1266 lines
53 KiB
Python
1266 lines
53 KiB
Python
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'''
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This demo show the communication interface of MR813 motion control board based on Lcm.
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Dependency:
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- robot_control_cmd_lcmt.py
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- robot_control_response_lcmt.py
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雷达参数已经能够读取
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替换basic_motion_test_comb中的main.py
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运行代码之前需要执行:
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cd /home/cyberdog_sim
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source /opt/ros/galactic/setup.bash
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修改代码内容：
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删去全局变量 odo_rec 使用self.odo_msg代替
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删去全局变量 motion_rec 使用self.rec_msg代替
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err_handler函数里面的 motion_rec['switch_status'] 改为 self.rec_msg.switch_status
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walk_forward函数中的 left_dist 名称改为 exp_dist
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odo_changeback 更名为 odo_verticalturn
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删去了无用的读锁 self.handle_lock
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selaction 更名为 selfdef_action
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side_equal 更名为 bothside_align
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while ... return ... 改 if 的函数 ： odo_verticalturn walk_forward rightside_align
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删去 turnleft_corner 函数（我当时写了一半没接着写了
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speedump_and_circle 更名为 speedbump_and_circle （打错了
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我写的大多数函数前面都加了些简单注释
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路径/home/mi/Downloads/123/
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'''
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import lcm
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import sys
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import os
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import time
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from threading import Thread, Lock
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from robot_control_cmd_lcmt import robot_control_cmd_lcmt
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from robot_control_response_lcmt import robot_control_response_lcmt
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from localization_lcmt import localization_lcmt
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import toml
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import copy
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import math
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from file_send_lcmt import file_send_lcmt
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import rclpy
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from rclpy.executors import MultiThreadedExecutor
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import numpy
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from rclpy.node import Node
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from sensor_msgs.msg import LaserScan,Image
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from rclpy.qos import QoSProfile, qos_profile_sensor_data
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from pprint import pprint
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import cv2
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from cv_bridge import CvBridge
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# 自定义步态发送数据的结构
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robot_cmd = {
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'mode': 0, 'gait_id': 0, 'contact': 0, 'life_count': 0,
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'vel_des': [0.0, 0.0, 0.0],
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'rpy_des': [0.0, 0.0, 0.0],
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'pos_des': [0.0, 0.0, 0.0],
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'acc_des': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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'ctrl_point': [0.0, 0.0, 0.0],
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'foot_pose': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
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'step_height': [0.0, 0.0],
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'value': 0, 'duration': 0
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}
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PI = 3.1416
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# R = 0.5
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# T = 10
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# 雷达数据
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laser_rec = {
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'data': [0] * 500
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}
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# 激光雷达订阅
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class LaserScanSubscriber(Node):
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def __init__(self):
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super().__init__('laser_scan_subscriber')
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# 使用SensorDataQoS作为QoS配置文件
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qos_profile = qos_profile_sensor_data # 这就是SensorDataQoS
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self.subscription = self.create_subscription(
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LaserScan,
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'/mi_desktop_48_b0_2d_7a_fb_86/scan', # 替换为你的激光雷达数据发布的话题名
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self.listener_callback,
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qos_profile)
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def listener_callback(self, msg):
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global laser_rec
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laser_rec['data'] = msg.ranges.tolist()
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time.sleep(3)
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class RGB_Subscriber(Node):
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def __init__(self):
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super().__init__('RGB_subscriber')
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qos_profile = qos_profile_sensor_data
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self.subscription = self.create_subscription(
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Image,
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'/image_rgb',
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self.listener_callback,
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qos_profile)
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self.bridge = CvBridge()
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#虚拟环境red_range = [20, 35], green_range = [50, 80]
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def find_green_location(self, image, red_range = [130, 140], green_range = [180, 185]): #调参部分1###################################
