#include "ucar/ucar.hpp"
#include <tf2/LinearMath/Quaternion.h>
#include <ros/console.h>
FileTransfer::FileTransfer(const std::string& baseDir )
: m_baseDir(baseDir), m_running(false), m_serverThread() {
createDirectory(m_baseDir);
}
FileTransfer::~FileTransfer() {
stopServer();
}
// 功能1：保存字符串到本地文件
bool FileTransfer::saveToFile(const std::string& content, const std::string& filename) {
std::string fullPath = m_baseDir + "/" + filename;
std::ofstream file(fullPath);
if (!file.is_open()) {
std::cerr << "无法打开文件: " << fullPath << std::endl;
return false;
}
file << content;
file.close();
std::cout << "文件已保存到: " << fullPath << std::endl;
return true;
}
// 功能2：发送文件到指定IP
bool FileTransfer::sendTo(const std::string& serverIP, int port,
const std::string& localFile,
const std::string& remotePath ) {
// 1. 读取文件内容
std::ifstream file(localFile, std::ios::binary | std::ios::ate);
if (!file.is_open()) {
std::cerr << "无法打开本地文件: " << localFile << std::endl;
return false;
}
size_t fileSize = file.tellg();
file.seekg(0, std::ios::beg);
std::vector<char> buffer(fileSize);
if (!file.read(buffer.data(), fileSize)) {
std::cerr << "读取文件错误: " << localFile << std::endl;
return false;
}
file.close();
// 2. 创建Socket
int sock = socket(AF_INET, SOCK_STREAM, 0);
if (sock < 0) {
std::cerr << "创建Socket失败: " << strerror(errno) << std::endl;
return false;
}
// 3. 连接服务器
sockaddr_in serverAddr;
memset(&serverAddr, 0, sizeof(serverAddr));
serverAddr.sin_family = AF_INET;
serverAddr.sin_port = htons(port);
if (inet_pton(AF_INET, serverIP.c_str(), &serverAddr.sin_addr) <= 0) {
std::cerr << "无效的IP地址: " << serverIP << std::endl;
close(sock);
return false;
}
if (connect(sock, (sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
std::cerr << "连接服务器失败: " << strerror(errno) << std::endl;
close(sock);
return false;
}
// 4. 发送文件信息
if (!sendData(sock, remotePath, buffer.data(), fileSize)) {
close(sock);
return false;
}
close(sock);
std::cout << "文件已发送到 " << serverIP << ":" << port
<< " 保存为 " << remotePath << std::endl;
return true;
}
// 功能3：阻塞等待接收文件并读取内容
std::string FileTransfer::receiveAndRead(int port, int timeoutMs ) {
// 确保服务器正在运行
if (!m_running) {
startServer(port);
}
// 等待文件到达
ReceivedFile file;
if (!waitForFile(file, timeoutMs)) {
throw std::runtime_error("等待文件超时或服务器停止");
}
stopServer();
// 返回文件内容
return std::string(file.content.data(), file.content.size());
}
// 启动服务器（后台线程）
void FileTransfer::startServer(int port) {
if (m_running) {
stopServer();
}
m_running = true;
m_serverThread = std::thread(&FileTransfer::serverThreadFunc, this, port);
}
// 停止服务器
void FileTransfer::stopServer() {
if (m_running) {
m_running = false;
if (m_serverThread.joinable()) {
m_serverThread.join();
}
}
}
// 创建目录
bool FileTransfer::createDirectory(const std::string& path) {
if (mkdir(path.c_str(), 0777) == -1 && errno != EEXIST) {
std::cerr << "无法创建目录: " << path << " - " << strerror(errno) << std::endl;
return false;
}
return true;
}
// 发送数据到socket
bool FileTransfer::sendData(int sock, const std::string& remotePath, const char* data, size_t size) {
// 1. 发送路径长度和路径
uint32_t pathLen = htonl(static_cast<uint32_t>(remotePath.size()));
if (send(sock, &pathLen, sizeof(pathLen), 0) != sizeof(pathLen)) {
std::cerr << "发送路径长度失败" << std::endl;
return false;
}
if (send(sock, remotePath.c_str(), remotePath.size(), 0) !=
static_cast<ssize_t>(remotePath.size())) {
std::cerr << "发送路径失败" << std::endl;
return false;
}
// 2. 发送文件长度和内容
uint32_t netSize = htonl(static_cast<uint32_t>(size));
if (send(sock, &netSize, sizeof(netSize), 0) != sizeof(netSize)) {
std::cerr << "发送文件长度失败" << std::endl;
return false;
}
ssize_t totalSent = 0;
while (totalSent < static_cast<ssize_t>(size)) {
ssize_t sent = send(sock, data + totalSent, size - totalSent, 0);
if (sent < 0) {
std::cerr << "发送文件内容失败: " << strerror(errno) << std::endl;
return false;
}
totalSent += sent;
}
return true;
}
// 服务器线程函数
void FileTransfer::serverThreadFunc(int port) {
// 1. 创建Socket
int listenSock = socket(AF_INET, SOCK_STREAM, 0);
if (listenSock < 0) {
std::cerr << "创建Socket失败: " << strerror(errno) << std::endl;
return;
}
// 2. 设置SO_REUSEADDR
int opt = 1;
setsockopt(listenSock, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
// 3. 绑定端口
sockaddr_in serverAddr;
memset(&serverAddr, 0, sizeof(serverAddr));
