添加锁车
This commit is contained in:
parent
3f2ff1f45a
commit
5707ed7d6b
19
r1.sh
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19
r1.sh
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source install/setup.bash
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commands=(
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"/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/pub_aim.py"
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"ros2 launch rm_nav_bringup bringup_real.launch.py \
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world:=RC2025 \
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mode:=nav \
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lio:=fastlio \
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localization:=icp \
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lio_rviz:=false \
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nav_rviz:=true"
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"ros2 launch rm_simpal_move simple_move.launch.py"
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"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"
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)
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for cmd in "${commands[@]}"; do
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gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash"
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sleep 0.5
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done
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79
src/rm_driver/rm_serial_driver/script/pub_OnlyAim.py
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79
src/rm_driver/rm_serial_driver/script/pub_OnlyAim.py
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#!/usr/bin/env python3
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import rclpy
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from rclpy.node import Node
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import serial
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import struct
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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
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class AimDataSerial(Node):
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def __init__(self):
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super().__init__('aim_data_serial')
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# 串口配置
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self.serial_port = '/dev/ttyUSB0' # 根据实际串口设备调整
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self.baud_rate = 115200
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try:
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self.serial_conn = serial.Serial(
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port=self.serial_port,
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baudrate=self.baud_rate,
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timeout=1
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)
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self.get_logger().info(f'Serial port {self.serial_port} opened successfully')
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except Exception as e:
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self.get_logger().error(f'Failed to open serial port: {e}')
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return
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# 订阅话题
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self.subscription = self.create_subscription(
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DataAim, # 根据实际消息类型调整
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'/chassis/data_aim',
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self.aim_callback,
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10
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)
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self.get_logger().info('Aim data serial node started')
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def aim_callback(self, msg):
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try:
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# 提取yaw和distance数据
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# 根据实际消息结构调整，这里假设使用Point32的x和y字段
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yaw = msg.yaw
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distance = msg.distance
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self.get_logger().info(f'Received - yaw: {yaw}, distance: {distance}')
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# 构建发送数据包
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# 格式: 包头(0xFF) + yaw(4字节float) + distance(4字节float) + 包尾(0xFE)
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packet = bytearray()
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packet.append(0xFF) # 包头
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packet.extend(struct.pack('<f', yaw)) # yaw (小端序float)
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packet.extend(struct.pack('<f', distance)) # distance (小端序float)
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packet.append(0xFE) # 包尾
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# 发送数据
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self.serial_conn.write(packet)
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self.get_logger().debug(f'Sent packet: {packet.hex()}')
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except Exception as e:
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self.get_logger().error(f'Error in aim_callback: {e}')
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def __del__(self):
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if hasattr(self, 'serial_conn') and self.serial_conn.is_open:
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self.serial_conn.close()
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self.get_logger().info('Serial port closed')
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def main(args=None):
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rclpy.init(args=args)
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try:
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node = AimDataSerial()
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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if rclpy.ok():
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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101
src/rm_driver/rm_serial_driver/script/pub_self.py
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101
src/rm_driver/rm_serial_driver/script/pub_self.py
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#!/usr/bin/env python3
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import rclpy
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from rclpy.node import Node
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import serial
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import struct
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import tf2_ros
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from geometry_msgs.msg import TransformStamped
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from tf2_geometry_msgs import do_transform_pose
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from geometry_msgs.msg import PoseStamped
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import math
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class SelfPositionSerial(Node):
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def __init__(self):
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super().__init__('self_position_serial')
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# 串口配置
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self.serial_port = '/dev/ttyUSB1' # 根据实际串口设备调整
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self.baud_rate = 115200
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try:
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self.serial_conn = serial.Serial(
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port=self.serial_port,
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baudrate=self.baud_rate,
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timeout=1
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)
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self.get_logger().info(f'Serial port {self.serial_port} opened successfully')
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except Exception as e:
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self.get_logger().error(f'Failed to open serial port: {e}')
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return
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# TF监听器
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self.tf_buffer = tf2_ros.Buffer()
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self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self)
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# 定时器，定期发送位置信息
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self.timer = self.create_timer(0.1, self.send_position) # 10Hz
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self.get_logger().info('Self position serial node started')
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def send_position(self):
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try:
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# 获取base_link在map下的位置
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transform = self.tf_buffer.lookup_transform(
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'map', 'base_link', rclpy.time.Time())
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# 提取位置和朝向
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x = transform.transform.translation.x
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y = transform.transform.translation.y
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z = transform.transform.translation.z
