7-11
This commit is contained in:
parent
ca0d875b1d
commit
084ae634d0
7
nav.sh
7
nav.sh
@ -1,7 +1,7 @@
|
||||
# 备场代码
|
||||
source install/setup.bash
|
||||
|
||||
commands=(
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/pub_aim.py"
|
||||
"ros2 launch rm_nav_bringup bringup_real.launch.py \
|
||||
world:=RC2026 \
|
||||
mode:=nav \
|
||||
@ -10,10 +10,9 @@ commands=(
|
||||
lio_rviz:=false \
|
||||
nav_rviz:=true"
|
||||
"ros2 launch rm_simpal_move simple_move.launch.py"
|
||||
# "ros2 topic pub /move_goal rm_msgs/msg/MoveGoal '{x: 0.61, y: 3.96, angle: 0.0, max_speed: 10.0, tolerance: 0.1, rotor: false}' --once"
|
||||
# "/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/pub_self.py"
|
||||
# "/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/receive_and_pub.py"
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/R2_Serial.py"
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/slect.py map"
|
||||
|
||||
)
|
||||
|
||||
for cmd in "${commands[@]}"; do
|
||||
|
||||
@ -1,16 +1,18 @@
|
||||
# 备场代码
|
||||
source install/setup.bash
|
||||
|
||||
commands=(
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/pub_aim.py"
|
||||
"ros2 launch rm_nav_bringup bringup_real.launch.py \
|
||||
world:=RC2025 \
|
||||
world:=map1 \
|
||||
mode:=nav \
|
||||
lio:=fastlio \
|
||||
localization:=icp \
|
||||
lio_rviz:=false \
|
||||
nav_rviz:=true"
|
||||
"ros2 launch rm_simpal_move simple_move.launch.py"
|
||||
"ros2 topic pub /move_goal rm_msgs/msg/MoveGoal '{x: 0.56, y: 3.960, angle: 0.0, max_speed: 10.0, tolerance: 0.1, rotor: false}' --once"
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/R2_Serial.py"
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/slect.py map1"
|
||||
|
||||
)
|
||||
|
||||
for cmd in "${commands[@]}"; do
|
||||
21
nav2.sh
Normal file
21
nav2.sh
Normal file
@ -0,0 +1,21 @@
|
||||
# 备场代码
|
||||
source install/setup.bash
|
||||
|
||||
commands=(
|
||||
"ros2 launch rm_nav_bringup bringup_real.launch.py \
|
||||
world:=map2 \
|
||||
mode:=nav \
|
||||
lio:=fastlio \
|
||||
localization:=icp \
|
||||
lio_rviz:=false \
|
||||
nav_rviz:=true"
|
||||
"ros2 launch rm_simpal_move simple_move.launch.py"
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/R2_Serial.py"
|
||||
"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/slect.py map2"
|
||||
|
||||
)
|
||||
|
||||
for cmd in "${commands[@]}"; do
|
||||
gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash"
|
||||
sleep 0.5
|
||||
done
|
||||
@ -25,7 +25,7 @@
|
||||
},
|
||||
"lidar_configs" : [
|
||||
{
|
||||
"ip" : "192.168.1.137",
|
||||
"ip" : "192.168.1.176",
|
||||
"pcl_data_type" : 1,
|
||||
"pattern_mode" : 0,
|
||||
"extrinsic_parameter" : {
|
||||
|
||||
@ -1,5 +1,3 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
import serial
|
||||
@ -8,44 +6,29 @@ from rm_msgs.msg import DataAim
|
||||
from geometry_msgs.msg import TransformStamped
|
||||
import tf2_ros
|
||||
import tf2_geometry_msgs
|
||||
import time
|
||||
|
||||
class AimDataSerial(Node):
|
||||
def __init__(self):
|
||||
super().__init__('aim_data_serial')
|
||||
|
||||
# 串口配置
|
||||
self.serial_port_r2 = '/dev/r2' # 原有串口，用于发送瞄准数据
|
||||
