812 lines
34 KiB
Python
812 lines
34 KiB
Python
'''
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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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'''
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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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import numpy
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from rclpy.node import Node
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from sensor_msgs.msg import LaserScan
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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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#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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#读取到的运动数据
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motion_rec = {
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'mode':0,
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'gait_id':0,
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'contact':0,
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'order_process_bar':0,
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'switch_status':0,
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'ori_error':0,
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'footpos_error':0,
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'motor_error':(0) * 12,
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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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# 里程计数据
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odo_rec = {
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'xyz' : (0.0, 0.0, 0.0),
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'vxyz' : (0.0, 0.0, 0.0),
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'rpy' : (0.0, 0.0, 0.0),
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'omegaBody' : (0.0, 0.0, 0.0),
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'vBody' : (0.0, 0.0, 0.0),
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'timestamp' : 0
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}
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#雷达数据
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laser_rec = {
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'data': [0] * 180
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}
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def main():
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Ctrl = Robot_Ctrl()
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Ctrl.run()
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msg = robot_control_cmd_lcmt()
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try:
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Ctrl.Recovery_stand(msg)
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time.sleep(0.5)
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# Ctrl.selaction(1)
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# Ctrl.circle(msg)
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#上石子路
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Ctrl.odo_changeback(0, msg=msg)
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time.sleep(1)
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Ctrl.walk_forward(msg=msg, left_dist=0.65)
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time.sleep(0.2)
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Ctrl.odo_changeback(target=1.5707, msg=msg)
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msg.mode = 11 # Locomotion
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msg.gait_id = 10 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
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msg.vel_des = [0.5,0,0] #forward left/rightmove rotate
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msg.duration = 3600 # Zero duration means continuous motion until a new command is used.
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# Continuous motion can interrupt non-zero duration interpolation motion
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msg.step_height = [0.06, 0.06] # ground clearness of swing leg
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msg.life_count += 1
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msg.rpy_des = [0,0.0,0]
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(11, 10)
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Ctrl.odo_changeback(target=1.5708, msg=msg)
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time.sleep( 0.1 )
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Ctrl.stone(msg)
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Ctrl.Recovery_stand(msg)
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time.sleep(3)
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Ctrl.odo_changeback(target=1.5708,msg=msg)
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time.sleep(3)
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Ctrl.walk_forward(msg,left_dist= 0.4)
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time.sleep(3)
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Ctrl.rightside_align(msg=msg,expect_dist= 1.15)
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time.sleep(4)
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Ctrl.odo_changeback(target=3.1415, msg=msg)
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time.sleep(1)
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Ctrl.speedump_and_circle(msg)
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Ctrl.jump(msg,1200,1)
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Ctrl.odo_changeback(target=3.1415, msg=msg)
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Ctrl.side_equal(msg)
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# while True:
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# Ctrl.Recovery_stand(msg)
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# Ctrl.jump(msg,1200,1)
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# time.sleep(0.1)
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except KeyboardInterrupt:
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pass
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Ctrl.quit()
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sys.exit()
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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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'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 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.lc_o = lcm.LCM("udpm://239.255.76.67:7667?ttl=255") ###里程计
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# self.handle_lock = Lock() ###当前读数据只允许一个handle
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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.laser_thread = Thread(target=self.laser_spin_func, kwargs={'subscriber': self.laser_scan_subscriber})
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def laser_spin_func(self,subscriber):
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rclpy.spin(subscriber)
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time.sleep(0.02)
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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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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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# motion_rec['mode'] = self.rec_msg.mode
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# motion_rec['gait_id'] = self.rec_msg.gait_id
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# motion_rec['contact'] = self.rec_msg.contact
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# motion_rec['order_process_bar'] = self.rec_msg.order_process_bar
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# motion_rec['switch_status'] = self.rec_msg.switch_status
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# motion_rec['ori_error'] =self.rec_msg.ori_error
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# motion_rec['footpos_error'] = self.rec_msg.footpos_error
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# motion_rec['motor_error'] = self.rec_msg.motor_error
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#print(motion_rec)
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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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# odo_rec['xyz'] = self.odo_msg.xyz
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# odo_rec['vxyz'] = self.odo_msg.vxyz
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# odo_rec['rpy'] = self.odo_msg.rpy
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# odo_rec['omegaBody'] = self.odo_msg.omegaBody
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# odo_rec['vBody'] = self.odo_msg.vBody
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# odo_rec['timestamp'] = self.odo_msg.timestamp
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# print(odo_rec['rpy'])
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def rec_responce(self):
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while self.runing:
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# self.handle_lock.acquire()
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self.lc_r.handle()
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# self.handle_lock.release()
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time.sleep( 0.002 )