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# 计算yaw角（从四元数）
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quat = transform.transform.rotation
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yaw = math.atan2(2.0 * (quat.w * quat.z + quat.x * quat.y),
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1.0 - 2.0 * (quat.y * quat.y + quat.z * quat.z))
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self.get_logger().debug(f'Position - x: {x:.3f}, y: {y:.3f}, z: {z:.3f}, yaw: {yaw:.3f}')
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# 构建发送数据包
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# 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)
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packet = bytearray()
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packet.append(0xFF) # 包头
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packet.extend(struct.pack('<f', x)) # x坐标
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packet.extend(struct.pack('<f', y)) # y坐标
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packet.extend(struct.pack('<f', z)) # z坐标
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packet.extend(struct.pack('<f', yaw)) # yaw角
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# 计算校验和（数据部分的异或校验）
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checksum = 0
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for i in range(1, len(packet)):
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checksum ^= packet[i]
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packet.append(checksum)
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packet.append(0xFE) # 包尾
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# 发送数据
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self.serial_conn.write(packet)
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self.get_logger().debug(f'Sent position packet: {packet.hex()}')
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except Exception as e:
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self.get_logger().warn(f'Failed to get transform or send data: {e}')
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def __del__(self):
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if hasattr(self, 'serial_conn') and self.serial_conn.is_open:
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self.serial_conn.close()
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self.get_logger().info('Serial port closed')
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def main(args=None):
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rclpy.init(args=args)
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try:
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node = SelfPositionSerial()
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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if rclpy.ok():
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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241
src/rm_driver/rm_serial_driver/script/receive_and_pub.py
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241
src/rm_driver/rm_serial_driver/script/receive_and_pub.py
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#!/usr/bin/env python3
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import rclpy
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from rclpy.node import Node
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import serial
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import struct
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import tf2_ros
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from geometry_msgs.msg import TransformStamped
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from rm_msgs.msg import DataAim
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import math
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import threading
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from rclpy.executors import MultiThreadedExecutor
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class ReceiveAndPubNode(Node):
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def __init__(self):
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super().__init__('receive_and_pub')
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# 串口配置
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self.receive_port = '/dev/ttyUSB2' # 接收串口
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self.send_port = '/dev/ttyUSB3' # 发送串口
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self.baud_rate = 115200
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try:
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# 接收串口
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self.receive_serial = serial.Serial(
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port=self.receive_port,
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baudrate=self.baud_rate,
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timeout=0.1
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)
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# 发送串口
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self.send_serial = serial.Serial(
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port=self.send_port,
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baudrate=self.baud_rate,
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timeout=1
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)
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self.get_logger().info(f'Serial ports opened: {self.receive_port}, {self.send_port}')
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except Exception as e:
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self.get_logger().error(f'Failed to open serial ports: {e}')
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return
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# TF广播器和监听器
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self.tf_broadcaster = tf2_ros.TransformBroadcaster(self)
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self.tf_buffer = tf2_ros.Buffer()
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self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self)
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# 订阅瞄准数据
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self.subscription = self.create_subscription(
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DataAim,
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'/chassis/data_aim',
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self.aim_callback,
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10
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)
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# 存储接收到的位置信息和瞄准数据
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self.received_position = {'x': 0.0, 'y': 0.0, 'z': 0.0, 'yaw': 0.0, 'valid': False}
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self.aim_data = {'yaw': 0.0, 'distance': 0.0, 'valid': False}
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# 启动接收线程
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self.receive_thread = threading.Thread(target=self.receive_position_thread)
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self.receive_thread.daemon = True
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self.receive_thread.start()
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# 定时发送数据
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self.send_timer = self.create_timer(0.1, self.send_target_data) # 10Hz
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self.get_logger().info('Receive and pub node started')
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def receive_position_thread(self):
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"""接收位置信息的线程"""
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buffer = bytearray()
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while rclpy.ok():
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try:
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if self.receive_serial.in_waiting > 0:
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data = self.receive_serial.read(self.receive_serial.in_waiting)
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buffer.extend(data)
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# 查找完整的数据包
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while len(buffer) >= 22: # 最小包长度：包头(1) + 数据(16) + 校验(1) + 包尾(1) = 19
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# 查找包头
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start_idx = buffer.find(0xFF)
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if start_idx == -1:
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break
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# 移除包头前的数据
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if start_idx > 0:
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buffer = buffer[start_idx:]
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# 检查包长度
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if len(buffer) < 22:
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break
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# 查找包尾
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if buffer[21] == 0xFE:
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# 校验数据
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checksum = 0
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for i in range(1, 20):
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checksum ^= buffer[i]
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if checksum == buffer[20]:
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# 解析数据
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x = struct.unpack('<f', buffer[1:5])[0]
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y = struct.unpack('<f', buffer[5:9])[0]
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z = struct.unpack('<f', buffer[9:13])[0]
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yaw = struct.unpack('<f', buffer[13:17])[0]
