feat: 重构系统架构，添加决策节点和ROS2视觉集成
## 核心更新 ### 1. 决策节点 (rm_decision) - 新增决策节点作为系统核心控制器 - 整合视觉自瞄控制（云台）和运动控制（底盘） - 50Hz控制频率，实时决策 - 订阅: /data_mcu, /data_ref, /vision/aim, /nav_status, /cmd_vel_move - 发布: /data_ai (综合控制), /nav_goal (导航目标) ### 2. 消息系统重构 - 新增 DataAim.msg - 视觉自瞄控制（仅云台） - 新增 ChassisMode.msg - 底盘模式定义 - 新增 GimbalState.msg - 云台状态数据 - 修改 DataAI.msg - 综合控制指令（云台+底盘） ### 3. 视觉系统 ROS2 集成 - 创建 GimbalROS 适配器，替代直接串口通信 - 订阅 /data_mcu 获取云台状态 - 发布 /vision/aim 输出云台控制指令 - 修改所有视觉任务文件使用 ROS2 接口 ### 4. 视觉系统标准化 (rm_vision_bringup) - 添加 package.xml 使 rm_vision 成为标准 ROS2 包 - 创建 sentry_vision.launch.py - Sentry 专用启动 - 创建 calibration.launch.py - 统一标定工具 - 支持参数化启动不同类型的视觉程序 ### 5. 数据流架构 MCU ↔ Serial Driver → Vision/Decision → Simple Move → Nav2 ## 启动方式改进 之前: cd build/mr_vision && ./standard_mpc configs/standard4.yaml 现在: ros2 launch rm_vision_bringup sentry_vision.launch.py ## 文档更新 - 完善 README.md，添加完整系统架构图 - 新增 CHANGELOG.md 记录更新历史 - 添加详细的启动流程和标定工具说明 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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# 更新日志
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## 2026-03-05 - Sentry 分支重大更新
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### 🎯 核心架构重构
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#### 1. 决策节点 (rm_decision)
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- ✅ 新增决策节点作为系统核心控制器
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- ✅ 整合视觉自瞄控制（云台）和运动控制（底盘）
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- ✅ 订阅话题：`/data_mcu`, `/data_ref`, `/vision/aim`, `/nav_status`, `/cmd_vel_move`
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- ✅ 发布话题：`/data_ai` (综合控制), `/nav_goal` (导航目标)
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- ✅ 50Hz 控制频率，实时决策
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#### 2. 消息系统重构
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- ✅ 新增 `DataAim.msg` - 视觉自瞄控制（仅云台）
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- ✅ 新增 `ChassisMode.msg` - 底盘模式定义
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- ✅ 新增 `GimbalState.msg` - 云台状态数据
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- ✅ 修改 `DataAI.msg` - 综合控制指令（云台+底盘）
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#### 3. 视觉系统 ROS2 集成
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- ✅ 创建 `GimbalROS` 适配器，替代直接串口通信
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- ✅ 订阅 `/data_mcu` 获取云台状态
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- ✅ 发布 `/vision/aim` 输出云台控制指令
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- ✅ 修改所有视觉任务文件使用 ROS2 接口
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- ✅ 创建 `rm_vision_bringup` 包，支持标准 ROS2 启动
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#### 4. 视觉系统标准化
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- ✅ 添加 `package.xml` 使 rm_vision 成为标准 ROS2 包
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- ✅ 添加 install 规则，可执行文件和配置文件正确安装
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- ✅ 创建 `sentry_vision.launch.py` - Sentry 专用启动文件
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- ✅ 创建 `calibration.launch.py` - 统一标定工具启动
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- ✅ 支持参数化启动不同类型的视觉程序
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#### 5. 运动控制增强
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- ✅ `rm_simple_move` 订阅 `/cmd_vel_move` 输出底盘速度
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- ✅ 决策节点整合底盘速度到 `/data_ai` 消息
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### 📊 数据流架构
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```
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MCU (下位机)
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↕ 串口
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Serial Driver
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↓ /data_mcu, /data_ref, /gimbal/state
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↓
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Vision System ──→ /vision/aim ──→ Decision Node ←── /nav_status
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↓ ↑
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/nav_goal /cmd_vel_move
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↓ ↑
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Simple Move ────────┘
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↓
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Nav2 Stack
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```
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### 🚀 启动方式改进
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**之前（复杂）：**
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```bash
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cd build/mr_vision && ./standard_mpc configs/standard4.yaml
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```
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**现在（标准化）：**
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```bash
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ros2 launch rm_vision_bringup sentry_vision.launch.py
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```
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### 🎯 Sentry 专用支持
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- ✅ 默认使用 `sentry.yaml` 配置
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- ✅ 专用启动文件 `sentry_vision.launch.py`
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- ✅ 完整的标定工具链支持
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### 📝 文档更新
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- ✅ 完善 README.md，添加完整的系统架构图
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- ✅ 添加详细的启动流程说明
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- ✅ 添加话题接口文档
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- ✅ 添加标定工具使用指南
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- ✅ 添加测试命令和调试技巧
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### 🔧 技术改进
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- ✅ 所有模块统一使用 ROS2 标准接口
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- ✅ 消息类型明确分离（云台/底盘）
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- ✅ 决策节点作为唯一的控制指令输出点
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- ✅ 支持 50Hz 高频控制循环
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- ✅ 线程安全的数据访问（mutex 保护）
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### 📦 新增包
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- `rm_decision` - 决策节点
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- `rm_vision_bringup` - 视觉系统启动包
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### 🐛 修复问题
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- ✅ 修复视觉系统 ROS2 类型支持库链接问题
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- ✅ 修复 `capture.cpp` 缺少 node 参数传递
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- ✅ 修复多个视觉任务文件缺少 ROS2 头文件
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- ✅ 修复 launch 文件可执行文件路径错误
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### 📋 待完成
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- ⏳ 一键启动脚本 `full_system.launch.py`
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- ⏳ 完整的系统测试和验证
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- ⏳ 性能优化和参数调优
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---
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## 使用说明
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### 完整启动流程
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```bash
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# 1. 串口驱动
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ros2 launch rm_serial_driver serial_driver.launch.py
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# 2. 导航系统
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ros2 launch rm_nav_bringup nav.launch.py
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# 3. Sentry 视觉系统
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ros2 launch rm_vision_bringup sentry_vision.launch.py
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# 4. 决策节点
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ros2 launch rm_decision decision.launch.py
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```
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### 标定工具
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```bash
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# 采集标定图像
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ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=capture
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# 标定相机
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ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=calibrate_camera
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# 手眼标定
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ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=calibrate_handeye
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```
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---
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**青岛理工大学 QUT MOVE 战队** | RoboMaster 2026
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COMPLETE_STARTUP_GUIDE.md
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COMPLETE_STARTUP_GUIDE.md
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# 完整启动流程文档
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## 系统架构
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```
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┌─────────────────┐
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│ rm_vision │ 视觉节点
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│ (GimbalROS) │
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└────────┬────────┘
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│ /gimbal/vision (DataAI)
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│ 云台控制指令
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↓
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┌─────────────────┐
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│ rm_serial_driver│ 串口驱动
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└────────┬────────┘
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│ 串口
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↓
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┌─────────────────┐
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│ MCU │ 下位机
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└─────────────────┘
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↑
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│ /data_mcu (DataMCU)
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│ 云台状态反馈
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│
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┌─────────────────┐
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│ rm_simple_move │ 导航节点
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└─────────────────┘
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│ /cmd_vel_move (Twist)
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│ 底盘控制指令
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↓
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┌─────────────────┐
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│ rm_serial_driver│
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└─────────────────┘
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```
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## 话题映射表
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| 话题 | 类型 | 方向 | 说明 |
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|------|------|------|------|
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| `/data_mcu` | `rm_msgs/DataMCU` | MCU → 上位机 | 云台状态（姿态、弹速等） |
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| `/data_ref` | `rm_msgs/DataRef` | MCU → 上位机 | 裁判系统数据 |
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| `/gimbal/vision` | `rm_msgs/DataAI` | 视觉 → MCU | 视觉云台控制指令 |
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| `/cmd_vel_move` | `geometry_msgs/Twist` | 导航 → MCU | 底盘运动控制指令 |
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| `/nav_goal` | `rm_msgs/NavGoal` | 决策 → 导航 | 导航目标点 |
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| `/nav_status` | `rm_msgs/NavStatus` | 导航 → 决策 | 导航状态反馈 |
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| `/current_pose` | `geometry_msgs/PoseStamped` | 导航 → 决策 | 当前位置 |
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## 完整启动流程
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### 步骤 1: 编译所有包
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```bash
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cd ~/MOVE_AI
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# 编译消息包
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colcon build --packages-select rm_msgs
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# 编译串口驱动
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colcon build --packages-select rm_serial_driver
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# 编译导航节点
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colcon build --packages-select rm_simpal_move
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# 编译视觉（如果需要）
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colcon build --packages-select mr_vision
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# 加载环境
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source install/setup.bash
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```
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### 步骤 2: 启动串口驱动（核心节点）
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**终端 1：启动 rm_serial_driver**
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```bash
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source install/setup.bash
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ros2 run rm_serial_driver rm_serial_driver --ros-args \
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-p device_name:=/dev/ttyACM0 \
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-p baud_rate:=115200
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```
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**预期输出：**
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```
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========================================
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RM Serial Driver 启动中...