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def rec_responce_o(self): ###里程计handle 注意一时刻只能有一个handle
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while self.runing:
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# self.handle_lock.acquire()
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self.lc_o.handle()
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# self.handle_lock.release()
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time.sleep(0.2)
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def selaction(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/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/Gait_Params_walk.toml")
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elif mode ==1:# 待定
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steps = toml.load("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/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(i['step_height'][1] * 1e3) * 1e3
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cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(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/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/Gait_Params_walk_full.toml", 'w')
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elif mode ==1:# 待定
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f = open("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/Gait_Params_highwalk_full.toml", '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("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/Gait_Def_walk.toml",'r')
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file_obj_gait_params = open("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/Gait_Params_walk_full.toml",'r')
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elif mode ==1:# 待定
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file_obj_gait_def = open("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/Gait_Def_highwalk.toml",'r')
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file_obj_gait_params = open("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/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("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/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("/home/cyberdog_sim/src/loco_hl_example/basic_motion_test_comb/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]
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self.cmd_msg.acc_des[i] = step['acc_des'][i]
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self.cmd_msg.acc_des[i+3] = step['acc_des'][i+3]
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self.cmd_msg.foot_pose[i] = step['foot_pose'][i]
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self.cmd_msg.ctrl_point[i] = step['ctrl_point'][i]
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for i in range(2):
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self.cmd_msg.step_height[i] = step['step_height'][i]
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self.lcm_cmd.publish("robot_control_cmd",self.cmd_msg.encode())
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time.sleep( 0.1 )
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if mode==0:#石子路+上下坡
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for i in range(550): #10s Heat beat It is used to maintain the heartbeat when life count is not updated
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self.lcm_cmd.publish("robot_control_cmd",self.cmd_msg.encode())
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# self.err_handler(msg = robot_control_cmd_lcmt())
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time.sleep( 0.2 )
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if mode==1:#台阶
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for i in range(50): #10s Heat beat It is used to maintain the heartbeat when life count is not updated
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self.lcm_cmd.publish("robot_control_cmd",self.cmd_msg.encode())
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# self.err_handler(msg = robot_control_cmd_lcmt())
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time.sleep( 0.2 )
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self.send_lock.release()
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except KeyboardInterrupt:
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self.cmd_msg.mode = 7 #PureDamper before KeyboardInterrupt:
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self.cmd_msg.gait_id = 0
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self.cmd_msg.duration = 0
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self.cmd_msg.life_count += 1
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self.lcm_cmd.publish("robot_control_cmd",self.cmd_msg.encode())
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self.send_lock.release()
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pass
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def Wait_finish(self, mode, gait_id,timeout = 2000): #timeout // 0.005 = 多少秒超时
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count = 0
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while self.runing and count < timeout: #10s
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if self.mode_ok == mode and self.gait_ok == gait_id:
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return True
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else:
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time.sleep(0.005)
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count += 1
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def send_publish(self):
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while self.runing:
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self.send_lock.acquire()
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if self.delay_cnt > 20: # Heartbeat signal 10HZ, It is used to maintain the heartbeat when life count is not updated
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self.lc_s.publish("robot_control_cmd",self.cmd_msg.encode())
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self.delay_cnt = 0
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self.delay_cnt += 1
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self.send_lock.release()
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time.sleep( 0.005 )
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def Send_cmd(self, msg):
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self.send_lock.acquire()
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self.delay_cnt = 50
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self.cmd_msg = msg
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self.send_lock.release()
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def quit(self):
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self.runing = 0
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self.rec_thread.join()
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self.send_thread.join()
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self.odo_thread.join()
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self.laser_thread.join()
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def jump(self,msg,duration,type):#跳跃
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msg.mode = 16 # Locomotion
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msg.gait_id = type # 0左跳 1前跳 3右跳 6原地跳
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msg.duration = duration # Zero duration means continuous motion until a new command is used.
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# Continuous motion can interrupt non-zero duration interpolation motion
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msg.life_count += 1
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self.Send_cmd(msg)
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self.Wait_finish(16, 1)
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time.sleep(0.1)
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def Recovery_stand(self,msg):
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msg.mode = 12 # Recovery stand
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msg.gait_id = 0
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msg.life_count += 1 # Command will take effect when life_count update
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self.Send_cmd(msg)
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self.Wait_finish(12, 0)
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def Pure_Damp(self,msg,mode):
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msg.mode = 7 # PureDamp
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msg.gait_id = mode#0为自然倒下，1为受控倒下
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msg.life_count += 1 # Command will take effect when life_count update
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self.Send_cmd(msg)
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self.Wait_finish(12, 0)
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def circle(self,msg,R=0.6,T=12):#半径，时间
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msg.mode = 11 # Locomotion
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msg.gait_id = 10 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
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msg.vel_des = [PI*R*2/T,0,2*PI/T] #forward left/rightmove rotate
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msg.duration =T*550 # Zero duration means continuous motion until a new command is used.