serverAddr.sin_family = AF_INET;
serverAddr.sin_addr.s_addr = INADDR_ANY;
serverAddr.sin_port = htons(port);
if (bind(listenSock, (sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
std::cerr << "绑定端口失败: " << strerror(errno) << std::endl;
close(listenSock);
return;
}
// 4. 开始监听
if (listen(listenSock, 5) < 0) {
std::cerr << "监听失败: " << strerror(errno) << std::endl;
close(listenSock);
return;
}
std::cout << "文件接收服务器启动，监听端口: " << port << std::endl;
// 5. 接受连接循环
bool receivedFile = false;
while (m_running&& !receivedFile) {
// 设置超时以定期检查停止条件
fd_set readSet;
FD_ZERO(&readSet);
FD_SET(listenSock, &readSet);
timeval timeout{0, 100000}; // 100ms
int ready = select(listenSock + 1, &readSet, nullptr, nullptr, &timeout);
if (ready < 0) {
if (errno != EINTR) {
std::cerr << "select错误: " << strerror(errno) << std::endl;
}
continue;
}
if (ready == 0) continue; // 超时，继续循环
// 6. 接受客户端连接
sockaddr_in clientAddr;
socklen_t clientLen = sizeof(clientAddr);
int clientSock = accept(listenSock, (sockaddr*)&clientAddr, &clientLen);
if (clientSock < 0) {
if (errno != EAGAIN && errno != EWOULDBLOCK) {
std::cerr << "接受连接失败: " << strerror(errno) << std::endl;
}
continue;
}
char clientIP[INET_ADDRSTRLEN];
inet_ntop(AF_INET, &clientAddr.sin_addr, clientIP, INET_ADDRSTRLEN);
std::cout << "收到来自 " << clientIP << " 的文件传输请求" << std::endl;
// 7. 接收文件
ReceivedFile file;
if (receiveFile(clientSock, file)) {
std::lock_guard<std::mutex> lock(m_mutex);
m_receivedFiles.push(std::move(file));
receivedFile = true;
m_cv.notify_one(); // 通知等待线程
}
close(clientSock);
}
close(listenSock);
std::cout << "文件接收服务器已停止" << std::endl;
}
// 接收文件
bool FileTransfer::receiveFile(int sock, ReceivedFile& file) {
// 1. 接收路径长度和路径
uint32_t pathLen;
if (recv(sock, &pathLen, sizeof(pathLen), 0) != sizeof(pathLen)) {
std::cerr << "接收路径长度失败" << std::endl;
return false;
}
pathLen = ntohl(pathLen);
std::vector<char> pathBuffer(pathLen + 1);
ssize_t received = recv(sock, pathBuffer.data(), pathLen, 0);
if (received != static_cast<ssize_t>(pathLen)) {
std::cerr << "接收路径失败" << std::endl;
return false;
}
pathBuffer[pathLen] = '\0';
file.filename = pathBuffer.data();
// 2. 接收文件长度
uint32_t fileSize;
if (recv(sock, &fileSize, sizeof(fileSize), 0) != sizeof(fileSize)) {
std::cerr << "接收文件长度失败" << std::endl;
return false;
}
fileSize = ntohl(fileSize);
// 3. 接收文件内容
file.content.resize(fileSize);
ssize_t totalReceived = 0;
while (totalReceived < static_cast<ssize_t>(fileSize) && m_running) {
ssize_t bytes = recv(sock, file.content.data() + totalReceived,
fileSize - totalReceived, 0);
if (bytes <= 0) {
if (bytes < 0) {
std::cerr << "接收文件内容失败: " << strerror(errno) << std::endl;
}
return false;
}
totalReceived += bytes;
}
std::cout << "成功接收文件: " << file.filename
<< " (" << fileSize << " 字节)" << std::endl;
return true;
}
// 等待文件到达
bool FileTransfer::waitForFile(ReceivedFile& file, int timeoutMs) {
std::unique_lock<std::mutex> lock(m_mutex);
// 只要有文件就立即返回
auto pred = [&] {
return !m_receivedFiles.empty(); // 只需检查队列是否非空
};
if (timeoutMs > 0) {
if (!m_cv.wait_for(lock, std::chrono::milliseconds(timeoutMs), pred)) {
return false; // 超时
}
} else {
m_cv.wait(lock, pred);
}
if (m_receivedFiles.empty()) return false;
file = std::move(m_receivedFiles.front());
m_receivedFiles.pop();
return true;
}
// 接收文件并读取两行内容
bool FileTransfer::receiveAndReadTwoStrings(int port,
std::string& outStr1,
std::string& outStr2,
int timeoutMs) {
// 确保服务器正在运行
if (!m_running) {
startServer(port);
}
// 等待文件到达
ReceivedFile file;
if (!waitForFile(file, timeoutMs)) {
throw std::runtime_error("等待文件超时或服务器停止");
}
// 读取文件内容
std::string content(file.content.data(), file.content.size());
// 查找第一行结尾
size_t pos = content.find('\n');
if (pos == std::string::npos) {
// 没有换行符，整个内容作为第一行
outStr1 = content;
outStr2 = "";
} else {
// 提取第一行
outStr1 = content.substr(0, pos);
// 提取第二行（跳过换行符）
outStr2 = content.substr(pos + 1);
// 移除第二行可能的多余换行符
if (!outStr2.empty() && outStr2.back() == '\n') {
outStr2.pop_back();
}
}
return true;
}
bool Ucar::navigateTo(const geometry_msgs::Pose& target) {
move_base_msgs::MoveBaseGoal goal;
goal.target_pose.header.frame_id = "map";
goal.target_pose.pose = target;
move_base_client_.sendGoal(goal);
return move_base_client_.waitForResult(navigation_timeout_);
}
// void Ucar::recovery() {
