data = self._data_queue.get(timeout=timeout)

最新推荐文章于 2025-01-17 14:44:06 发布
最新推荐文章于 2025-01-17 14:44:06 发布
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data = self._data_queue.get(timeout=timeout)RuntimeError: DataLoader worker (pid(s) 8528, 8488) exit
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解决报错data = self._data_queue.get(timeout=timeout)RuntimeError: DataLoader worker (pid(s) 8528, 8488) exit
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《动手学深度学习》之深度卷积神经网络（AlexNet）
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参考深度卷积神经网络（AlexNet） import time import torch from torch import nn, optim import torchvision import sys sys.path.append("..") import d2lzh_pytorch as d2l device = torch.device('cuda' if torch.cuda....
#!/usr/bin/env python # coding=utf-8 import rospy import actionlib import os import threading import time import numpy as np from cv_bridge import CvBridge, CvBridgeError from sensor_msgs.msg import Image from geometry_msgs.msg import PoseStamped, Twist from my_control.msg import simulation from std_msgs.msg import String, Bool from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal from actionlib_msgs.msg import GoalStatus from pyzbar import pyzbar import cv2 from playsound import playsound from darknet_ros_msgs.msg import BoundingBoxes, BoundingBox class AutomationNode: # 状态定义 STATE_IDLE = "IDLE" #空闲状态 STATE_NAVIGATING = "NAVIGATING" #导航状态 STATE_ARRIVED = "ARRIVED" #抵达目标点 STATE_SCANNING = "SCANNING" #搜索二维码 STATE_PLAYING = "PLAYING" #播放音频 STATE_SEARCHING = "SEARCHING" #搜索目标物品 STATE_FOUND_TARGET = "FOUND_TARGET" #找到目标物品 STATE_GOING_TO_FINAL = "GOING_TO_FINAL" #前往任务二终点 STATE_WAITING_FOR_TASK3 = "WAITING_FOR_TASK3" # 等待任务3指令 STATE_TRAFFIC_LIGHT_DETECTION = "TRAFFIC_LIGHT_DETECTION" # 交通灯识别状态 STATE_TASK3_NAVIGATING = "TASK3_NAVIGATING" # 任务3导航状态 def __init__(self): rospy.init_node('automation_node', anonymous=True) # 状态变量 self.current_state = self.STATE_IDLE self.target_waypoint = None self.qr_detected = False self.waypoint_index = 0 self.task3_started = False # 任务3是否已启动 # ROS通信设置 self.bridge = CvBridge() self.speech_sub = rospy.Subscriber('/mic/recognise_result', String, self.speech_callback) self.arrival_sub = rospy.Subscriber('/arrival_status', Bool, self.arrival_callback) self.image_sub = None self.goal_pub = rospy.Publisher('/move_base_simple/goal', PoseStamped, queue_size=10) self.status_pub = rospy.Publisher('/task_status', String, queue_size=10) self.qr_result_pub = rospy.Publisher('/qrcode_result', String, queue_size=10) self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10) self.yolo_sub = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, self.yolo_callback) self.money_sub = rospy.Subscriber() # 二维码参数配置 self.display = rospy.get_param('~display', False) self.min_size = rospy.get_param('~min_size', 100) self.process_counter = 