机器人视觉项目：视觉检测识别+机器人跟随（22）

最新推荐文章于 2025-06-08 23:05:34 发布

Synioe

最新推荐文章于 2025-06-08 23:05:34 发布

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CC 4.0 BY-SA版权

分类专栏：机器人 2018暑期文章标签：移动机器人行人跟随 ros

本文链接：https://blog.youkuaiyun.com/Synioe/article/details/82981788

本文主要介绍了机器人使用ROS的turtle_floower节点进行人体跟随的调试过程，特别是针对launch文件参数的调整，以提升在转弯处的跟随性能。尽管有所改进，但在某些情况下仍存在跟丢的问题。

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机器人调试

ros turtle_floower人体跟随

#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/Image.h>
#include <visualization_msgs/Marker.h>
#include <turtlebot_msgs/SetFollowState.h>

#include "dynamic_reconfigure/server.h"
#include "turtlebot_follower/FollowerConfig.h"

#include <depth_image_proc/depth_traits.h>


namespace turtlebot_follower
{

//* The turtlebot follower nodelet.
/**
 * The turtlebot follower nodelet. Subscribes to point clouds
 * from the 3dsensor, processes them, and publishes command vel
 * messages.
 */
class TurtlebotFollower : public nodelet::Nodelet
{
public:
  /*!
   * @brief The constructor for the follower.
   * Constructor for the follower.
   */
  TurtlebotFollower() : min_y_(0.1), max_y_(0.5),
                        min_x_(-0.2), max_x_(0.2),
                        max_z_(0.8), goal_z_(0.6),
                        z_scale_(1.0), x_scale_(5.0)
  {

  }

  ~TurtlebotFollower()
  {
    delete config_srv_;
  }

private:
  double min_y_; /**< The minimum y position of the points in the box. */
  double max_y_; /**< The maximum y position of the points in the box. */
  double min_x_; /**< The minimum x position of the points in the box. */
  double max_x_; /**< The maximum x position of the points in the box. */
  double max_z_; /**< The maximum z position of the points in the box. 框中 点的最大z位置，以上四个字段用来设置框的大小*/
  double goal_z_; /**< The distance away from the robot to hold the centroid 离机器人的距离，以保持质心*/
  double z_scale_; /**< The scaling factor for translational robot speed 移动机器人速度的缩放系数*/
  double x_scale_; /**< The scaling factor for rotational robot speed 旋转机器人速度的缩放系数*/
  bool   enabled_; /**< Enable/disable following; just prevents motor commands 启用/禁用追踪; 只是阻止电机命令，置为false后，机器人不会移动，/mobile_base/mobile_base_controller/cmd_vel topic 为空*/

  // Service for start/stop following
  ros::ServiceServer switch_srv_;

  // Dynamic reconfigure server 动态配置服务
  dynamic_reconfigure::Server<turtlebot_follower::FollowerConfig>* config_srv_;

  /*!
   * @brief OnInit method from node handle.
   * OnInit method from node handle. Sets up the parameters
   * and topics.
   * 初始化handle，参数，和话题
   */
  virtual void onInit()
  {
    ros::NodeHandle& nh = getNodeHandle();
    ros::NodeHandle& private_nh = getPrivateNodeHandle();
   //从参数服务器获取设置的参数（launch文件中设置数值）
    private_nh.getParam("min_y", min_y_);
    private_nh.getParam("max_y", max_y_);
    private_nh.getParam("min_x", min_x_);
    private_nh.getParam("max_x", max_x_);
    private_nh.getParam("max_z", max_z_);
    private_nh.getParam("goal_z", goal_z_);
    private_nh.getParam("z_scale", z_scale_);
    private_nh.getParam("x_scale", x_scale_);
    private_nh.getParam("enabled", enabled_);
    //设置机器人移动的话题（用于机器人移动）：/mobile_base/mobile_base_controller/cmd_vel（换成机器人的移动topic）
    cmdpub_ = private_nh.advertise<geometry_msgs::Twist> ("/mobile_base/mobile_base_