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No commits in common. "main" and "master" have entirely different histories.
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@ -1,49 +0,0 @@
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#!/usr/bin/env python
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import sys
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from pynput.keyboard import Key, Listener
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import subprocess
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running_process = None
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def execute_launch(key):
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global running_process
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launch_files = {
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'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo
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'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav
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'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
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'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server
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}
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# 检查按键是否对应一个.launch文件
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if key in launch_files:
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# 获取对应的.launch文件和参数
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launch_file, launch_args = launch_files[key]
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# 构造启动命令
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launch_command = ["roslaunch", launch_file] + launch_args
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# 执行对应的.launch文件
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running_process = subprocess.Popen(launch_command)
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# 监听按键事件
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def on_press(key):
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global running_process
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if key.char == 'q':
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print("stop1")
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if running_process:
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running_process.terminate()
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running_process = None # 清除已结束的进程
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print("stop2")
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return False # 停止监听器
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try:
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if key.char == 's':
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print("按下 's' 键,程序停止")
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return False # 停止监听器
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execute_launch(key.char)
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except AttributeError:
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# 按下的不是字符键,忽略
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pass
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with Listener(on_press=on_press) as listener:
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listener.join()
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@ -1,32 +0,0 @@
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#!/usr/bin/env python
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import subprocess
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import keyboard
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def execute_launch(launch_file, launch_args=[]):
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# 构造启动命令
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launch_command = ["roslaunch", launch_file] + launch_args
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# 启动一个新的终端并执行对应的.launch文件
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subprocess.Popen(['gnome-terminal', '--', 'bash',' '.join(launch_command)])
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# 监听按键事件
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def on_press(event):
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key = event.name
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# 检查按键是否对应一个.launch文件
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launch_files = {
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'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo
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'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav
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'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
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'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server
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}
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if key in launch_files:
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# 获取对应的.launch文件和参数
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launch_file, launch_args = launch_files[key]
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# 执行对应的.launch文件
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execute_launch(launch_file, launch_args)
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keyboard.on_press(on_press)
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# 运行程序
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keyboard.wait('q') # 等待按下 'q' 键
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@ -1,68 +0,0 @@
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import socket
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import threading
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import subprocess
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import netifaces
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def create_server_socket(host, port):
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socket_server = socket.socket()
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socket_server.bind((host, port))
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socket_server.listen(5)
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print(f"服务端已启动,地址{host},端口{port}")
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print(f"正在等待客户端连接...")
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# 开启多线程,收发来自多个客户端的数据
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num = 0 # 标记客户端的编号
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while True:
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num += 1
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conn, address = socket_server.accept()
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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}")
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client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
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client_handler.start()
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# 处理收发数据
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def handle_client(conn, address, num):
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while True:
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# 接收客户端发来的数据
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data_from_client: str = conn.recv(1024).decode("UTF-8")
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print(f"客户端 {num}号:{address}发来的消息是:{data_from_client}")
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# 发送消息到客户端
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msg = input(f"请输入你要回复客户端 {num}号:{address}的消息:")
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if msg == 'exit':
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break
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conn.send(msg.encode("UTF-8")) # encode将字符串编码为字节数组对象
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conn.close()
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# def handle_client(conn, address, client_num):
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# try:
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# while True:
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# data_from_client = conn.recv(1024).decode("UTF-8")
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# if not data_from_client:
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# break
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# print(f"客户端 {client_num} 号({address}) 发来的消息是:{data_from_client}")
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# if data_from_client.strip() == '1':
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# print("执行 roscore 命令...")
