2024-03-14 10:07:39 +08:00
23 changed files with 1647 additions and 32 deletions
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt
@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(FollowingCar)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  geometry_msgs
+  pibot_msgs
+)
+
+# 寻找OpenCV库
+find_package(OpenCV REQUIRED)
+# 查找 Boost 库
+find_package(Boost REQUIRED)
+
+# catkin_package(
+# #  INCLUDE_DIRS include
+# #  LIBRARIES FollowingCar
+# #  CATKIN_DEPENDS roscpp rospy std_msgs
+# #  DEPENDS system_lib
+# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
+# )
+
+
+include_directories(
+# include
+ ${OpenCV_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+        include
+)
+
+add_library(${PROJECT_NAME} SHARED
+        
+        src/uwb.cpp
+        src/mapping.cpp
+        src/align.cpp
+        src/Mat.cpp
+        src/lighthouse.cpp
+        include/senddata.h src/senddata.cpp)
+
+
+
+generate_messages(DEPENDENCIES std_msgs geometry_msgs)
+
+catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+
+target_link_libraries(${PROJECT_NAME}_node  ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME})
+
+
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h
@ -0,0 +1,83 @@
+/******************** (C) COPYRIGHT 2022 Geek************************************
+* File Name          : Mat.h
+* Current Version    : V1.0
+* Author             : logzhan
+* Date of Issued     : 2022.09.14
+* Comments           : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+********************************************************************************/
+/* Header File Including -----------------------------------------------------*/
+#ifndef _H_MAT_
+#define _H_MAT_
+
+#define MAT_MAX 15 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><DCB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+
+#include <string.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+class Mat
+{
+public:
+	Mat();
+	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>
+	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>
+
+	void Zero(void);
+	//<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
+	int m;//<2F><><EFBFBD><EFBFBD>
+	int n;//<2F><><EFBFBD><EFBFBD>
+	double mat[MAT_MAX][MAT_MAX];//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+	//<2F><><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD>
+	Mat SubMat(int a,int b,int lm,int ln);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
+	void FillSubMat(int a,int b,Mat s);//<2F><><EFBFBD><EFBFBD>Ӿ<EFBFBD><D3BE><EFBFBD>
+
+	//<2F><><EFBFBD><EFBFBD>ר<EFBFBD><D7A8>
+	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>
+	double Sqrt();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD>ƽ<EFBFBD><C6BD>
+	friend Mat operator ^(Mat a,Mat b);//<2F><><EFBFBD>
+
+	//<2F><><EFBFBD><EFBFBD>
+	friend Mat operator *(double k,Mat a);
+	friend Mat operator *(Mat a,double k);
+	friend Mat operator /(Mat a,double k);
+	friend Mat operator *(Mat a,Mat b);
+	friend Mat operator +(Mat a,Mat b);
+	friend Mat operator -(Mat a,Mat b);
+	friend Mat operator ~(Mat a);//ת<><D7AA>	
+	friend Mat operator /(Mat a,Mat b);//a*inv(b)
+	friend Mat operator %(Mat a,Mat b);//inv(a)*b
+
+	//MAT inv();//<2F><><EFBFBD><EFBFBD><EFBFBD>
+
+private:
+	// Ϊ<><CEAA><EFBFBD>ø<EFBFBD>˹<EFBFBD><CBB9>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һЩ<D2BB><D0A9><EFBFBD><EFBFBD>
+	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void RowExchange(int a, int b);
+	// ĳһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
+	void RowMul(int a,double k);
+	// <20><>ĳһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
+	void RowAdd(int a,int b, double k);
+	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void ColExchange(int a, int b);
+	// ĳһ<C4B3>г<EFBFBD><D0B3><EFBFBD>ϵ<EFBFBD><CFB5>
+	void ColMul(int a,double k);
+	// <20><>ĳһ<C4B3>мӼ<D0BC><D3BC><EFBFBD>һ<EFBFBD>еı<D0B5><C4B1><EFBFBD>
+	void ColAdd(int a,int b,double k);
+	
+
+};
+
+
+
+
+
+
+#endif
+
+
+
+
+
+
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h
@ -0,0 +1,44 @@
+#include <cmath>
+#include <ros/ros.h>
+#include <opencv2/opencv.hpp>
+#include <nav_msgs/Odometry.h>
+#include <utility>
+#include <queue>
+#include <fstream>
+#include "pibot_msgs/RawImu.h"
+#include "type.h"
+#include "uwb.h"
+#include "lighthouse.h"
+#include "Mat.h"
+
+#ifndef ALIGN_H
+#define AlIGN_H
+namespace uwb_slam{
+    class Align
+    {
+    public:
+        Align(){
+
+        };
+        void Run();
+        void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
+        void imuCB(const pibot_msgs::RawImu& imu);
+        void odomCB(const nav_msgs::Odometry& odom);
+
+    public:
+        ros::NodeHandle nh_;
+        ros::Subscriber wheel_odom_sub_;
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        Imu_odom_pose_data imu_odom_;
+        Uwb_data uwb_data_;
+        ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime;
+        ros::Time odom_tmp_ ;
+        bool write_data_ = false;
+        cv::Mat img1;
+        std::queue<std::pair<Imu_odom_pose_data,Uwb_data>> data_queue;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+        std::shared_ptr<uwb_slam::Lighthouse> lighthouse_;