self.serial_port_r1 = '/dev/r1' # 新增串口，用于发送坐标数据
|
||||
self.serial_port_r2 = '/dev/r2'
|
||||
self.serial_port_r1 = '/dev/ttyACM0'
|
||||
self.baud_rate = 115200
|
||||
|
||||
# 初始化r2串口（瞄准数据）
|
||||
try:
|
||||
self.serial_conn_r2 = serial.Serial(
|
||||
port=self.serial_port_r2,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=1
|
||||
)
|
||||
self.get_logger().info(f'Serial port {self.serial_port_r2} opened successfully')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Failed to open serial port r2: {e}')
|
||||
self.serial_conn_r2 = None
|
||||
# 重连计数器
|
||||
self.r1_reconnect_count = 0
|
||||
self.r2_reconnect_count = 0
|
||||
self.max_reconnect_attempts = 5
|
||||
|
||||
# 初始化r1串口（坐标数据）
|
||||
try:
|
||||
self.serial_conn_r1 = serial.Serial(
|
||||
port=self.serial_port_r1,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=1
|
||||
)
|
||||
self.get_logger().info(f'Serial port {self.serial_port_r1} opened successfully')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Failed to open serial port r1: {e}')
|
||||
self.serial_conn_r1 = None
|
||||
# 初始化串口连接
|
||||
self.init_serial_connections()
|
||||
|
||||
# TF2监听器，用于获取baselink在map上的坐标
|
||||
self.tf_buffer = tf2_ros.Buffer()
|
||||
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self)
|
||||
|
||||
|
||||
# 订阅话题
|
||||
self.subscription = self.create_subscription(
|
||||
DataAim,
|
||||
@ -57,8 +40,82 @@ class AimDataSerial(Node):
|
||||
# 定时器，定期获取和发送坐标数据
|
||||
self.timer = self.create_timer(0.1, self.position_timer_callback) # 10Hz
|
||||
|
||||
# 计数器，用于减少日志输出
|
||||
self.position_counter = 0
|
||||
|
||||
self.get_logger().info('Aim data serial node started')
|
||||
|
||||
def init_serial_connections(self):
|
||||
"""初始化串口连接"""
|
||||
# 初始化r2串口（瞄准数据）
|
||||
self.serial_conn_r2 = self.open_serial_port(self.serial_port_r2, "r2")
|
||||
|
||||
# 初始化r1串口（坐标数据）
|
||||
self.serial_conn_r1 = self.open_serial_port(self.serial_port_r1, "r1")
|
||||
|
||||
def open_serial_port(self, port, name):
|
||||
"""打开串口，返回串口对象或None"""
|
||||
try:
|
||||
ser = serial.Serial(
|
||||
port=port,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=1
|
||||
)
|
||||
self.get_logger().info(f'Serial port {port} ({name}) opened successfully')
|
||||
return ser
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Failed to open serial port {name}: {e}')
|
||||
return None
|
||||
|
||||
def reconnect_serial(self, port, name, current_conn, reconnect_count_attr):
|
||||
"""尝试重新连接串口"""
|
||||
reconnect_count = getattr(self, reconnect_count_attr)
|
||||
if reconnect_count >= self.max_reconnect_attempts:
|
||||
return None
|
||||
|
||||
self.get_logger().warn(f'Attempting to reconnect {name} (attempt {reconnect_count + 1})')
|
||||
|
||||
# 关闭现有连接
|
||||
if current_conn and current_conn.is_open:
|
||||
current_conn.close()
|
||||
|
||||
# 等待一下再重连
|
||||
time.sleep(0.5)
|
||||
|
||||
# 尝试重新连接
|
||||
new_conn = self.open_serial_port(port, name)
|
||||
setattr(self, reconnect_count_attr, reconnect_count + 1)
|
||||
|
||||
if new_conn:
|
||||
# 重连成功，重置计数器
|
||||
setattr(self, reconnect_count_attr, 0)
|
||||
self.get_logger().info(f'{name} reconnected successfully')
|
||||
|
||||
return new_conn
|
||||
