feat: task-2 中 arrow 也默认采用 ai，同时 img-raw 默认返回 rgb，适配 line 相关需求。
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havocrao
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main.py
40
main.py
@ -23,24 +23,19 @@ from utils.base_msg import BaseMsg
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from utils.speech_demo import speak
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# from utils.marker_client import MarkerRunner
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from task_1.task_1 import run_task_1
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from task_2_5.task_2_5 import run_task_2_5
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from task_3.task_3 import run_task_3, run_task_3_back, pass_up_down
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from task_1.task_1 import run_task_1, run_task_1_back
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from task_2.task_2 import run_task_2, run_task_2_back, run_task_2_demo
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from task_2_5.task_2_5 import run_task_2_5, run_task_2_5_back
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from task_3.task_3 import run_task_3, run_task_3_back, pass_up_down
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from task_4.task_4 import run_task_4, run_task_4_back, go_straight_with_enhanced_calibration
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from task_4.pass_bar import pass_bar
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from task_test.task_left_line import run_task_test
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from task_5.task_5 import run_task_5
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from base_move.turn_degree import turn_degree, turn_degree_v2
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from base_move.center_on_dual_tracks import center_on_dual_tracks
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from base_move.go_to_xy import go_to_x_v2, go_to_y_v2
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from utils.log_helper import info
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pass_marker = True
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TIME_SLEEP = 3000
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TIME_SLEEP = 3000 # TODO 比赛时改成 5000
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def main():
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rclpy.init() # 新增：在主程序中统一初始化 ROS 2 上下文
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@ -50,27 +45,28 @@ def main():
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msg = robot_control_cmd_lcmt()
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print('2')
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try:
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info("Recovery stand", "info")
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# Ctrl.base_msg.stand_up()
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print('yuyin')
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cv_image = Ctrl.image_processor.get_current_image('ai')
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print('111')
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cv2.imwrite(f"saved_images/firstai.jpg", cv_image)
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# print('yuyin')
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# cv_image = Ctrl.image_processor.get_current_image('ai')
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# print('111')
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# cv2.imwrite(f"saved_images/firstai.jpg", cv_image)
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print('try out')
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# print('try out')
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# speak('nihao')
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# Ctrl.base_msg.stop() # BUG 垃圾指令 for eat
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# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
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info("Recovery stand", "info")
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Ctrl.base_msg.stand_up()
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Ctrl.base_msg.stop() # BUG 垃圾指令 for eat # INFO 但是正式比赛或许也有用
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# TAG task - 1
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run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
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# go_straight_with_enhanced_calibration(Ctrl, msg, distance = 5, speed=0.5, observe=False, mode=11, gait_id=3, step_height=[0.21, 0.21])
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# run_task_2(Ctrl, msg)
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# pass_up_down(Ctrl, msg)
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# pass_bar(Ctrl, msg)
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# Ctrl.base_msg.stand_up()
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# run_task_2(Ctrl, msg)
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# time.sleep(100) # TEST,
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# run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP)
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# arrow_direction = run_task_2_demo(Ctrl, msg, xy_flag=False)
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# TAG task - 2
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arrow_direction = run_task_2_demo(Ctrl, msg, xy_flag=False)
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# print(arrow_direction)
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# arrow_direction = run_task_2(Ctrl, msg, xy_flag=False)
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# arrow_direction = 'right' # TEST
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@ -95,7 +95,7 @@ class AsyncArrowDetector:
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# 按指定间隔检测
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if current_time - last_detection_time >= interval:
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img = self.image_processor.get_current_image()
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img = self.image_processor.get_current_image('ai')
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if img is not None:
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try:
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# 保存最后处理的图像
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@ -207,7 +207,7 @@ def run_task_2(ctrl, msg, xy_flag=False):
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arrow_detector.start_detection(interval=0.3)
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arrow_detection_started = True
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cv_image = ctrl.image_processor.get_current_image()
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cv_image = ctrl.image_processor.get_current_image('ai')
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print('111')
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cv2.imwrite(f"saved_images/first{i}.jpg", cv_image)
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@ -258,7 +258,7 @@ def run_task_2(ctrl, msg, xy_flag=False):
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info("异步检测未得到确定结果，尝试在当前图像上直接检测", "箭头检测")
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# 获取当前图像
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image = ctrl.image_processor.get_current_image()
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image = ctrl.image_processor.get_current_image('ai')
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if image is not None:
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# 直接在当前图像上检测
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arrow_direction = detect_arrow_direction(image, observe=False)
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@ -425,8 +425,6 @@ def test_crawl_transition_only(ctrl, msg):
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return False
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def run_task_2_demo(ctrl, msg, xy_flag=False):
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# 微调 xy 和角度
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go_to_xy_v2(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True)
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@ -506,7 +504,7 @@ def run_task_2_demo(ctrl, msg, xy_flag=False):
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info("异步检测未得到确定结果，尝试在当前图像上直接检测", "箭头检测")
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# 获取当前图像
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image = ctrl.image_processor.get_current_image()
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image = ctrl.image_processor.get_current_image('ai')
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print(image)
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@ -366,7 +366,7 @@ def go_straight_with_enhanced_calibration(ctrl, msg, distance, speed=0.5, observ
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# 更新检查时间
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last_check_time = current_time
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# 定期进行视觉检查和修正
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# 定期进行视觉检查和修正 # TODO 这个函数如果用于 上下坡的话，感觉或许就不需要了，如果能保证 task 2-5 的效果。
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if hasattr(ctrl, 'image_processor') and current_time - last_vision_check >= vision_check_interval:
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try:
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# 获取当前相机帧
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@ -245,17 +245,17 @@ class ImageProcessor:
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self.image_subscriber.stop_camera()
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self.image_subscriber.destroy_node()
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def get_current_image(self, text):
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def get_current_image(self, text = 'rgb'):
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# INFO 默认返回 rgb 图像
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if text=='ai':
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return self.image_subscriber.cv_image_ai
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if text=='left':
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elif text=='left':
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return self.image_subscriber.cv_image_left
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if text=='right':
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elif text=='right':
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return self.image_subscriber.cv_image_right
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if text=='rgb':
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else: # text=='rgb':
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return self.image_subscriber.cv_image_rgb
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def decode_all_qrcodes(self, img=None):
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"""使用pyzbar解码QR码"""
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if img is None:
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