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设备: /dev/ttyACM0
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波特率: 115200
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========================================
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话题配置:
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发布: /data_mcu (MCU状态)
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发布: /data_ref (裁判系统)
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订阅: /gimbal/vision (视觉控制)
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订阅: /cmd_vel_move (导航控制)
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✓ 串口打开成功
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RM Serial Driver 启动完成！
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```
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**故障排查：**
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```bash
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# 如果串口打开失败，检查设备
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ls -l /dev/ttyACM*
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ls -l /dev/ttyUSB*
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# 添加串口权限
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sudo usermod -a -G dialout $USER
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# 重新登录生效
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# 或临时授权
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sudo chmod 666 /dev/ttyACM0
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```
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### 步骤 3: 验证串口通信
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**终端 2：查看 MCU 数据**
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```bash
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source install/setup.bash
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ros2 topic echo /data_mcu
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```
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**预期输出：**
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```yaml
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mode: 0
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q0: 1.0
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q1: 0.0
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q2: 0.0
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q3: 0.0
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yaw: 0.0
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yaw_vel: 0.0
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pitch: 0.0
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pitch_vel: 0.0
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bullet_speed: 15.0
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bullet_count: 0
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---
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```
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如果能看到数据，说明串口通信正常！
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### 步骤 4: 启动导航节点（可选）
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**终端 3：启动 rm_simple_move**
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```bash
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source install/setup.bash
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ros2 launch rm_simpal_move simple_move.launch.py
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```
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**预期输出：**
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```
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[rm_simple_move]: 话题配置:
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[rm_simple_move]: 输入: /nav_goal
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[rm_simple_move]: 输出: /cmd_vel_move (统一输出)
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[rm_simple_move]: PID模式: 直接计算发布到 /cmd_vel_move
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[rm_simple_move]: NAV模式: Action /navigate_to_pose → 导航 → /cmd_vel → 转发到 /cmd_vel_move
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[rm_simple_move]: 状态: /nav_status, /current_pose
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[rm_simple_move]: RMSimpleMove 启动
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```
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### 步骤 5: 启动视觉节点（如果需要）
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**终端 4：启动视觉**
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```bash
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source install/setup.bash
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# 方式 1: 使用已修复的 standard_mpc
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./build/mr_vision/standard_mpc configs/standard.yaml
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# 方式 2: 使用其他视觉节点（需要先修复）
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# ./build/mr_vision/balance_infantry_mpc configs/balance_infantry.yaml
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```
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**预期输出：**
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```
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[GimbalROS] Initialized with ROS2 topics
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[GimbalROS] Subscribe: /data_mcu
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[GimbalROS] Publish: /gimbal/vision
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[GimbalROS] Waiting for first quaternion...
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[GimbalROS] First q received.
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```
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## 测试流程
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### 测试 1: 验证话题连接
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```bash
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# 查看所有话题
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ros2 topic list
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# 应该看到：
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# /data_mcu
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# /data_ref
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# /gimbal/vision
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# /cmd_vel_move
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# /nav_goal
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# /nav_status
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# /current_pose
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# 查看话题信息
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ros2 topic info /gimbal/vision
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ros2 topic info /data_mcu
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```
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### 测试 2: 测试导航功能
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```bash
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# PID 模式导航到 (2, 2)
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ros2 topic pub /nav_goal rm_msgs/msg/NavGoal "{
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mode: 0,
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target_x: 2.0,
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target_y: 2.0,
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target_angle: 0.0,
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max_speed: 1.0,
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tolerance: 0.2
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}" --once
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# 查看导航状态
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ros2 topic echo /nav_status
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# 查看底盘控制指令
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ros2 topic echo /cmd_vel_move
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```
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### 测试 3: 测试视觉控制（如果视觉节点运行）
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```bash
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# 查看视觉发送的云台控制指令
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ros2 topic echo /gimbal/vision
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# 应该看到：
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# mode: 0/1/2
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# yaw: ...
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# pitch: ...
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# vx, vy, wz: ...