// setlocale(LC_ALL, "");
// std_srvs::Empty srv;
// if (clear_costmaps_client_.call(srv)) {
// ROS_INFO("代价地图清除成功");
// } else {
// ROS_ERROR("代价地图清除服务调用失败");
// }
// }
Ucar::Ucar(ros::NodeHandle& nh)
: nh_(nh), retry_count_(0), current_state_(State::INIT) , control_rate_(10) ,move_base_client_("move_base", true)
{ latest_odom_.reset();
// 等待move_base服务器就绪（参考网页6的actionlib使用规范）
if(!move_base_client_.waitForServer(ros::Duration(5.0))) {
setlocale(LC_ALL, "");
ROS_ERROR("无法连接move_base服务器");
}
scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
// 初始化代价地图清除服务
clear_costmaps_client_ = nh_.serviceClient<std_srvs::Empty>("/move_base/clear_costmaps");
setlocale(LC_ALL, "");
// 标记所有的点位总共21个点位
nh_.param("pose1_x", pose_1.position.x, 1.67);
nh_.param("pose1_y", pose_1.position.y, 0.04);
pose_1.orientation.x = 0.0;
pose_1.orientation.y = 0.0;
pose_1.orientation.z = 0.707;
pose_1.orientation.w = 0.707;
nh_.param("pose2_x", pose_2.position.x, 1.83);
nh_.param("pose2_y", pose_2.position.y, 0.380);
pose_2.orientation.x = 0.0;
pose_2.orientation.y = 0.0;
pose_2.orientation.z = 1;
pose_2.orientation.w = 0;
nh_.param("pose3_x", pose_3.position.x, 1.0);
nh_.param("pose3_y", pose_3.position.y, 0.494);
pose_3.orientation.x = 0.0;
pose_3.orientation.y = 0.0;
pose_3.orientation.z = 1;
pose_3.orientation.w = 0;
nh_.param("pose4_x", pose_4.position.x, 0.15166891130059032);
nh_.param("pose4_y", pose_4.position.y, 0.5446138339072089);
pose_4.orientation.x = 0.0;
pose_4.orientation.y = 0.0;
pose_4.orientation.z = 0.707;
pose_4.orientation.w = 0.707;
nh_.param("pose5_x", pose_5.position.x, 0.387605134459779);
nh_.param("pose5_y", pose_5.position.y, 0.949243539748394);
pose_5.orientation.x = 0.0;
pose_5.orientation.y = 0.0;
pose_5.orientation.z = 0.0;
pose_5.orientation.w = 1.0;
nh_.param("pose6_x", pose_6.position.x, 1.0250469329539987);
nh_.param("pose6_y", pose_6.position.y, 1.0430107266961729);
pose_6.orientation.x = 0.0;
pose_6.orientation.y = 0.0;
pose_6.orientation.z = 0.0;
pose_6.orientation.w = 1.0;
nh_.param("pose7_x", pose_7.position.x, 1.715746358650675);
nh_.param("pose7_y", pose_7.position.y, 1.0451169673664757);
pose_7.orientation.x = 0.0;
pose_7.orientation.y = 0.0;
pose_7.orientation.z = 0.707;
pose_7.orientation.w = 0.707;
nh_.param("pose8_x", pose_8.position.x, 1.820954899866641);
nh_.param("pose8_y", pose_8.position.y, 1.405578846446346);
pose_8.orientation.x = 0.0;
pose_8.orientation.y = 0.0;
pose_8.orientation.z = 1;
pose_8.orientation.w = 0;
nh_.param("pose9_x", pose_9.position.x, 1.287663212010699);
nh_.param("pose9_y", pose_9.position.y, 1.4502232396357953);
pose_9.orientation.x = 0.0;
pose_9.orientation.y = 0.0;
pose_9.orientation.z = 1;
pose_9.orientation.w = 0;
nh_.param("pose10_x", pose_10.position.x, 0.433025661760874);
nh_.param("pose10_y", pose_10.position.y, 1.5362058814619577);
pose_10.orientation.x = 0.0;
pose_10.orientation.y = 0.0;
pose_10.orientation.z = 0.707;
pose_10.orientation.w = 0.707;
//开始进入视觉定位区域 中心点加上四个中线点对应四面墙
nh_.param("pose_center_x", pose_11.position.x, 1.13);
nh_.param("pose_center_y", pose_11.position.y, 3.04);
nh_.param("pose_center_x", pose_12.position.x, 1.13);
nh_.param("pose_center_y", pose_12.position.y, 3.04);
nh_.param("pose_center_x", pose_13.position.x, 1.13);
nh_.param("pose_center_y", pose_13.position.y, 3.04);
nh_.param("pose_center_x", pose_14.position.x, 1.13);
nh_.param("pose_center_y", pose_14.position.y, 3.04);
nh_.param("pose_center_x", pose_15.position.x, 1.13);
nh_.param("pose_center_y", pose_15.position.y, 3.04);
//退出视觉区域进入路灯识别区域
nh_.param("pose_center_x", pose_16.position.x, 1.13);
nh_.param("pose_center_y", pose_16.position.y, 3.04);
nh_.param("pose_center_x", pose_17.position.x, 1.13);
nh_.param("pose_center_y", pose_17.position.y, 3.04);
nh_.param("pose_center_x", pose_18.position.x, 1.13);
nh_.param("pose_center_y", pose_18.position.y, 3.04);
//退出路灯识别区域，进入巡线区域 注意两个点位取一个，必须标定正确的方向
nh_.param("pose_center_x", pose_19.position.x, 1.13);
nh_.param("pose_center_y", pose_19.position.y, 3.04);
pose_19.orientation.x = 0.0;
pose_19.orientation.y = 0.0;
pose_19.orientation.z = 0.707;
pose_19.orientation.w = 0.707;
nh_.param("pose_center_x", pose_20.position.x, 1.13);
nh_.param("pose_center_y", pose_20.position.y, 3.04);
