save
|
||||
|
||||
std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/FollowingCar/Map/output_image.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;
|
||||
}
|
||||
|
||||
//this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0]));
|
||||
//this->feedPos(cv::Point2d(uwb_->x, uwb_->y));
|
||||
|
||||
//uwb xieru
|
||||
//std::cout << "cur_SEQ: " <<uwb_->cur_seq << std::endl;
|
||||
|
||||
if(checkQueue())
|
||||
{
|
||||
//std::cout << " start process" << std::endl;
|
||||
process();
|
||||
//std::cout << " end process" << std::endl;
|
||||
|
||||
}
|
||||
}
|
||||
// std::cout << "out" << key << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
//std::string pngimage="../Map/pngimage.png";//保存的图片文件路径
|
||||
//cv::imwrite(pngimage,img);
|
||||
|
||||
/*ros 发送图片给导航 */
|
||||
}
|
||||
} // namespace uwb_slam
|
||||
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
#include <read_sensor_data.h>
|
||||
|
||||
namespace uwb_slam {
|
||||
|
||||
|
||||
//void Read_sensor_data::set_uwb(){}
|
||||
|
||||
|
||||
void Read_sensor_data::imu_call_back(const ImuConstPtr& imu){
|
||||
Imu_data d1= Imu_data(imu->linear_acceleration.x,imu->linear_acceleration.y,imu->linear_acceleration.z,
|
||||
imu->angular_velocity.x,imu->angular_velocity.y,imu->angular_velocity.z);
|
||||
|
||||
}
|
||||
void Read_sensor_data::odom_call_back(const OdomConstPtr& odom){
|
||||
Odom_data d1 = Odom_data(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z,
|
||||
odom->pose.pose.orientation.w,odom->pose.pose.orientation.x, odom->pose.pose.orientation.y, odom->pose.pose.orientation.z,
|
||||
odom->header.stamp,odom->twist.twist.linear.x,odom->twist.twist.linear.y,odom->twist.twist.angular.z);
|
||||
|
||||
}
|
||||
void Read_sensor_data::Run(int argc, char* argv[]){
|
||||
|
||||
ros::init(argc, argv, "imu_odom");
|
||||
// 创建一个节点句柄
|
||||
ros::NodeHandle nh;
|
||||
//imu_sub_ = nh.subscribe<std_msgs::String>("imu/data_raw", 1000, this->imu_call_back);
|
||||
//odom_sub_ =nh.subscribe("odom", 1000,odom_call_back);
|
||||
ros::spin();
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,147 @@
|
|||
#include "senddata.h"
|
||||
|
||||
#define angleLimit 20
|
||||
#define disLimit 200
|
||||
|
||||
namespace uwb_slam
|
||||
{
|
||||
void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
|
||||
|
||||
ros::Rate loop_rate(10);
|
||||
// position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
|
||||
cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel",50);
|
||||
obstacles_sub_ = nh_.subscribe<FollowingCar::dis_info_array>("ceju_info",1,boost::bind(&Senddata::stereoCB,this,_1));
|
||||
// odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
|
||||
while(ros::ok()){
|
||||
// publishOdometry(uwb);
|
||||
if (flag_)
|
||||
{
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = -1;
|
||||
for (int i = 0; i < 17; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0.2;
|
||||
cmd_vel_.angular.z = 0;
|
||||
for (int i = 0; i < 20; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = 1;
|
||||
for (int i = 0; i < 16; ++i) {
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
cmd_vel_.linear.x = 0;
|
||||
cmd_vel_.angular.z = 0;
|
||||
flag_ = 0;
|
||||
}
|
||||
else if(abs(uwb->aoa[0]) > 180 || abs(uwb->d[0]) > 2000)
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->aoa[0] > angleLimit && uwb->aoa[0] <= 180)
|
||||
{
|
||||
float angularSpeed = (float)uwb->aoa[0] / 100 + 1;
|
||||
cmd_vel_.angular.z = angularSpeed;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->aoa[0] < -angleLimit)
|
||||
{
|
||||
float angularSpeed = (float)uwb->aoa[0] / 100 - 1;
|
||||
cmd_vel_.angular.z = angularSpeed;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
else if(uwb->d[0] > disLimit)
|
||||
{
|
||||
float lineSpeed = (float)uwb->d[0] / 1000 + 0.1;
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = lineSpeed;
|
||||
}
|
||||
else if(uwb->d[0] < disLimit - 30)
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = -0.2;
