1103 lines
43 KiB
Python
1103 lines
43 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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# 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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# cd localpath
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# python3 main.py
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# 在项目中，我们使用了以下版本的NumPy和OpenCV开源库：
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# NumPy 版本：1.24.4
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# OpenCV 版本：4.10.0.84
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# 感谢NumPy和OpenCV社区的贡献，使我们能够更高效地完成本次设计。
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# '''
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'''
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这段代码使用雷达和相机，在<origin rpy="0 0 -3.1416" xyz="2.5 8.5 0" />的起始位置
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完成石板路+直角转弯4+连续碰撞
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正确无失误地返回起点
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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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# 读取到的运动数据
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# 使用 self.rec_msg.xxx 代替motion_rec 如：
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# motion_rec['mode'] 替换为 self.rec_msg.mode
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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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# 里程计数据
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# 使用 self.odo_msg.xxx 代替odo_rec 如：
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# odo_rec['xyz'] 替换为 self.odo_msg.xyz
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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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RGB_res = 0
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def main():
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Ctrl = Robot_Ctrl()
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msg = robot_control_cmd_lcmt()
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# pos = -1
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try:
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Ctrl.run()
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##############################################通过RGB代码#####################################################################
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# Ctrl.Recovery_stand(msg)
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# msg.mode = 11 # Locomotion
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# msg.gait_id = 27
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# msg.vel_des = [0.3, 0, 0]
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# msg.duration = 3000
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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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# Ctrl.Send_cmd(msg)
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# time.sleep(10)
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# if pos < 0:
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# print(RGB_res)
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# pos = 1
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# else:
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# pos = -1
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# msg.mode = 11 # Locomotion
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# msg.gait_id = 27
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# msg.vel_des = [0.3, 0, 0]
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# msg.duration = 3333
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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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# Ctrl.Send_cmd(msg)
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# time.sleep(10)
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# if pos < 0:
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# print(RGB_res)
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# pos = 1
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# else:
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# pos = -1
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# msg.mode = 11 # Locomotion
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# msg.gait_id = 27
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# msg.vel_des = [0.3, 0, 0]
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# msg.duration = 3333
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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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# Ctrl.Send_cmd(msg)
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# time.sleep(10)
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# if pos < 0:
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# print(RGB_res)
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# pos = 1
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# else:
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# pos = -1
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# msg.mode = 11 # Locomotion
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# msg.gait_id = 27
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# msg.vel_des = [0.3, 0, 0]
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# msg.duration = 3333
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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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# Ctrl.Send_cmd(msg)
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# time.sleep(10)
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# if pos < 0:
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# print(RGB_res)
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# pos = 1
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# else:
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# pos = -1
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# msg.mode = 11 # Locomotion
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# msg.gait_id = 27
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# msg.vel_des = [0.3, 0, 0]
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# msg.duration = 3333
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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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# Ctrl.Send_cmd(msg)
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# time.sleep(10)
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# if pos < 0:
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# print(RGB_res)
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# pos = 1
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# else:
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# if RGB_res > 0:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.4)
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# else:
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# Ctrl.rightside_align(msg=msg,expect_dist=0.9)
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# pos = -1
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# msg.mode = 11 # Locomotion
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# msg.gait_id = 27
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# msg.vel_des = [0.3, 0, 0]
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# msg.duration = 3333
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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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# Ctrl.Send_cmd(msg)
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# time.sleep(10)
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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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# pid 控制
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class DeltaPid(object):