pose_20.orientation.x = 0.0;
pose_20.orientation.y = 0.0;
pose_20.orientation.z = 0.707;
pose_20.orientation.w = 0.707;
//result_sub_ = nh_.subscribe("result_of_object", 1, &Ucar::detectionCallback, this);
result_client_ = nh_.serviceClient<rfbot_yolov8_ros::DetectGood>("object_realsense_recognization");
cmd_vel_pub = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
odom_sub = nh_.subscribe("/odom", 10, &Ucar::odomCallback, this);
interaction_client = nh_.serviceClient<ucar::ObjectDetection>("object_detection");
ROS_INFO_STREAM("状态机初始化完成");
}
void Ucar::navigate_to_aruco_place(){
setlocale(LC_ALL, "");
navigateTo(pose_1);ROS_INFO("到达pose_1");
navigateTo(pose_2);ROS_INFO("到达pose_2");
navigateTo(pose_3);ROS_INFO("到达pose_3");
}
void Ucar::navigate_to_recongnition_place(){
setlocale(LC_ALL, "");
navigateTo(pose_4);ROS_INFO("到达pose_4");
navigateTo(pose_5);ROS_INFO("到达pose_5");
navigateTo(pose_6);ROS_INFO("到达pose_6");
navigateTo(pose_7);ROS_INFO("到达pose_7");
navigateTo(pose_8);ROS_INFO("到达pose_8");
navigateTo(pose_9);ROS_INFO("到达pose_9");
navigateTo(pose_10);ROS_INFO("到达pose_10");
}
void Ucar::run() {
while (ros::ok()) {
ros::spinOnce();
switch(current_state_) {
case State::INIT: {handleInit();
break;}
case State::ARUCO: {navigate_to_aruco_place();
ROS_INFO("导航到二维码区域");
see_aruco();
if(target_object=="vegetable") playAudioFile("/home/ucar/ucar_ws/src/wav/sc.wav");
if(target_object=="fruit") playAudioFile("/home/ucar/ucar_ws/src/wav/sg.wav");
if(target_object=="dessert") playAudioFile("/home/ucar/ucar_ws/src/wav/tp.wav");
break;}
case State::FIND: {navigate_to_recongnition_place();
spin_to_find();//转着找目标
break;}
case State::GAZEBO: {gazebo();
break;}
}
control_rate_.sleep();
}
}
void Ucar::handleInit() {
setlocale(LC_ALL, "");
ROS_DEBUG("执行初始化流程");
current_state_ = State::ARUCO;
}
void Ucar::see_aruco() {
qr_found_ = false;
image_transport::ImageTransport it(nh_);
// 2. 创建订阅器，订阅/usb_cam/image_raw话题
image_transport::Subscriber sub = it.subscribe(
"/usb_cam/image_raw",
1,
&Ucar::imageCallback,
this
);
std::cout << "已订阅摄像头话题，等待图像数据..." << std::endl;
// 3. 创建ZBar扫描器
scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
target_object = ""; // 重置结果
// 4. 设置超时检测
const int MAX_SCAN_DURATION = 30; // 最大扫描时间（秒）
auto scan_start_time = std::chrono::steady_clock::now();
// 5. ROS事件循环
ros::Rate loop_rate(30); // 30Hz
while (ros::ok() && !qr_found_) {
// 检查超时
auto elapsed = std::chrono::steady_clock::now() - scan_start_time;
if (std::chrono::duration_cast<std::chrono::seconds>(elapsed).count() > MAX_SCAN_DURATION) {
std::cout << "扫描超时" << std::endl;
break;
}
ros::spinOnce();
loop_rate.sleep();
}
// 6. 清理资源
if (!qr_found_) target_object = "";
}
void Ucar::imageCallback(const sensor_msgs::ImageConstPtr& msg) {
try {
// 7. 将ROS图像消息转换为OpenCV格式
cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
cv::Mat frame = cv_ptr->image;
cv::Mat gray;
cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
// 8. 准备ZBar图像
cv::Mat gray_cont = gray.clone();
zbar::Image image(gray.cols, gray.rows, "Y800",
gray_cont.data,
gray.cols * gray.rows);
// 9. 扫描二维码
if (scanner.scan(image) >= 0) {
for (zbar::Image::SymbolIterator symbol = image.symbol_begin();
symbol != image.symbol_end();
++symbol)
{
// 获取原始结果
std::string rawResult = symbol->get_data();
// 在存储到全局变量前将首字母转换为小写
target_object = toLowerFirstChar(rawResult);
ROS_INFO("识别到二维码: %s", target_object.c_str());
current_state_ = State::FIND;
qr_found_ = true;
// 在视频帧上绘制结果
std::vector<cv::Point> points;
for (int i = 0; i < symbol->get_location_size(); i++) {
points.push_back(cv::Point(symbol->get_location_x(i), symbol->get_location_y(i)));
}
// 绘制二维码边界框
cv::RotatedRect rect = cv::minAreaRect(points);
cv::Point2f vertices[4];
rect.points(vertices);
for (int i = 0; i < 4; i++) {
cv::line(frame, vertices[i], vertices[(i + 1) % 4], cv::Scalar(0, 255, 0), 2);
}
// 显示原始二维码内容
cv::putText(frame, rawResult, cv::Point(10, 30),
cv::FONT_HERSHEY_SIMPLEX, 0.7, cv::Scalar(0, 255, 0), 2);
// 显示转换后的结果
cv::putText(frame, "Stored: " + target_object, cv::Point(10, 60),
cv::FONT_HERSHEY_SIMPLEX, 0.7, cv::Scalar(0, 0, 255), 2);
// 显示最终结果画面
cv::imshow("QR Code Scanner", frame);
cv::waitKey(250); // 短暂显示结果
}
}
// 显示当前帧
cv::imshow("QR Code Scanner", frame);
cv::waitKey(1);
}
catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge异常: %s", e.what());
}
}
//播放音频文件函数
bool Ucar::playAudioFile(const std::string& filePath) {
// 创建子进程播放音频
pid_t pid = fork();
if (pid == 0) { // 子进程
// 尝试使用 aplay (适用于 WAV 文件)
execlp("aplay", "aplay", "-q", filePath.c_str(), (char*)NULL);
// 如果 aplay 失败，尝试 ffplay
execlp("ffplay", "ffplay", "-nodisp", "-autoexit", "-loglevel", "quiet", filePath.c_str(), (char*)NULL);
// 如果 ffplay 失败，尝试 mpg123 (适用于 MP3)
execlp("mpg123", "mpg123", "-q", filePath.c_str(), (char*)NULL);
// 如果所有播放器都不可用，退出
exit(1);
}
else if (pid > 0) { // 父进程
int status;
waitpid(pid, &status, 0);
return WIFEXITED(status) && WEXITSTATUS(status) == 0;
}
else { // fork 失败
perror("fork failed");
return false;
}
}
// 辅助函数：将字符串首字母转换为小写
std::string Ucar::toLowerFirstChar(const std::string& str) {
if (str.empty()) return str;
std::string result = str;
result[0] = static_cast<char>(std::tolower(static_cast<unsigned char>(result[0])));
return result;
}
// 在odomCallback中更新最新里程计数据
void Ucar::odomCallback(const nav_msgs::Odometry::ConstPtr& msg) {
latest_odom_ = msg; // 保存最新里程计数据
if (!position_recorded) {
initial_position = msg->pose.pose.position;
position_recorded = true;
//ROS_INFO("初始位置记录完成: (%.3f, %.3f)",
// initial_position.x, initial_position.y);
}
}
void Ucar::moveLeftDistance(double distance_m, double linear_speed) {
// 订阅里程计话题（根据实际机器人配置修改话题名）
// 等待位置记录完成
position_recorded = false;
while (!position_recorded && ros::ok()) {
ros::spinOnce();
ros::Duration(0.1).sleep();
}
// 计算理论运动时间
double duration = distance_m / linear_speed;
//ROS_INFO("开始左移: 距离=%.2fm, 速度=%.2fm/s, 理论时间=%.1fs",
// distance_m, linear_speed, duration);
// 创建控制消息
geometry_msgs::Twist move_cmd;
move_cmd.linear.y = linear_speed; // 全向移动Y轴速度控制左右移动
// 记录开始时间
auto start_time = ros::Time::now();
// 持续发送控制命令
while ((ros::Time::now() - start_time).toSec() < duration && ros::ok()) {
cmd_vel_pub.publish(move_cmd);
ros::Duration(0.05).sleep(); // 50ms控制周期
}
// 发送停止指令
move_cmd.linear.y = 0;
cmd_vel_pub.publish(move_cmd);
//ROS_INFO("左移完成");
}
void Ucar::moveRightDistance(double distance_m, double linear_speed) {
// 等待位置记录完成
position_recorded = false;
while (!position_recorded && ros::ok()) {
ros::spinOnce();
ros::Duration(0.1).sleep();
}
// 计算理论运动时间
double duration = distance_m / linear_speed;
//ROS_INFO("开始右移: 距离=%.2fm, 速度=%.2fm/s, 理论时间=%.1fs",
// distance_m, linear_speed, duration);
// 创建控制消息
geometry_msgs::Twist move_cmd;
move_cmd.linear.y = -linear_speed; // 全向移动Y轴速度控制左右移动
// 记录开始时间
auto start_time = ros::Time::now();
// 持续发送控制命令
while ((ros::Time::now() - start_time).toSec() < duration && ros::ok()) {
cmd_vel_pub.publish(move_cmd);
ros::Duration(0.05).sleep(); // 50ms控制周期
}
// 发送停止指令
move_cmd.linear.y = 0;
cmd_vel_pub.publish(move_cmd);
//ROS_INFO("右移完成");
}
void Ucar::moveForwardDistance(double distance_m, double linear_speed) {
// 确保速度为正值（前进方向）
if (linear_speed < 0) {
ROS_WARN("前进速度应为正值，自动取绝对值");
linear_speed = fabs(linear_speed);
}
// 等待位置记录完成
position_recorded = false;
while (!position_recorded && ros::ok()) {
ros::spinOnce();
ros::Duration(0.1).sleep();
}
// 计算理论运动时间
double duration = distance_m / linear_speed;
//ROS_INFO("开始前进: 距离=%.2fm, 速度=%.2fm/s, 理论时间=%.1fs",
// distance_m, linear_speed, duration);
// 创建控制消息
geometry_msgs::Twist move_cmd;
move_cmd.linear.x = linear_speed; // X轴速度控制前后移动
// 记录开始时间
auto start_time = ros::Time::now();
// 持续发送控制命令
while ((ros::Time::now() - start_time).toSec() < duration && ros::ok()) {
cmd_vel_pub.publish(move_cmd);
ros::Duration(0.05).sleep(); // 50ms控制周期
}
// 发送停止指令
move_cmd.linear.x = 0.0;
cmd_vel_pub.publish(move_cmd);
ROS_INFO("前进完成");
}
//输入1逆时针，输入-1顺时针
void Ucar::rotateCounterClockwise5Degrees(int a) {
// 设置旋转参数
const double angular_speed = 0.2; // rad/s (约11.5度/秒)
const double degrees = 5.0;
const double duration = degrees * (M_PI / 180.0) / angular_speed; // 约0.436秒
//if(a==1)
//ROS_INFO("开始逆时针旋转5度: 速度=%.2f rad/s, 时间=%.3f秒",
// angular_speed, duration);
//else if(a==-1)
//ROS_INFO("开始顺时针旋转5度: 速度=%.2f rad/s, 时间=%.3f秒",
// angular_speed, duration);
// 创建控制消息
geometry_msgs::Twist twist_msg;
twist_msg.angular.z = angular_speed*a; // 正值表示逆时针
// 记录开始时间
auto start_time = ros::Time::now();
// 持续发送控制命令
while ((ros::Time::now() - start_time).toSec() < duration && ros::ok()) {
cmd_vel_pub.publish(twist_msg);
