havoc420ubuntu
ce369bf718
- Add run_go_to_xy_example function call in main.py for enhanced navigation capabilities. - Comment out run_task_1 to streamline task execution flow.
268 lines
10 KiB
Python
268 lines
10 KiB
Python
import math
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import time
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import sys
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import os
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from utils.localization_lcmt import localization_lcmt
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from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
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from base_move.turn_degree import turn_degree, turn_degree_twice
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from base_move.go_straight import go_straight
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# 创建本模块特定的日志记录器
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logger = get_logger("坐标移动")
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def go_to_xy(ctrl, msg, target_x, target_y, speed=0.5, precision=True, observe=False):
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"""
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控制机器人移动到指定的(x,y)坐标位置，使用直接xy速度控制
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参数:
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ctrl: Robot_Ctrl 对象，包含里程计信息
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msg: robot_control_cmd_lcmt 对象，用于发送命令
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target_x: 目标X坐标(米)
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target_y: 目标Y坐标(米)
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speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
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precision: 是否使用高精度模式（更慢速度），默认为True
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observe: 是否输出中间状态信息，默认为False
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返回:
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bool: 是否成功完成移动到目标位置
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"""
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# 获取当前位置
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current_position = ctrl.odo_msg.xyz
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current_x, current_y = current_position[0], current_position[1]
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if observe:
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section('目标点导航', "开始")
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info(f"当前位置: ({current_x:.3f}, {current_y:.3f})", "位置")
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info(f"目标位置: ({target_x:.3f}, {target_y:.3f})", "目标")
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# 在起点放置标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(current_x, current_y,
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current_position[2] if len(current_position) > 2 else 0.0,
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'blue', observe=True)
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# 在目标点放置标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(target_x, target_y, 0.0, 'green', observe=True)
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# 计算与目标点的距离和角度
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dx = target_x - current_x
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dy = target_y - current_y
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distance = math.sqrt(dx*dx + dy*dy)
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# 如果已经非常接近目标，无需移动
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if distance < 0.05: # 5厘米以内视为已达到
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if observe:
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success("已处于目标位置附近，无需移动", "完成")
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return True
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if observe:
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info(f"到目标点的距离: {distance:.3f}米", "路径")
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# 限制速度范围
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max_speed = min(max(abs(speed), 0.1), 1.0)
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if precision:
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max_speed = min(max_speed, 0.5) # 高精度模式下限制最大速度
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# 根据距离动态调整速度
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if distance > 1.0:
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actual_speed = max_speed
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elif distance > 0.5:
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actual_speed = max_speed * 0.8
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elif distance > 0.2:
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actual_speed = max_speed * 0.6
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else:
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actual_speed = max_speed * 0.4
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# 设置移动命令基本参数
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msg.mode = 11 # Locomotion模式
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msg.gait_id = 26 # 自变频步态
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msg.step_height = [0.06, 0.06] # 抬腿高度
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# 估算移动时间，但实际上会通过里程计控制
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estimated_time = distance / actual_speed
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timeout = estimated_time + 5 # 增加超时时间为预计移动时间加5秒
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# 监控移动过程
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start_time = time.time()
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position_check_interval = 0.05 # 位置检查间隔(秒)
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last_check_time = start_time
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last_distance = distance
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stall_count = 0
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if observe:
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info(f"开始移动，预计用时 {estimated_time:.2f}秒", "移动")
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# 监控移动到达目标点
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while time.time() - start_time < timeout:
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current_time = time.time()
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# 按固定间隔检查位置，减少计算负担
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if current_time - last_check_time >= position_check_interval:
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# 获取当前位置
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current_position = ctrl.odo_msg.xyz
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current_x, current_y = current_position[0], current_position[1]
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# 计算新的位移向量和距离
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dx = target_x - current_x
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dy = target_y - current_y
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current_distance = math.sqrt(dx*dx + dy*dy)
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# 判断是否已经足够接近目标
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if current_distance < 0.05: # 5厘米以内视为已达到
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break
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# 计算移动进度
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progress = 1.0 - (current_distance / distance)
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# 检测是否卡住（距离变化很小）
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distance_change = last_distance - current_distance
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if abs(distance_change) < 0.005: # 变化小于5毫米
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stall_count += 1
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if stall_count > 20: # 连续多次检测到几乎没有移动
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if observe:
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warning("检测到机器人可能卡住，调整策略", "移动")
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# 可能是卡住了，稍微增加速度
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actual_speed = min(actual_speed * 1.2, max_speed)
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stall_count = 0
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else:
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stall_count = 0
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# 动态调整速度，接近目标时减速
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if current_distance < 0.2: # 接近目标时减速
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target_speed = max_speed * 0.3
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elif current_distance < 0.5:
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target_speed = max_speed * 0.5
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else:
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target_speed = actual_speed
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# 计算速度分量，归一化后乘以目标速度
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speed_factor = target_speed / current_distance if current_distance > 0 else 0
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vel_x = dx * speed_factor
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vel_y = dy * speed_factor
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# 更新速度命令
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msg.vel_des = [vel_x, vel_y, 0] # [前进速度, 侧向速度, 角速度]
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msg.duration = 0 # 持续执行直到下一个命令
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msg.life_count += 1
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ctrl.Send_cmd(msg)
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if observe and (current_time - start_time) % 1.0 < position_check_interval:
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debug(f"当前位置: ({current_x:.3f}, {current_y:.3f}), 剩余距离: {current_distance:.3f}米, 完成: {progress*100:.1f}%", "移动")
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debug(f"速度: x={vel_x:.2f}, y={vel_y:.2f}", "速度")
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last_check_time = current_time
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last_distance = current_distance
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time.sleep(0.01) # 小间隔检查位置
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# 平滑停止
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if hasattr(ctrl.base_msg, 'stop_smooth'):
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ctrl.base_msg.stop_smooth()
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else:
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ctrl.base_msg.stop()
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# 获取最终位置并计算与目标的误差
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final_position = ctrl.odo_msg.xyz
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final_x, final_y = final_position[0], final_position[1]
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final_dx = target_x - final_x
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final_dy = target_y - final_y
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final_distance = math.sqrt(final_dx*final_dx + final_dy*final_dy)
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if observe:
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info(f"最终位置: ({final_x:.3f}, {final_y:.3f})", "位置")
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info(f"与目标的距离误差: {final_distance:.3f}米", "误差")
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# 在终点放置标记
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if hasattr(ctrl, 'place_marker'):
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ctrl.place_marker(final_x, final_y,
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final_position[2] if len(final_position) > 2 else 0.0,
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'red', observe=True)
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# 判断是否成功到达目标点（误差在10厘米以内）
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nav_success = final_distance < 0.1
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if observe:
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if nav_success:
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success(f"成功到达目标点，误差: {final_distance:.3f}米", "成功")
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else:
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warning(f"未能精确到达目标点，误差: {final_distance:.3f}米", "警告")
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return nav_success
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def go_to_xy_with_correction(ctrl, msg, target_x, target_y, speed=0.5, precision=True,
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max_attempts=2, observe=False):
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"""
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控制机器人移动到指定的(x,y)坐标位置，并在必要时进行路径修正
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参数:
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ctrl: Robot_Ctrl 对象，包含里程计信息
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msg: robot_control_cmd_lcmt 对象，用于发送命令
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target_x: 目标X坐标(米)
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target_y: 目标Y坐标(米)
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speed: 行走速度(米/秒)，范围0.1~1.0，默认为0.5
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precision: 是否使用高精度模式，默认为True
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max_attempts: 最大尝试次数，默认为2
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observe: 是否输出中间状态信息，默认为False
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返回:
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bool: 是否成功完成移动到目标位置
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"""
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attempt = 1
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while attempt <= max_attempts:
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if observe:
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section(f'导航尝试 {attempt}/{max_attempts}', "开始")
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# 执行基本导航
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success = go_to_xy(ctrl, msg, target_x, target_y, speed, precision, observe)
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if success:
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return True
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# 如果导航失败且还有尝试次数，进行修正
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if attempt < max_attempts:
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if observe:
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warning(f"第{attempt}次导航未达到预期精度，尝试修正", "修正")
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# 获取当前位置
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current_position = ctrl.odo_msg.xyz
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current_x, current_y = current_position[0], current_position[1]
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# 计算与目标点的距离和角度
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dx = target_x - current_x
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dy = target_y - current_y
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distance = math.sqrt(dx*dx + dy*dy)
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# 如果距离很近但未达到成功标准，可能是卡住了
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if distance < 0.2: # 20厘米以内
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if observe:
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info(f"距离目标很近 ({distance:.3f}米)，使用更高精度方式移动", "策略")
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# 使用更慢的速度和更高的精度
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speed = speed * 0.6
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precision = True
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attempt += 1
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# 获取最终位置并计算与目标的误差
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final_position = ctrl.odo_msg.xyz
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final_x, final_y = final_position[0], final_position[1]
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final_dx = target_x - final_x
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final_dy = target_y - final_y
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final_distance = math.sqrt(final_dx*final_dx + final_dy*final_dy)
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if observe:
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if final_distance < 0.2:
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warning(f"虽未达到精确目标，但已在目标附近 ({final_distance:.3f}米)", "部分成功")
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else:
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error(f"多次尝试后仍未能达到目标点，最终误差: {final_distance:.3f}米", "失败")
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return False
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# 用法示例
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if __name__ == "__main__":
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# 这里是示例代码，实际使用时需要提供合适的ctrl和msg对象
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# 移动到坐标(1.0, 2.0)
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# go_to_xy(ctrl, msg, 1.0, 2.0, speed=0.5, observe=True)
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# 移动到坐标(0.0, 0.0)并自动修正
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# go_to_xy_with_correction(ctrl, msg, 0.0, 0.0, speed=0.4, observe=True)
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pass |