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# subprocess.run(['roscore'])
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# else:
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# msg = input(f"请输入你要回复客户端 {client_num} 号({address}) 的消息:")
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# if msg.lower() == 'exit':
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# break
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# conn.send(msg.encode("UTF-8"))
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# except Exception as e:
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# print(f"客户端 {client_num} 号({address}) 处理时发生错误:{e}")
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# finally:
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# conn.close()
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# print(f"客户端 {client_num} 号({address}) 已断开连接。")
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if __name__ == '__main__':
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# 获取本机(计算机)名
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hostname = socket.gethostname()
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# 获取本机(计算机)ip
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ip = socket.gethostbyname(hostname)
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print(hostname, ip)
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server_host = ip
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server_port = int(input("请输入服务端port:"))
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create_server_socket(server_host, server_port)
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import socket
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import threading
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import subprocess
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import netifaces
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# LAUNCH_FILES = {
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# '0x00': ['roslaunch', 'pibot_navigation', 'nav.launch'],
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# '0x01': ['roslaunch', 'upbot_location', 'upbot_location.launch'],
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# 'launch_file_1': ['roslaunch', 'package_name', 'launch_file_1.launch'],
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# 'launch_file_2': ['roslaunch', 'package_name', 'launch_file_2.launch']
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# }
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client_processes = {}
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process_id_counter = 0
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def get_local_ip():
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interfaces = netifaces.interfaces()
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for interface in interfaces:
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addresses = netifaces.ifaddresses(interface)
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if netifaces.AF_INET in addresses:
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for address_info in addresses[netifaces.AF_INET]:
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ip_address = address_info['addr']
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if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
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return ip_address
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def create_server_socket(host, port):
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try:
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socket_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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socket_server.bind((host, port))
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socket_server.listen(5)
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print(f"服务端已启动,地址{host},端口{port}")
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print("正在等待客户端连接...")
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client_num = 0
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while True:
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client_num += 1
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conn, address = socket_server.accept()
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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}")
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client_handler = threading.Thread(target=handle_client, args=(conn, address, client_num))
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client_handler.start()
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except Exception as e:
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print(f"错误:{e}")
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finally:
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socket_server.close()
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def handle_client(conn, address, client_num):
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global process_id_counter
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try:
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while True:
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data_from_client = conn.recv(1024).decode("UTF-8")
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if not data_from_client:
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break
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print(f"客户端 {client_num} 号({address}) 发来的消息是:{data_from_client}")
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data = data_from_client.strip()
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if data == '1':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"定位导航已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '2':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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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"))
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elif data == '3':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"全覆盖服务端已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '4':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"全覆盖客户端已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data.startswith('stop'):
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stop_data = data.split()
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if len(stop_data) == 2:
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process_id_to_stop = int(stop_data[1])
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if client_num in client_processes:
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for process_tuple in client_processes[client_num]:
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if process_tuple[0] == process_id_to_stop:
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process_tuple[1].terminate()
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client_processes[client_num].remove(process_tuple)
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conn.send(f"已停止客户端 {client_num} 号的进程 {process_id_to_stop}".encode("UTF-8"))
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break
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else:
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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"))
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else:
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conn.send("没有启动的进程需要停止".encode("UTF-8"))
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else:
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conn.send("无效的停止命令格式".encode("UTF-8"))
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else:
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response = f"已收到消息: {data}"
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conn.send(response.encode("UTF-8"))
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except Exception as e:
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print(f"客户端 {client_num} 号({address}) 处理时发生错误:{e}")
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finally:
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conn.close()
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print(f"客户端 {client_num} 号({address}) 已断开连接。")
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if __name__ == '__main__':
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local_ip = get_local_ip()
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print("本机在局域网内的IP地址:", local_ip)
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server_port = int(input("请输入服务端端口号: "))
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create_server_socket(local_ip, server_port)
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@ -1,102 +0,0 @@
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import socket
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import threading
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import time
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import subprocess
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import netifaces
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# 初始化全局变量
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client_processes = {}
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process_id_counter = 0
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lock = threading.Lock()
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def get_local_ip():
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interfaces = netifaces.interfaces()
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for interface in interfaces:
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addresses = netifaces.ifaddresses(interface)
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if netifaces.AF_INET in addresses:
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for address_info in addresses[netifaces.AF_INET]:
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ip_address = address_info['addr']
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if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
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return ip_address
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def create_server_socket(host, port):
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socket_server = socket.socket() # 创建socket对象
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socket_server.bind((host, port)) # 绑定主机和端口
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socket_server.listen(5) # 监听传入的连接
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print(f"服务端已启动,地址{host},端口{port}")
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print(f"正在等待客户端连接...")