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#8.12下午13：30测试：红布:red_range = [180, 185], green_range = [120, 130]
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#8.12下午13：30测试：绿布:red_range = [130, 140], green_range = [180, 185]
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height, width = image.shape[:2]
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central_part = [2 * width // 8, 4 * width // 8, 0, 4 * height // 8] #调参部分2
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central_image = image[central_part[2]:central_part[3], central_part[0]:central_part[1]]
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# cv2.imshow("image",central_image)
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# cv2.waitKey(0)
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_,g,r = cv2.split(central_image)
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mean_green = numpy.mean(g)
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mean_red = numpy.mean(r)
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if green_range[0] <= mean_green <= green_range[1] and red_range[0] <= mean_red <= red_range[1]: # 如果x坐标的平均值大于图像宽度的一半
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return 1
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else:
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return -1
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def mid_before_bridge():
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return
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def listener_callback(self, msg):
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# Convert the ROS Image message to an OpenCV image
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cv_image = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
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# cv2.imwrite('image_red.jpg',cv_image)
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self.RGB_res = self.find_green_location(cv2.imread("./image_green.jpg"))
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# cv2.imwrite("image.jpg",cv_image)
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time.sleep(3)
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class Robot_Ctrl(object):
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def __init__(self):
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# 反馈线程初始化
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self.rec_thread = Thread(target=self.rec_responce)
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self.send_thread = Thread(target=self.send_publish)
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self.odo_thread = Thread(target=self.rec_responce_o)
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self.lc_r = lcm.LCM("udpm://239.255.76.67:7670?ttl=255")
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self.lc_s = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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self.cmd_msg = robot_control_cmd_lcmt()
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self.rec_msg = robot_control_response_lcmt()
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self.odo_msg = localization_lcmt()
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self.send_lock = Lock()
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self.delay_cnt = 0
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self.mode_ok = 0
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self.gait_ok = 0
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self.runing = 1
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self.RGB_res = 0
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self.odo_bias = 0
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####有bias之后，原先0度位置顺时针旋转bias(即变换到原bias位置)
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self.lc_o = lcm.LCM("udpm://239.255.76.67:7667?ttl=255") ###里程计
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self.lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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self.lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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self.usergait_msg = file_send_lcmt()
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rclpy.init(args=None)
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self.laser_scan_subscriber = LaserScanSubscriber()
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self.RGB_subscriber = RGB_Subscriber()
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self.executor = MultiThreadedExecutor()
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self.laser_thread = Thread(target=self.spin_func, args=(self.laser_scan_subscriber,))
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self.RGB_thread = Thread(target=self.spin_func, args=(self.RGB_subscriber,))
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self.camera_sh = Thread(target = os.system, args=('sh /home/mi/Downloads/motion/ros2.sh',))
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def spin_func(self, subscriber):
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self.executor.add_node(subscriber)
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self.executor.spin()
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time.sleep(0.02)
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def run_rgb(self):
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os.system('sh ./rgb_start.sh')
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self.RGB_thread.start()
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def run(self):
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self.lc_r.subscribe("robot_control_response", self.msg_handler)
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self.lc_o.subscribe("global_to_robot", self.msg_handler_o) ###里程计订阅话题
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self.send_thread.start()
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self.rec_thread.start()
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self.odo_thread.start() ###启动里程计
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self.laser_thread.start()
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self.camera_sh.start()
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def msg_handler(self, channel, data):
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self.rec_msg = robot_control_response_lcmt().decode(data)
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if (self.rec_msg.order_process_bar >= 95):
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self.mode_ok = self.rec_msg.mode
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else:
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self.mode_ok = 0
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def msg_handler_o(self, channel, data): ###里程计解码函数，被按照频率调用
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self.odo_msg = localization_lcmt().decode(data)
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def rec_responce(self):
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while self.runing:
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self.lc_r.handle()
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time.sleep(0.002)
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def rec_responce_o(self): ###里程计
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while self.runing:
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self.lc_o.handle()
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time.sleep(0.002)
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def selfdef_action(self, mode): # 自定义步态选择参数
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try:
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self.send_lock.acquire()
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if mode == 0: # 石子路+上下坡
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steps = toml.load("/home/mi/Downloads/motion/Gait_Params_walk.toml")
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elif mode == 1: # 待定
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steps = toml.load(
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"/home/mi/Downloads/motion/Gait_Params_highwalk.toml")
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full_steps = {'step': [robot_cmd]}
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k = 0
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for i in steps['step']:
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cmd = copy.deepcopy(robot_cmd)
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cmd['duration'] = i['duration']
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if i['type'] == 'usergait':
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cmd['mode'] = 11 # LOCOMOTION
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cmd['gait_id'] = 110 # USERGAIT
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cmd['vel_des'] = i['body_vel_des']
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cmd['rpy_des'] = i['body_pos_des'][0:3]
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cmd['pos_des'] = i['body_pos_des'][3:6]
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cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]
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cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]
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cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]
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cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11]
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cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(
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i['step_height'][1] * 1e3) * 1e3
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cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(
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i['step_height'][3] * 1e3) * 1e3
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cmd['acc_des'] = i['weight']
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cmd['value'] = i['use_mpc_traj']
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cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
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cmd['ctrl_point'][2] = i['mu']
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if k == 0:
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full_steps['step'] = [cmd]
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else:
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full_steps['step'].append(cmd)
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k = k + 1
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if mode == 0: # 石子路+上下坡
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f = open("/home/mi/Downloads/motion/Gait_Params_walk_full.toml",
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'w')
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elif mode == 1: # 待定
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f = open("/home/mi/Downloads/motion/Gait_Params_highwalk_full.toml",
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'w')
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f.write("# Gait Params\n")
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f.writelines(toml.dumps(full_steps))
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f.close()
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if mode == 0: # 石子路+上下坡
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file_obj_gait_def = open(
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"/home/mi/Downloads/motion/Gait_Def_walk.toml", 'r')
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file_obj_gait_params = open(
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"/home/mi/Downloads/motion/Gait_Params_walk_full.toml", 'r')
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elif mode == 1: # 待定
|
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file_obj_gait_def = open(
|
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"/home/mi/Downloads/motion/Gait_Def_highwalk.toml", 'r')
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file_obj_gait_params = open(
|
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"/home/mi/Downloads/motion/Gait_Params_highwalk_full.toml", 'r')
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self.usergait_msg.data = file_obj_gait_def.read()
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self.lcm_usergait.publish("user_gait_file", self.usergait_msg.encode())
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time.sleep(0.5)
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self.usergait_msg.data = file_obj_gait_params.read()
|
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self.lcm_usergait.publish("user_gait_file", self.usergait_msg.encode())
|
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time.sleep(0.1)
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file_obj_gait_def.close()
|
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file_obj_gait_params.close()
|
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if mode == 0: # 石子路+上下坡
|
|||
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user_gait_list = open(
|
|||
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"/home/mi/Downloads/motion/Usergait_List.toml", 'r')
|
|||
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if mode == 1: # 石子路+上下坡
|
|||
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user_gait_list = open(
|
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"/home/mi/Downloads/motion/Usergait_List1.toml", 'r')
|
|||
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steps = toml.load(user_gait_list)
|
|||
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for step in steps['step']:
|
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self.cmd_msg.mode = step['mode']
|
|||
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self.cmd_msg.value = step['value']
|
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self.cmd_msg.contact = step['contact']
|
|||
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self.cmd_msg.gait_id = step['gait_id']
|
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self.cmd_msg.duration = step['duration']
|
|||
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self.cmd_msg.life_count += 1
|
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for i in range(3):
|
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self.cmd_msg.vel_des[i] = step['vel_des'][i]
|
|||
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self.cmd_msg.rpy_des[i] = step['rpy_des'][i]
|
|||
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self.cmd_msg.pos_des[i] = step['pos_des'][i]
|
|||
|
|
self.cmd_msg.acc_des[i] = step['acc_des'][i]
|
|||
|
|
self.cmd_msg.acc_des[i + 3] = step['acc_des'][i + 3]
|
|||
|
|
self.cmd_msg.foot_pose[i] = step['foot_pose'][i]
|
|||
|
|
self.cmd_msg.ctrl_point[i] = step['ctrl_point'][i]
|
|||
|
|
for i in range(2):
|
|||
|
|
self.cmd_msg.step_height[i] = step['step_height'][i]
|
|||
|
|
self.lcm_cmd.publish("robot_control_cmd", self.cmd_msg.encode())
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
if mode == 0: # 石子路+上下坡
|
|||
|
|
for i in range(
|
|||
|
|
550): # 10s Heat beat It is used to maintain the heartbeat when life count is not updated
|
|||
|
|
self.lcm_cmd.publish("robot_control_cmd", self.cmd_msg.encode())