0 self.process_every_n = 5 # MoveBase动作客户端 self.move_base_client = actionlib.SimpleActionClient('move_base', MoveBaseAction) rospy.loginfo("等待move_base服务器...") if not self.move_base_client.wait_for_server(rospy.Duration(10)): rospy.logwarn("move_base服务器未响应，使用简单导航") # 预定义航点（根据实际环境配置） self.waypoints = [ # 任务1相关航点 self.create_pose(0.86228, 0.643816, 0.0, 0.0, 0.0, 0.999994, -0.00352223), # 点1: 扫描点，识别二维码 self.create_pose(0.239635, 2.22449, 0.0, 0.0, 0.0, 0.625221, 0.780448), # 点2: 到达任务1的出口 # 任务2搜索航点 self.create_pose(1.63196, 2.63176, 0.0, 0.0, 0.0, -0.350634, 0.936513), # 点3: 搜索点1 self.create_pose(1.353, 4.08081, 0.0, 0.0, 0.0, 0.35119, 0.936304), # 点4: 搜索点2 self.create_pose(0.445499, 3.68565, 0.0, 0.0, 0.0, 0.900844, 0.434142), # 点5: 搜索点3 # 任务2终点 self.create_pose(1.1181, 3.55528, 0.0, 0.0, 0.0, 0.0148318, 0.99989), # 点6: 任务2的终点 # 任务3相关航点 self.create_pose(2.28661, 4.04943, 0.0, 0.0, 0.0, 0.0, 1), # 点7: 门 self.create_pose(2.69836, 3.77956, 0.0, 0.0, 0.0, 0.745125, 0.666924), # 点8: 路灯1 self.create_pose(2.56047, 3.24088, 0.0, 0.0, 0.0, -0.60105, 0.799212), # 点9: 路口1 self.create_pose(4.36605, 2.0, 0.0, 0.0, 0.0, 0.0, 1.0), # 点10: 路灯2 self.create_pose(3.0, 3.90711, 0.0, 0.0, 0.0, 0.698666, 0.715448) # 点11: 路口2 ] # 航点索引常量（提高可读性） self.WAYPOINT_SCAN = 0 self.WAYPOINT_TASK1_EXIT = 1 self.WAYPOINT_SEARCH1 = 2 self.WAYPOINT_SEARCH2 = 3 self.WAYPOINT_SEARCH3 = 4 self.WAYPOINT_TASK2_END = 5 self.WAYPOINT_DOOR = 6 self.WAYPOINT_LIGHT1 = 7 self.WAYPOINT_CROSS1 = 8 self.WAYPOINT_LIGHT2 = 9 self.WAYPOINT_CROSS2 = 10 # 音频文件映射 self.audio_files = { "Fruit": "/home/ucar/ucar_ws/src/mp3/Fruit.mp3", "Vegetable": "/home/ucar/ucar_ws/src/mp3/Vegetable.mp3", "Dessert": "/home/ucar/ucar_ws/src/mp3/Dessert.mp3", "apple": "/home/ucar/ucar_ws/src/mp3/apple.mp3", "watermelon": "/home/ucar/ucar_ws/src/mp3/watermelon.mp3", "banana": "/home/ucar/ucar_ws/src/mp3/banana.mp3", "potato": "/home/ucar/ucar_ws/src/mp3/potato.mp3", "tomato": "/home/ucar/ucar_ws/src/mp3/tomato.mp3", "chili": "/home/ucar/ucar_ws/src/mp3/chili.mp3", "cake": "/home/ucar/ucar_ws/src/mp3/cake.mp3", "coco": "/home/ucar/ucar_ws/src/mp3/coco.mp3", "milk": "/home/ucar/ucar_ws/src/mp3/milk.mp3", "load_1": "/home/ucar/ucar_ws/src/mp3/load_1.mp3", "load_2": "/home/ucar/ucar_ws/src/mp3/load_2.mp3" } # 目标搜索相关变量 self.qr_result = 0 self.target_object = None self.search_timeout = 15.0 # 每个搜索点的超时时间(秒) self.search_start_time = None self.search_timer = None # 目标类别映射 self.test1_categories = { 1: ['apple', 'watermelon', 'banana'], 2: ['potato', 'tomato', 'chili'], 3: ['cake', 'coco', 'milk'] } # 任务3相关变量 self.traffic_light_detected = False self.traffic_light_result = None # 'red' 或 'green' rospy.loginfo("自动化节点已启动，等待语音指令...") rospy.on_shutdown(self.shutdown) def create_pose(self, x, y, z, qx, qy, qz, qw): """创建导航目标位姿""" pose = PoseStamped() pose.header.frame_id = "map" pose.header.stamp = rospy.Time.now() pose.pose.position.x = x pose.pose.position.y = y pose.pose.position.z = z pose.pose.orientation.x = qx pose.pose.orientation.y = qy pose.pose.orientation.z = qz pose.pose.orientation.w = qw return pose def navigate_to_waypoint(self, waypoint_index): """导航到指定航点""" if waypoint_index >= len(self.waypoints): rospy.logwarn("无效的航点索引: %d", waypoint_index) return self.waypoint_index = waypoint_index waypoint = self.waypoints[waypoint_index] rospy.loginfo("导航到航点 %d", waypoint_index + 1) # 根据任务设置状态 if self.task3_started: self.current_state = self.STATE_TASK3_NAVIGATING else: self.current_state = self.STATE_NAVIGATING self.status_pub.publish("NAVIGATING_TO_TARGET") if self.move_base_client.server_exists(): goal = MoveBaseGoal() goal.target_pose = waypoint self.move_base_client.send_goal(goal) rospy.Timer(rospy.Duration(1), self.check_navigation_status, oneshot=False) else: # 使用简单导航 self.goal_pub.publish(waypoint) rospy.Timer(rospy.Duration(1), self.check_simple_navigation, oneshot=False) def check_navigation_status(self, event): """检查导航状态（使用move_base动作）""" if self.move_base_client.get_state() == GoalStatus.SUCCEEDED: self.handle_arrival() elif self.move_base_client.get_state() in [GoalStatus.ABORTED, GoalStatus.PREEMPTED]: rospy.logwarn("导航失败，尝试重新规划...") self.navigate_to_waypoint(self.waypoint_index) def check_simple_navigation(self, event): """检查简单导航状态（使用move_base_simple）""" # 在实际应用中，这里需要实现自己的到达检测逻辑 # 为简化，假设总是成功到达 self.handle_arrival() def handle_arrival(self): """处理到达航点后的逻辑""" rospy.loginfo("成功到达航点 %d", self.waypoint_index + 1) self.current_state = self.STATE_ARRIVED self.status_pub.publish("ARRIVED_AT_TARGET") # 模拟发布到达状态 arrival_pub = rospy.Publisher('/arrival_status', Bool, queue_size=10) arrival_pub.publish(True) def speech_callback(self, msg): """处理语音识别结果""" rospy.loginfo(f"收到语音指令: {msg.data}") # 处理初始指令 if "ok" in msg.data.lower() and self.current_state == self.STATE_IDLE: rospy.loginfo("收到语音指令,开始导航到航点1") self.navigate_to_waypoint(self.WAYPOINT_SCAN) # 处理任务3启动指令 elif "start task3" in msg.data.lower() and self.current_state == self.STATE_WAITING_FOR_TASK3: rospy.loginfo("收到任务3启动指令，开始导航到门(点7)") self.task3_started = True self.navigate_to_waypoint(self.WAYPOINT_DOOR) def arrival_callback(self, msg): """处理到达状态""" if not msg.data or self.current_state != self.STATE_ARRIVED: return rospy.loginfo(f"处理航点 {self.waypoint_index+1} 的到达逻辑") # 任务1: 二维码扫描点 if self.waypoint_index == self.WAYPOINT_SCAN: rospy.loginfo("启动二维码识别...") self.current_state = self.STATE_SCANNING self.status_pub.publish("SCANNING") self.image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.image_callback) # 任务1出口 elif self.waypoint_index == self.WAYPOINT_TASK1_EXIT: rospy.loginfo("到达任务1出口，开始任务2") self.start_searching() # 任务2搜索点 elif self.waypoint_index in [self.WAYPOINT_SEARCH1, self.WAYPOINT_SEARCH2, self.WAYPOINT_SEARCH3]: rospy.loginfo(f"在航点 {self.waypoint_index+1} 开始搜索目标...") self.start_searching() # 任务2终点 elif self.waypoint_index == self.WAYPOINT_TASK2_END: rospy.loginfo("到达任务2终点，等待任务3指令...") self.current_state = self.STATE_WAITING_FOR_TASK3 self.status_pub.publish("WAITING_FOR_TASK3") # 任务3: 门 elif self.waypoint_index == self.WAYPOINT_DOOR: rospy.loginfo("到达门，前往路灯1(点8)") self.navigate_to_waypoint(self.WAYPOINT_LIGHT1) # 任务3: 路灯1 elif self.waypoint_index == self.WAYPOINT_LIGHT1: rospy.loginfo("到达路灯1，开始识别交通灯...") self.current_state = self.STATE_TRAFFIC_LIGHT_DETECTION self.status_pub.publish("DETECTING_TRAFFIC_LIGHT") self.traffic_light_detected = False self.traffic_light_result = None # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_traffic_light_timeout, oneshot=True) # 订阅图像用于目标检测 if not self.image_sub: self.image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.yolo_image_callback) # 任务3: 路灯2 elif self.waypoint_index == self.WAYPOINT_LIGHT2: rospy.loginfo("到达路灯2，开始识别交通灯...") self.current_state = self.STATE_TRAFFIC_LIGHT_DETECTION self.status_pub.publish("DETECTING_TRAFFIC_LIGHT") self.traffic_light_detected = False self.traffic_light_result = None # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_traffic_light_timeout, oneshot=True) # 任务3: 路口1或路口2 elif self.waypoint_index in [self.WAYPOINT_CROSS1, self.WAYPOINT_CROSS2]: rospy.loginfo(f"到达路口{self.waypoint_index-7}，准备进行下一步任务...") self.status_pub.publish("TASK3_COMPLETED") self.current_state = self.STATE_IDLE self.task3_started = False # 这里可以添加下一步任务的接口 rospy.loginfo("任务3完成，等待新指令...") # 根据到达的路口播放不同的音频 if self.waypoint_index == self.WAYPOINT_CROSS1: rospy.loginfo("在路口1播放load_1音频") audio_file = self.audio_files.get("load_1") else: rospy.loginfo("在路口2播放load_2音频") audio_file = self.audio_files.get("load_2") if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() # 这里可以添加下一步任务的接口 rospy.loginfo("任务3完成，等待新指令...") def start_searching(self): """启动目标搜索""" rospy.loginfo("开始搜索目标...") self.current_state = self.STATE_SEARCHING self.status_pub.publish("SEARCHING_TARGET") self.search_start_time = rospy.Time.now() # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_search_timeout, oneshot=True) # 订阅图像用于目标检测 if not self.image_sub: self.image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.yolo_image_callback) def handle_search_timeout(self, event): """处理搜索超时""" if self.current_state == self.STATE_SEARCHING: rospy.logwarn("在航点 %d 未找到目标，前往下一个航点", self.waypoint_index + 1) # 计算下一个航点索引 next_index = self.waypoint_index + 1 # 如果还有搜索航点，前往下一个 if next_index <= self.WAYPOINT_SEARCH3: # 航点索引2-4是搜索点 self.navigate_to_waypoint(next_index) else: # 没有更多搜索点，前往任务2终点 rospy.logwarn("所有搜索点均未找到目标，前往任务2终点") self.navigate_to_waypoint(self.WAYPOINT_TASK2_END) def handle_traffic_light_timeout(self, event): """处理交通灯识别超时""" if self.current_state == self.STATE_TRAFFIC_LIGHT_DETECTION: rospy.logwarn("交通灯识别超时，执行默认操作") # 如果在路灯1，默认前往路口1 if self.waypoint_index == self.WAYPOINT_LIGHT1: rospy.loginfo("默认前往路口1(点9)") self.navigate_to_waypoint(self.WAYPOINT_CROSS1) # 如果在路灯2，默认前往路口2 elif self.waypoint_index == self.WAYPOINT_LIGHT2: rospy.loginfo("默认前往路口2(点11)") self.navigate_to_waypoint(self.WAYPOINT_CROSS2) def image_callback(self, data): """处理二维码扫描图像""" if self.current_state != self.STATE_SCANNING: return try: cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") except CvBridgeError as e: rospy.logerr("图像转换错误: %s", e) return # 翻转图像，否则难以识别(亲测) cv_image = cv2.flip(cv_image, 1) # 检测二维码 decoded_objects = pyzbar.decode(cv_image) results = [] for obj in decoded_objects: data = obj.data.decode('utf-8') results.append(data) if results: result_msg = ", ".join(results) rospy.loginfo("识别到二维码: %s", result_msg) self.qr_result_pub.publish(result_msg) self.qr_detected = True self.current_state = self.STATE_PLAYING self.status_pub.publish("PLAYING_AUDIO") # 取消图像订阅 if self.image_sub: self.image_sub.unregister() self.image_sub = None # 播放音频 self.play_audio(result_msg) # 导航到任务1出口 self.navigate_to_waypoint(self.WAYPOINT_TASK1_EXIT) def play_audio(self, qr_code): """播放音频文件""" rospy.loginfo("播放音频: %s", qr_code) # 查找对应的音频文件 audio_file = None for key in self.audio_files: if key in qr_code: audio_file = self.audio_files[key] break if audio_file and os.path.exists(audio_file): # 播放音频（异步） threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() # 设置二维码结果 if "Fruit" in qr_code: self.qr_result = 1 elif "Vegetable" in qr_code: self.qr_result = 2 elif "Dessert" in qr_code: self.qr_result = 3 else: rospy.logwarn("未找到匹配的音频文件: %s", qr_code) def play_audio_thread(self, audio_file): """线程中播放音频""" try: playsound(audio_file) rospy.loginfo("音频播放完成") except Exception as e: rospy.logerr("音频播放错误: %s", str(e)) def yolo_callback(self, msg): """处理YOLO检测结果""" # 目标搜索状态 if self.current_state == self.STATE_SEARCHING: # 检查当前类别的有效目标 test1_targets = self.test1_categories.get(self.qr_result, []) for bbox in msg.bounding_boxes: if bbox.Class in test1_targets: rospy.loginfo("发现目标: %s", bbox.Class) self.target_object = bbox.Class self.xmin = bbox.xmin self.ymin = bbox.ymin self.xmax = bbox.xmax self.ymax = bbox.ymax # 更新状态 self.current_state = self.STATE_FOUND_TARGET self.status_pub.publish("TARGET_FOUND") # 取消超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = None # 如果尚未订阅图像，则订阅 if not self.image_sub: self.image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.yolo_image_callback) break # 交通灯识别状态 elif self.current_state == self.STATE_TRAFFIC_LIGHT_DETECTION: # 检查交通灯类别 for bbox in msg.bounding_boxes: if bbox.Class in ['red', 'green']: rospy.loginfo("识别到交通灯: %s", bbox.Class) self.traffic_light_result = bbox.Class self.traffic_light_detected = True # 