ros::Duration(0.05).sleep(); // 20Hz控制周期
}
// 发送停止命令（确保接收）
twist_msg.angular.z = 0.0;
for (int i = 0; i < 3; i++) {
cmd_vel_pub.publish(twist_msg);
ros::Duration(0.02).sleep();
}
if(a==1)
ROS_INFO("逆时针旋转5度完成");
else if (a==-1)
ROS_INFO("顺时针旋转5度完成");
}
void Ucar::rotateCounterClockwise360Degrees() {
// 设置旋转参数
const double angular_speed = 1; // rad/s (约11.5度/秒)
const double degrees = 360.0;
const double duration = degrees * (M_PI / 180.0) / angular_speed; // 约0.436秒
// 创建控制消息
geometry_msgs::Twist twist_msg;
twist_msg.angular.z = angular_speed; // 正值表示逆时针
// 记录开始时间
auto start_time = ros::Time::now();
// 持续发送控制命令
while ((ros::Time::now() - start_time).toSec() < duration && ros::ok()) {
cmd_vel_pub.publish(twist_msg);
ros::Duration(0.05).sleep(); // 20Hz控制周期
}
// 发送停止命令（确保接收）
twist_msg.angular.z = 0.0;
for (int i = 0; i < 3; i++) {
cmd_vel_pub.publish(twist_msg);
ros::Duration(0.02).sleep();
}
}
void Ucar::left_and_right_move_old(){
rfbot_yolov8_ros::DetectGood srv;
while((find_object_x2_old+find_object_x1_old)/2>324){
if((find_object_x2_old+find_object_x1_old)>340) moveLeftDistance(0.15,0.1);//控制小车往左移动15cm
else moveLeftDistance(0.05,0.1);//控制小车往左移动5cm
moveForwardDistance(0.05,0.1);
Ucar::result_client_.call(srv);
for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
ROS_INFO("响应结果：");
ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
srv.response.u1[j],
srv.response.v1[j],
srv.response.u2[j],
srv.response.v2[j]);
//ROS_INFO("置信度: %f", srv.response.confidence[j]);
find_object_x1_old=srv.response.u1[0];
find_object_y1_old=srv.response.v1[0];
find_object_x2_old=srv.response.u2[0];
find_object_y2_old=srv.response.v2[0];
}
ROS_INFO("当前目标中心横坐标为：%d",(find_object_x2_old+find_object_x1_old)/2);
}
while((find_object_x2_old+find_object_x1_old)/2<316){
if((find_object_x2_old+find_object_x1_old)<300) moveRightDistance(0.15,0.1);//控制小车往右移动15cm
else moveRightDistance(0.05,0.1);//控制小车往右移动5cm
moveForwardDistance(0.05,0.1);
Ucar::result_client_.call(srv);
for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
ROS_INFO("响应结果：");
ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
srv.response.u1[j],
srv.response.v1[j],
srv.response.u2[j],
srv.response.v2[j]);
//ROS_INFO("置信度: %f", srv.response.confidence[j]);
find_object_x1_old=srv.response.u1[0];
find_object_y1_old=srv.response.v1[0];
find_object_x2_old=srv.response.u2[0];
find_object_y2_old=srv.response.v2[0];
}
ROS_INFO("当前目标中心横坐标为：%d",(find_object_x2_old+find_object_x1_old)/2);
}
ROS_INFO("左右移动完成");
}
//前进函数（涵盖第二种停靠算法）
void Ucar::go(){
rfbot_yolov8_ros::DetectGood srv;
while(1){
moveForwardDistance(0.05,0.1);//控制小车前进
Ucar::result_client_.call(srv);
for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
ROS_INFO("响应结果：");
ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
srv.response.u1[j],
srv.response.v1[j],
srv.response.u2[j],
srv.response.v2[j]);
//ROS_INFO("置信度: %f", srv.response.confidence[j]);
find_object_x1_new=srv.response.u1[0];
find_object_y1_new=srv.response.v1[0];
find_object_x2_new=srv.response.u2[0];
find_object_y2_new=srv.response.v2[0];
}
//图像左边先到达边线——>逆时针往右
if(find_object_x2_new==640&&find_object_y1_new==0&&find_object_x1_new!=0&&find_object_y2_new>=350){
if(find_object_x1_new>240||(find_object_x2_new-find_object_x1_new)<=(find_object_y2_new-find_object_y1_new)){
rotateCounterClockwise5Degrees(1);
rotateCounterClockwise5Degrees(1);
rotateCounterClockwise5Degrees(1);
rotateCounterClockwise5Degrees(1);
rotateCounterClockwise5Degrees(1);
moveRightDistance(0.35,0.1);
ROS_INFO("大摆头");
break;
}
else if(find_object_x1_new>120){
rotateCounterClockwise5Degrees(1);
rotateCounterClockwise5Degrees(1);
rotateCounterClockwise5Degrees(1);
moveRightDistance(0.25,0.1);
ROS_INFO("中摆头");
break;
}
else{
rotateCounterClockwise5Degrees(1);//逆时针
moveRightDistance(0.1,0.1);
ROS_INFO("小摆头");
break;
}
}
//图像右边先到达边线——>顺时针往左
else if(find_object_x1_new==0&&find_object_y1_new==0&&find_object_x2_new!=640&&find_object_y2_new>=350){
if(find_object_x2_new<400||(find_object_x2_new-find_object_x1_new)<=(find_object_y2_new-find_object_y1_new)){
rotateCounterClockwise5Degrees(-1);
rotateCounterClockwise5Degrees(-1);
rotateCounterClockwise5Degrees(-1);
rotateCounterClockwise5Degrees(-1);
rotateCounterClockwise5Degrees(-1);
moveLeftDistance(0.35,0.1);