|
|||
|
|
# self.err_handler(msg = robot_control_cmd_lcmt())
|
|||
|
|
time.sleep(0.2)
|
|||
|
|
if mode == 1: # 台阶
|
|||
|
|
for i in range(50): # 10s Heat beat It is used to maintain the heartbeat when life count is not updated
|
|||
|
|
self.lcm_cmd.publish("robot_control_cmd", self.cmd_msg.encode())
|
|||
|
|
# self.err_handler(msg = robot_control_cmd_lcmt())
|
|||
|
|
time.sleep(0.2)
|
|||
|
|
self.send_lock.release()
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
self.cmd_msg.mode = 7 # PureDamper before KeyboardInterrupt:
|
|||
|
|
self.cmd_msg.gait_id = 0
|
|||
|
|
self.cmd_msg.duration = 0
|
|||
|
|
self.cmd_msg.life_count += 1
|
|||
|
|
self.lcm_cmd.publish("robot_control_cmd", self.cmd_msg.encode())
|
|||
|
|
self.send_lock.release()
|
|||
|
|
pass
|
|||
|
|
|
|||
|
|
def Wait_finish(self, mode, gait_id, timeout=2000): # timeout // 0.005 = 多少秒超时
|
|||
|
|
count = 0
|
|||
|
|
while self.runing and count < timeout: # 10s
|
|||
|
|
if self.mode_ok == mode and self.gait_ok == gait_id:
|
|||
|
|
return True
|
|||
|
|
else:
|
|||
|
|
time.sleep(0.005)
|
|||
|
|
count += 1
|
|||
|
|
|
|||
|
|
def send_publish(self):
|
|||
|
|
while self.runing:
|
|||
|
|
self.send_lock.acquire()
|
|||
|
|
if self.delay_cnt > 20: # Heartbeat signal 10HZ, It is used to maintain the heartbeat when life count is not updated
|
|||
|
|
self.lc_s.publish("robot_control_cmd", self.cmd_msg.encode())
|
|||
|
|
self.delay_cnt = 0
|
|||
|
|
self.delay_cnt += 1
|
|||
|
|
self.send_lock.release()
|
|||
|
|
time.sleep(0.005)
|
|||
|
|
|
|||
|
|
def Send_cmd(self, msg):
|
|||
|
|
self.send_lock.acquire()
|
|||
|
|
self.delay_cnt = 50
|
|||
|
|
self.cmd_msg = msg
|
|||
|
|
self.send_lock.release()
|
|||
|
|
|
|||
|
|
def quit(self):
|
|||
|
|
self.runing = 0
|
|||
|
|
self.rec_thread.join()
|
|||
|
|
self.send_thread.join()
|
|||
|
|
self.odo_thread.join()
|
|||
|
|
self.laser_thread.join()
|
|||
|
|
self.camera_sh.join()
|
|||
|
|
|
|||
|
|
def quit_rgb(self):
|
|||
|
|
os.system('sh ./rgb_end.sh')
|
|||
|
|
self.RGB_thread.join()
|
|||
|
|
|
|||
|
|
def jump(self, msg, duration, type): # 跳跃
|
|||
|
|
msg.mode = 16 # Locomotion
|
|||
|
|
msg.gait_id = type # 0左跳 1前跳 3右跳 6原地跳
|
|||
|
|
msg.duration = duration # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
self.Wait_finish(16, 1)
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
|
|||
|
|
def Recovery_stand(self, msg):#恢复站立
|
|||
|
|
msg.mode = 12 # Recovery stand
|
|||
|
|
msg.gait_id = 0
|
|||
|
|
msg.life_count += 1 # Command will take effect when life_count update
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
self.Wait_finish(12, 0)
|
|||
|
|
|
|||
|
|
def Pure_Damp(self, msg, mode):
|
|||
|
|
msg.mode = 7 # PureDamp
|
|||
|
|
msg.gait_id = mode # 0为自然倒下，1为受控倒下
|
|||
|
|
msg.life_count += 1 # Command will take effect when life_count update
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
self.Wait_finish(12, 0)
|
|||
|
|
|
|||
|
|
def circle(self, msg, R=0.6, T=12): # 半径，时间
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 10 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [PI * R * 2 / T, 0, 2 * PI / T] # forward left/rightmove rotate
|
|||
|
|
msg.duration = T * 550 # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
msg.rpy_des = [0, 0.0, 0]
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
self.Wait_finish(11, 10)
|
|||
|
|
|
|||
|
|
def stone(self, msg):
|
|||
|
|
self.Recovery_stand(msg)
|
|||
|
|
self.selfdef_action(0)
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
|
|||
|
|
# def locomotion(s)
|
|||
|
|
def slope(self, msg):
|
|||
|
|
self.Recovery_stand(msg)
|
|||
|
|
self.selfdef_action(1)
|
|||
|
|
|
|||
|
|
def err_handler(self, msg):
|
|||
|
|
if self.rec_msg.switch_status == 3: # 如果状态为高阻尼保护模式
|
|||
|
|
msg.mode = 12 # Recovery stand
|
|||
|
|
msg.gait_id = 0
|
|||
|
|
msg.life_count += 1 # Command will take effect when life_count update
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
self.Wait_finish(12, 0)
|
|||
|
|
|
|||
|
|
# 雷达以及里程计
|
|||
|
|
# 探测直线的时候需要的二分查找
|
|||
|
|
def bio_select(self, k, b, start, end, dist_limit, data_with_order_x, data_with_order_y):
|
|||
|
|
left, right = start, end - 1
|
|||
|
|
|
|||
|
|
# 二分查找
|
|||
|
|
while left < right:
|
|||
|
|
mid = (left + right) // 2
|
|||
|
|
x_mid, y_mid = data_with_order_x[mid], data_with_order_y[mid]
|
|||
|
|
|
|||
|
|
# 计算点到直线的距离
|
|||
|
|
distance = abs(k * x_mid - y_mid + b) / (k ** 2 + 1) ** 0.5
|
|||
|
|
if distance <= dist_limit:
|
|||
|
|
# 点在直线附近，继续向右搜索
|
|||
|
|
left = mid + 1
|
|||
|
|
else:
|
|||
|
|
# 点不在直线附近，缩小搜索范围
|
|||
|
|
right = mid
|
|||
|
|
# 返回直线附近点的范围
|
|||
|
|
return left
|
|||
|
|
|
|||
|
|
def detect_lines(self,max_limit = 12): # data 实际雷达扫描的数组
|
|||
|
|
#### 此探测直线函数只在实体环境中使用！！！ 此函数只在实体环境中使用！！！ 此函数只在实体环境中使用！！！
|
|||
|
|
try:
|
|||
|
|
dist_limit = 0.16
|
|||
|
|
backward_limit = 0.04
|
|||
|
|
init_points = 40
|
|||
|
|
data_with_order_x = []
|
|||
|
|
data_with_order_y = []
|
|||
|
|
data = laser_rec['data']
|
|||
|
|
len_data = len(data)
|
|||
|
|
# print("data#####################################",data)
|
|||
|
|
# 过滤无效值
|
|||
|
|
for i in range(len_data):
|
|||
|
|
if data[i] < 0.08 or data[i] > max_limit:
|
|||
|
|
continue
|
|||
|
|
# data_with_order.append([math.radians(i-90) - degree,data[i]]) #新坐标系里面的偏转角（弧度）+ 距离
|
|||
|
|
data_with_order_x.append(data[i] * math.cos(math.radians(i * 180 / len_data - 90)))
|
|||
|
|
data_with_order_y.append(data[i] * math.sin(math.radians(i * 180 / len_data - 90))) # x y 轴
|
|||
|
|
len_filtered = len(data_with_order_x)
|
|||
|
|
|
|||
|
|
# print(len(data_with_order_x))
|
|||
|
|
# for i in range(0, len(data_with_order_x)):
|
|||
|
|
# print('(', end='')
|
|||
|
|
# print(data_with_order_x[i], data_with_order_y[i], sep=' ,', end='')
|
|||
|
|
# print('),', end='\n')
|
|||
|
|
# 储存直线方程
|
|||
|
|
lines = []
|
|||
|
|
# 拐动位置
|
|||
|
|
corners = [0]
|
|||
|
|
while corners[-1] < len_filtered - init_points - 1:
|
|||
|
|
start = corners[-1]
|
|||
|
|
k1_init, b_init = numpy.polyfit(data_with_order_x[start:start + init_points],
|
|||
|
|
data_with_order_y[start:start + init_points], 1)
|
|||
|
|
|
|||
|
|
# print(k1_init, b_init)
|
|||
|
|
# 二分查找 end 是范围内最后一个点
|
|||
|
|
end = self.bio_select(k1_init, b_init, start, len_filtered, dist_limit, data_with_order_x,
|
|||
|
|
data_with_order_y)
|
|||
|
|
|
|||
|
|
# 初次允许偏差稍大，可以防止有需要的点没能落在直线上，即升温
|
|||
|
|
k1_fixed, b1_fixed = numpy.polyfit(data_with_order_x[start:end], data_with_order_y[start:end], 1)
|
|||
|
|
dist_bias = (abs(k1_fixed * data_with_order_x[end] - data_with_order_y[end] + b1_fixed) /
|
|||
|
|
(k1_fixed ** 2 + 1) ** 0.5)
|
|||
|
|
######################################复活赛贴上来：
|
|||
|
|
if dist_bias < dist_limit:
|
|||
|
|
end_new = self.bio_select(k1_fixed, b1_fixed, end, len_filtered, dist_limit, data_with_order_x,
|
|||
|
|
data_with_order_y)
|
|||
|
|
k1_fixed, b1_fixed = numpy.polyfit(data_with_order_x[start:end_new],
|
|||
|
|
data_with_order_y[start:end_new], 1)
|
|||
|
|
else:
|
|||
|
|
end_new = end
|
|||
|
|
######################################复活赛结束
|
|||
|
|
|
|||
|
|
# ###进行退火，降低限制的范围，找到更加精确的点
|
|||
|
|
while dist_bias >= backward_limit:
|
|||
|
|
end_new -= 2
|
|||
|
|
dist_bias = (abs(k1_fixed * data_with_order_x[end_new] - data_with_order_y[end_new] + b1_fixed) /
|
|||
|
|
(k1_fixed ** 2 + 1) ** 0.5)
|
|||
|
|
|
|||
|
|
# 重新拟合直线
|
|||
|
|
k1_fixed, b1_fixed = numpy.polyfit(data_with_order_x[start:end_new], data_with_order_y[start:end_new], 1)
|
|||
|
|
corners.append(end_new)
|
|||
|
|
# print(end)
|
|||
|
|
lines.append([k1_fixed, b1_fixed])
|
|||
|
|
if len(lines) >= 3:
|
|||
|
|
# print(corners)
|
|||
|
|
print(lines)
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