|
||||
def safe_serial_write(self, serial_conn, data, port_name):
|
||||
"""安全的串口写入，包含错误处理和重连"""
|
||||
if not serial_conn:
|
||||
return False
|
||||
|
||||
try:
|
||||
serial_conn.write(data)
|
||||
return True
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Write error on {port_name}: {e}')
|
||||
|
||||
# 尝试重连
|
||||
if port_name == "r1":
|
||||
self.serial_conn_r1 = self.reconnect_serial(
|
||||
self.serial_port_r1, "r1", self.serial_conn_r1, "r1_reconnect_count"
|
||||
)
|
||||
elif port_name == "r2":
|
||||
self.serial_conn_r2 = self.reconnect_serial(
|
||||
self.serial_port_r2, "r2", self.serial_conn_r2, "r2_reconnect_count"
|
||||
)
|
||||
|
||||
return False
|
||||
|
||||
def aim_callback(self, msg):
|
||||
if not self.serial_conn_r2:
|
||||
return
|
||||
@ -79,8 +136,8 @@ class AimDataSerial(Node):
|
||||
packet.append(0xFE) # 包尾
|
||||
|
||||
# 发送数据到r2串口
|
||||
self.serial_conn_r2.write(packet)
|
||||
self.get_logger().info(f'Sent aim packet to r2: {packet.hex()}')
|
||||
if self.safe_serial_write(self.serial_conn_r2, packet, "r2"):
|
||||
self.get_logger().info(f'Sent aim packet to r2: {packet.hex()}')
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error in aim_callback: {e}')
|
||||
@ -102,7 +159,10 @@ class AimDataSerial(Node):
|
||||
y = transform.transform.translation.y
|
||||
z = transform.transform.translation.z
|
||||
|
||||
self.get_logger().info(f'Position - x: {x:.3f}, y: {y:.3f}, z: {z:.3f}')
|
||||
# 减少日志输出频率
|
||||
self.position_counter += 1
|
||||
if self.position_counter % 50 == 0: # 每5秒打印一次
|
||||
self.get_logger().info(f'Position - x: {x:.3f}, y: {y:.3f}, z: {z:.3f}')
|
||||
|
||||
# 构建坐标数据包
|
||||
# 格式: 包头(0xAA) + x(4字节float) + y(4字节float) + z(4字节float) + 包尾(0xBB)
|
||||
@ -114,12 +174,14 @@ class AimDataSerial(Node):
|
||||
packet.append(0xBB) # 包尾
|
||||
|
||||
# 发送数据到r1串口
|
||||
self.serial_conn_r1.write(packet)
|
||||
self.get_logger().info(f'Sent position packet to r1: {packet.hex()}')
|
||||
if self.safe_serial_write(self.serial_conn_r1, packet, "r1"):
|
||||
if self.position_counter % 50 == 0: # 只在打印位置时也打印发送信息
|
||||
self.get_logger().info(f'Sent position packet to r1: {packet.hex()}')
|
||||
|
||||
except tf2_ros.TransformException as e:
|
||||
# TF变换异常，可能是坐标系不存在或时间不同步
|
||||
self.get_logger().warn(f'Transform exception: {e}')
|
||||
if self.position_counter % 100 == 0: # 减少TF异常日志频率
|
||||
self.get_logger().warn(f'Transform exception: {e}')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error in position_timer_callback: {e}')
|
||||
|
||||
|
||||
@ -1,79 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
import serial
|
||||
import struct
|
||||
from rm_msgs.msg import DataAim # 假设使用DataAim消息类型，您可以根据实际消息类型调整
|
||||
class AimDataSerial(Node):
|
||||
def __init__(self):
|
||||
super().__init__('aim_data_serial')
|
||||
|
||||
# 串口配置
|
||||
self.serial_port = '/dev/ttyUSB0' # 根据实际串口设备调整
|
||||
self.baud_rate = 115200
|
||||
|
||||
try:
|
||||
self.serial_conn = serial.Serial(
|
||||
port=self.serial_port,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=1
|
||||
)
|
||||
self.get_logger().info(f'Serial port {self.serial_port} opened successfully')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Failed to open serial port: {e}')