|
||||
}
|
||||
else
|
||||
{
|
||||
cmd_vel_.angular.z = 0;
|
||||
cmd_vel_.linear.x = 0;
|
||||
}
|
||||
cmd_vel_pub_.publish(cmd_vel_);
|
||||
ros::spinOnce();
|
||||
loop_rate.sleep();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
// void Senddata::odomCB(const nav_msgs::Odometry& odom){
|
||||
// sub_odom_ = odom;
|
||||
// return;
|
||||
// }
|
||||
void Senddata::stereoCB(const FollowingCar::dis_info_array::ConstPtr& stereo)
|
||||
{
|
||||
for (const auto& obstacle_info :stereo->dis)
|
||||
{
|
||||
float distance = obstacle_info.distance;
|
||||
// float width = obstacle_info.width;
|
||||
// float height = obstacle_info.height;
|
||||
// float angle = obstacle_info.angle;
|
||||
|
||||
// if(distance>5&&distance<45&&cmd_vel_.linear.x!=0)
|
||||
if(distance>5&&distance<45)
|
||||
{
|
||||
flag_ = 1;
|
||||
}
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
// void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
|
||||
// {
|
||||
|
||||
// std::mutex mMutexSend;
|
||||
// ros::Time current_time = ros::Time::now();
|
||||
|
||||
// // 设置 Odometry 消息的头部信息
|
||||
// odom_.header.stamp = current_time;
|
||||
// odom_.header.frame_id = "odom"; // 设置坐标系为 "map"
|
||||
// odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link"
|
||||
|
||||
// // 填充 Odometry 消息的位置信息
|
||||
// odom_.pose.pose.position.x = uwb->uwb_data_.x_;
|
||||
// odom_.pose.pose.position.y = uwb->uwb_data_.y_;
|
||||
// odom_.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）
|
||||
// // tf2::Quaternion quat;
|
||||
// // quat.setRPY(0, 0, uwb->theta); // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0
|
||||
// // odom.pose.pose.orientation.x = quat.x();
|
||||
// // odom.pose.pose.orientation.y = quat.y();
|
||||
// // odom.pose.pose.orientation.z = quat.z();
|
||||
// // odom.pose.pose.orientation.w = quat.w();
|
||||
|
||||
// odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x;
|
||||
// odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y;
|
||||
// odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z;
|
||||
// odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w;
|
||||
|
||||
// // 发布 Odometry 消息
|
||||
// position_pub_.publish(odom_);
|
||||
|
||||
|
||||
// }
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
} // namespace uwb_slam
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
#include "../include/system.h"
|
||||
//#include ""
|
||||
|
||||
|
||||
namespace uwb_slam{
|
||||
|
||||
void System::Run()
|
||||
{
|
||||
while(1){
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,121 @@
|
|||
#include "uwb.h"
|
||||
#include <cmath>
|
||||
#include "Mat.h"
|
||||
|
||||
|
||||
#define CARHEIGHT 20
|
||||
#define DISINDEX 3
|
||||
#define AOAINDEX 15
|
||||
#define DATALENGTH 27
|
||||
|
||||
namespace uwb_slam{
|
||||
Uwb::Uwb(){
|
||||
|
||||
}
|
||||
|
||||
void Uwb::Run() {
|
||||
|
||||
while(1){
|
||||
this->Serread();
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Uwb::Serread(){
|
||||
try {
|
||||
boost::asio::io_service io;
|
||||
boost::asio::serial_port serial(io, "/dev/ttyUSB1"); // 替换成你的串口设备路径
|
||||
|
||||
serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率
|
||||
serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位
|
||||
serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位
|
||||
serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位
|
||||
|
||||
uint8_t tmpdata[DATALENGTH];
|
||||
// std::cerr << "befor read" << std::endl;
|
||||
size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, sizeof(tmpdata))); // 读取串口数据
|
||||
// std::cerr << "after read" << std::endl;
|
||||
this->uwb_data_.uwb_t_ = ros::Time::now();
|
||||
|
||||
for (int i=0;i< bytesRead;i++)
|
||||
{
|
||||
std::cout << std::hex<<static_cast<int>(tmpdata[i]) << " ";
|
||||
}
|
||||
std::cout << std::endl;
|
||||
|
||||
memcpy(&this->d[0], &tmpdata[DISINDEX], sizeof(d[0]));
|
||||
memcpy(&this->d[1], &tmpdata[DISINDEX + sizeof(d[0])], sizeof(d[0]));
|
||||