for i in lines:
|
|||
|
|
# print(f'{i[0]}x - y + {i[1]} = 0')
|
|||
|
|
print(f'[{i[0]}, {i[1]}],')
|
|||
|
|
if len(lines)>=2:
|
|||
|
|
return lines,corners
|
|||
|
|
# else:
|
|||
|
|
# time.sleep(0.04)
|
|||
|
|
# return self.detect_lines()
|
|||
|
|
|
|||
|
|
|
|||
|
|
except:
|
|||
|
|
time.sleep(0.04)
|
|||
|
|
return self.detect_lines(max_limit = max_limit)
|
|||
|
|
|
|||
|
|
# def detect_lines(self): # data 180个的数组
|
|||
|
|
# try:
|
|||
|
|
# dist_limit = 0.12
|
|||
|
|
# backward_limit = 0.04
|
|||
|
|
# init_points = 5
|
|||
|
|
# data_with_order_x = []
|
|||
|
|
# data_with_order_y = []
|
|||
|
|
# data = laser_rec['data']
|
|||
|
|
|
|||
|
|
# # 过滤无效值
|
|||
|
|
# for i in range(180):
|
|||
|
|
# if data[i] < 0.12 or data[i] > 12:
|
|||
|
|
# continue
|
|||
|
|
# # data_with_order.append([math.radians(i-90) - degree,data[i]]) #新坐标系里面的偏转角（弧度）+ 距离
|
|||
|
|
# data_with_order_x.append(data[i] * math.cos(math.radians(i - 90)))
|
|||
|
|
# data_with_order_y.append(data[i] * math.sin(math.radians(i - 90))) # x y 轴
|
|||
|
|
# len_filtered = len(data_with_order_x)
|
|||
|
|
|
|||
|
|
# # print(len(data_with_order_x))
|
|||
|
|
# # for i in range(0, len(data_with_order_x)):
|
|||
|
|
# # print('(', end='')
|
|||
|
|
# # print(data_with_order_x[i], data_with_order_y[i], sep=' ,', end='')
|
|||
|
|
# # print('),', end='\n')
|
|||
|
|
# # 储存直线方程
|
|||
|
|
# lines = []
|
|||
|
|
# # 拐动位置
|
|||
|
|
# corners = [0]
|
|||
|
|
# while corners[-1] < len_filtered - init_points - 1:
|
|||
|
|
# start = corners[-1]
|
|||
|
|
# k1_init, b_init = numpy.polyfit(data_with_order_x[start:start + init_points],
|
|||
|
|
# data_with_order_y[start:start + init_points], 1)
|
|||
|
|
|
|||
|
|
# # print(k1_init, b_init)
|
|||
|
|
# # 二分查找 end 是范围内最后一个点
|
|||
|
|
# end = self.bio_select(k1_init, b_init, start, len_filtered, dist_limit, data_with_order_x,
|
|||
|
|
# data_with_order_y)
|
|||
|
|
|
|||
|
|
# # 初次允许偏差稍大，可以防止有需要的点没能落在直线上，即升温
|
|||
|
|
# k1_fixed, b1_fixed = numpy.polyfit(data_with_order_x[start:end], data_with_order_y[start:end], 1)
|
|||
|
|
# dist_bias = (abs(k1_fixed * data_with_order_x[end] - data_with_order_y[end] + b1_fixed) /
|
|||
|
|
# (k1_fixed ** 2 + 1) ** 0.5)
|
|||
|
|
|
|||
|
|
# end_new = end
|
|||
|
|
# # ###进行退火，降低限制的范围，找到更加精确的点
|
|||
|
|
# while dist_bias >= backward_limit:
|
|||
|
|
# end_new -= 1
|
|||
|
|
# dist_bias = (abs(k1_fixed * data_with_order_x[end_new] - data_with_order_y[end_new] + b1_fixed) /
|
|||
|
|
# (k1_fixed ** 2 + 1) ** 0.5)
|
|||
|
|
|
|||
|
|
# # 重新拟合直线
|
|||
|
|
# k1_fixed, b1_fixed = numpy.polyfit(data_with_order_x[start:end_new], data_with_order_y[start:end_new], 1)
|
|||
|
|
# corners.append(end_new)
|
|||
|
|
# # print(end)
|
|||
|
|
# lines.append([k1_fixed, b1_fixed])
|
|||
|
|
# if len(lines) >= 3:
|
|||
|
|
# print(corners)
|
|||
|
|
# break
|
|||
|
|
|
|||
|
|
# # for i in lines:
|
|||
|
|
# # # print(f'{i[0]}x - y + {i[1]} = 0')
|
|||
|
|
# # print(f'[{i[0]}, {i[1]}],')
|
|||
|
|
# return lines
|
|||
|
|
# ###try后面是原来的代码
|
|||
|
|
# except:
|
|||
|
|
# time.sleep(0.04)
|
|||
|
|
# return self.detect_lines()
|
|||
|
|
|
|||
|
|
|
|||
|
|
########该函数用右侧直线来作为基准，重新设置前面的正方向为里程计的 exp_angel 角度，默认设置为0度
|
|||
|
|
########在使用此函数前，调用odo_verticalturn()先大致方向对正，再使用此函数微调
|
|||
|
|
########在使用此函数后，调用odo_verticalturn(target = exp_angel)可以使机械狗正对前方
|
|||
|
|
def odo_parallel_line(self, exp_angel=0,manu_bias = 0):
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
k = lines[0][0]
|
|||
|
|
k_angel = math.atan(k) ###反正切算角度
|
|||
|
|
now_angel = self.odo_msg.rpy[2] ###现在的里程计角度
|
|||
|
|
# now_bias = self.odo_bias ###现在的偏置角度
|
|||
|
|
self.odo_bias = now_angel + k_angel - exp_angel + manu_bias
|
|||
|
|
# now_angel + k_angel 是以里程计0位 为基准的直线方向角度
|
|||
|
|
# - exp_angel之后得到的就是 里程计0位 和 期望0位 夹角
|
|||
|
|
|
|||
|
|
# ####对于直角而言，修改后的里程计转动函数更加精确，一次性可以转到对应位置
|
|||
|
|
def circle_dist(self,target,location):
|
|||
|
|
###3.1416 -3.1416 是同一个值
|
|||
|
|
value1 = abs(target - location)
|
|||
|
|
value2 = 6.2832 - value1
|
|||
|
|
direction1 = 1 if target > location else 0 # ##按value1转动，1为逆时针 0 为顺时针
|
|||
|
|
if value1 < value2:
|
|||
|
|
return direction1,value1
|
|||
|
|
|
|||
|
|
else:
|
|||
|
|
return 1-direction1,value2
|
|||
|
|
|
|||
|
|
def odo_verticalturn(self, target, msg, limit=0.04, timesleep_s=5): ##允许误差0.04弧度，大概是2.29度
|
|||
|
|
target = target + self.odo_bias
|
|||
|
|
if target < -3.14159:
|
|||
|
|
target += 3.14159
|
|||
|
|
if target > 3.14159:
|
|||
|
|
target -= 3.14159
|
|||
|
|
# ###############坐标系转换回原来的值
|
|||
|
|
|
|||
|
|
const_int = 2470 # 转 1.57 弧度 大概要 3875 duration 每弧度大概这个值 持续时间大概6.5秒
|
|||
|
|
loc = self.odo_msg.rpy[2]
|
|||
|
|
direction, dist = self.circle_dist(target=target, location=loc)
|
|||
|
|
print('odo_verticalturn', self.odo_msg.rpy[2], target)
|
|||
|
|
if abs(dist) > limit:
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [0, 0, 0.5 if direction > 0 else -0.5] # 转向
|
|||
|
|
msg.duration = int(const_int * abs(dist))
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
time.sleep(7 * abs(dist) / 1.57)
|
|||
|
|
# print('1 times finish angle',self.odo_msg.rpy[2])
|
|||
|
|
# return
|
|||
|
|
dist = target - self.odo_msg.rpy[2]
|
|||
|
|
print('odo_verticalturn', self.odo_msg.rpy[2], target)
|
|||
|
|
|
|||
|
|
#####左右两侧的直线都可以扫描到时，可以使用这个函数来在路中对齐
|
|||
|
|
#####offset以左为正向，偏离中线的距离
|
|||
|
|
def bothside_align(self, msg, limit=0.08, off_set=0.0, timeout=600): ## 允许最大误差0.08米，即离最中线左右偏向4厘米
|
|||
|
|
###先里程计回正再算距离
|
|||
|
|
const_int = 6666 # 对 差的距离 进行倍数放大 控制左右移动时间
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
while len(lines) < 3:
|
|||
|
|
time.sleep(0.04)
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
dist1 = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5), 3)
|
|||
|
|
dist2 = round(abs(lines[2][1] / ((lines[2][0] * lines[2][0] + 1)) ** 0.5), 3)
|
|||
|
|
# print(f'before move to equal: r :{dist1} l: {dist2}')
|
|||
|
|
dist_diff = dist1 - dist2 - 2 * off_set
|
|||
|
|
while abs(dist_diff) > limit:
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0, -0.15, 0] if dist_diff > 0 else [0, 0.15, 0]
|
|||
|
|
msg.duration = int(const_int * abs(dist_diff) / 2)
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
msg.rpy_des = [0, 0.3, 0]
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
time.sleep(msg.duration / 1000 + 0.5)
|
|||
|
|
time.sleep(3)
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
while len(lines) < 3:
|
|||
|
|
time.sleep(0.04)
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
dist1 = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5), 3)
|
|||
|
|
dist2 = round(abs(lines[2][1] / ((lines[2][0] * lines[2][0] + 1)) ** 0.5), 3)
|
|||
|
|
dist_diff = dist1 - dist2
|
|||
|
|
|
|||
|
|
####前向运动函数需要在里程计回正之后才能使用
|
|||
|
|
def walk_forward(self, msg, exp_dist, limit=0.04, timeout=1200, k_bound=5): ##在对正之后才能调用，exp_dist指定前面预留多长的距离
|
|||
|
|
const_int = 1667 # 对 差的距离 进行倍数放大 控制前进时间
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5), 3)
|
|||
|
|
print(dist)
|
|||
|
|
# for i in lines:
|
|||
|
|
# print(i)
|
|||
|
|
while (len(lines) <= 1 or (lines[1][0] < k_bound and lines[1][0] > -k_bound)):
|
|||
|
|
time.sleep(0.04)
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5), 3)
|
|||
|
|
|
|||
|
|
dist_need_walk = dist - exp_dist
|
|||
|
|
if abs(dist_need_walk) > limit:
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0.6 if dist_need_walk > 0 else -0.6, 0, 0]
|
|||
|
|
msg.duration = int(const_int * abs(dist_need_walk))
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
self.Wait_finish(11, 27, timeout=timeout)
|
|||
|
|
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5), 3)
|
|||
|
|
# while (len(lines) <= 1 or (lines[1][0] <k_bound and lines[1][0]>-k_bound)):
|