ROS_INFO("大摆头");
break;
}
else if(find_object_x2_new<520){
rotateCounterClockwise5Degrees(-1);
rotateCounterClockwise5Degrees(-1);
rotateCounterClockwise5Degrees(-1);
moveLeftDistance(0.25,0.1);
ROS_INFO("中摆头");
break;
}
else{
rotateCounterClockwise5Degrees(-1);//顺时针
moveLeftDistance(0.1,0.1);
ROS_INFO("小摆头");
break;
}
}
}
}
void Ucar::visualservo(){
rfbot_yolov8_ros::DetectGood srv;
//左移右移
left_and_right_move_old();
//提取长宽比
Ucar::result_client_.call(srv);
for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
ROS_INFO("响应结果：");
ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
srv.response.u1[j],
srv.response.v1[j],
srv.response.u2[j],
srv.response.v2[j]);
//ROS_INFO("置信度: %f", srv.response.confidence[j]);
find_object_x1_old=srv.response.u1[0];
find_object_y1_old=srv.response.v1[0];
find_object_x2_old=srv.response.u2[0];
find_object_y2_old=srv.response.v2[0];
}
changkuanbi_old=(find_object_x2_old-find_object_x1_old)/(find_object_y2_old-find_object_y1_old);
ROS_INFO("长宽比为：%f",changkuanbi_old);go();
if(find_object=="dessert1") playAudioFile("/home/ucar/ucar_ws/src/wav/kl.wav");
if(find_object=="dessert2") playAudioFile("/home/ucar/ucar_ws/src/wav/dg.wav");
if(find_object=="dessert3") playAudioFile("/home/ucar/ucar_ws/src/wav/nn.wav");
if(find_object=="vegetable1") playAudioFile("/home/ucar/ucar_ws/src/wav/lj.wav");
if(find_object=="vegetable2") playAudioFile("/home/ucar/ucar_ws/src/wav/xhs.wav");
if(find_object=="vegetable3") playAudioFile("/home/ucar/ucar_ws/src/wav/td.wav");
if(find_object=="fruit1") playAudioFile("/home/ucar/ucar_ws/src/wav/xj.wav");
if(find_object=="fruit2") playAudioFile("/home/ucar/ucar_ws/src/wav/pg.wav");
if(find_object=="fruit3") playAudioFile("/home/ucar/ucar_ws/src/wav/xg.wav");
// if(abs(changkuanbi_old-1.666666667)<0.05){
// ROS_INFO("比较接近16:9，不需要旋转");
// //前进
// go();
// }
// else {
// //先逆时针转个10度
// rotateCounterClockwise5Degrees(1);
// rotateCounterClockwise5Degrees(1);
// Ucar::result_client_.call(srv);
// for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
// ROS_INFO("响应结果：");
// ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
// srv.response.u1[j],
// srv.response.v1[j],
// srv.response.u2[j],
// srv.response.v2[j]);
// //ROS_INFO("置信度: %f", srv.response.confidence[j]);
// find_object_x1_new=srv.response.u1[0];
// find_object_y1_new=srv.response.v1[0];
// find_object_x2_new=srv.response.u2[0];
// find_object_y2_new=srv.response.v2[0];
// }
// changkuanbi_new=(find_object_x2_new-find_object_x1_new)/(find_object_y2_new-find_object_y1_new);
// ROS_INFO("长宽比为：%f",changkuanbi_new);
// if(changkuanbi_new<changkuanbi_old)//方向错了
// {
// while(abs(changkuanbi_new-1.666666667)>0.4)//不准就再转
// {
// rotateCounterClockwise5Degrees(-1);
// Ucar::result_client_.call(srv);
// for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
// ROS_INFO("响应结果：");
// ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
// srv.response.u1[j],
// srv.response.v1[j],
// srv.response.u2[j],
// srv.response.v2[j]);
// //ROS_INFO("置信度: %f", srv.response.confidence[j]);
// find_object_x1_new=srv.response.u1[0];
// find_object_y1_new=srv.response.v1[0];
// find_object_x2_new=srv.response.u2[0];
// find_object_y2_new=srv.response.v2[0];
// //保持正对目标
// while((find_object_x2_new+find_object_x1_new)/2>324)
// {moveLeftDistance(0.05,0.1);//控制小车往左移动5cm
// Ucar::result_client_.call(srv);
// for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
// ROS_INFO("响应结果：");
// ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
// srv.response.u1[j],
// srv.response.v1[j],
// srv.response.u2[j],
// srv.response.v2[j]);
// //ROS_INFO("置信度: %f", srv.response.confidence[j]);
// find_object_x1_new=srv.response.u1[0];
// find_object_y1_new=srv.response.v1[0];
// find_object_x2_new=srv.response.u2[0];
// find_object_y2_new=srv.response.v2[0];
// }
// changkuanbi_new=(find_object_x2_new-find_object_x1_new)/(find_object_y2_new-find_object_y1_new);
// ROS_INFO("长宽比为：%f",changkuanbi_new);}
// while((find_object_x2_new+find_object_x1_new)/2<316)
// {moveRightDistance(0.05,0.1);//控制小车往右移动5cm
// Ucar::result_client_.call(srv);
// for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
// ROS_INFO("响应结果：");
// ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
// srv.response.u1[j],