+    };
+};
+#endif
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h
@ -0,0 +1,29 @@
+#include <ros/ros.h>
+#include <mutex>
+#include <boost/asio.hpp>
+#include <iostream>
+#include <string>
+#include <cstdint>
+#include "type.h"
+#include <queue>
+#include <chrono>
+#ifndef __LIGHTHOUSE_H__
+#define __LIGHTHOUSE_H__
+
+namespace uwb_slam{
+class Lighthouse{
+public:
+    Lighthouse();
+    ~Lighthouse();
+    void Run();
+    void UDPRead();
+    // Listen PORT
+    int PORT = 12345;
+    int UdpSocket = -1;
+
+    LightHouseData data;
+
+    std::mutex mMutexLighthouse;
+};
+};
+#endif
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h
@ -0,0 +1,40 @@
+#include <queue>
+#include <opencv2/opencv.hpp>
+#include <mutex>
+#include "uwb.h"
+#include "align.h"
+
+#ifndef MAPPING_H
+#define MAPPING_H
+
+
+namespace uwb_slam{
+    class Mapping
+    {
+        public:
+        const double PIXEL_SCALE = 1.0;     //xiangsudian cm
+        const int    AREA_SIZE = 1000;      //map size cm
+        Mapping() {};
+        void Run();
+        bool checkQueue();
+        void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData);
+        void process();
+        std::mutex mMutexMap;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+        std::shared_ptr<uwb_slam::Align> align_;
+
+        private:
+        int realWidth, realHeight;
+        std::queue<std::vector<cv::Point2d>> posDataQueue;
+        std::vector<cv::Point2d> posData = std::vector<cv::Point2d>(3, {-1, -1});
+        //cv::Point2d imuPoint = {-1,-1};
+        // std::queue<cv::Point2d> posDataQueue;
+        
+
+        bool readPos = false;
+        cv::Mat img;
+    };
+
+}
+
+#endif
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h
@ -0,0 +1,50 @@
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <mutex>
+#include "uwb.h"
+#include <geometry_msgs/Twist.h>
+#include "pibot_msgs/dis_info.h"
+#include "pibot_msgs/dis_info_array.h"
+
+#ifndef SENDDATA_H
+#define SENDDATA_H
+
+
+namespace uwb_slam{
+
+    class Senddata
+    {
+        public:
+        Senddata(){};
+        void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
+        void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
+        void odomCB(const nav_msgs::Odometry& odom);
+        void stereoCB(const pibot_msgs::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
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h
@ -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
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h
@ -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
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml
@ -0,0 +1,75 @@
+<?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>pibot_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>
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp
@ -0,0 +1,368 @@
+/******************** (C) COPYRIGHT 2022 Geek************************************
+* File Name          : Mat.cpp
+* Current Version    : V1.0
+* Author             : logzhan
+* Date of Issued     : 2022.09.14
+* Comments           : <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;
+}
+
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/align.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/align.cpp
@ -0,0 +1,94 @@
+#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;
+        return;
+    }
+    void Align::imuCB(const pibot_msgs::RawImu& imu)
+    {
+        imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
+        imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x;
+        imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y;
+        imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z;
+
+        imu_odom_.imu_data_.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;
+    }
+
+};
+
+
+
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp
@ -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;
+
+    }
+};
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp
@ -0,0 +1,60 @@
+#include "Mat.h"
+
+// #include "align.h"
+#include "mapping.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::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>();
+
+    
+
+
+    mp->uwb_ = uwb;
+    mp->align_ = align;
+    align->uwb_ =uwb;
+    align->lighthouse_ = lighthouse;
+    sender->uwb_ = 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(); 
+}
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp
@ -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/pibot_msgs/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
+
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp
@ -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<pibot_msgs::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 pibot_msgs::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
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp
@ -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);
+// }
+
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/CMakeLists.txt
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/CMakeLists.txt
@ -40,7 +40,12 @@ add_library(${PROJECT_NAME} SHARED
        include/senddata.h src/senddata.cpp)