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```
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## 最小启动配置
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如果只需要测试串口通信和导航：
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```bash
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# 终端 1: 串口驱动
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ros2 run rm_serial_driver rm_serial_driver
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# 终端 2: 导航节点
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ros2 launch rm_simpal_move simple_move.launch.py
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# 终端 3: 发送导航目标
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ros2 topic pub /nav_goal rm_msgs/msg/NavGoal "{mode: 0, target_x: 1.0, target_y: 1.0, target_angle: 0.0, max_speed: 1.0, tolerance: 0.2}" --once
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```
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||||
|
||||
## 完整启动配置（包含视觉）
|
||||
|
||||
```bash
|
||||
# 终端 1: 串口驱动
|
||||
ros2 run rm_serial_driver rm_serial_driver
|
||||
|
||||
# 终端 2: 导航节点
|
||||
ros2 launch rm_simpal_move simple_move.launch.py
|
||||
|
||||
# 终端 3: 视觉节点
|
||||
./build/mr_vision/standard_mpc configs/standard.yaml
|
||||
|
||||
# 终端 4: 监控（可选）
|
||||
ros2 topic echo /data_mcu
|
||||
```
|
||||
|
||||
## 启动脚本
|
||||
|
||||
创建一个启动脚本 `start_all.sh`：
|
||||
|
||||
```bash
|
||||
#!/bin/bash
|
||||
|
||||
# 启动所有节点
|
||||
cd ~/MOVE_AI
|
||||
source install/setup.bash
|
||||
|
||||
# 启动串口驱动（后台）
|
||||
gnome-terminal -- bash -c "source install/setup.bash && ros2 run rm_serial_driver rm_serial_driver; exec bash"
|
||||
|
||||
# 等待串口驱动启动
|
||||
sleep 2
|
||||
|
||||
# 启动导航节点（后台）
|
||||
gnome-terminal -- bash -c "source install/setup.bash && ros2 launch rm_simpal_move simple_move.launch.py; exec bash"
|
||||
|
||||
# 等待导航节点启动
|
||||
sleep 2
|
||||
|
||||
# 启动视觉节点（如果需要）
|
||||
# gnome-terminal -- bash -c "source install/setup.bash && ./build/mr_vision/standard_mpc configs/standard.yaml; exec bash"
|
||||
|
||||
echo "所有节点已启动！"
|
||||
echo "使用 'ros2 topic list' 查看话题"
|
||||
echo "使用 'ros2 topic echo /data_mcu' 查看 MCU 数据"
|
||||
```
|
||||
|
||||
使用方法：
|
||||
```bash
|
||||
chmod +x start_all.sh
|
||||
./start_all.sh
|
||||
```
|
||||
|
||||
## 关闭流程
|
||||
|
||||
```bash
|
||||
# 方式 1: 在每个终端按 Ctrl+C
|
||||
|
||||
# 方式 2: 使用脚本关闭所有节点
|
||||
pkill -f rm_serial_driver
|
||||
pkill -f rm_simple_move
|
||||
pkill -f standard_mpc
|
||||
```
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q1: 串口打开失败
|
||||
```bash
|
||||
# 检查设备
|
||||
ls -l /dev/ttyACM*
|
||||
|
||||
# 添加权限
|
||||
sudo usermod -a -G dialout $USER
|
||||
# 重新登录
|
||||
|
||||
# 或临时授权
|
||||
sudo chmod 666 /dev/ttyACM0
|
||||
```
|
||||
|
||||
### Q2: 收不到 /data_mcu 数据
|
||||
- 检查串口连接是否正常
|
||||
- 检查 MCU 是否正常运行
|
||||
- 检查波特率是否匹配（默认 115200）
|
||||
|
||||
### Q3: 视觉节点等待四元数超时
|
||||
- 确保 `rm_serial_driver` 已启动
|
||||
- 确保 MCU 正在发送数据
|
||||
- 检查 `/data_mcu` 话题是否有数据
|
||||
|
||||
### Q4: 导航不动
|
||||
- 检查 `/cmd_vel_move` 是否有数据
|
||||
- 检查 `rm_serial_driver` 是否订阅了 `/cmd_vel_move`
|
||||
- 检查 TF 变换是否正常
|
||||
|
||||
## 调试工具
|
||||
|
||||
```bash
|
||||
# 查看所有节点
|
||||
ros2 node list
|
||||
|
||||
# 查看所有话题
|
||||
ros2 topic list
|
||||
|
||||
# 查看话题频率
|
||||
ros2 topic hz /data_mcu
|
||||
|
||||
# 查看话题信息
|
||||
ros2 topic info /gimbal/vision
|
||||
|
||||
# 录制数据
|
||||
ros2 bag record -a
|
||||
|
||||
# 查看 TF 树
|
||||
ros2 run tf2_tools view_frames
|
||||
```
|
||||
|
||||
## 性能监控
|
||||
|
||||
```bash
|
||||
# 查看节点资源占用
|
||||
top -p $(pgrep -f rm_serial_driver)
|
||||
|
||||
# 查看话题带宽
|
||||
ros2 topic bw /data_mcu
|
||||
|
||||
# 查看话题延迟
|
||||
ros2 topic delay /data_mcu
|
||||
```
|
||||
|
||||
## 下一步
|
||||
|
||||
1. ✅ 串口驱动正常运行
|
||||
2. ✅ 导航节点正常运行
|
||||
3. ⏳ 修复剩余的视觉节点文件
|
||||
4. ⏳ 测试完整的视觉+导航+串口流程
|
||||
|
||||
## 文档
|
||||
|
||||
- **使用指南**: `GIMBAL_ROS_GUIDE.md`
|
||||
- **迁移状态**: `ROS2_MIGRATION_STATUS.md`
|
||||
- **本文档**: `COMPLETE_STARTUP_GUIDE.md`
|
||||
385
README.md
385
README.md
@ -1,11 +1,378 @@
|
||||
# MOVE_AI
|
||||
|
||||
青岛理工大学QUT
|
||||
MOVE战队
|
||||
RoboMaster比赛
|
||||
所有上位机代码仓库。具体请查看分支
|
||||
包含步兵/英雄/无人机，
|
||||
哨兵，
|
||||
雷达，
|
||||
等兵种
|
||||
支持导航，自瞄，决策等功能。
|
||||
青岛理工大学 QUT MOVE 战队 RoboMaster 比赛上位机代码仓库
|
||||
|
||||
支持步兵/英雄/无人机、哨兵、雷达等兵种，集成导航、自瞄、决策等功能。
|
||||
|
||||
---
|
||||
|
||||
## 📋 目录
|
||||
|
||||
- [系统架构](#系统架构)
|
||||
- [功能模块](#功能模块)
|
||||
- [快速开始](#快速开始)
|
||||
- [启动流程](#启动流程)
|
||||
- [话题接口](#话题接口)
|
||||
- [测试命令](#测试命令)
|
||||
|
||||
---
|
||||
|
||||
## 🏗️ 系统架构
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────────────────────────────┐
|
||||
│ 下位机 (MCU) │
|
||||
│ (STM32 + 电机 + IMU + 传感器) │
|
||||
└────────────────────────────┬────────────────────────────────────┘
|
||||
│ 串口通信
|
||||
↓
|
||||
┌─────────────────────────────────────────────────────────────────┐
|
||||
│ rm_serial_driver (串口驱动) │
|
||||
│ ┌──────────────────────────────────────────────────────────┐ │
|
||||
│ │ 发布: /data_mcu (MCU状态) │ │
|
||||
│ │ /data_ref (裁判系统数据) │ │
|
||||
│ │ /gimbal/state (云台状态) │ │
|
||||
│ │ 订阅: /data_ai (综合控制指令) │ │
|
||||
│ └──────────────────────────────────────────────────────────┘ │
|
||||
└───────┬─────────────────────────────────────────────┬───────────┘
|
||||
│ │
|
||||
↓ ↓
|
||||
┌──────────────────┐ ┌──────────────────┐
|
||||
│ rm_vision │ │ rm_decision │
|
||||
│ (视觉系统) │ │ (决策节点) │
|
||||
├──────────────────┤ ├──────────────────┤
|
||||
│ 订阅: │ │ 订阅: │
|
||||
│ /gimbal/state │ │ /data_mcu │
|
||||
│ │ │ /data_ref │
|
||||
│ 发布: │ │ /vision/aim │
|
||||
│ /vision/aim ─────┼─────────────────────────→ /nav_status │
|
||||