取消超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = None # 根据识别结果决定下一步 self.handle_traffic_light_result() break def handle_traffic_light_result(self): """根据交通灯识别结果决定导航路径并播放音频""" if self.waypoint_index == self.WAYPOINT_LIGHT1: # 路灯1 if self.traffic_light_result == 'green': rospy.loginfo("路灯1为绿灯，播放load_1音频并前往路口1(点9)") # 播放音频 audio_file = self.audio_files.get("load_1") if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn("load_1音频文件不存在！") # 导航到路口1 self.navigate_to_waypoint(self.WAYPOINT_CROSS1) else: # 红灯 rospy.loginfo("路灯1为红灯，前往路灯2(点10)") self.navigate_to_waypoint(self.WAYPOINT_LIGHT2) elif self.waypoint_index == self.WAYPOINT_LIGHT2: # 路灯2 if self.traffic_light_result == 'green': rospy.loginfo("路灯2为绿灯，播放load_2音频并前往路口2(点11)") # 播放音频 audio_file = self.audio_files.get("load_2") if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn("load_2音频文件不存在！") # 导航到路口2 self.navigate_to_waypoint(self.WAYPOINT_CROSS2) else: # 红灯 rospy.loginfo("路灯2为红灯，默认前往路口2(点11)") self.navigate_to_waypoint(self.WAYPOINT_CROSS2) def yolo_image_callback(self, msg): """处理目标跟踪图像""" # 目标跟踪状态 if self.target_object and self.current_state == self.STATE_FOUND_TARGET: try: cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8") except CvBridgeError as e: rospy.logerr("图像转换错误: %s", e) return # 翻转图像，否则难以识别(亲测) cv_image = cv2.flip(cv_image, 1) # 计算目标位置 target_center_x = (self.xmin + self.xmax) // 2 target_width = self.xmax - self.xmin frame_center_x = cv_image.shape[1] // 2 # 视觉控制逻辑 twist = Twist() # 横向控制（转向） lateral_error = target_center_x - frame_center_x if abs(lateral_error) > 50: twist.angular.z = 0.0006 * lateral_error else: twist.angular.z = 0.0 # 纵向控制（前进/停止） if target_width < 200: twist.linear.x = 0.3 else: # 到达目标面前 twist.linear.x = 0.0 twist.angular.z = 0.0 rospy.loginfo("已到达目标 %s 面前！", self.target_object) self.status_pub.publish("ARRIVED_AT_TARGET") # 播放目标音频 audio_file = self.audio_files.get(self.target_object) if audio_file and os.path.exists(audio_file): threading.Thread(target=playsound, args=(audio_file,)).start() # 停止当前运动 self.cmd_vel_pub.publish(twist) # 导航到任务2终点 rospy.loginfo("前往任务2终点...") self.navigate_to_waypoint(self.WAYPOINT_TASK2_END) # 重置目标状态 self.target_object = None # 取消图像订阅 if self.image_sub: self.image_sub.unregister() self.image_sub = None # 发布控制命令 self.cmd_vel_pub.publish(twist) def shutdown(self): """节点关闭时的清理工作""" rospy.loginfo("关闭节点...") if self.image_sub: self.image_sub.unregister() if self.search_timer: self.search_timer.shutdown() self.cmd_vel_pub.publish(Twist()) # 停止机器人运动 if __name__ == '__main__': try: node = AutomationNode() rospy.spin() except rospy.ROSInterruptException: pass 无需使用简单导航，如果没有检测到move_base就等待move_base启动
07-29
self.search_timeout = 15.0 # 每个搜索点的超时时间(秒) self.search_start_time = None self.search_timer = None # 目标类别映射 self.test1_categories = { 1: ['apple', 'watermelon', 'banana'], 2: ...