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'''
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PID calculate
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pwm = pre_pwm + kp*(err-pre_ee) + ki*err + kd*(err-2*pre_err+pre_pre_ee)
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'''
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def __init__(self, target_val, max_val, min_val, p, i, d):
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self.max_val = max_val
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self.min_val = min_val
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self.k_p = p
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self.k_i = i
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self.k_d = d
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self.target_val = target_val
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self._pre_val = target_val
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self._pre_pre_val = target_val - 1
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def calculate(self, cur_val, pwm_in):
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# pwm = pre_pwm + kp*(err-pre_ee) + ki*err + kd*(err-2*pre_err+pre_pre_ee)
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pwm_out = 0
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p_change = self.k_p * (cur_val - self._pre_val)
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i_change = self.k_i * (cur_val - self.target_val)
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d_change = self.k_d * (cur_val - 2 * self._pre_val + self._pre_pre_val)
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print(f"p:{p_change} i:{i_change} d:{d_change}")
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delta_output = p_change + i_change + d_change
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print(f"p+i+d output={delta_output}")
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pwm_out = delta_output + pwm_in
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print(f"calculate pwm={pwm_out}")
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self._pre_pre_val = self._pre_val
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self._pre_val = cur_val
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pwm_out = self.max_val if pwm_out > self.max_val else (self.min_val if pwm_out < self.min_val else pwm_out)
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print(f"actual output pwm={pwm_out}")
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return pwm_out
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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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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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def find_green_location(self, image, red_range = [20, 35], green_range = [50, 80]): #调参部分1
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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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global RGB_res
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RGB_res = self.find_green_location(cv_image)
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cv2.imwrite("image.jpg",cv_image)
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time.sleep(3)
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def get_image(self, msg):
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cv_image = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
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cv2.imshow("image",cv_image)
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cv2.waitKey()
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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.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.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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# 控制pid
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self.yaw_pid = DeltaPid(0.0, 1.2, 0.01, 10, 0.7, 0.3) # 控制yaw角pid初始化
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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(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.RGB_thread.start()
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# self.sub_thread
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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(0.002)
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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
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steps = toml.load("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Params_walk.toml")
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elif mode == 1: # 上下坡
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steps = toml.load("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Params_scopewalk.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']
|
||
cmd['rpy_des'] = i['body_pos_des'][0:3]
|
||
cmd['pos_des'] = i['body_pos_des'][3:6]
|
||
cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]
|
||
cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]
|
||
cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]
|
||
cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11]
|
||
cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(
|
||
i['step_height'][1] * 1e3) * 1e3
|
||
cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(
|
||
i['step_height'][3] * 1e3) * 1e3
|
||
cmd['acc_des'] = i['weight']
|
||
cmd['value'] = i['use_mpc_traj']
|
||
cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
|
||
cmd['ctrl_point'][2] = i['mu']
|
||
if k == 0:
|
||
full_steps['step'] = [cmd]
|
||
else:
|
||
full_steps['step'].append(cmd)
|
||
k = k + 1
|
||
if mode == 0: # 石子路
|
||
f = open("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Params_walk_full.toml", 'w')
|
||
elif mode == 1: # 上下坡
|
||
f = open("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Params_scopewalk_full.toml", 'w')
|
||
f.write("# Gait Params\n")
|
||
f.writelines(toml.dumps(full_steps))
|
||
f.close()
|
||
|
||
if mode == 0: # 石子路
|
||
file_obj_gait_def = open("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Def_walk.toml", 'r')
|
||
file_obj_gait_params = open("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Params_walk_full.toml", 'r')
|
||
elif mode == 1: # 上下坡
|
||
file_obj_gait_def = open("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Def_scopewalk.toml", 'r')
|
||
file_obj_gait_params = open("/home/git/project2248014-237570/back_to_start/back_to_start_main/Gait_Params_scopewalk_full.toml",
|
||
'r')
|
||
self.usergait_msg.data = file_obj_gait_def.read()
|
||
|
||
self.lcm_usergait.publish("user_gait_file", self.usergait_msg.encode())
|
||
|
||
time.sleep(0.5)
|
||
self.usergait_msg.data = file_obj_gait_params.read()
|
||
self.lcm_usergait.publish("user_gait_file", self.usergait_msg.encode())
|
||
time.sleep(0.1)
|
||
file_obj_gait_def.close()
|
||
file_obj_gait_params.close()
|
||
|
||
user_gait_list = open("/home/git/project2248014-237570/back_to_start/back_to_start_main/Usergait_List.toml", 'r')
|
||
steps = toml.load(user_gait_list)
|
||
for step in steps['step']:
|
||
self.cmd_msg.mode = step['mode']
|
||
self.cmd_msg.value = step['value']
|
||
self.cmd_msg.contact = step['contact']
|
||
self.cmd_msg.gait_id = step['gait_id']
|
||
self.cmd_msg.duration = step['duration']
|
||
self.cmd_msg.life_count += 1
|
||
for i in range(3):
|
||
self.cmd_msg.vel_des[i] = step['vel_des'][i]
|
||
self.cmd_msg.rpy_des[i] = step['rpy_des'][i]
|
||
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)
|
||
for i in range(200): # 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 Ctrl_yaw(self, msg, angle_set):
|
||
while abs(angle_set - self.odo_msg.rpy[2] - angle_set) > 0.05:
|
||
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] # 转向
|
||
msg.duration = 300 # Zero duration means continuous motion until a new command is used.