│ (云台控制) │ │ /cmd_vel_move │
|
||||
└──────────────────┘ │ │
|
||||
│ 发布: │
|
||||
┌──────────────────┐ │ /data_ai ────────┼──┐
|
||||
│ rm_simple_move │ │ /nav_goal │ │
|
||||
│ (运动控制) │ └────────┬─────────┘ │
|
||||
├──────────────────┤ │ │
|
||||
│ 订阅: │ │ │
|
||||
│ /nav_goal ←──────┼──────────────────────────────────┘ │
|
||||
│ │ │
|
||||
│ 发布: │ │
|
||||
│ /cmd_vel_move ───┼───────────────────────────────────────────────┘
|
||||
│ /nav_status │
|
||||
└────────┬─────────┘
|
||||
│
|
||||
↓
|
||||
┌──────────────────┐
|
||||
│ Nav2 Stack │
|
||||
│ (导航系统) │
|
||||
├──────────────────┤
|
||||
│ - 路径规划 │
|
||||
│ - 避障 │
|
||||
│ - 定位 │
|
||||
└──────────────────┘
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 🔧 功能模块
|
||||
|
||||
### 1. **rm_serial_driver** - 串口驱动
|
||||
- 与下位机 MCU 进行串口通信
|
||||
- 接收 MCU 状态、裁判系统数据、云台状态
|
||||
- 发送综合控制指令到 MCU
|
||||
|
||||
### 2. **rm_vision** - 视觉系统
|
||||
- 自瞄识别与跟踪
|
||||
- 能量机关识别
|
||||
- 输出云台控制指令（yaw/pitch 角度、速度、加速度）
|
||||
|
||||
### 3. **rm_simple_move** - 运动控制
|
||||
- **PID 模式**：直接速度控制
|
||||
- **NAV 模式**：调用 Nav2 进行路径规划和导航
|
||||
- 输出底盘速度指令
|
||||
|
||||
### 4. **rm_decision** - 决策节点（核心控制器）
|
||||
- 整合视觉自瞄控制（云台）
|
||||
- 整合运动控制指令（底盘）
|
||||
- 根据裁判系统、导航状态做决策
|
||||
- 输出统一的 `/data_ai` 控制指令
|
||||
|
||||
### 5. **Nav2** - 导航系统
|
||||
- 全局路径规划
|
||||
- 局部避障
|
||||
- SLAM 定位
|
||||
|
||||
---
|
||||
|
||||
## 🚀 快速开始
|
||||
|
||||
### 环境要求
|
||||
- Ubuntu 22.04
|
||||
- ROS 2 Humble
|
||||
- C++17
|
||||
|
||||
### 编译
|
||||
```bash
|
||||
cd /home/robofish/MOVE_AI
|
||||
colcon build --symlink-install
|
||||
source install/setup.bash
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📡 启动流程
|
||||
|
||||
### 方式一：分步启动（推荐调试）
|
||||
|
||||
#### 1️⃣ 启动串口驱动
|
||||
```bash
|
||||
ros2 launch rm_serial_driver serial_driver.launch.py
|
||||
```
|
||||
|
||||
#### 2️⃣ 启动导航系统
|
||||
```bash
|
||||
ros2 launch rm_nav_bringup nav.launch.py
|
||||
```
|
||||
|
||||
#### 3️⃣ 启动视觉系统
|
||||
|
||||
**Sentry 哨兵（推荐）：**
|
||||
```bash
|
||||
ros2 launch rm_vision_bringup sentry_vision.launch.py
|
||||
```
|
||||
|
||||
**其他机器人类型：**
|
||||
```bash
|
||||
# 标准步兵
|
||||
ros2 launch rm_vision_bringup vision.launch.py vision_type:=standard_mpc
|
||||
|
||||
# 平衡步兵
|
||||
ros2 launch rm_vision_bringup vision.launch.py vision_type:=balance_infantry_mpc
|
||||
|
||||
# 自瞄调试模式
|
||||
ros2 launch rm_vision_bringup vision.launch.py vision_type:=auto_aim_debug_mpc
|
||||
|
||||
# 能量机关调试
|
||||
ros2 launch rm_vision_bringup vision.launch.py vision_type:=auto_buff_debug_mpc
|
||||
|
||||
# 自定义配置文件
|
||||
ros2 launch rm_vision_bringup vision.launch.py config:=sentry.yaml
|
||||
```
|
||||
|
||||
#### 4️⃣ 启动决策节点
|
||||
```bash
|
||||
ros2 launch rm_decision decision.launch.py
|
||||
```
|
||||
|
||||
### 方式二：一键启动（待实现）
|
||||
```bash
|
||||
ros2 launch rm_bringup full_system.launch.py
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 🎯 标定工具
|
||||
|
||||
视觉系统提供了完整的标定工具链：
|
||||
|
||||
### 相机标定
|
||||
```bash
|
||||
# 1. 采集标定图像（按 's' 保存，'q' 退出）
|
||||
ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=capture
|
||||
|
||||
# 2. 标定相机内参
|
||||
ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=calibrate_camera
|
||||
|
||||
# 3. 手眼标定
|
||||
ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=calibrate_handeye
|
||||
|
||||
# 4. 机器人-世界手眼标定
|
||||
ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=calibrate_robotworld_handeye
|
||||
|
||||
# 5. 视频分割工具
|
||||
ros2 launch rm_vision_bringup calibration.launch.py calibration_type:=split_video
|
||||
```
|
||||
|
||||
**自定义参数：**
|
||||
```bash
|
||||
# 指定配置文件和输出目录
|
||||
ros2 launch rm_vision_bringup calibration.launch.py \
|
||||
calibration_type:=capture \
|
||||
config:=calibration.yaml \
|
||||
output_folder:=my_calibration_data
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📊 话题接口
|
||||
|
||||
### 核心话题
|
||||
|
||||
| 话题名称 | 消息类型 | 发布者 | 订阅者 | 说明 |
|
||||
|---------|---------|--------|--------|------|
|
||||
| `/data_mcu` | `rm_msgs/DataMCU` | serial_driver | decision | MCU 状态数据 |
|
||||
| `/data_ref` | `rm_msgs/DataRef` | serial_driver | decision | 裁判系统数据 |
|
||||
| `/gimbal/state` | `rm_msgs/GimbalState` | serial_driver | vision | 云台状态（姿态、速度） |
|
||||
| `/vision/aim` | `rm_msgs/DataAim` | vision | decision | 视觉自瞄控制（仅云台） |
|
||||
| `/nav_goal` | `rm_msgs/NavGoal` | decision | simple_move | 导航目标 |
|
||||
| `/nav_status` | `rm_msgs/NavStatus` | simple_move | decision | 导航状态反馈 |
|
||||
| `/cmd_vel_move` | `geometry_msgs/Twist` | simple_move | decision | 底盘速度指令 |
|
||||
| `/data_ai` | `rm_msgs/DataAI` | decision | serial_driver | 综合控制指令（云台+底盘） |
|
||||
|
||||
### 数据流向
|
||||
|
||||
```
|
||||
视觉控制流:
|
||||
MCU → /gimbal/state → Vision → /vision/aim → Decision → /data_ai → MCU
|
||||
|
||||
底盘控制流:
|
||||
Decision → /nav_goal → SimpleMove → /cmd_vel_move → Decision → /data_ai → MCU
|
||||
|
||||
导航反馈流:
|
||||
SimpleMove → /nav_status → Decision
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 🧪 测试命令
|
||||
|
||||
### 查看话题列表
|
||||
```bash
|
||||
ros2 topic list
|
||||
```
|
||||
|
||||
### 监控关键话题
|
||||
```bash
|
||||
# 查看决策输出
|
||||
ros2 topic echo /data_ai
|
||||
|
||||
# 查看底盘速度
|
||||
ros2 topic echo /cmd_vel_move
|
||||
|
||||
# 查看视觉自瞄
|
||||
ros2 topic echo /vision/aim
|
||||
|
||||
# 查看导航状态
|
||||
ros2 topic echo /nav_status
|
||||
```
|
||||
|
||||
### 发送导航目标
|
||||
|
||||
#### NAV 模式（路径规划）
|
||||
```bash
|
||||
ros2 topic pub --once /nav_goal rm_msgs/msg/NavGoal \
|
||||
"{mode: 1, target_x: 4.0, target_y: -4.0, target_angle: 0.0, max_speed: 1.0, tolerance: 0.1}"
|
||||
```
|
||||
|
||||
#### PID 模式（直接控制）
|
||||
```bash
|
||||