|||
|
|
# time.sleep(0.04)
|
|||
|
|
# lines = self.detect_lines()
|
|||
|
|
# dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5),3)
|
|||
|
|
# dist_need_walk = dist - exp_dist
|
|||
|
|
print('walk_forward dis_after', dist)
|
|||
|
|
|
|||
|
|
|
|||
|
|
####对部分地形，只使用扫描到的右侧直线即对正赛道，expect_dist为指定离右边直线的距离
|
|||
|
|
def rightside_align(self, msg, expect_dist=0.65, limit=0.04, timeout=800):
|
|||
|
|
const_int = 5000
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
dist = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5), 3)
|
|||
|
|
dist_need_walk = dist - expect_dist
|
|||
|
|
if abs(dist_need_walk) > limit:
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0, -0.2 if dist_need_walk > 0 else 0.2, 0]
|
|||
|
|
msg.duration = int(const_int * abs(dist_need_walk))
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
self.Wait_finish(11, 27, timeout=timeout)
|
|||
|
|
|
|||
|
|
lines = self.detect_lines()[0]
|
|||
|
|
dist = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5), 3)
|
|||
|
|
|
|||
|
|
# dist_need_walk = dist - expect_dist
|
|||
|
|
|
|||
|
|
# print('right align dis_after', dist)
|
|||
|
|
|
|||
|
|
###此函数用于小角度的纠正，精确程度更加高
|
|||
|
|
###timesleep_s单位是秒，指定一次回正之后需要间隔多久，建议在verticval_turn之后使用，更加精确
|
|||
|
|
def odo_tinyturn(self, target, msg, limit=0.04, timesleep_s=5):
|
|||
|
|
const_int = 1200
|
|||
|
|
dist = target - self.odo_msg.rpy[2]
|
|||
|
|
print('odo_tinyturn', self.odo_msg.rpy[2], target)
|
|||
|
|
while abs(dist) > limit:
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [0, 0, 0.5 if dist > 0 else -0.5] # 转向
|
|||
|
|
msg.duration = int(const_int * abs(dist))
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
time.sleep(timesleep_s)
|
|||
|
|
# print('1 times finish angle',self.odo_msg.rpy[2])
|
|||
|
|
# return
|
|||
|
|
dist = target - self.odo_msg.rpy[2]
|
|||
|
|
print('odo_tinyturn', self.odo_msg.rpy[2], target)
|
|||
|
|
|
|||
|
|
###在第二个拐角对齐之后，可以调用这个函数。直接通过减速带和圆柱
|
|||
|
|
# def speedbump_and_circle(self, msg):
|
|||
|
|
# const_int1 = 5000 #######在走向圆柱的情况下，使用的duration常数
|
|||
|
|
# const_int2 = 5000 #######在侧向靠近圆柱，进入赛道位置的情况下，使用的duration常数
|
|||
|
|
# y_sharp_dist = -0.08 #######给最后的对齐使用的参数 绝对值是对正之后拐点和狗y轴的差距 正常要负数
|
|||
|
|
# x_sharp_dist = 0.30 #######给最后的对齐使用的参数 是对正之后拐点和狗x轴的差距
|
|||
|
|
|
|||
|
|
# #####开环走过大部分减速带
|
|||
|
|
# msg.mode = 11 # Locomotion
|
|||
|
|
# msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
# msg.vel_des = [0.2, 0, 0] # 直走
|
|||
|
|
# msg.rpy_des = [0, 0, 0]
|
|||
|
|
# # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# msg.duration = 14000
|
|||
|
|
# # Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
# msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
# msg.life_count += 1
|
|||
|
|
# self.Send_cmd(msg)
|
|||
|
|
|
|||
|
|
# time.sleep(24)
|
|||
|
|
|
|||
|
|
# ###找到方向处理剩余的不确定距离，主要是向半径方向靠近圆柱
|
|||
|
|
# time.sleep(0.04)
|
|||
|
|
# laser_keep = laser_rec['data']
|
|||
|
|
# idx_min = laser_keep[70:110].index(min(laser_keep[70:110])) + 70 # 最小值点
|
|||
|
|
# dist_min = laser_keep[idx_min]
|
|||
|
|
# angel_diff = idx_min / 90 * 1.57
|
|||
|
|
|
|||
|
|
# # print(idx_min, dist_min, angel_diff)
|
|||
|
|
|
|||
|
|
# if dist_min > 0.15:
|
|||
|
|
# msg.mode = 11 # Locomotion
|
|||
|
|
# msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
# msg.vel_des = [0.1 * math.sin(angel_diff), 0.1 * math.cos(angel_diff), 0] # 直走
|
|||
|
|
# msg.rpy_des = [0, 0, 0]
|
|||
|
|
# # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# msg.duration = int((dist_min - 0.15) * const_int1)
|
|||
|
|
# # Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
# msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
# msg.life_count += 1
|
|||
|
|
# self.Send_cmd(msg)
|
|||
|
|
# # print('tiny walk')
|
|||
|
|
|
|||
|
|
# ####转向正右边，回正
|
|||
|
|
# time.sleep(0.5)
|
|||
|
|
# self.odo_verticalturn(1.5708, msg=msg)
|
|||
|
|
# self.odo_tinyturn(target=1.5708, msg=msg)
|
|||
|
|
|
|||
|
|
# time.sleep(3)
|
|||
|
|
# ###########################找右边直线和圆环赛道的交界点，以这个点为基准去进行对齐
|
|||
|
|
# ###########################多次扫描去除错误点
|
|||
|
|
# laser_valid = [0] * 180
|
|||
|
|
# for i in range(10):
|
|||
|
|
# time.sleep(0.04)
|
|||
|
|
# laser = laser_rec['data']
|
|||
|
|
# for j in range(0, 180):
|
|||
|
|
# if laser_valid[j] == 0 and laser[j] > 0.15:
|
|||
|
|
# laser_valid[j] = laser[j]
|
|||
|
|
# ##########################根据X轴的值去找到拐角点，序号idx
|
|||
|
|
# data_with_order_x = []
|
|||
|
|
# data_with_order_y = []
|
|||
|
|
|
|||
|
|
# for i in range(180):
|
|||
|
|
# if laser_valid[i] < 0.12 or laser_valid[i] > 12:
|
|||
|
|
# continue
|
|||
|
|
# # data_with_order.append([math.radians(i-90) - degree,data[i]]) #新坐标系里面的偏转角（弧度）+ 距离
|
|||
|
|
# data_with_order_x.append(laser_valid[i] * math.cos(math.radians(i - 90)))
|
|||
|
|
# data_with_order_y.append(laser_valid[i] * math.sin(math.radians(i - 90))) # x y 轴
|
|||
|
|
# len_filtered = len(data_with_order_x)
|
|||
|
|
|
|||
|
|
# # print('len_filtered',len_filtered)
|
|||
|
|
# # print(data_with_order_x)
|
|||
|
|
|
|||
|
|
# idx = -1
|
|||
|
|
# i = 60
|
|||
|
|
# while i < len_filtered - 10:
|
|||
|
|
# cnt = 0
|
|||
|
|
# for k in range(i + 1, i + 9):
|
|||
|
|
# if data_with_order_x[k] > data_with_order_x[k - 1]:
|
|||
|
|
# cnt += 1
|
|||
|
|
# else:
|
|||
|
|
# break
|
|||
|
|
# if cnt > 6:
|
|||
|
|
# idx = i
|
|||
|
|
# break
|
|||
|
|
# i += 1
|
|||
|
|
|
|||
|
|
# ###################读出拐角点的值
|
|||
|
|
# point_sharp_x = data_with_order_x[idx]
|
|||
|
|
# point_sharp_y = data_with_order_y[idx]
|
|||
|
|
|
|||
|
|
# # print('idx pt_sharp_x', idx, point_sharp_x)
|
|||
|
|
# # print('idx pt_sharp_y', idx, point_sharp_y)
|
|||
|
|
|
|||
|
|
# time.sleep(1)
|
|||
|
|
|
|||
|
|
# #####根据拐角点矫正方位，先在y轴上矫正
|
|||
|
|
# msg.mode = 11 # Locomotion
|
|||
|
|
# msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
# msg.vel_des = [0, 0.2 if (point_sharp_y - y_sharp_dist) > 0 else -0.2, 0]
|
|||
|
|
# msg.rpy_des = [0, 0, 0]
|
|||
|
|
# # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# msg.duration = int(const_int2 * abs(y_sharp_dist - point_sharp_y))
|
|||
|
|
# # Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
# msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
# msg.life_count += 1
|
|||
|
|
# self.Send_cmd(msg)
|
|||
|
|
# time.sleep(5)
|
|||
|
|
|
|||
|
|
# ####再矫正x轴
|
|||
|
|
# msg.mode = 11 # Locomotion
|
|||
|
|
# msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
# msg.vel_des = [-0.2 if (point_sharp_x - x_sharp_dist) < 0 else 0.2, 0, 0]
|
|||
|
|
# msg.rpy_des = [0, 0, 0]
|
|||
|
|
# # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# msg.duration = int(const_int2 * abs(point_sharp_x - x_sharp_dist))
|
|||
|
|
# # Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
# msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
# msg.life_count += 1
|
|||
|
|
# self.Send_cmd(msg)
|
|||
|
|
# time.sleep(5)
|
|||
|
|
|
|||
|
|
# #####绕圈出去
|
|||
|
|
# msg.mode = 11 # Locomotion
|
|||
|
|
# msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
# msg.vel_des = [0.165, 0, 0.3] # 转向
|
|||
|
|
# msg.duration = 12000
|
|||
|
|
# # Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
# msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
# msg.life_count += 1
|
|||
|
|
# self.Send_cmd(msg)
|
|||
|
|
|
|||
|
|
# time.sleep(20)
|
|||
|
|
|
|||
|
|
def speedbump(self, msg):
|
|||
|
|
expect_wall_angel = -1.57 ####面相墙的方向的角度，即绕环开始前方向
|
|||
|
|
|
|||
|
|
const_int1 = 5000 #######在走向圆柱的情况下，使用的duration常数
|
|||
|
|
const_int2 = 5000 #######在侧向靠近圆柱，进入赛道位置的情况下，使用的duration常数
|
|||
|
|
|
|||
|
|
|
|||
|
|
#####开环走过大部分减速带
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [0.2, 0, 0] # 直走
|
|||
|
|
msg.rpy_des = [0, 0, 0]