+# add_message_files(
+#     DIRECTORY msg
+#     FILES
+#         RawImu.msg
     
+# )
 generate_messages(DEPENDENCIES std_msgs geometry_msgs)

 catkin_package(CATKIN_DEPENDS std_msgs geometry_msgs)
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/read_sensor_data.h
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/read_sensor_data.h
@ -0,0 +1,34 @@
+#include <ros/ros.h>
+#include "nav_msgs/Odometry.h"
+#include "geometry_msgs/Twist.h"
+#include "sensor_msgs/Imu.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+#include <boost/thread/mutex.hpp>
+#include "type.h"
+#include "uwb.h"
+
+
+#ifndef READ_SENSOR_DATA_H
+#define READ_SENSOR_DATA_H
+
+namespace uwb_slam{
+    typedef boost::shared_ptr<nav_msgs::Odometry const> OdomConstPtr;
+    typedef boost::shared_ptr<sensor_msgs::Imu const> ImuConstPtr;
+    class Read_sensor_data
+    {
+        public:
+        Read_sensor_data();
+
+        void Run(int argc, char* argv[]);
+        //void set_uwb(Uwb * uwb);
+        void imu_call_back(const ImuConstPtr& imu);
+        void odom_call_back(const OdomConstPtr& odom);
+
+        private:
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        
+    };
+}
+#endif
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp
@ -1,9 +1,6 @@
-#include "../include/system.h"
-#include "../include/uwb.h"
 #include "../include/lighthouse.h"
 #include "Mat.h"
-
-
+#include "mapping.h"
 #include <iostream>
 #include <ros/ros.h>
 #include <thread>
@ -14,13 +11,16 @@
 int main(int argc, char** argv)
 {
    ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node
+    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>();

-    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>();
    
-	mp->uwb_ = uwb;
+    
+
+    mp->uwb_ = uwb;
    mp->align_ = align;
    align->uwb_ = uwb;
    align->lighthouse_ = lighthouse;
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp
@ -76,7 +76,25 @@ namespace uwb_slam

        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' ) {
@ -91,9 +109,14 @@ namespace uwb_slam
                if (key2 == 'q') {
                    //TODO: save

-                    std::string pngimage = "/home/firefly/Project_Ros/src/ros_merge_test/Map/output_image.png";//保存的图片文件路径
-                    cv::imwrite(pngimage, img);
-                    read_uwb_ = false;
+                    std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/upbot_location/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;
                }
        
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/read_sensor_data.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/read_sensor_data.cpp
@ -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();
+    }
+
+}
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp
@ -4,38 +4,25 @@
 namespace uwb_slam
 {
    void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
-    // 初始化了一个名为loop_rate的ros::Rate对象,频率设置为10赫兹
+
        ros::Rate loop_rate(10);
-    // 初始化一个ROS发布者，用于发布nav_msgs::Odometry类型的消息
-    // 主题被设置为"uwb_odom"，队列大小为50
        position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
-    // 初始化了一个ROS订阅者，用于订阅"odom"主题。它指定了当在该主题上接收到
-    // 消息时，将调用Senddata类的odomCB回调函数。队列大小被设置为10
        odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
        while(ros::ok()){
-        // 按照10Hz频率发布uwb信息
            publishOdometry(uwb);
            ros::spinOnce();
-        // 用于控制循环速率
            loop_rate.sleep();
        }


    }
    void Senddata::odomCB(const nav_msgs::Odometry& odom){
-    // 这个地方接收的是轮速里程计的信息
-    // 包含位置和姿态
        sub_odom_ = odom;
        return;
    }

-/**---------------------------------------------------------------------
-* Function    : Senddata::publishOdometry
-* Description : 发布UWB里程计数据，这里读取的数据到底是什么，依旧存在疑问
-* Date        : 2023/12/13 zhanli@review
-*---------------------------------------------------------------------**/
-void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb> uwb)
-{
+    void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
+    {

        std::mutex mMutexSend;
        ros::Time current_time = ros::Time::now();
--- a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp
+++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp
@ -2,7 +2,8 @@
 #include <cmath>
 #include "Mat.h"

-#define PI acos(-1)
+
+#define CARHEIGHT 20

 namespace uwb_slam{
    Mat A;
@ -125,7 +126,10 @@ namespace uwb_slam{
    }
    
 
+    void fusion()
+    {

+    }



@ -134,4 +138,34 @@ namespace uwb_slam{

 };

+// 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);
+// }