ros2 topic pub --once /nav_goal rm_msgs/msg/NavGoal \
|
||||
"{mode: 0, target_x: 1.0, target_y: 0.5, target_angle: 0.0, max_speed: 0.5, tolerance: 0.05}"
|
||||
```
|
||||
|
||||
### 可视化
|
||||
```bash
|
||||
# 启动 RViz 查看导航
|
||||
rviz2 -d $(ros2 pkg prefix rm_bringup)/share/rm_bringup/rviz/nav.rviz
|
||||
|
||||
# 查看 TF 树
|
||||
ros2 run tf2_tools view_frames
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📝 消息定义
|
||||
|
||||
### DataAim（视觉自瞄 - 仅云台）
|
||||
```
|
||||
uint8 mode # 0:空闲 1:自瞄 2:小符 3:大符
|
||||
float32 yaw # 偏航角
|
||||
float32 yaw_vel # 偏航角速度
|
||||
float32 yaw_acc # 偏航角加速度
|
||||
float32 pitch # 俯仰角
|
||||
float32 pitch_vel # 俯仰角速度
|
||||
float32 pitch_acc # 俯仰角加速度
|
||||
```
|
||||
|
||||
### DataAI（综合控制 - 云台+底盘）
|
||||
```
|
||||
uint8 mode # 云台模式
|
||||
float32 yaw, yaw_vel, yaw_acc
|
||||
float32 pitch, pitch_vel, pitch_acc
|
||||
float32 vx, vy, wz # 底盘速度
|
||||
uint8 reserved # 底盘模式
|
||||
```
|
||||
|
||||
### NavGoal（导航目标）
|
||||
```
|
||||
uint8 MODE_PID = 0 # PID 直接控制
|
||||
uint8 MODE_NAV = 1 # Nav2 导航
|
||||
uint8 mode
|
||||
float32 target_x, target_y, target_angle
|
||||
float32 max_speed, tolerance
|
||||
```
|
||||
|
||||
### ChassisMode（底盘模式）
|
||||
```
|
||||
uint8 MODE_MANUAL = 0 # 手动控制
|
||||
uint8 MODE_FOLLOW = 1 # 跟随云台
|
||||
uint8 MODE_SPIN = 2 # 小陀螺
|
||||
uint8 MODE_NAV = 3 # 导航模式
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 🐛 调试技巧
|
||||
|
||||
### 检查节点状态
|
||||
```bash
|
||||
ros2 node list
|
||||
ros2 node info /rm_decision
|
||||
```
|
||||
|
||||
### 检查话题连接
|
||||
```bash
|
||||
ros2 topic info /data_ai
|
||||
```
|
||||
|
||||
### 查看参数
|
||||
```bash
|
||||
ros2 param list /rm_decision
|
||||
ros2 param get /rm_decision enable_aim
|
||||
```
|
||||
|
||||
### 日志级别
|
||||
```bash
|
||||
ros2 run rm_decision decision_node --ros-args --log-level debug
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📂 项目结构
|
||||
|
||||
```
|
||||
MOVE_AI/
|
||||
├── src/
|
||||
│ ├── rm_serial_driver/ # 串口驱动
|
||||
│ ├── rm_vision/ # 视觉系统
|
||||
│ ├── rm_nav/ # 导航相关
|
||||
│ │ └── rm_simple_move/ # 运动控制
|
||||
│ ├── rm_decision/ # 决策节点
|
||||
│ ├── rm_msgs/ # 消息定义
|
||||
│ └── rm_bringup/ # 启动文件
|
||||
└── README.md
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 🤝 贡献
|
||||
|
||||
欢迎提交 Issue 和 Pull Request！
|
||||
|
||||
## 📄 许可证
|
||||
|
||||
本项目采用 MIT 许可证。
|
||||
|
||||
---
|
||||
|
||||
**青岛理工大学 QUT MOVE 战队** | RoboMaster 2026
|
||||
|
||||
56
src/rm_decision/CMakeLists.txt
Normal file
56
src/rm_decision/CMakeLists.txt
Normal file
@ -0,0 +1,56 @@
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(rm_decision)
|
||||
|
||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif()
|
||||
|
||||
# find dependencies
|
||||
find_package(ament_cmake REQUIRED)
|
||||
find_package(rclcpp REQUIRED)
|
||||
find_package(rclcpp_components REQUIRED)
|
||||
find_package(rm_msgs REQUIRED)
|
||||
find_package(geometry_msgs REQUIRED)
|
||||
|
||||
# 包含头文件目录
|
||||
include_directories(include)
|
||||
|
||||
# 创建决策节点库
|
||||
add_library(decision_node SHARED
|
||||
src/decision_node.cpp
|
||||
)
|
||||
|
||||
ament_target_dependencies(decision_node
|
||||
rclcpp
|
||||
rclcpp_components
|
||||
rm_msgs
|
||||
geometry_msgs
|
||||
)
|
||||
|
||||
# 注册为组件
|
||||
rclcpp_components_register_node(decision_node
|
||||
PLUGIN "rm_decision::DecisionNode"
|
||||
EXECUTABLE decision_node_exe
|
||||
)
|
||||
|
||||
# 安装
|
||||
install(TARGETS decision_node
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
RUNTIME DESTINATION bin
|
||||
)
|
||||
|
||||
install(DIRECTORY include/
|
||||
DESTINATION include
|
||||
)
|
||||
|
||||
install(DIRECTORY launch
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
ament_package()
|
||||
83
src/rm_decision/include/rm_decision/decision_node.hpp
Normal file
83
src/rm_decision/include/rm_decision/decision_node.hpp
Normal file
@ -0,0 +1,83 @@
|
||||
#pragma once
|
||||
|
||||
#include <rclcpp/rclcpp.hpp>
|
||||
#include <rm_msgs/msg/data_mcu.hpp>
|
||||
#include <rm_msgs/msg/data_ref.hpp>
|
||||
#include <rm_msgs/msg/data_ai.hpp>
|
||||
#include <rm_msgs/msg/data_aim.hpp>
|
||||
#include <rm_msgs/msg/nav_goal.hpp>
|
||||
#include <rm_msgs/msg/nav_status.hpp>
|
||||
#include <rm_msgs/msg/chassis_mode.hpp>
|
||||
#include <geometry_msgs/msg/pose_stamped.hpp>
|
||||
#include <geometry_msgs/msg/twist.hpp>
|
||||
#include <atomic>
|
||||
#include <mutex>
|
||||
|
||||
namespace rm_decision
|
||||
{
|
||||
|
||||
/**
|
||||
* @brief 决策节点 - 系统核心控制器
|
||||
*
|
||||
* 功能：
|
||||
* 1. 接收 MCU 状态和裁判系统数据
|
||||
* 2. 接收视觉自瞄控制指令
|
||||
* 3. 接收导航状态反馈
|
||||
* 4. 控制导航目标和底盘模式
|
||||
* 5. 综合所有信息生成最终控制指令发送给下位机
|
||||
*/
|
||||
class DecisionNode : public rclcpp::Node
|
||||
{
|
||||
public:
|
||||
explicit DecisionNode(const rclcpp::NodeOptions &options);
|
||||
~DecisionNode() override;
|
||||
|
||||
private:
|
||||
// 回调函数
|
||||
void data_mcu_callback(const rm_msgs::msg::DataMCU::SharedPtr msg);
|
||||
void data_ref_callback(const rm_msgs::msg::DataRef::SharedPtr msg);
|
||||
void data_aim_callback(const rm_msgs::msg::DataAim::SharedPtr msg);
|
||||
void nav_status_callback(const rm_msgs::msg::NavStatus::SharedPtr msg);
|
||||
void current_pose_callback(const geometry_msgs::msg::PoseStamped::SharedPtr msg);
|
||||
void cmd_vel_move_callback(const geometry_msgs::msg::Twist::SharedPtr msg);
|
||||
|
||||
// 定时器回调
|
||||
void control_timer_callback();
|
||||
|
||||
// 决策逻辑
|
||||
void make_decision();
|
||||
void send_control_command();
|
||||
|
||||
// 订阅者
|
||||
rclcpp::Subscription<rm_msgs::msg::DataMCU>::SharedPtr data_mcu_sub_;
|
||||
rclcpp::Subscription<rm_msgs::msg::DataRef>::SharedPtr data_ref_sub_;