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num = 0
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try:
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while True:
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num += 1
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conn, address = socket_server.accept() # 接受连接
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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}")
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client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
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client_handler.start()
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except KeyboardInterrupt:
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print("服务器正在关闭...")
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socket_server.close()
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for thread in threading.enumerate():
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if thread != threading.current_thread():
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thread.join()
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except Exception as e:
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print(f"服务器发生错误:{e}")
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socket_server.close()
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def handle_client(conn, address, num):
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global process_id_counter
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with conn:
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while True:
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time.sleep(0.01)
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try:
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data_from_client_bytes = conn.recv(1024)
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if len(data_from_client_bytes) == 0:
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print(f"客户端 {num}号 已断开连接")
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break
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data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes])
|
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print(f"客户端 {num}号:{address} 发来的消息是:{data_from_client_hex}")
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|
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if len(data_from_client_bytes) > 4:
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data = data_from_client_bytes[4]
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|
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with lock:
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process_id_counter += 1
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process_id = process_id_counter
|
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|
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log_file = open(f"process_{process_id}.log", "w")
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|
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if data == 0x0:
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process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'], stdout=log_file, stderr=log_file)
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# process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'],stdout=log_file, stderr=log_file)
|
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|
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print("启动定位导航")
|
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conn.send(f"定位导航已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
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elif data == 0x5:
|
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process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'], stdout=log_file, stderr=log_file)
|
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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"))
|
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elif data == 0x2:
|
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'], stdout=log_file, stderr=log_file)
|
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conn.send(f"全覆盖服务端已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'], stdout=log_file, stderr=log_file)
|
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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:
|