|
|||
|
|
# Zero duration means continuous motion until a new command is used.
|
|||
|
|
msg.duration = 12000
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
|
|||
|
|
time.sleep(18)
|
|||
|
|
|
|||
|
|
###找到方向处理剩余的不确定距离，主要是向半径方向靠近圆柱
|
|||
|
|
time.sleep(0.04)
|
|||
|
|
laser_keep = laser_rec['data']
|
|||
|
|
len_data = len(laser_keep)
|
|||
|
|
idx_min = laser_keep[210:330].index(min(laser_keep[210:330])) + 210 # 最小值点
|
|||
|
|
dist_min = laser_keep[idx_min]
|
|||
|
|
angel_diff = idx_min / 270 * 1.57 ###算出最短距离上的弧度制
|
|||
|
|
|
|||
|
|
# print(idx_min, dist_min, angel_diff)
|
|||
|
|
|
|||
|
|
if dist_min > 0.15:
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [0.1 * math.sin(angel_diff), 0.1 * math.cos(angel_diff), 0] # 直走
|
|||
|
|
msg.rpy_des = [0, 0, 0]
|
|||
|
|
# Zero duration means continuous motion until a new command is used.
|
|||
|
|
msg.duration = int((dist_min - 0.15) * const_int1)
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
# print('tiny walk')
|
|||
|
|
|
|||
|
|
####转向正右边，回正
|
|||
|
|
time.sleep(0.5)
|
|||
|
|
|
|||
|
|
|
|||
|
|
def pass_circle(self,msg):
|
|||
|
|
expect_wall_angel = 1.57 ####面相墙的方向的角度，即绕环开始前方向
|
|||
|
|
|
|||
|
|
y_sharp_dist = 0.02 #######给最后的对齐使用的参数 绝对值是对正之后拐点和狗y轴的差距 正常要负数
|
|||
|
|
x_sharp_dist = 0.45 #######给最后的对齐使用的参数 是对正之后拐点和狗x轴的差距
|
|||
|
|
dist_limit = 0.20 #######计算点到直线的阈值，用来找到拐角点
|
|||
|
|
acc_points = 6 #######累计这么多点的时候判断到了弯道
|
|||
|
|
|
|||
|
|
self.odo_verticalturn(expect_wall_angel, msg=msg)
|
|||
|
|
# self.odo_tinyturn(target=1.5708, msg=msg)
|
|||
|
|
|
|||
|
|
time.sleep(3)
|
|||
|
|
###########################找右边直线和圆环赛道的交界点，以这个点为基准去进行对齐
|
|||
|
|
###########################多次扫描去除错误点
|
|||
|
|
# laser_valid = [0] * 450
|
|||
|
|
# for i in range(10):
|
|||
|
|
# time.sleep(0.04)
|
|||
|
|
# laser = laser_rec['data']
|
|||
|
|
# for j in range(0, 450):
|
|||
|
|
# if laser_valid[j] == 0 and laser[j] > 0.10:
|
|||
|
|
# laser_valid[j] = laser[j]
|
|||
|
|
laser_valid = laser_rec['data']
|
|||
|
|
##########################根据X轴的值去找到拐角点，序号idx
|
|||
|
|
data_with_order_x = []
|
|||
|
|
data_with_order_y = []
|
|||
|
|
|
|||
|
|
for i in range(450):
|
|||
|
|
if laser_valid[i] < 0.06 or laser_valid[i] > 12:
|
|||
|
|
continue
|
|||
|
|
# data_with_order.append([math.radians(i-90) - degree,data[i]]) #新坐标系里面的偏转角（弧度）+ 距离
|
|||
|
|
data_with_order_x.append(laser_valid[i] * math.cos(math.radians(i * 0.36 - 90)))
|
|||
|
|
data_with_order_y.append(laser_valid[i] * math.sin(math.radians(i * 0.36 - 90))) # x y 轴
|
|||
|
|
len_filtered = len(data_with_order_x)
|
|||
|
|
|
|||
|
|
# -----------------------------------------------------新的获取idx的直线扫描方法
|
|||
|
|
|
|||
|
|
lines_corners = self.detect_lines(max_limit = 6)
|
|||
|
|
while abs(lines_corners[0][0][0]) < 7: ###直线 第一条 k
|
|||
|
|
time.sleep(0.04)
|
|||
|
|
lines_corners = self.detect_lines(max_limit = 6)
|
|||
|
|
|
|||
|
|
lines = lines_corners[0]
|
|||
|
|
corners = lines_corners[1]
|
|||
|
|
|
|||
|
|
dists = [0] * len_filtered
|
|||
|
|
|
|||
|
|
# cnt = 0
|
|||
|
|
# idx = 250
|
|||
|
|
# for _ in range(250, min(len_filtered, 450)):
|
|||
|
|
# #############abs(kx + b - y) / k ** 2 + 1
|
|||
|
|
# dist = abs(lines[0][0] * data_with_order_x[_] + lines[0][1] - data_with_order_y[_]) / ((lines[0][0] ** 2 + 1) ** 0.5)
|
|||
|
|
# if dist > dist_limit: ####距离太大的时候计数
|
|||
|
|
# dists[_] = dist
|
|||
|
|
# cnt += 1
|
|||
|
|
# else:
|
|||
|
|
# cnt = 0
|
|||
|
|
|
|||
|
|
# if cnt >= acc_points:
|
|||
|
|
# idx = _ - int(1.5 * acc_points)
|
|||
|
|
# break
|
|||
|
|
|
|||
|
|
idx = corners[1]
|
|||
|
|
|
|||
|
|
point_sharp_x = data_with_order_x[idx]
|
|||
|
|
point_sharp_y = data_with_order_y[idx]
|
|||
|
|
print('idx pt_sharp_x', idx, point_sharp_x)
|
|||
|
|
print('idx pt_sharp_y', idx, point_sharp_y)
|
|||
|
|
|
|||
|
|
for i in range(0, len(data_with_order_x)):
|
|||
|
|
print('(', end='')
|
|||
|
|
print(data_with_order_x[i], data_with_order_y[i], sep=' ,', end='')
|
|||
|
|
print('),', end='\n')
|
|||
|
|
|
|||
|
|
print('lines',lines[0])
|
|||
|
|
print('len_filtered',len_filtered)
|
|||
|
|
print('绕障前侧墙距离',dists[250:])
|
|||
|
|
|
|||
|
|
|
|||
|
|
# -----------------------------------------------------新的获取idx的直线扫描方法
|
|||
|
|
|
|||
|
|
time.sleep(1)
|
|||
|
|
|
|||
|
|
#####根据拐角点矫正方位，先在y轴上矫正
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [0, 0.2 if (point_sharp_y - y_sharp_dist) > 0 else -0.2, 0]
|
|||
|
|
msg.rpy_des = [0, 0, 0]
|
|||
|
|
# Zero duration means continuous motion until a new command is used.
|
|||
|
|
msg.duration = int(const_int2 * abs(y_sharp_dist - point_sharp_y))
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
time.sleep(5)
|
|||
|
|
|
|||
|
|
####再矫正x轴
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [-0.2 if (point_sharp_x - x_sharp_dist) < 0 else 0.2, 0, 0]
|
|||
|
|
msg.rpy_des = [0, 0, 0]