|
||||
rclcpp::Subscription<rm_msgs::msg::DataAim>::SharedPtr data_aim_sub_;
|
||||
rclcpp::Subscription<rm_msgs::msg::NavStatus>::SharedPtr nav_status_sub_;
|
||||
rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr current_pose_sub_;
|
||||
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_move_sub_;
|
||||
|
||||
// 发布者
|
||||
rclcpp::Publisher<rm_msgs::msg::DataAI>::SharedPtr data_ai_pub_;
|
||||
rclcpp::Publisher<rm_msgs::msg::NavGoal>::SharedPtr nav_goal_pub_;
|
||||
|
||||
// 定时器
|
||||
rclcpp::TimerBase::SharedPtr control_timer_;
|
||||
|
||||
// 状态数据
|
||||
std::mutex mutex_;
|
||||
rm_msgs::msg::DataMCU latest_mcu_data_;
|
||||
rm_msgs::msg::DataRef latest_ref_data_;
|
||||
rm_msgs::msg::DataAim latest_aim_data_;
|
||||
rm_msgs::msg::NavStatus latest_nav_status_;
|
||||
geometry_msgs::msg::PoseStamped current_pose_;
|
||||
geometry_msgs::msg::Twist latest_cmd_vel_;
|
||||
|
||||
// 控制状态
|
||||
std::atomic<bool> has_mcu_data_{false};
|
||||
std::atomic<bool> has_aim_data_{false};
|
||||
std::atomic<bool> has_nav_data_{false};
|
||||
std::atomic<uint8_t> chassis_mode_{0}; // 底盘模式
|
||||
std::atomic<bool> enable_aim_{false}; // 是否启用自瞄
|
||||
};
|
||||
|
||||
} // namespace rm_decision
|
||||
18
src/rm_decision/launch/decision.launch.py
Normal file
18
src/rm_decision/launch/decision.launch.py
Normal file
@ -0,0 +1,18 @@
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
return LaunchDescription([
|
||||
Node(
|
||||
package='rm_decision',
|
||||
executable='decision_node_exe',
|
||||
name='rm_decision',
|
||||
output='screen',
|
||||
parameters=[{
|
||||
'control_frequency': 50.0,
|
||||
'enable_aim': True,
|
||||
'chassis_mode': 0,
|
||||
}]
|
||||
)
|
||||
])
|
||||
23
src/rm_decision/package.xml
Normal file
23
src/rm_decision/package.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>rm_decision</name>
|
||||
<version>1.0.0</version>
|
||||
<description>RoboMaster Decision Node - Core Controller</description>
|
||||
<maintainer email="move@qut.edu.cn">MOVE Team</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<depend>rclcpp</depend>
|
||||
<depend>rclcpp_components</depend>
|
||||
<depend>rm_msgs</depend>
|
||||
<depend>geometry_msgs</depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
191
src/rm_decision/src/decision_node.cpp
Normal file
191
src/rm_decision/src/decision_node.cpp
Normal file
@ -0,0 +1,191 @@
|
||||
#include "rm_decision/decision_node.hpp"
|
||||
|
||||
namespace rm_decision
|
||||
{
|
||||
|
||||
DecisionNode::DecisionNode(const rclcpp::NodeOptions &options)
|
||||
: Node("rm_decision", options)
|
||||
{
|
||||
// 声明参数
|
||||
this->declare_parameter("control_frequency", 50.0); // 控制频率 50Hz
|
||||
this->declare_parameter("enable_aim", true); // 默认启用自瞄
|
||||
this->declare_parameter("chassis_mode", 0); // 默认手动模式
|
||||
|
||||
auto control_freq = this->get_parameter("control_frequency").as_double();
|
||||
enable_aim_ = this->get_parameter("enable_aim").as_bool();
|
||||
chassis_mode_ = this->get_parameter("chassis_mode").as_int();
|
||||
|
||||
// 创建订阅者
|
||||
data_mcu_sub_ = this->create_subscription<rm_msgs::msg::DataMCU>(
|
||||
"/data_mcu", 10,
|
||||
std::bind(&DecisionNode::data_mcu_callback, this, std::placeholders::_1));
|
||||
|
||||
data_ref_sub_ = this->create_subscription<rm_msgs::msg::DataRef>(
|
||||
"/data_ref", 10,
|
||||
std::bind(&DecisionNode::data_ref_callback, this, std::placeholders::_1));
|
||||
|
||||
data_aim_sub_ = this->create_subscription<rm_msgs::msg::DataAim>(
|
||||
"/vision/aim", 10,
|
||||
std::bind(&DecisionNode::data_aim_callback, this, std::placeholders::_1));
|
||||
|
||||
nav_status_sub_ = this->create_subscription<rm_msgs::msg::NavStatus>(
|
||||
"/nav_status", 10,
|
||||
std::bind(&DecisionNode::nav_status_callback, this, std::placeholders::_1));
|
||||
|
||||
current_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(
|
||||
"/current_pose", 10,
|
||||
std::bind(&DecisionNode::current_pose_callback, this, std::placeholders::_1));
|
||||
|
||||
cmd_vel_move_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
|
||||
"/cmd_vel_move", 10,
|
||||
std::bind(&DecisionNode::cmd_vel_move_callback, this, std::placeholders::_1));
|
||||
|
||||
// 创建发布者
|
||||
data_ai_pub_ = this->create_publisher<rm_msgs::msg::DataAI>("/data_ai", 10);
|
||||
nav_goal_pub_ = this->create_publisher<rm_msgs::msg::NavGoal>("/nav_goal", 10);
|
||||
|
||||
// 创建控制定时器
|
||||
auto period = std::chrono::duration<double>(1.0 / control_freq);
|
||||
control_timer_ = this->create_wall_timer(
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(period),
|
||||
std::bind(&DecisionNode::control_timer_callback, this));
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "========================================");
|
||||
RCLCPP_INFO(this->get_logger(), "Decision Node 启动");
|
||||
RCLCPP_INFO(this->get_logger(), " 控制频率: %.1f Hz", control_freq);
|
||||
RCLCPP_INFO(this->get_logger(), " 自瞄启用: %s", enable_aim_ ? "是" : "否");
|
||||
RCLCPP_INFO(this->get_logger(), " 底盘模式: %d", chassis_mode_.load());
|
||||
RCLCPP_INFO(this->get_logger(), "========================================");
|
||||
RCLCPP_INFO(this->get_logger(), "话题配置:");
|
||||
RCLCPP_INFO(this->get_logger(), " 订阅: /data_mcu (MCU状态)");
|
||||
RCLCPP_INFO(this->get_logger(), " 订阅: /data_ref (裁判系统)");
|
||||
RCLCPP_INFO(this->get_logger(), " 订阅: /vision/aim (视觉自瞄)");
|
||||
RCLCPP_INFO(this->get_logger(), " 订阅: /nav_status (导航状态)");
|
||||
RCLCPP_INFO(this->get_logger(), " 订阅: /current_pose (当前位置)");
|
||||
RCLCPP_INFO(this->get_logger(), " 订阅: /cmd_vel_move (底盘速度)");
|
||||
RCLCPP_INFO(this->get_logger(), " 发布: /data_ai (综合控制指令)");