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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
|
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except Exception as e:
|
||||
print(f"客户端 {num}号:{address} 发生异常:{e}")
|
||||
break
|
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|
||||
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)
|
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@ -1,100 +0,0 @@
|
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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)
|
|
@ -1,5 +1,5 @@
|
|||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(upbot_following)
|
||||
project(FollowingCar)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
|
@ -17,7 +17,7 @@ find_package(Boost REQUIRED)
|
|||
|
||||
# catkin_package(
|
||||
# # INCLUDE_DIRS include
|
||||
# # LIBRARIES upbot_following
|
||||
# # LIBRARIES FollowingCar
|
||||
# # CATKIN_DEPENDS roscpp rospy std_msgs
|
||||
# # DEPENDS system_lib
|
||||
# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
|
|
@ -1,6 +1,6 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>upbot_following</name>
|
||||
<name>FollowingCar</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The FollowingCar package</description>
|
||||
|
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py
Executable file → Normal file
0
Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py
Executable file → Normal file
|
@ -36,7 +36,6 @@ add_message_files(
|
|||
RoomSequence.msg
|
||||
dis_info.msg
|
||||
dis_info_array.msg
|
||||
avoid.msg
|
||||
)
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
|
|
|
@ -1,6 +0,0 @@
|
|||
Header header
|
||||
float32 ultrasonic_range
|
||||
bool l1
|
||||
bool l2
|
||||
bool r1
|
||||
bool r2
|
|
@ -0,0 +1,226 @@
|
|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
|
||||
1712649995.270271216,-2.14681,-1.24004,-0.0680199,0.000126608,-0.118708,0.00108108,0,0.0666667,-0.2842111712649995.270350534,
|
||||
1712649995.420440111,-2.14681,-1.24004,-0.0680199,0.0001273,-0.119356,0.00107517,0,0.0666667,-0.2842111712649995.420477729,
|
||||
1712649995.570565265,-2.14681,-1.24004,-0.0680199,0.000128683,-0.120654,0.00116402,0,0.0666667,-0.2842111712649995.570598800,
|
||||
1712649995.720681087,-2.14681,-1.24004,-0.0680199,0.000129375,-0.121302,0.00119952,0,0.0666667,-0.2842111712649995.720718121,
|
||||
1712649995.870816156,-2.14681,-1.24004,-0.0680199,0.000130759,-0.122599,0.00120747,0,0.0666667,-0.2842111712649995.870869520,
|
||||
1712649996.020970483,-2.14681,-1.24004,-0.0680199,0.00013145,-0.123248,0.00114803,0,0.0666667,-0.2842111712649996.021015099,
|
||||
1712649996.171096324,-2.14681,-1.24004,-0.0680199,0.000132833,-0.124544,0.001076,0,0.0666667,-0.2842111712649996.171133650,
|
||||
1712649996.321217790,-2.14681,-1.24004,-0.0680199,0.000133525,-0.125193,0.00109211,0,0.0666667,-0.2842111712649996.321256574,
|
||||
1712649996.471346839,-2.14681,-1.24004,-0.0680199,0.000134907,-0.126489,0.00103656,0,0.0666667,-0.2842111712649996.471384457,
|
||||
1712649996.621469181,-2.14681,-1.24004,-0.0680199,0.000135598,-0.127137,0.000994454,0,0.0666667,-0.2842111712649996.621506215,
|
||||
1712649996.771591231,-2.14681,-1.24004,-0.0680199,0.00013698,-0.128432,0.0010035,0,0.0666667,-0.2842111712649996.771628265,
|
||||
1712649996.921712698,-2.14681,-1.24004,-0.0680199,0.00013767,-0.12908,0.00104683,0,0.0666667,-0.2842111712649996.921751190,
|
||||
1712649997.071835087,-2.14681,-1.24004,-0.0680199,0.000139051,-0.130374,0.00105186,0,0.0666667,-0.2842111712649997.071873288,
|
||||
1712649997.221955782,-2.14681,-1.24004,-0.0680199,0.000139741,-0.131021,0.00110925,0,0.0666667,-0.3221051712649997.221995441,
|
||||
1712649997.372082310,-2.14681,-1.24004,-0.0680199,0.00014112,-0.132314,0.0011201,0,0.0666667,-0.3221051712649997.372122844,
|
||||
1712649997.522205338,-2.14681,-1.24004,-0.0680199,0.000141809,-0.132961,0.00117067,0,0.0666667,-0.3221051712649997.522241498,
|
||||
1712649997.672329825,-2.14681,-1.24004,-0.0680199,0.000143187,-0.134252,0.00117975,0,0.0666667,-0.3221051712649997.672369192,
|
||||
1712649997.822454020,-2.14681,-1.24004,-0.0680199,0.000143876,-0.134898,0.00118662,0,0.0666667,-0.3221051712649997.822491054,
|
||||
1712649997.972573549,-2.14681,-1.24004,-0.0680199,0.000145252,-0.136188,0.00126379,0,0.0666667,-0.3221051712649997.972612333,
|
||||
1712649998.122701325,-2.14681,-1.24004,-0.0680199,0.000145939,-0.136833,0.00130866,0,0.0666667,-0.3221051712649998.122738943,
|
||||