|
||||
return
|
||||
|
||||
# 订阅话题
|
||||
self.subscription = self.create_subscription(
|
||||
DataAim, # 根据实际消息类型调整
|
||||
'/chassis/data_aim',
|
||||
self.aim_callback,
|
||||
10
|
||||
)
|
||||
|
||||
self.get_logger().info('Aim data serial node started')
|
||||
|
||||
def aim_callback(self, msg):
|
||||
try:
|
||||
# 提取yaw和distance数据
|
||||
# 根据实际消息结构调整，这里假设使用Point32的x和y字段
|
||||
yaw = msg.yaw
|
||||
distance = msg.distance
|
||||
|
||||
self.get_logger().info(f'Received - yaw: {yaw}, distance: {distance}')
|
||||
|
||||
# 构建发送数据包
|
||||
# 格式: 包头(0xFF) + yaw(4字节float) + distance(4字节float) + 包尾(0xFE)
|
||||
packet = bytearray()
|
||||
packet.append(0xFF) # 包头
|
||||
packet.extend(struct.pack('<f', yaw)) # yaw (小端序float)
|
||||
packet.extend(struct.pack('<f', distance)) # distance (小端序float)
|
||||
packet.append(0xFE) # 包尾
|
||||
|
||||
# 发送数据
|
||||
self.serial_conn.write(packet)
|
||||
self.get_logger().debug(f'Sent packet: {packet.hex()}')
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error in aim_callback: {e}')
|
||||
|
||||
def __del__(self):
|
||||
if hasattr(self, 'serial_conn') and self.serial_conn.is_open:
|
||||
self.serial_conn.close()
|
||||
self.get_logger().info('Serial port closed')
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
try:
|
||||
node = AimDataSerial()
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -1,79 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
import serial
|
||||
import struct
|
||||
from rm_msgs.msg import DataAim
|
||||
class AimDataSerial(Node):
|
||||
def __init__(self):
|
||||
super().__init__('aim_data_serial')
|
||||
|
||||
# 串口配置
|
||||
self.serial_port = '/dev/r2' # 根据实际串口设备调整
|
||||
self.baud_rate = 115200
|
||||
|
||||
try:
|
||||
self.serial_conn = serial.Serial(
|
||||
port=self.serial_port,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=1
|
||||
)
|
||||
self.get_logger().info(f'Serial port {self.serial_port} opened successfully')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Failed to open serial port: {e}')
|
||||
return
|
||||
|
||||
# 订阅话题
|
||||
self.subscription = self.create_subscription(
|
||||
DataAim, # 根据实际消息类型调整
|
||||
'/chassis/data_aim',
|
||||
self.aim_callback,
|
||||
10
|
||||
)
|
||||
|
||||
self.get_logger().info('Aim data serial node started')
|
||||
|
||||
def aim_callback(self, msg):
|
||||
try:
|
||||
# 提取yaw和distance数据
|
||||
# 根据实际消息结构调整，这里假设使用Point32的x和y字段
|
||||
yaw = msg.yaw
|
||||
distance = msg.distance
|
||||
|
||||
self.get_logger().info(f'Received - yaw: {yaw}, distance: {distance}')
|
||||
|
||||
# 构建发送数据包
|
||||
# 格式: 包头(0xFF) + yaw(4字节float) + distance(4字节float) + 包尾(0xFE)
|
||||
packet = bytearray()
|
||||
packet.append(0xFF) # 包头
|
||||
packet.extend(struct.pack('<f', yaw)) # yaw (小端序float)
|
||||
packet.extend(struct.pack('<f', distance)) # distance (小端序float)
|
||||
packet.append(0xFE) # 包尾
|
||||
|
||||
# 发送数据
|
||||
self.serial_conn.write(packet)
|
||||
self.get_logger().debug(f'Sent packet: {packet.hex()}')
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error in aim_callback: {e}')
|
||||
|
||||
def __del__(self):
|
||||