|
||||
RCLCPP_INFO(this->get_logger(), " 发布: /nav_goal (导航目标)");
|
||||
RCLCPP_INFO(this->get_logger(), "========================================");
|
||||
}
|
||||
|
||||
DecisionNode::~DecisionNode()
|
||||
{
|
||||
RCLCPP_INFO(this->get_logger(), "Decision Node 关闭");
|
||||
}
|
||||
|
||||
void DecisionNode::data_mcu_callback(const rm_msgs::msg::DataMCU::SharedPtr msg)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
latest_mcu_data_ = *msg;
|
||||
has_mcu_data_ = true;
|
||||
}
|
||||
|
||||
void DecisionNode::data_ref_callback(const rm_msgs::msg::DataRef::SharedPtr msg)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
latest_ref_data_ = *msg;
|
||||
}
|
||||
|
||||
void DecisionNode::data_aim_callback(const rm_msgs::msg::DataAim::SharedPtr msg)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
latest_aim_data_ = *msg;
|
||||
has_aim_data_ = true;
|
||||
}
|
||||
|
||||
void DecisionNode::nav_status_callback(const rm_msgs::msg::NavStatus::SharedPtr msg)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
latest_nav_status_ = *msg;
|
||||
has_nav_data_ = true;
|
||||
}
|
||||
|
||||
void DecisionNode::current_pose_callback(const geometry_msgs::msg::PoseStamped::SharedPtr msg)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
current_pose_ = *msg;
|
||||
}
|
||||
|
||||
void DecisionNode::cmd_vel_move_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
latest_cmd_vel_ = *msg;
|
||||
}
|
||||
|
||||
void DecisionNode::control_timer_callback()
|
||||
{
|
||||
// 检查是否有必要的数据
|
||||
if (!has_mcu_data_) {
|
||||
return;
|
||||
}
|
||||
|
||||
// 执行决策逻辑
|
||||
make_decision();
|
||||
|
||||
// 发送控制指令
|
||||
send_control_command();
|
||||
}
|
||||
|
||||
void DecisionNode::make_decision()
|
||||
{
|
||||
// 这里实现决策逻辑
|
||||
// 示例：根据裁判系统数据、导航状态等做决策
|
||||
|
||||
// 示例决策逻辑：
|
||||
// 1. 如果导航到达目标，切换到自瞄模式
|
||||
// 2. 如果血量低，切换到防御模式
|
||||
// 3. 根据比赛阶段调整策略
|
||||
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
|
||||
// 示例：根据导航状态决定是否启用自瞄
|
||||
if (has_nav_data_ && latest_nav_status_.status == 2) { // 到达目标
|
||||
enable_aim_ = true;
|
||||
RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 5000,
|
||||
"导航到达目标，启用自瞄");
|
||||
}
|
||||
}
|
||||
|
||||
void DecisionNode::send_control_command()
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(mutex_);
|
||||
|
||||
auto data_ai_msg = rm_msgs::msg::DataAI();
|
||||
|
||||
// 1. 云台控制：优先使用视觉自瞄数据
|
||||
if (enable_aim_ && has_aim_data_) {
|
||||
// 使用视觉自瞄控制
|
||||
data_ai_msg.mode = latest_aim_data_.mode;
|
||||
data_ai_msg.yaw = latest_aim_data_.yaw;
|
||||
data_ai_msg.yaw_vel = latest_aim_data_.yaw_vel;
|
||||
data_ai_msg.yaw_acc = latest_aim_data_.yaw_acc;
|
||||
data_ai_msg.pitch = latest_aim_data_.pitch;
|
||||
data_ai_msg.pitch_vel = latest_aim_data_.pitch_vel;
|
||||
data_ai_msg.pitch_acc = latest_aim_data_.pitch_acc;
|
||||
} else {
|
||||
// 不控制云台
|
||||
data_ai_msg.mode = 0;
|
||||
data_ai_msg.yaw = 0.0f;
|
||||
data_ai_msg.yaw_vel = 0.0f;
|
||||
data_ai_msg.yaw_acc = 0.0f;
|
||||
data_ai_msg.pitch = 0.0f;
|
||||
data_ai_msg.pitch_vel = 0.0f;
|
||||
data_ai_msg.pitch_acc = 0.0f;
|
||||
}
|
||||
|
||||
// 2. 底盘控制：使用 rm_simple_move 输出的 /cmd_vel_move
|
||||
data_ai_msg.vx = static_cast<float>(latest_cmd_vel_.linear.x);
|
||||
data_ai_msg.vy = static_cast<float>(latest_cmd_vel_.linear.y);
|
||||
data_ai_msg.wz = static_cast<float>(latest_cmd_vel_.angular.z);
|
||||
|
||||
// 3. 底盘模式：通过 reserved 字段传递
|
||||
data_ai_msg.reserved = chassis_mode_;
|
||||
|
||||
// 发布综合控制指令
|
||||
data_ai_pub_->publish(data_ai_msg);
|
||||
}
|
||||
|
||||
} // namespace rm_decision
|
||||
|
||||
#include <rclcpp_components/register_node_macro.hpp>
|
||||
RCLCPP_COMPONENTS_REGISTER_NODE(rm_decision::DecisionNode)
|
||||
@ -36,14 +36,25 @@ namespace rm_serial_driver
|
||||
RCLCPP_INFO(get_logger(), "========================================");
|
||||
|
||||
// 创建发布者和订阅者
|
||||
data_mcu_pub_ = this->create_publisher<rm_msgs::msg::DataMCU>(
|
||||
topic_prefix + "/data_mcu", 10);
|
||||
data_ref_pub_ = this->create_publisher<rm_msgs::msg::DataRef>(
|
||||
topic_prefix + "/data_ref", 10);
|
||||
data_mcu_pub_ = this->create_publisher<rm_msgs::msg::DataMCU>("/data_mcu", 10);
|
||||
data_ref_pub_ = this->create_publisher<rm_msgs::msg::DataRef>("/data_ref", 10);
|
||||
|
||||
// 订阅视觉控制指令
|
||||
data_ai_sub_ = this->create_subscription<rm_msgs::msg::DataAI>(
|
||||
topic_prefix + "/data_ai", 10,
|
||||
"/gimbal/vision", 10,
|
||||
std::bind(&RMSerialDriver::data_ai_callback, this, std::placeholders::_1));
|
||||
|
||||
// 同时订阅导航控制指令（用于底盘控制）
|
||||
auto chassis_sub = this->create_subscription<rm_msgs::msg::DataAI>(
|
||||
"/cmd_vel_move", 10,
|
||||
std::bind(&RMSerialDriver::data_ai_callback, this, std::placeholders::_1));
|
||||
|
||||
RCLCPP_INFO(get_logger(), "话题配置:");
|
||||
RCLCPP_INFO(get_logger(), " 发布: /data_mcu (MCU状态)");
|
||||
RCLCPP_INFO(get_logger(), " 发布: /data_ref (裁判系统)");
|
||||
RCLCPP_INFO(get_logger(), " 订阅: /gimbal/vision (视觉控制)");
|
||||
RCLCPP_INFO(get_logger(), " 订阅: /cmd_vel_move (导航控制)");
|
||||
|
||||
// 打开串口
|
||||
if (open_port())
|
||||
{
|
||||
|
||||
21
src/rm_vision_bringup/CMakeLists.txt
Normal file
21
src/rm_vision_bringup/CMakeLists.txt
Normal file
@ -0,0 +1,21 @@
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(rm_vision_bringup)
|
||||
|
||||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||
endif()
|
||||
|
||||
# find dependencies
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
# 安装 launch 文件
|
||||
install(DIRECTORY launch
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
ament_lint_auto_find_test_dependencies()
|
||||
endif()