// srv.response.v1[j],
// srv.response.u2[j],
// srv.response.v2[j]);
// //ROS_INFO("置信度: %f", srv.response.confidence[j]);
// find_object_x1_new=srv.response.u1[0];
// find_object_y1_new=srv.response.v1[0];
// find_object_x2_new=srv.response.u2[0];
// find_object_y2_new=srv.response.v2[0];
// }
// changkuanbi_new=(find_object_x2_new-find_object_x1_new)/(find_object_y2_new-find_object_y1_new);
// ROS_INFO("长宽比为：%f",changkuanbi_new);}
// }
// }
// }
// else{//方向对了
// while(abs(changkuanbi_new-1.666666667)>0.4)//不准就再转
// {
// rotateCounterClockwise5Degrees(1);
// //保持正对目标
// while((find_object_x2_new+find_object_x1_new)/2>324) moveLeftDistance(0.05,0.1);//控制小车往左移动5cm
// while((find_object_x2_new+find_object_x1_new)/2<316) moveRightDistance(0.05,0.1);//控制小车往右移动5cm
// Ucar::result_client_.call(srv);
// for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
// ROS_INFO("响应结果：");
// ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
// srv.response.u1[j],
// srv.response.v1[j],
// srv.response.u2[j],
// srv.response.v2[j]);
// //ROS_INFO("置信度: %f", srv.response.confidence[j]);
// find_object_x1_new=srv.response.u1[0];
// find_object_y1_new=srv.response.v1[0];
// find_object_x2_new=srv.response.u2[0];
// find_object_y2_new=srv.response.v2[0];
// }
// changkuanbi_new=(find_object_x2_new-find_object_x1_new)/(find_object_y2_new-find_object_y1_new);
// ROS_INFO("长宽比为：%f",changkuanbi_new);
// }
// }
// //前进
// go();
// }
ROS_INFO("导航完成");
ros::Duration(3000).sleep();
current_state_ = State::GAZEBO;
}
void Ucar::spin_to_find(){
setlocale(LC_ALL, "");
for(int i=0;i<9;i++){
navigateTo(pose_center[i]);//导航到i号点位
ros::Duration(3).sleep();//停留3秒
rfbot_yolov8_ros::DetectGood srv;
Ucar::result_client_.call(srv);
for (size_t j = 0; j < srv.response.goodName.size(); ++j) {
ROS_INFO("响应结果：");
ROS_INFO("位置: x1: %d, y1: %d, x2: %d, y2: %d",
srv.response.u1[j],
srv.response.v1[j],
srv.response.u2[j],
srv.response.v2[j]);
//ROS_INFO("置信度: %f", srv.response.confidence[j]);
find_object_x1_old=srv.response.u1[0];
find_object_y1_old=srv.response.v1[0];
find_object_x2_old=srv.response.u2[0];
find_object_y2_old=srv.response.v2[0];
pose_center_object[i] = srv.response.goodName[0]; //看看这个方向有没有目标
}
if(pose_center_object[i].find(target_object)!=std::string::npos&&(find_object_x2_old-find_object_x1_old)>=(find_object_y2_old-find_object_y1_old))
{ROS_INFO("本次任务目标识别成功");
find_object=pose_center_object[i];
visualservo();
break;}
else{
ROS_INFO("本次任务目标识别失败，尝试下一个目标");
continue;
}
}
}
void Ucar::gazebo(){
navigateTo(pose_gazebo);
//主从机通信
FileTransfer ft("/home/ucar/ucar_ws/src/ucar");
ft.saveToFile(target_object, "target.txt");
//电脑的ip
ft.sendTo("192.168.1.100", 8080, "/home/ucar/ucar_ws/src/ucar/target.txt", "/home/zzs/gazebo_test_ws/src/ucar2/target.txt");
try {
// 示例3：等待接收文件并读取内容
std::cout << "等待接收文件..." << std::endl;
ft.receiveAndReadTwoStrings(8080, gazebo_object, gazebo_room);
std::cout << "接收到的内容:\n" << gazebo_object << "\n"<<gazebo_room << std::endl;
} catch (const std::exception& e) {
std::cerr << "错误: " << e.what() << std::endl;}
ros::Duration(30000).sleep();//停留3秒
}
int main(int argc, char** argv) {
ros::init(argc, argv, "multi_room_navigation_node");
ros::NodeHandle nh;
Ucar ucar(nh);
ucar.run();
return 0;
}
帮我修改上述代码，其中导航到nh_.param("pose_center_x", pose_11.position.x, 1.13);
nh_.param("pose_center_y", pose_11.position.y, 3.04);
nh_.param("pose_center_x", pose_12.position.x, 1.13);
nh_.param("pose_center_y", pose_12.position.y, 3.04);
nh_.param("pose_center_x", pose_13.position.x, 1.13);
nh_.param("pose_center_y", pose_13.position.y, 3.04);
nh_.param("pose_center_x", pose_14.position.x, 1.13);
nh_.param("pose_center_y", pose_14.position.y, 3.04);
nh_.param("pose_center_x", pose_15.position.x, 1.13);
nh_.param("pose_center_y", pose_15.position.y, 3.04);时候时，删除原来旋转十五度停下的情况，改成每个点都停留，然后开始原地旋转，每旋转0.2秒停顿0.5秒，然后旋转360度之后，前往下一个点，在其中任意一个点识别到目标时，就不前往之后的点而是直接进入视觉定位，最后直接前往 nh_.param("pose_center_x", pose_16.position.x, 1.13);
nh_.param("pose_center_y", pose_16.position.y, 3.04);
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该文介绍了TensorFlow中的scan和map_fn函数，它们用于处理张量序列。scan函数沿第一维度对元素应用可调用函数，而map_fn则对输入序列中的每个元素应用函数。两者都支持并行迭代和反向传播，并可以设置是否交换GPU-CPU内存来优化性能。用户需指定函数输出类型、迭代次数等参数。
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