if hasattr(self, 'serial_conn') and self.serial_conn.is_open:
|
||||
self.serial_conn.close()
|
||||
self.get_logger().info('Serial port closed')
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
try:
|
||||
node = AimDataSerial()
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -1,96 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
import serial
|
||||
import struct
|
||||
import tf2_ros
|
||||
from geometry_msgs.msg import TransformStamped
|
||||
from tf2_geometry_msgs import do_transform_pose
|
||||
from geometry_msgs.msg import PoseStamped
|
||||
import math
|
||||
|
||||
class SelfPositionSerial(Node):
|
||||
def __init__(self):
|
||||
super().__init__('self_position_serial')
|
||||
|
||||
# 串口配置
|
||||
self.serial_port = '/dev/r1' # 根据实际串口设备调整
|
||||
self.baud_rate = 115200
|
||||
|
||||
try:
|
||||
self.serial_conn = serial.Serial(
|
||||
port=self.serial_port,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=1
|
||||
)
|
||||
self.get_logger().info(f'Serial port {self.serial_port} opened successfully')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Failed to open serial port: {e}')
|
||||
return
|
||||
|
||||
# TF监听器
|
||||
self.tf_buffer = tf2_ros.Buffer()
|
||||
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self)
|
||||
|
||||
# 定时器，定期发送位置信息
|
||||
self.timer = self.create_timer(0.1, self.send_position) # 100Hz
|
||||
|
||||
self.get_logger().info('Self position serial node started')
|
||||
|
||||
def send_position(self):
|
||||
try:
|
||||
# 获取base_link在map下的位置
|
||||
transform = self.tf_buffer.lookup_transform(
|
||||
'map', 'base_link', rclpy.time.Time())
|
||||
|
||||
# 提取位置和朝向
|
||||
x = transform.transform.translation.x
|
||||
y = transform.transform.translation.y
|
||||
z = transform.transform.translation.z
|
||||
|
||||
# 计算yaw角（从四元数）
|
||||
quat = transform.transform.rotation
|
||||
yaw = math.atan2(2.0 * (quat.w * quat.z + quat.x * quat.y),
|
||||
1.0 - 2.0 * (quat.y * quat.y + quat.z * quat.z))
|
||||
|
||||
self.get_logger().debug(f'Position - x: {x:.3f}, y: {y:.3f}, z: {z:.3f}, yaw: {yaw:.3f}')
|
||||
|
||||
# 构建发送数据包
|
||||
# 格式: 包头(0xFF) + x(4字节) + y(4字节) + z(4字节) + yaw(4字节) + 校验和(1字节) + 包尾(0xFE)
|
||||
packet = bytearray()
|
||||
packet.append(0xFF) # 包头
|
||||
packet.extend(struct.pack('<f', x)) # x坐标
|
||||
packet.extend(struct.pack('<f', y)) # y坐标
|
||||
packet.extend(struct.pack('<f', z)) # z坐标
|
||||
packet.extend(struct.pack('<f', yaw)) # yaw角
|
||||
|
||||
|
||||
packet.append(0xFE) # 包尾
|
||||
|
||||
# 发送数据
|
||||
self.serial_conn.write(packet)
|
||||
self.get_logger().debug(f'Sent position packet: {packet.hex()}')
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().warn(f'Failed to get transform or send data: {e}')
|
||||
|
||||
def __del__(self):
|
||||
if hasattr(self, 'serial_conn') and self.serial_conn.is_open:
|
||||
self.serial_conn.close()
|
||||
self.get_logger().info('Serial port closed')
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
try:
|
||||
node = SelfPositionSerial()
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -1,240 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
import serial
|
||||
import struct
|
||||
import tf2_ros
|
||||