|
||||
|
||||
ament_package()
|
||||
64
src/rm_vision_bringup/launch/calibration.launch.py
Normal file
64
src/rm_vision_bringup/launch/calibration.launch.py
Normal file
@ -0,0 +1,64 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from ament_index_python.packages import get_package_prefix
|
||||
from launch.actions import ExecuteProcess
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# 声明参数
|
||||
calibration_type_arg = DeclareLaunchArgument(
|
||||
'calibration_type',
|
||||
default_value='capture',
|
||||
description='Calibration type: capture, calibrate_camera, calibrate_handeye, calibrate_robotworld_handeye, split_video'
|
||||
)
|
||||
|
||||
config_arg = DeclareLaunchArgument(
|
||||
'config',
|
||||
default_value='calibration.yaml',
|
||||
description='Calibration config file name'
|
||||
)
|
||||
|
||||
output_folder_arg = DeclareLaunchArgument(
|
||||
'output_folder',
|
||||
default_value='assets/img_with_q',
|
||||
description='Output folder for captured images (only for capture)'
|
||||
)
|
||||
|
||||
# 获取参数值
|
||||
calibration_type = LaunchConfiguration('calibration_type')
|
||||
config = LaunchConfiguration('config')
|
||||
output_folder = LaunchConfiguration('output_folder')
|
||||
|
||||
# 构建配置文件路径
|
||||
config_path = PathJoinSubstitution([
|
||||
FindPackageShare('mr_vision'),
|
||||
'configs',
|
||||
config
|
||||
])
|
||||
|
||||
# 构建可执行文件路径
|
||||
pkg_prefix = get_package_prefix('mr_vision')
|
||||
calibration_exe = PathJoinSubstitution([
|
||||
pkg_prefix,
|
||||
'lib',
|
||||
'mr_vision',
|
||||
'bin',
|
||||
calibration_type
|
||||
])
|
||||
|
||||
# 启动标定程序
|
||||
# capture 需要额外的 output_folder 参数
|
||||
calibration_node = ExecuteProcess(
|
||||
cmd=[calibration_exe, config_path, '-o', output_folder],
|
||||
output='screen',
|
||||
name='rm_calibration'
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
calibration_type_arg,
|
||||
config_arg,
|
||||
output_folder_arg,
|
||||
calibration_node
|
||||
])
|
||||
57
src/rm_vision_bringup/launch/sentry_vision.launch.py
Normal file
57
src/rm_vision_bringup/launch/sentry_vision.launch.py
Normal file
@ -0,0 +1,57 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from ament_index_python.packages import get_package_prefix
|
||||
from launch.actions import ExecuteProcess
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
"""Sentry 专用视觉系统启动文件"""
|
||||
|
||||
# 声明参数
|
||||
config_arg = DeclareLaunchArgument(
|
||||
'config',
|
||||
default_value='sentry.yaml',
|
||||
description='Sentry config file'
|
||||
)
|
||||
|
||||
vision_type_arg = DeclareLaunchArgument(
|
||||
'vision_type',
|
||||
default_value='standard_mpc',
|
||||
description='Vision executable type for sentry'
|
||||
)
|
||||
|
||||
# 获取参数值
|
||||
config = LaunchConfiguration('config')
|
||||
vision_type = LaunchConfiguration('vision_type')
|
||||
|
||||
# 构建配置文件路径
|
||||
config_path = PathJoinSubstitution([
|
||||
FindPackageShare('mr_vision'),
|
||||
'configs',
|
||||
config
|
||||
])
|
||||
|
||||
# 构建可执行文件路径
|
||||
pkg_prefix = get_package_prefix('mr_vision')
|
||||
vision_exe = PathJoinSubstitution([
|
||||
pkg_prefix,
|
||||
'lib',
|
||||
'mr_vision',
|
||||
'bin',
|
||||
vision_type
|
||||
])
|
||||
|
||||
# 启动视觉节点
|
||||
vision_node = ExecuteProcess(
|
||||
cmd=[vision_exe, config_path],
|
||||
output='screen',
|
||||
name='sentry_vision'
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
config_arg,
|
||||
vision_type_arg,
|
||||
vision_node
|
||||
])
|
||||
54
src/rm_vision_bringup/launch/vision.launch.py
Normal file
54
src/rm_vision_bringup/launch/vision.launch.py
Normal file
@ -0,0 +1,54 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, ExecuteProcess
|
||||
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from ament_index_python.packages import get_package_prefix
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# 声明参数
|
||||
config_arg = DeclareLaunchArgument(
|
||||
'config',
|
||||
default_value='standard4.yaml',
|
||||
description='Vision config file name (in rm_vision/configs/)'
|
||||
)
|
||||
|
||||
vision_type_arg = DeclareLaunchArgument(
|
||||
'vision_type',
|
||||
default_value='standard_mpc',
|
||||
description='Vision executable type: standard_mpc, balance_infantry_mpc, auto_aim_debug_mpc, auto_buff_debug_mpc'
|
||||
)
|
||||
|
||||
# 获取参数值
|
||||
config = LaunchConfiguration('config')
|
||||
vision_type = LaunchConfiguration('vision_type')
|
||||
|
||||
# 构建配置文件路径
|
||||
config_path = PathJoinSubstitution([
|
||||
FindPackageShare('mr_vision'),
|
||||
'configs',
|
||||
config
|
||||
])
|
||||
|
||||
# 构建可执行文件路径（在 lib/mr_vision/bin/ 目录下）
|
||||
pkg_prefix = get_package_prefix('mr_vision')
|
||||
vision_exe = PathJoinSubstitution([
|
||||
pkg_prefix,
|
||||
'lib',
|
||||
'mr_vision',
|
||||
'bin',
|
||||
vision_type
|
||||
])
|
||||
|
||||
# 启动视觉节点
|
||||
vision_node = ExecuteProcess(
|
||||
cmd=[vision_exe, config_path],
|
||||
output='screen',
|
||||
name='rm_vision'
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
config_arg,
|
||||
vision_type_arg,
|
||||
vision_node
|
||||
])
|
||||
20
src/rm_vision_bringup/package.xml
Normal file
20
src/rm_vision_bringup/package.xml
Normal file
@ -0,0 +1,20 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>rm_vision_bringup</name>
|
||||
<version>1.0.0</version>
|
||||
<description>RoboMaster Vision System Launch Package</description>
|
||||
<maintainer email="move@qut.edu.cn">MOVE Team</maintainer>
|
||||
<license>MIT</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<exec_depend>mr_vision</exec_depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
Loading…
Reference in New Issue
Block a user