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# Continuous motion can interrupt non-zero duration interpolation motion
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msg.step_height = [0.06, 0.06] # ground clearness of swing leg
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msg.life_count += 1
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msg.rpy_des = [0,0.0,0]
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self.Send_cmd(msg)
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self.Wait_finish(11, 10)
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def stone(self,msg):
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self.Recovery_stand(msg)
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self.selaction(0)
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time.sleep(0.1)
|
||
# def locomotion(s)
|
||
def slope(self,msg):
|
||
self.Recovery_stand(msg)
|
||
self.selaction(1)
|
||
def err_handler(self,msg):
|
||
if motion_rec['switch_status']==3:#如果状态为高祖尼保护模式
|
||
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): # data 180个的数组
|
||
dist_limit = 0.10
|
||
init_points = 5
|
||
data_with_order_x = []
|
||
data_with_order_y = []
|
||
data = laser_rec['data']
|
||
# degree = self.odo_msg.rpy[2]
|
||
|
||
# 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)
|
||
# 允许一次偏差出现，此时end + 1 被击毙了,用现有的start - end 再拟合新直线，看 end + 1 还在不在外边，
|
||
# 如果还在外边，大概率是救不回了
|
||
# 在里面还可以二分一下
|
||
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)
|
||
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
|
||
|
||
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
|
||
|
||
####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 odo_changeback(self, target, msg, limit = 0.04,timesleep_s = 5): ##允许误差0.05弧度，大概是2.86度
|
||
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
|
||
dist = target - self.odo_msg.rpy[2]
|
||
print('odo_changeback',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(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_changeback',self.odo_msg.rpy[2],target)
|
||
return
|
||
|
||
def side_equal(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
|
||
###2600
|
||
lines = self.detect_lines()
|
||
while len(lines) < 3:
|
||
time.sleep(0.04)
|
||
lines = self.detect_lines()
|
||
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(1)
|
||
lines = self.detect_lines()
|
||
while len(lines) < 3:
|
||
time.sleep(0.04)
|
||
lines = self.detect_lines()
|
||
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
|
||
|
||
def side_equal_base_on_right(self, msg, limit = 0.08 , off_set = 0.0, timeout = 600):
|
||
const_int = 6666 #对 差的距离 进行倍数放大 控制左右移动时间
|
||
###2600
|
||
lines = self.detect_lines()
|
||
while len(lines) < 2:
|
||
time.sleep(0.04)
|
||
lines = self.detect_lines()
|
||
|
||
####修改后的前向运动函数不会出现直线扫描失误问题，但依旧需要在里程计回正之后才能使用
|
||
def walk_forward(self, msg, left_dist, limit = 0.04, timeout = 1200,k_bound = 5): ##在对正之后才能调用，left_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()
|
||
dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5),3)
|
||
print("dist :"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()
|
||
dist = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5),3)
|
||
|
||
dist_need_walk = dist - left_dist
|
||
while 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()
|
||
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 - left_dist
|
||
print('walk_forward dis_after',dist)
|
||
return
|
||
|
||
def turnleft_corner(self,msg,limit = 0.04,timeout = 1200):### 假设已经回正，根据外侧两条直线测算应该到的位置
|
||
###经过测试右外侧0.985米，上外侧0.768米
|
||
right_dis = 0.985
|
||
up_dis = 0.65
|
||
const_int = 6600
|
||
lines = self.detect_lines()
|
||
while len(lines) < 2:
|
||
time.sleep(0.04)
|
||
lines = self.detect_lines()
|
||
dist1 = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5),3)
|
||
dist2 = round(abs(lines[1][1] / ((lines[1][0] * lines[1][0] + 1)) ** 0.5),3)
|
||
|
||
print('turnleft_corner before',dist1,dist2)
|
||
self.walk_forward(msg,left_dist=up_dis,timeout=2000)
|
||
time.sleep(0.2)
|
||
right_dis_diff = right_dis - dist1
|
||
while abs(right_dis_diff) > limit:
|
||
msg.mode = 11 # Locomotion
|
||
msg.gait_id = 27
|
||
msg.vel_des = [0,0.15 if right_dis_diff > 0 else -0.15,0]
|
||
msg.duration = int(const_int * abs(right_dis_diff))
|
||
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)
|
||
|
||
self.Wait_finish(11,27,timeout)
|
||
dist1 = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5),3)
|
||
right_dis_diff = right_dis - dist1
|
||
print('final right dis' ,right_dis_diff)
|
||
return
|
||
# time.sleep(2)
|
||
####对部分地形，只使用扫描到的右侧直线即对正赛道
|
||
def rightside_align(self,msg,expect_dist = 0.65,limit = 0.04,timeout = 800):
|
||
const_int = 5000
|
||
lines = self.detect_lines()
|
||
dist = round(abs(lines[0][1] / ((lines[0][0] * lines[0][0] + 1)) ** 0.5),3)
|
||
dist_need_walk = dist - expect_dist
|
||
while 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()
|
||
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)
|
||
return
|
||
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)
|
||
|
||
|
||
def speedump_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(11)
|
||
time.sleep(13)
|
||
|
||
###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0度，回正
|
||
time.sleep(0.5)
|
||
self.odo_changeback(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)
|
||
|
||
|
||
#####无限进行循环
|
||
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)
|
||
# Main function
|
||
if __name__ == '__main__':
|
||
main()
|