添加锁车

r1.sh

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+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 \
+    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"
+)
+
+for cmd in "${commands[@]}"; do
+  gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash"
+  sleep 0.5
+done

src/rm_driver/rm_serial_driver/script/pub_OnlyAim.py

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+#!/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()

src/rm_driver/rm_serial_driver/script/pub_self.py

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+#!/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/ttyUSB1'  # 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)  # 10Hz
+        
+        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
+            
+            # 计算校验和（数据部分的异或校验）
+            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.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()

src/rm_driver/rm_serial_driver/script/receive_and_pub.py

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+#!/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/ttyUSB2'  # 接收串口
+        self.send_port = '/dev/ttyUSB3'     # 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(0.1, self.send_target_data)  # 10Hz
+        
+        self.get_logger().info('Receive and pub node started')
+    
+    def receive_position_thread(self):
+        """接收位置信息的线程"""
+        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) >= 22:  # 最小包长度：包头(1) + 数据(16) + 校验(1) + 包尾(1) = 19
+                        # 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) < 22:
+                            break
+                        
+                        # 查找包尾
+                        if buffer[21] == 0xFE:
+                            # 校验数据
+                            checksum = 0
+                            for i in range(1, 20):
+                                checksum ^= buffer[i]
+                            
+                            if checksum == buffer[20]:
+                                # 解析数据
+                                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().debug(f'Received position: x={x:.3f}, y={y:.3f}, z={z:.3f}, yaw={yaw:.3f}')
+                            else:
+                                self.get_logger().warn('Checksum error')
+                            
+                            # 移除已处理的数据包
+                            buffer = buffer[22:]
+                        else:
+                            # 包尾不匹配，移除包头继续查找
+                            buffer = buffer[1:]
+                            
+            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 = 'R2'
+            
+            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().debug(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()

src/rm_simpal_move/script/pub_goal.py

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-import rclpy
-from rclpy.node import Node
-from rm_msgs.msg import MoveGoal
-
-class SingleGoalPublisher(Node):
-    def __init__(self):
-        super().__init__('single_goal_publisher')
-        self.publisher_ = self.create_publisher(MoveGoal, 'move_goal', 10)
-        
-    def publish_goal(self):
-        goal_pose = MoveGoal()
-        goal_pose.x = 0.5377
-
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-        goal_pose.y = 3.96
-        goal_pose.angle = 0.0
-        goal_pose.max_speed = 10.0
-        goal_pose.tolerance = 0.1
-        goal_pose.rotor = False
-        
-        self.publisher_.publish(goal_pose)
-        self.get_logger().info(f'Published goal pose: x={goal_pose.x}, y={goal_pose.y}')
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = SingleGoalPublisher()
-    
-    # 发布一次目标点
-    node.publish_goal()
-    
-    # 等待一秒确保消息发送
-    rclpy.spin_once(node, timeout_sec=1.0)
-    
-    node.destroy_node()
-    rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()