|
||
# Continuous motion can interrupt non-zero duration interpolation motion
|
||
msg.life_count += 1 # Command will take effect when life_count update
|
||
self.Send_cmd(msg)
|
||
self.Wait_finish(11, 26)
|
||
self.yaw_pid.calculate(self.odo_msg.rpy[2], )
|
||
|
||
def quit(self):
|
||
self.runing = 0
|
||
self.rec_thread.join()
|
||
self.send_thread.join()
|
||
self.odo_thread.join()
|
||
self.RGB_thread.join()
|
||
self.laser_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):
|
||
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 stone(self, msg):
|
||
self.Recovery_stand(msg)
|
||
self.selaction(0)
|
||
time.sleep(0.1)
|
||
|
||
# def locomotion(s)
|
||
|
||
def slope(self, msg):
|
||
self.Recovery_stand(msg)
|
||
self.selaction(1)
|
||
|
||
def err_handler(self, msg):
|
||
if self.rec_msg.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=laser_rec['data']): # 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
|
||
|
||
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
|
||
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)
|
||
|
||
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)
|
||
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 walk_forward(self, msg, left_dist, limit=0.04, timeout_s=6, k_bound=5, exp_speed = 0.6): ##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)
|
||
# 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 = [exp_speed if dist_need_walk > 0 else -exp_speed, 0, 0]
|
||
msg.duration = int(const_int * abs(dist_need_walk) * 0.6/exp_speed)
|
||
msg.step_height = [0.06, 0.06] # ground clearness of swing leg
|
||
|
||
# if dist_need_walk > 3:
|
||
# msg.duration = 4500
|
||
# msg.life_count += 1
|
||
# self.Wait_finish(11,27,timeout=1200)
|
||
# print('固定运动')
|
||
# return self.walk_forward(msg,left_dist,limit,timeout)
|
||
|
||
msg.life_count += 1
|
||
self.Send_cmd(msg)
|
||
time.sleep(timeout_s)
|
||
|
||
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, target1=0, target2=1.57, dist1_right=0.85, dist2_right=0.35):
|
||
'''左转时定位我们需要的位置，在接近拐角的任意位置启动函数，可以顺利运动到下一条赛道的起点'''
|
||
'''target1是第一条赛道的正方向,target2是第二条赛道的正方向,dist1_right是第一条赛道右侧保持距离,dist2_right是第二条赛道右侧保持的距离'''
|
||
self.odo_changeback(target=target1, msg=msg)
|
||
time.sleep(3)
|
||
self.rightside_align(msg=msg, expect_dist=dist1_right)
|
||
time.sleep(3)
|
||
self.walk_forward(msg, left_dist=dist2_right)
|
||
time.sleep(4)
|
||
self.odo_changeback(target=target2, msg=msg)
|
||
|
||
def rightside_align(self, msg, expect_dist=0.65, limit=0.04, timeout_s=4):
|
||
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)
|
||
time.sleep(timeout_s)
|
||
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
|
||
|
||
###cross_speedump 在 第二个转角回正之后调用，回正参数：
|
||
# Ctrl.Recovery_stand(msg)
|
||
# Ctrl.odo_changeback(target=0,msg=msg)
|
||
# Ctrl.walk_forward(msg,left_dist= 0.40,timeout_s=3)
|
||
# Ctrl.rightside_align(msg=msg,expect_dist= 1.15,timeout_s=5)
|
||
# Ctrl.odo_changeback(target=1.57, msg=msg)
|
||
# Ctrl.cross_speedump(msg=msg)
|
||
|
||
def cross_speedump(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，调大 -> 机械狗横向后更加靠近圆柱
|
||
y_sharp_dist = -0.18 #######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 = 0.2 #######给最后的对齐使用的参数
|
||
|
||
#####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 = 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)
|
||
|
||
laser_mid = laser_rec['data']
|
||
lines_mid = self.detect_lines(data=laser_mid)
|
||
|
||
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
|
||
# self.odo_changeback(1.57,msg)
|
||
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(0, msg=msg)
|
||
|
||
time.sleep(2)
|
||
|
||
###########################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 = []
|
||
validist_store = []
|
||
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
|
||
validist_store.append(laser_valid[i])
|
||
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, 0.1 if (point_sharp_y - y_sharp_dist) > 0 else -0.1, 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 = [-0.1 if (point_sharp_x - x_sharp_dist) < 0 else 0.1, 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 = 0
|
||
# 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(60)
|
||
|
||
|
||
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 = 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)
|
||
if pos < 0:
|
||
print(RGB_res)
|
||
if 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 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(RGB_res)
|
||
if 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 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(RGB_res)
|
||
if 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 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(RGB_res)
|
||
if 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 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(RGB_res)
|
||
if 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 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)
|
||
|
||
|
||
|
||
|
||
# Main function
|
||
if __name__ == '__main__':
|
||
main() |