from geometry_msgs.msg import TransformStamped
|
||||
from rm_msgs.msg import DataAim
|
||||
import math
|
||||
import threading
|
||||
from rclpy.executors import MultiThreadedExecutor
|
||||
|
||||
class ReceiveAndPubNode(Node):
|
||||
def __init__(self):
|
||||
super().__init__('receive_and_pub')
|
||||
|
||||
# 串口配置
|
||||
self.receive_port = '/dev/r1' # 接收串口
|
||||
self.send_port = '/dev/r2' # 发送串口
|
||||
self.baud_rate = 115200
|
||||
|
||||
try:
|
||||
# 接收串口
|
||||
self.receive_serial = serial.Serial(
|
||||
port=self.receive_port,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=0.1
|
||||
)
|
||||
# 发送串口
|
||||
self.send_serial = serial.Serial(
|
||||
port=self.send_port,
|
||||
baudrate=self.baud_rate,
|
||||
timeout=1
|
||||
)
|
||||
self.get_logger().info(f'Serial ports opened: {self.receive_port}, {self.send_port}')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Failed to open serial ports: {e}')
|
||||
return
|
||||
|
||||
# TF广播器和监听器
|
||||
self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
|
||||
self.tf_buffer = tf2_ros.Buffer()
|
||||
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self)
|
||||
|
||||
# 订阅瞄准数据
|
||||
self.subscription = self.create_subscription(
|
||||
DataAim,
|
||||
'/chassis/data_aim',
|
||||
self.aim_callback,
|
||||
10
|
||||
)
|
||||
|
||||
# 存储接收到的位置信息和瞄准数据
|
||||
self.received_position = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0, 'valid': False}
|
||||
self.aim_data = {'yaw': 0.0, 'distance': 0.0, 'valid': False}
|
||||
|
||||
# 启动接收线程
|
||||
self.receive_thread = threading.Thread(target=self.receive_position_thread)
|
||||
self.receive_thread.daemon = True
|
||||
self.receive_thread.start()
|
||||
|
||||
# 定时发送数据
|
||||
self.send_timer = self.create_timer(0.01, self.send_target_data) # 10Hz
|
||||
|
||||
self.get_logger().info('Receive and pub node started')
|
||||
|
||||
def receive_position_thread(self):
|
||||
buffer = bytearray()
|
||||
while rclpy.ok():
|
||||
try:
|
||||
if self.receive_serial.in_waiting > 0:
|
||||
data = self.receive_serial.read(self.receive_serial.in_waiting)
|
||||
buffer.extend(data)
|
||||
|
||||
# 查找完整的数据包
|
||||
while len(buffer) >= 18: # 包头(1) + 4个float(16) + 包尾(1) = 18字节
|
||||
# 查找包头
|
||||
start_idx = buffer.find(0xFF)
|
||||
if start_idx == -1:
|
||||
break
|
||||
|
||||
# 移除包头前的数据
|
||||
if start_idx > 0:
|
||||
buffer = buffer[start_idx:]
|
||||
|
||||
# 检查包长度
|
||||
if len(buffer) < 18:
|
||||
break
|
||||
|
||||
# 查找包尾
|
||||
if buffer[17] == 0xFE:
|
||||
# 解析数据
|
||||
try:
|
||||
x = struct.unpack('<f', buffer[1:5])[0]
|
||||
y = struct.unpack('<f', buffer[5:9])[0]
|
||||
z = struct.unpack('<f', buffer[9:13])[0]
|
||||
yaw = struct.unpack('<f', buffer[13:17])[0]
|
||||
|
||||
self.received_position = {
|
||||
'x': x, 'y': y, 'z': z, 'yaw': yaw, 'valid': True
|
||||
}
|
||||
|
||||
# 发布tf变换
|
||||
self.publish_r2_transform(x, y, z, yaw)
|
||||
|
||||
# self.get_logger().info(f'📍 Received R2 position: x={x:.3f}, y={y:.3f}, z={z:.3f}, yaw={yaw:.3f}')
|
||||
|
||||
except struct.error as e:
|
||||
self.get_logger().warn(f'⚠️ Data parsing error: {e}')
|
||||
|
||||
# 移除已处理的数据包
|
||||
buffer = buffer[18:]
|
||||