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self.received_position = {
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'x': x, 'y': y, 'z': z, 'yaw': yaw, 'valid': True
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}
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# 发布tf变换
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self.publish_r2_transform(x, y, z, yaw)
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self.get_logger().debug(f'Received position: x={x:.3f}, y={y:.3f}, z={z:.3f}, yaw={yaw:.3f}')
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else:
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self.get_logger().warn('Checksum error')
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# 移除已处理的数据包
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buffer = buffer[22:]
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else:
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# 包尾不匹配，移除包头继续查找
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buffer = buffer[1:]
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except Exception as e:
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self.get_logger().error(f'Error in receive thread: {e}')
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def publish_r2_transform(self, x, y, z, yaw):
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"""发布R2到map的tf变换"""
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try:
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t = TransformStamped()
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t.header.stamp = self.get_clock().now().to_msg()
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t.header.frame_id = 'map'
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t.child_frame_id = 'R2'
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t.transform.translation.x = x
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t.transform.translation.y = y
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t.transform.translation.z = z
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# 将yaw角转换为四元数
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t.transform.rotation.x = 0.0
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t.transform.rotation.y = 0.0
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t.transform.rotation.z = math.sin(yaw / 2.0)
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t.transform.rotation.w = math.cos(yaw / 2.0)
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self.tf_broadcaster.sendTransform(t)
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except Exception as e:
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self.get_logger().error(f'Error publishing tf: {e}')
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def aim_callback(self, msg):
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"""接收瞄准数据"""
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try:
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self.aim_data = {
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'yaw': msg.yaw,
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'distance': msg.distance,
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'valid': True
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}
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self.get_logger().debug(f'Received aim data: yaw={msg.yaw:.3f}, distance={msg.distance:.3f}')
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except Exception as e:
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self.get_logger().error(f'Error in aim callback: {e}')
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def get_r2_target_data(self):
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"""获取R2的瞄准数据"""
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try:
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if not self.received_position['valid']:
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return 0.0, 0.0
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# 这里可以根据R2的位置计算目标数据
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# 简化处理：返回R2的yaw角和到原点的距离
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r2_yaw = self.received_position['yaw']
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r2_distance = math.sqrt(
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self.received_position['x']**2 +
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self.received_position['y']**2
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)
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return r2_yaw, r2_distance
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except Exception as e:
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self.get_logger().error(f'Error getting R2 target data: {e}')
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return 0.0, 0.0
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def send_target_data(self):
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"""发送目标数据"""
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try:
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# 获取原始目标数据
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if self.aim_data['valid']:
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original_yaw = self.aim_data['yaw']
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original_distance = self.aim_data['distance']
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else:
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original_yaw = 0.0
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original_distance = 0.0
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# 获取R2目标数据
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r2_yaw, r2_distance = self.get_r2_target_data()
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# 构建发送数据包
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# 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)
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packet = bytearray()
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packet.append(0xFF) # 包头
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packet.extend(struct.pack('<f', original_yaw)) # 原始yaw
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packet.extend(struct.pack('<f', original_distance)) # 原始distance
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packet.extend(struct.pack('<f', r2_yaw)) # R2 yaw
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packet.extend(struct.pack('<f', r2_distance)) # R2 distance
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# 计算校验和
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checksum = 0
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for i in range(1, len(packet)):
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checksum ^= packet[i]
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packet.append(checksum)
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packet.append(0xFE) # 包尾
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# 发送数据
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self.send_serial.write(packet)
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self.get_logger().debug(f'Sent target packet: original({original_yaw:.3f},{original_distance:.3f}) R2({r2_yaw:.3f},{r2_distance:.3f})')
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except Exception as e:
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self.get_logger().error(f'Error sending target data: {e}')
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def __del__(self):
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if hasattr(self, 'receive_serial') and self.receive_serial.is_open:
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self.receive_serial.close()
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if hasattr(self, 'send_serial') and self.send_serial.is_open:
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self.send_serial.close()
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self.get_logger().info('Serial ports closed')
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def main(args=None):
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rclpy.init(args=args)
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try:
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node = ReceiveAndPubNode()
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executor = MultiThreadedExecutor()
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executor.add_node(node)
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executor.spin()
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except KeyboardInterrupt:
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pass
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finally:
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if rclpy.ok():
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rclpy.shutdown()
|
||||
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if __name__ == '__main__':
|
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main()
|
||||
@ -1,184 +0,0 @@
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
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from rm_msgs.msg import MoveGoal
|
||||
|
||||
class SingleGoalPublisher(Node):
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||||
def __init__(self):
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super().__init__('single_goal_publisher')
|
||||
self.publisher_ = self.create_publisher(MoveGoal, 'move_goal', 10)
|
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|
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def publish_goal(self):
|
||||
goal_pose = MoveGoal()
|
||||
goal_pose.x = 0.5377
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
|
||||
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||||
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||||
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||||
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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()
|
||||
Loading…
Reference in New Issue
Block a user