memcpy(&this->d[2], &tmpdata[DISINDEX + sizeof(d[0]) * 2], sizeof(d[0]));
|
||||
memcpy(&this->aoa[0], &tmpdata[AOAINDEX], sizeof(aoa[0]));
|
||||
memcpy(&this->aoa[1], &tmpdata[AOAINDEX + sizeof(aoa[0])], sizeof(aoa[0]));
|
||||
memcpy(&this->aoa[2], &tmpdata[AOAINDEX + sizeof(aoa[0]) * 2], sizeof(aoa[0]));
|
||||
|
||||
//std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl;
|
||||
|
||||
// if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) {
|
||||
// return;
|
||||
// }
|
||||
// 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));
|
||||
// }
|
||||
|
||||
std::cout<<"d: "<<this->d[0]<<" aoa: "<<this->aoa[0]<<std::endl;
|
||||
d[0] = ((((-1.4229e-07 * d[0]) + 1.8784e-04) * d[0]) + 0.9112) * d[0] + 2.4464;
|
||||
// d[1] = ((((-2.3004e-07 * d[1]) + 3.2942e-04) * d[1]) + 0.8385) * d[1] + 6.2770;
|
||||
// d[2] = ((((-2.0616e-07 * d[2]) + 3.3886e-04) * d[2]) + 0.8231) * d[2] + 8.1566;
|
||||
} catch (const std::exception& ex) {
|
||||
std::cerr << "Exception: " << ex.what() << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void fusion()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
// bool Uwb::checknewdata()
|
||||
// {
|
||||
// std::unique_lock<std::mutex> lock(mMutexUwb);
|
||||
// return !v_buffer_imu_odom_pose_data_.empty();
|
||||
// }
|
||||
|
||||
// void Uwb::Run() {
|
||||
// while(1)
|
||||
// {
|
||||
// if(checknewdata())
|
||||
// {
|
||||
// {
|
||||
// std::unique_lock<std::mutex> 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<std::mutex> lock(mMutexUwb);
|
||||
// v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data);
|
||||
// }
|
||||
|
||||
|
|
@ -13,8 +13,6 @@ add_message_files(
|
|||
RobotState.msg
|
||||
NaviStatus.msg
|
||||
RelocateResult.msg
|
||||
dis_info.msg
|
||||
dis_info_array.msg
|
||||
)
|
||||
|
||||
add_service_files(
|
||||
|
|
|
|||
|
|
@ -1 +0,0 @@
|
|||
pibot_msgs/dis_info[] dis
|
||||
|
|
@ -6,7 +6,6 @@ find_package(catkin REQUIRED COMPONENTS
|
|||
rospy
|
||||
std_msgs
|
||||
message_generation
|
||||
pibot_msgs
|
||||
geometry_msgs
|
||||
)
|
||||
|
||||
|
|
@ -42,15 +41,15 @@ add_library(${PROJECT_NAME} SHARED
|
|||
include/senddata.h src/senddata.cpp)
|
||||
|
||||
|
||||
# add_message_files(
|
||||
# DIRECTORY msg
|
||||
# FILES
|
||||
# RawImu.msg
|
||||
add_message_files(
|
||||
DIRECTORY msg
|
||||
FILES
|
||||
RawImu.msg
|
||||
|
||||
# )
|
||||
)
|
||||
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
|
||||
|
||||
catkin_package(CATKIN_DEPENDS std_msgs geometry_msgs)
|
||||
catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
|
||||
add_executable(${PROJECT_NAME}_node src/main.cpp)
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
#include <utility>
|
||||
#include <queue>
|
||||
#include <fstream>
|
||||
#include "pibot_msgs/RawImu.h"
|
||||
#include "upbot_location/RawImu.h"
|
||||
#include "type.h"
|
||||
#include "uwb.h"
|
||||
#include "lighthouse.h"
|
||||
|
|
@ -27,7 +27,7 @@ namespace uwb_slam{
|
|||
};
|
||||
void Run();
|
||||
void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
|
||||
void imuCB(const pibot_msgs::RawImu& imu);
|
||||
void imuCB(const upbot_location::RawImu& imu);
|
||||
void odomCB(const nav_msgs::Odometry& odom);
|
||||
|
||||
public:
|
||||
|
|
|
|||
|
|
@ -0,0 +1,7 @@
|
|||
Header header
|
||||
bool accelerometer
|
||||
bool gyroscope
|
||||
bool magnetometer
|
||||
geometry_msgs/Vector3 raw_linear_acceleration
|
||||
geometry_msgs/Vector3 raw_angular_velocity
|
||||
geometry_msgs/Vector3 raw_magnetic_field
|
||||
|
|
@ -53,9 +53,7 @@
|
|||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>pibot_msgs</build_depend>
|
||||
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<build_depend>message_generation</build_depend>
|
||||
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
|
|
@ -63,7 +61,7 @@
|
|||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<!-- <exec_depend>message_runtime</exec_depend> -->
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