|
|||
|
|
# Zero duration means continuous motion until a new command is used.
|
|||
|
|
msg.duration = int(const_int2 * abs(point_sharp_x - x_sharp_dist))
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
time.sleep(5)
|
|||
|
|
# -----------------------------------------------------
|
|||
|
|
return
|
|||
|
|
# -----------------------------------------------------
|
|||
|
|
#####绕圈出去
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
msg.vel_des = [0.165, 0, 0.3] # 转向
|
|||
|
|
msg.duration = 12000
|
|||
|
|
# Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
self.Send_cmd(msg)
|
|||
|
|
|
|||
|
|
time.sleep(20)
|
|||
|
|
self.odo_verticalturn(expect_wall_angel + 1.5708, msg=msg)
|
|||
|
|
|
|||
|
|
# Main function
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
def pass_cloth(Ctrl ,msg ,pos = -1):
|
|||
|
|
# Ctrl.Recovery_stand(msg)
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0.3, 0, 0]
|
|||
|
|
msg.duration = 1000 #3000
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
Ctrl.Send_cmd(msg)
|
|||
|
|
time.sleep(10)
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
Ctrl.run_rgb()
|
|||
|
|
if pos < 0:
|
|||
|
|
print(Ctrl.RGB_res)
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
pos = 1
|
|||
|
|
else:
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
pos = -1
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0.3, 0, 0]
|
|||
|
|
msg.duration = 3333
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
Ctrl.Send_cmd(msg)
|
|||
|
|
time.sleep(10)
|
|||
|
|
if pos < 0:
|
|||
|
|
print(Ctrl.RGB_res)
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
pos = 1
|
|||
|
|
else:
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
pos = -1
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0.3, 0, 0]
|
|||
|
|
msg.duration = 3333
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
Ctrl.Send_cmd(msg)
|
|||
|
|
time.sleep(10)
|
|||
|
|
if pos < 0:
|
|||
|
|
print(Ctrl.RGB_res)
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
pos = 1
|
|||
|
|
else:
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
pos = -1
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0.3, 0, 0]
|
|||
|
|
msg.duration = 3333
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
Ctrl.Send_cmd(msg)
|
|||
|
|
time.sleep(10)
|
|||
|
|
if pos < 0:
|
|||
|
|
print(Ctrl.RGB_res)
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
pos = 1
|
|||
|
|
else:
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
pos = -1
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0.3, 0, 0]
|
|||
|
|
msg.duration = 3333
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
Ctrl.Send_cmd(msg)
|
|||
|
|
time.sleep(10)
|
|||
|
|
if pos < 0:
|
|||
|
|
print(Ctrl.RGB_res)
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
pos = 1
|
|||
|
|
else:
|
|||
|
|
if Ctrl.RGB_res > 0:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.4)
|
|||
|
|
else:
|
|||
|
|
Ctrl.rightside_align(msg=msg,expect_dist=0.9)
|
|||
|
|
pos = -1
|
|||
|
|
msg.mode = 11 # Locomotion
|
|||
|
|
msg.gait_id = 27
|
|||
|
|
msg.vel_des = [0.3, 0, 0]
|
|||
|
|
msg.duration = 3333
|
|||
|
|
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
msg.life_count += 1
|
|||
|
|
Ctrl.Send_cmd(msg)
|
|||
|
|
Ctrl.quit_rgb()
|
|||
|
|
time.sleep(10)
|
|||
|
|
|
|||
|
|
def main():
|
|||
|
|
Ctrl = Robot_Ctrl()
|
|||
|
|
Ctrl.run()
|
|||
|
|
msg = robot_control_cmd_lcmt()
|
|||
|
|
try:
|
|||
|
|
#############################################################################################################################
|
|||
|
|
Ctrl.Recovery_stand(msg)
|
|||
|
|
# msg.mode = 11 # Locomotion
|
|||
|
|
# msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
# msg.vel_des = [0.2, 0, 0]
|
|||
|
|
# msg.rpy_des = [0, 0, 0]
|
|||
|
|
# msg.pos_des = [0, 0, 0.1]
|
|||
|
|
# # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# msg.duration = 10000
|
|||
|
|
# # Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
# msg.step_height = [0.15, 0.15] # ground clearness of swing leg
|
|||
|
|
# msg.life_count += 1
|
|||
|
|
# Ctrl.Send_cmd(msg)
|
|||
|
|
# time.sleep(5)
|
|||
|
|
# time.sleep(3)
|
|||
|
|
# pass_cloth(Ctrl, msg)
|
|||
|
|
|
|||
|
|
#############################################################################################################################
|
|||
|
|
# Ctrl.RGB_res = Ctrl.RGB_subscriber.find_green_location(image = cv2.imread("./image_red.jpg"))
|
|||
|
|
# print(Ctrl.RGB_res)
|
|||
|
|
# Ctrl.selfdef_action(1)
|
|||
|
|
# Ctrl.circle(msg)
|
|||
|
|
|
|||
|
|
# 上石子路
|
|||
|
|
# Ctrl.odo_verticalturn(0, msg=msg)
|
|||
|
|
# time.sleep(1)
|
|||
|
|
# Ctrl.walk_forward(msg=msg, exp_dist=0.60)
|
|||
|
|
# time.sleep(0.2)
|
|||
|
|
# Ctrl.odo_verticalturn(target=1.5707, msg=msg)
|
|||
|
|
# msg.mode = 11 # Locomotion
|
|||
|
|
# msg.gait_id = 10 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
|
|||
|
|
# msg.vel_des = [0.5, 0, 0] # forward left/rightmove rotate
|
|||
|
|
# msg.duration = 3600 # Zero duration means continuous motion until a new command is used.
|
|||
|
|
# # Continuous motion can interrupt non-zero duration interpolation motion
|
|||
|
|
# msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
|||
|
|
# msg.life_count += 1
|
|||
|
|
# msg.rpy_des = [0, 0.0, 0]
|
|||
|
|
# Ctrl.Send_cmd(msg)
|
|||
|
|
# Ctrl.Wait_finish(11, 10)
|
|||
|
|
# Ctrl.odo_verticalturn(target=1.5708, msg=msg)
|
|||
|
|
# time.sleep(0.1)
|
|||
|
|
# Ctrl.stone(msg)
|
|||
|
|
# Ctrl.Recovery_stand(msg)
|
|||
|
|
# time.sleep(3)
|
|||
|
|
# Ctrl.odo_verticalturn(target=1.5708, msg=msg)
|
|||
|
|
# time.sleep(3)
|
|||
|
|
# Ctrl.walk_forward(msg, exp_dist=0.4)
|
|||
|
|
# time.sleep(3)
|
|||
|
|
# Ctrl.rightside_align(msg=msg, expect_dist=1.15)
|
|||
|
|
# time.sleep(4)
|
|||
|
|
# Ctrl.odo_verticalturn(target=3.1415, msg=msg)
|
|||
|
|
# time.sleep(1)
|
|||
|
|
# Ctrl.speedbump_and_circle(msg)
|
|||
|
|
# Ctrl.jump(msg, 1200, 1)
|
|||
|
|
# Ctrl.odo_verticalturn(target=3.1415, msg=msg)
|
|||
|
|
# Ctrl.bothside_align(msg)
|
|||
|
|
# while True:
|
|||
|
|
# Ctrl.Recovery_stand(msg)
|
|||
|
|
# Ctrl.jump(msg,1200,1)
|
|||
|
|
# time.sleep(0.1)
|
|||
|
|
|
|||
|
|
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
pass
|
|||
|
|
Ctrl.quit()
|
|||
|
|
sys.exit()
|
|||
|
|
|
|||
|
|
if __name__ == '__main__':
|
|||
|
|
main()
|