else:
|
||||
# 包尾不匹配，移除包头继续查找
|
||||
buffer = buffer[1:]
|
||||
else:
|
||||
# 避免忙等待
|
||||
import time
|
||||
time.sleep(0.001)
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'❌ Error in receive thread: {e}')
|
||||
|
||||
def publish_r2_transform(self, x, y, z, yaw):
|
||||
"""发布R2到map的tf变换"""
|
||||
try:
|
||||
t = TransformStamped()
|
||||
t.header.stamp = self.get_clock().now().to_msg()
|
||||
t.header.frame_id = 'map'
|
||||
t.child_frame_id = 'R1'
|
||||
|
||||
t.transform.translation.x = x
|
||||
t.transform.translation.y = y
|
||||
t.transform.translation.z = z
|
||||
|
||||
# 将yaw角转换为四元数
|
||||
t.transform.rotation.x = 0.0
|
||||
t.transform.rotation.y = 0.0
|
||||
t.transform.rotation.z = math.sin(yaw / 2.0)
|
||||
t.transform.rotation.w = math.cos(yaw / 2.0)
|
||||
|
||||
self.tf_broadcaster.sendTransform(t)
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error publishing tf: {e}')
|
||||
|
||||
def aim_callback(self, msg):
|
||||
"""接收瞄准数据"""
|
||||
try:
|
||||
self.aim_data = {
|
||||
'yaw': msg.yaw,
|
||||
'distance': msg.distance,
|
||||
'valid': True
|
||||
}
|
||||
self.get_logger().debug(f'Received aim data: yaw={msg.yaw:.3f}, distance={msg.distance:.3f}')
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error in aim callback: {e}')
|
||||
|
||||
def get_r2_target_data(self):
|
||||
"""获取R2的瞄准数据"""
|
||||
try:
|
||||
if not self.received_position['valid']:
|
||||
return 0.0, 0.0
|
||||
|
||||
# 这里可以根据R2的位置计算目标数据
|
||||
# 简化处理：返回R2的yaw角和到原点的距离
|
||||
r2_yaw = self.received_position['yaw']
|
||||
r2_distance = math.sqrt(
|
||||
self.received_position['x']**2 +
|
||||
self.received_position['y']**2
|
||||
)
|
||||
|
||||
return r2_yaw, r2_distance
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error getting R2 target data: {e}')
|
||||
return 0.0, 0.0
|
||||
|
||||
def send_target_data(self):
|
||||
"""发送目标数据"""
|
||||
try:
|
||||
# 获取原始目标数据
|
||||
if self.aim_data['valid']:
|
||||
original_yaw = self.aim_data['yaw']
|
||||
original_distance = self.aim_data['distance']
|
||||
else:
|
||||
original_yaw = 0.0
|
||||
original_distance = 0.0
|
||||
|
||||
# 获取R2目标数据
|
||||
r2_yaw, r2_distance = self.get_r2_target_data()
|
||||
|
||||
# 构建发送数据包
|
||||
# 格式: 包头(0xFF) + original_yaw(4字节) + original_distance(4字节) + r2_yaw(4字节) + r2_distance(4字节) + 校验和(1字节) + 包尾(0xFE)
|
||||
packet = bytearray()
|
||||
packet.append(0xFF) # 包头
|
||||
packet.extend(struct.pack('<f', original_yaw)) # 原始yaw
|
||||
packet.extend(struct.pack('<f', original_distance)) # 原始distance
|
||||
# packet.extend(struct.pack('<f', r2_yaw)) # R2 yaw
|
||||
# packet.extend(struct.pack('<f', r2_distance)) # R2 distance
|
||||
|
||||
# 计算校验和
|
||||
# checksum = 0
|
||||
# for i in range(1, len(packet)):
|
||||
# checksum ^= packet[i]
|
||||
# packet.append(checksum)
|
||||
|
||||
packet.append(0xFE) # 包尾
|
||||
|
||||
# 发送数据
|
||||
self.send_serial.write(packet)
|
||||
self.get_logger().info(f'Sent target packet: original({original_yaw:.3f},{original_distance:.3f}) R2({r2_yaw:.3f},{r2_distance:.3f})')
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f'Error sending target data: {e}')
|
||||
|
||||
def __del__(self):
|
||||