<exec_depend>geometry_msgs</exec_depend>
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -141,7 +141,7 @@ namespace uwb_slam{
|
|||
|
||||
return;
|
||||
}
|
||||
void Align::imuCB(const pibot_msgs::RawImu& imu)
|
||||
void Align::imuCB(const upbot_location::RawImu& imu)
|
||||
{
|
||||
imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
|
||||
imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x;
|
||||
|
|
|
|||
|
|
@ -4,7 +4,6 @@ project(upbot_vision)
|
|||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
std_msgs
|
||||
pibot_msgs
|
||||
message_generation
|
||||
)
|
||||
|
||||
|
|
@ -12,16 +11,20 @@ find_package(catkin REQUIRED COMPONENTS
|
|||
find_package(OpenCV REQUIRED)
|
||||
find_package(Threads REQUIRED)
|
||||
|
||||
|
||||
# generate_messages(
|
||||
# DEPENDENCIES
|
||||
# std_msgs
|
||||
# )
|
||||
add_message_files(
|
||||
FILES
|
||||
dis_info.msg
|
||||
dis_info_array.msg
|
||||
)
|
||||
generate_messages(
|
||||
DEPENDENCIES
|
||||
std_msgs
|
||||
)
|
||||
|
||||
|
||||
catkin_package(
|
||||
|
||||
CATKIN_DEPENDS roscpp std_msgs
|
||||
CATKIN_DEPENDS roscpp std_msgs message_runtime
|
||||
|
||||
)
|
||||
|
||||
|
|
@ -47,14 +50,14 @@ add_library(
|
|||
src/ranging.cc
|
||||
)
|
||||
|
||||
add_dependencies(head ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
add_dependencies(head ${${PROJECT_NAME}_EXPORTED_TARGETS} upbot_vision_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
|
||||
target_link_libraries(head
|
||||
${catkin_LIBRARIES}
|
||||
|
||||
)
|
||||
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(main ${${PROJECT_NAME}_EXPORTED_TARGETS} upbot_vision_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
|
||||
# add_dependencies(sub_dis ${${PROJECT_NAME}_EXPORTED_TARGETS} upbot_vision_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
# target_link_libraries(sub_dis
|
||||
|
|
|
|||
|
|
@ -0,0 +1,4 @@
|
|||
float32 distance
|
||||
float32 width
|
||||
float32 height
|
||||
float32 angle
|
||||
|
|
@ -0,0 +1 @@
|
|||
upbot_vision/dis_info[] dis
|
||||
|
|
@ -52,15 +52,14 @@
|
|||
<build_depend>ros_py</build_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>message_generation</build_depend>
|
||||
<build_depend>pibot_msgs</build_depend>
|
||||
<build_export_depend>ros_py</build_export_depend>
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>std_msgs</build_export_depend>
|
||||
<exec_depend>ros_py</exec_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
|
||||
<build_depend>message_generation</build_depend>
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -10,8 +10,8 @@
|
|||
#include "opencv2/imgcodecs/imgcodecs.hpp"
|
||||
#include <ctime>
|
||||
#include <queue>
|
||||
#include "pibot_msgs/dis_info.h"
|
||||
#include "pibot_msgs/dis_info_array.h"
|
||||
#include "upbot_vision/dis_info.h"
|
||||
#include "upbot_vision/dis_info_array.h"
|
||||
|
||||
#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
|
||||
|
||||
|
|
@ -24,13 +24,13 @@ void *ranging(void *args) // ranging线程
|
|||
ros::Publisher dis_pub_;
|
||||
ros::NodeHandle nh;
|
||||
// <>内为自定义ros消息类型 存储障碍物信息包括与障碍物的距离、障碍物宽度、高度和与障碍物之间的夹角
|
||||
dis_pub_ = nh.advertise<pibot_msgs::dis_info_array>("ceju_info",10);
|
||||
dis_pub_ = nh.advertise<upbot_vision::dis_info_array>("ceju_info",10);
|
||||
while (true)
|
||||
{
|
||||
/*进入测距并发布障碍物信息*/;
|
||||
std::vector<cv::Mat> result = r.get_range();
|
||||
cv ::Mat info = result[2];
|
||||
pibot_msgs::dis_info_array dis_array;
|
||||
upbot_vision::dis_info_array dis_array;
|
||||
if(!info.empty())
|
||||
{
|
||||
for(int i=0;i<info.rows;i++)
|
||||
|
|
@ -38,7 +38,7 @@ void *ranging(void *args) // ranging线程
|
|||
// std::cout<<"1"<<std::endl;
|
||||
if(info.at<float>(i,0)>0&&info.at<float>(i,0)<200)
|
||||
{
|
||||
pibot_msgs::dis_info data;
|
||||
upbot_vision::dis_info data;
|
||||
data.distance = info.at<float>(i,0);
|
||||
data.width = info.at<float>(i,1);
|
||||
data.height = info.at<float>(i,2);
|
||||
|
|
|
|||
Loading…
Reference in New Issue