1712649998.272825040,-2.14681,-1.24004,-0.0680199,0.000147314,-0.138121,0.00137592,0,0.0666667,-0.3221051712649998.272859742,
|
||||
1712649998.422944089,-2.14681,-1.24004,-0.0680199,0.000148,-0.138765,0.00133704,0,0.0666667,-0.3221051712649998.422981999,
|
||||
1712649998.573071303,-2.14681,-1.24004,-0.0680199,0.000149372,-0.140051,0.00127659,0,0.0666667,-0.3221051712649998.573108921,
|
||||
1712649998.723195310,-2.14681,-1.24004,-0.0680199,0.000150058,-0.140694,0.00119922,0,0.0666667,-0.3221051712649998.723232344,
|
||||
1712649998.873317275,-2.14681,-1.24004,-0.0680199,0.000151427,-0.141978,0.00111597,0,0.0666667,-0.3221051712649998.873365682,
|
||||
1712649999.023461125,-2.14681,-1.24004,-0.0680199,0.000152112,-0.14262,0.00108041,0,0.0666667,-0.3221051712649999.023499617,
|
||||
1712649999.173584068,-2.14681,-1.24004,-0.0680199,0.000153479,-0.143902,0.00103988,0,0.0666667,-0.3221051712649999.173622560,
|
||||
1712649999.323710510,-2.14681,-1.24004,-0.0680199,0.000154162,-0.144542,0.000980021,0,0.0666667,-0.3221051712649999.323746961,
|
||||
1712649999.473836660,-2.14681,-1.24004,-0.0680199,0.000155526,-0.145821,0.000966117,0,0.0666667,-0.3221051712649999.473876902,
|
||||
1712649999.623965435,-2.14681,-1.24004,-0.0680199,0.000156208,-0.14646,0.00102357,0,0.0666667,-0.3221051712649999.624005969,
|
||||
1712649999.774090127,-2.14681,-1.24004,-0.0680199,0.000157569,-0.147737,0.00106862,0,0.0666667,-0.3221051712649999.774130078,
|
||||
1712649999.924217736,-2.14681,-1.24004,-0.0680199,0.000158249,-0.148375,0.00111583,0,0.0666667,-0.3221051712649999.924256812,
|
||||
1712650000.074355597,-2.14681,-1.24004,-0.0680199,0.000159608,-0.149648,0.00110795,0,0.0666667,-0.3221051712650000.074403421,
|
||||
1712650000.224490015,-2.14681,-1.24004,-0.0680199,0.000160286,-0.150284,0.00118314,0,0.0666667,-0.3221051712650000.224530841,
|
||||
1712650000.374632890,-2.14681,-1.24004,-0.0680199,0.000161642,-0.151555,0.00126415,0,0.0666667,-0.3221051712650000.374725913,
|
||||
1712650000.524859456,-2.14681,-1.24004,-0.0680199,0.000162318,-0.15219,0.00128455,0,0.0666667,-0.3221051712650000.524944023,
|
||||
1712650000.675087481,-2.14681,-1.24004,-0.0680199,0.00016367,-0.153457,0.00121758,0,0.0666667,-0.3221051712650000.675172048,
|
||||
1712650000.825302675,-2.14681,-1.24004,-0.0680199,0.000164345,-0.15409,0.00117079,0,0.0666667,-0.2842111712650000.825393949,
|
||||
1712650000.975527492,-2.14681,-1.24004,-0.0680199,0.000165694,-0.155354,0.00121616,0,0.0666667,-0.2842111712650000.975614100,
|
||||
1712650001.125749765,-2.14681,-1.24004,-0.0680199,0.000166367,-0.155985,0.0011577,0,0.0666667,-0.2842111712650001.125834915,
|
||||
1712650001.275972351,-2.14681,-1.24004,-0.0680199,0.000167711,-0.157246,0.00106305,0,0.0666667,-0.2842111712650001.276111449,
|
||||
1712650001.426252385,-2.14681,-1.24004,-0.0680199,0.000168383,-0.157876,0.00114053,0,0.0666667,-0.2842111712650001.426341617,
|
||||
1712650001.576473221,-2.14681,-1.24004,-0.0680199,0.000169723,-0.159132,0.00113743,0,0.0666667,-0.2842111712650001.576555455,
|
||||
1712650001.726689683,-2.14681,-1.24004,-0.0680199,0.000170393,-0.15976,0.00118093,0,0.0666667,-0.2842111712650001.726776291,
|
||||
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@ -1,166 +0,0 @@
|
|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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|
@ -1 +0,0 @@
|
|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
|
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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Load Diff
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Load Diff
|
@ -1,629 +0,0 @@
|
|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
|
||||
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||||
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@ -1,364 +0,0 @@
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@ -1,166 +0,0 @@
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|||
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@ -1,136 +0,0 @@
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@ -1,911 +0,0 @@
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time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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|
@ -1,600 +0,0 @@
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|||
time,goalx,goaly,goaltheta,currentx,currenty,currenttheta,flag,linearx,anglez
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@ -1,622 +0,0 @@
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Reference in New Issue