From 64fd7015850fd5f44fa6582c82c6ff1a599bee97 Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Sun, 17 Aug 2025 14:45:25 +0000 Subject: [PATCH] fix: up --- base-move-demo.py | 4 +- .../dual_path/image_info_20250817_144238.txt | 8 ++ requirements_clean.txt | 32 +++++ test/ros2/rgb-camera/img-raw-get-simple.py | 109 ++++++++++++++++++ 4 files changed, 151 insertions(+), 2 deletions(-) create mode 100644 captured_images/dual_path/image_info_20250817_144238.txt create mode 100644 requirements_clean.txt create mode 100644 test/ros2/rgb-camera/img-raw-get-simple.py diff --git a/base-move-demo.py b/base-move-demo.py index 2d8b93b..b2d3ae7 100644 --- a/base-move-demo.py +++ b/base-move-demo.py @@ -39,10 +39,10 @@ def main(): Ctrl.base_msg.stop() # GO STRAIGHT TEST - go_straight(Ctrl, msg, distance=0.2, absolute=True) + go_straight(Ctrl, msg, distance=0.2) # TURN TEST - turn_degree_v2(Ctrl, msg, degree=90, absolute=True) + turn_degree_v2(Ctrl, msg, degree=90) except KeyboardInterrupt: diff --git a/captured_images/dual_path/image_info_20250817_144238.txt b/captured_images/dual_path/image_info_20250817_144238.txt new file mode 100644 index 0000000..d2083c2 --- /dev/null +++ b/captured_images/dual_path/image_info_20250817_144238.txt @@ -0,0 +1,8 @@ +图像信息记录 - 20250817_144238 +图像尺寸: 1920 x 1080 +编码格式: rgb8 +步长: 5760 +数据大小: 6220800 字节 +ROS节点: simple_image_subscriber +话题: /rgb_camera/image_raw +图像数据已成功接收，ROS模块工作正常! diff --git a/requirements_clean.txt b/requirements_clean.txt new file mode 100644 index 0000000..1727444 --- /dev/null +++ b/requirements_clean.txt @@ -0,0 +1,32 @@ +# 机器狗控制系统 - 精简依赖列表 +# 基于代码分析自动生成 + +# 核心计算库 +numpy>=1.19.0 +opencv-python>=4.5.0 + +# 通信和ROS2相关 +rclpy>=2.0.0 +sensor-msgs>=4.0.0 +cv-bridge>=3.1.0 +lcm>=1.4.0 + +# 计算机视觉和QR码识别 +qreader>=3.0.0 + +# 机器学习 +scikit-learn>=1.0.0 + +# 数据可视化 +matplotlib>=3.3.0 + +# 配置文件处理 +toml>=0.10.0 + +# 并行处理 +joblib>=1.0.0 + +# 注意： +# 1. cyberdog_marker 是自定义ROS2包，需要单独安装 +# 2. 此列表基于代码分析生成，可能需要根据实际环境调整版本号 +# 3. 部分ROS2相关包可能已通过ros-galactic-desktop等包安装 \ No newline at end of file diff --git a/test/ros2/rgb-camera/img-raw-get-simple.py b/test/ros2/rgb-camera/img-raw-get-simple.py new file mode 100644 index 0000000..ebfc49c --- /dev/null +++ b/test/ros2/rgb-camera/img-raw-get-simple.py @@ -0,0 +1,109 @@ +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import Image +from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy +from datetime import datetime +import os + +class SimpleImageSubscriber(Node): + def __init__(self): + super().__init__('simple_image_subscriber') + + # Define QoS Profile + qos_profile = QoSProfile( + reliability=QoSReliabilityPolicy.BEST_EFFORT, + history=QoSHistoryPolicy.KEEP_LAST, + depth=10 + ) + + self.subscription = self.create_subscription( + Image, + '/rgb_camera/image_raw', + self.image_callback, + qos_profile=qos_profile + ) + self.subscription # Prevent unused variable warning + self.image_received = False # Flag to track if image is received + self.image_count = 0 # Count received images + + def image_callback(self, msg): + if self.image_received: + return # Skip processing if already processed + + try: + # Get image metadata + height = msg.height + width = msg.width + encoding = msg.encoding + step = msg.step + data_size = len(msg.data) + + # Log image information + self.get_logger().info(f"收到图像消息!") + self.get_logger().info(f"图像尺寸: {width} x {height}") + self.get_logger().info(f"编码格式: {encoding}") + self.get_logger().info(f"步长: {step}") + self.get_logger().info(f"数据大小: {data_size} 字节") + + # Save image data to a simple text file for verification + self.save_image_info(height, width, encoding, step, data_size) + + self.image_received = True + self.image_count += 1 + + # Log success and continue listening for more images + self.get_logger().info(f"成功处理图像 #{self.image_count}") + + # Optionally shutdown after receiving a few images + if self.image_count >= 3: + self.get_logger().info("已收到3张图像，测试完成!") + self.destroy_node() + rclpy.shutdown() + exit(0) + + except Exception as e: + self.get_logger().error(f'处理图像时出错: {str(e)}') + + def save_image_info(self, height, width, encoding, step, data_size): + # Create output directory if it doesn't exist + output_dir = "./captured_images/dual_path" + os.makedirs(output_dir, exist_ok=True) + + # Generate a timestamped filename + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + filename = f"{output_dir}/image_info_{timestamp}.txt" + + try: + with open(filename, 'w', encoding='utf-8') as f: + f.write(f"图像信息记录 - {timestamp}\n") + f.write(f"图像尺寸: {width} x {height}\n") + f.write(f"编码格式: {encoding}\n") + f.write(f"步长: {step}\n") + f.write(f"数据大小: {data_size} 字节\n") + f.write(f"ROS节点: {self.get_name()}\n") + f.write(f"话题: /rgb_camera/image_raw\n") + f.write("图像数据已成功接收，ROS模块工作正常!\n") + + self.get_logger().info(f"图像信息已保存到: {filename}") + except Exception as e: + self.get_logger().error(f"保存图像信息时出错: {str(e)}") + +def main(args=None): + rclpy.init(args=args) + simple_subscriber = SimpleImageSubscriber() + + print("启动简化的ROS图像订阅测试...") + print("正在监听话题: /rgb_camera/image_raw") + print("按 Ctrl+C 停止测试") + + try: + rclpy.spin(simple_subscriber) + except KeyboardInterrupt: + print("\n测试被用户中断") + finally: + print("测试完成，清理资源...") + simple_subscriber.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main()