if hasattr(self, 'receive_serial') and self.receive_serial.is_open:
|
||||
self.receive_serial.close()
|
||||
if hasattr(self, 'send_serial') and self.send_serial.is_open:
|
||||
self.send_serial.close()
|
||||
self.get_logger().info('Serial ports closed')
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
try:
|
||||
node = ReceiveAndPubNode()
|
||||
executor = MultiThreadedExecutor()
|
||||
executor.add_node(node)
|
||||
executor.spin()
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
65
src/rm_driver/rm_serial_driver/script/slect.py
Normal file
65
src/rm_driver/rm_serial_driver/script/slect.py
Normal file
@ -0,0 +1,65 @@
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from rm_msgs.msg import MoveGoal
|
||||
from geometry_msgs.msg import TransformStamped
|
||||
import tf2_ros
|
||||
import sys
|
||||
|
||||
# 预设多组参数
|
||||
MAP_CONFIGS = {
|
||||
"map": {"split_x": 7.155, "goal1": (0.65, 3.95), "goal2": (13.66, 3.73)},
|
||||
"map1": {"split_x": 7.085, "goal1": (0.54, -3.28), "goal2": (13.63, -3.37)},
|
||||
"map2": {"split_x": 7.075, "goal1": (0.57, -3.34), "goal2": (13.58, -3.35)},
|
||||
}
|
||||
|
||||
class AimSelector(Node):
|
||||
def __init__(self, config):
|
||||
super().__init__('aim_selector')
|
||||
self.split_x = config["split_x"]
|
||||
self.goal1_x, self.goal1_y = config["goal1"]
|
||||
self.goal2_x, self.goal2_y = config["goal2"]
|
||||
self.publisher = self.create_publisher(MoveGoal, '/move_goal', 10)
|
||||
self.tf_buffer = tf2_ros.Buffer()
|
||||
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self)
|
||||
self.timer = self.create_timer(0.05, self.timer_callback)
|
||||
|
||||
def timer_callback(self):
|
||||
try:
|
||||
trans: TransformStamped = self.tf_buffer.lookup_transform(
|
||||
'map', 'base_link', rclpy.time.Time())
|
||||
x = trans.transform.translation.x
|
||||
self.get_logger().info(f'base_link x in map: {x:.2f}')
|
||||
msg = MoveGoal()
|
||||
if x < self.split_x:
|
||||
msg.x = self.goal1_x
|
||||
msg.y = self.goal1_y
|
||||
else:
|
||||
msg.x = self.goal2_x
|
||||
msg.y = self.goal2_y
|
||||
msg.angle = 0.0
|
||||
msg.max_speed = 0.0
|
||||
msg.tolerance = 0.1
|
||||
msg.rotor = False
|
||||
self.publisher.publish(msg)
|
||||
except Exception as e:
|
||||
self.get_logger().warn(f'Failed to get transform: {e}')
|
||||
|
||||
def main(args=None):
|
||||
# 读取命令行参数
|
||||
if len(sys.argv) < 2:
|
||||
print("用法: python slect.py [map|map1|map2]")
|
||||
sys.exit(1)
|
||||
map_key = sys.argv[1]
|
||||
if map_key not in MAP_CONFIGS:
|
||||
print(f"未知参数: {map_key}")
|
||||
sys.exit(1)
|
||||
config = MAP_CONFIGS[map_key]
|
||||
|
||||
rclpy.init(args=args)
|
||||
node = AimSelector(config)
|
||||
rclpy.spin(node)
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@ -1,3 +1,3 @@
|
||||
base_link2livox_frame:
|
||||
xyz: "\"0.019 -0.33 0.41\""
|
||||
xyz: "\"0.01906 -0.33 0.41\""
|
||||
rpy: "\"0.0 0.0 0.0\""
|
||||
BIN
src/rm_nav_bringup/map/map1.pcd
Normal file
BIN
src/rm_nav_bringup/map/map1.pcd
Normal file
Binary file not shown.
BIN
src/rm_nav_bringup/map/map2.pcd
Normal file
BIN
src/rm_nav_bringup/map/map2.pcd
Normal file
Binary file not shown.
Loading…
Reference in New Issue
Block a user