大模型glm-4-9b-chat streamlit 部署报错，cache_name, cache = self._extract_past_from_model_output(outputs)
扶着老奶奶闯红灯
01-17 267
最近在研究GLM4模型，在部署过程中遇到了一些坑。
#!/usr/bin/env python # -*- coding: utf-8 -*- "修改:将多个回调函数进行了融合，避免冲突的同时更加好打理: 新增最终播报模块" import rospy import actionlib import os import threading import time import numpy as np from cv_bridge import CvBridge, CvBridgeError from sensor_msgs.msg import Image from geometry_msgs.msg import PoseStamped, Twist from my_control.msg import simulation, simulation_result from std_msgs.msg import String, Bool from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal from actionlib_msgs.msg import GoalStatus from pyzbar import pyzbar import cv2 from playsound import playsound from darknet_ros_msgs.msg import BoundingBoxes, BoundingBox from xf_mic_asr_offline.srv import Get_Offline_Result_srv,Get_Offline_Result_srvRequest class AutomationNode: # 状态定义 - 添加新状态 STATE_IDLE = "IDLE" # 空闲状态 STATE_NAVIGATING = "NAVIGATING" # 导航状态 STATE_ARRIVED = "ARRIVED" # 抵达目标点 STATE_SCANNING = "SCANNING" # 搜索二维码 STATE_PLAYING = "PLAYING" # 播放音频 STATE_SEARCHING = "SEARCHING" # 搜索目标物品 STATE_FOUND_TARGET = "FOUND_TARGET" # 找到目标物品 STATE_WAITING_FOR_TASK3 = "WAITING_FOR_TASK3" # 等待任务3指令 STATE_TRAFFIC_LIGHT_DETECTION = "TRAFFIC_LIGHT_DETECTION" # 交通灯识别状态 STATE_TASK3_NAVIGATING = "TASK3_NAVIGATING" # 任务3导航状态 STATE_WAITING_FOR_SIMULATION_RESULT = "WAITING_FOR_SIMULATION_RESULT" # 新增状态：等待模拟结果 STATE_SIMULATION = "GO_TO_DO_SIMULATION" def __init__(self): rospy.init_node('automation_node', anonymous=True) # 状态变量 self.current_state = self.STATE_IDLE self.target_waypoint = None self.qr_detected = False self.waypoint_index = 0 self.task3_started = False # 任务3是否已启动 self.sound_state_1 = 1 self.image = None self.light = False # ROS通信设置 self.bridge = CvBridge() self.speech_sub = rospy.Subscriber('/mic/recognise_result', String, self.speech_callback) self.arrival_sub = rospy.Subscriber('/arrival_status', Bool, self.arrival_callback) self.status_pub = rospy.Publisher('/task_status', String, queue_size=10) self.qr_result_pub = rospy.Publisher('/qrcode_result', String, queue_size=10) self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10) self.yolo_sub = rospy.Subscriber('/darknet_ros/bounding_boxes', BoundingBoxes, self.yolo_callback) self.image_sub =rospy.Subscriber('/usb_cam/image_raw', Image, self.image_callback) self.simulation_start_pub = rospy.Publisher('/simulation_start', simulation, queue_size=10) self.simulation_result_sub = rospy.Subscriber('/simulation_result', simulation_result, self.simulation_result_callback) # 二维码参数配置 self.display = rospy.get_param('~display', False) self.min_size = rospy.get_param('~min_size', 100) self.process_counter = 0 self.process_every_n = 5 self.qr_simulation = None # MoveBase动作客户端 - 等待服务器启动 self.move_base_client = actionlib.SimpleActionClient('move_base', MoveBaseAction) rospy.loginfo("等待move_base服务器...") self.move_base_client.wait_for_server() # 无限期等待直到服务器可用 rospy.loginfo("move_base服务器已连接") rospy.loginfo("等待xf_asr_offline_node服务器...") rospy.wait_for_service('/xf_asr_offline_node/get_offline_recognise_result_srv') rospy.loginfo("xf_asr_offline_node服务器已连接") self.speech_recognition = rospy.ServiceProxy('/xf_asr_offline_node/get_offline_recognise_result_srv',Get_Offline_Result_srv) # 预定义航点(根据实际环境配置) self.waypoints = [ # 任务1相关航点 self.create_pose(1.84581,0.56147, 0.0, 0.0, 0.0, 0.999966, -0.00827442), # 新增过渡点0 self.create_pose(1.00982, 0.630106, 0.0, 0.0, 0.0, 0.999848, 0.017445), # 点1: 扫描点,识别二维码 self.create_pose(0.238816, 1.0809, 0.0, 0.0, 0.0, -0.00275711, 0.999996), # 新增过渡点1 self.create_pose(1.91287, 1.5377, 0.0, 0.0, 0.0, 0.999987,0.00516634), # 新增过渡点2 self.create_pose(0.239635, 2.22449, 0.0, 0.0, 0.0,0.625221, 0.780448), # 点2: 任务1出口 # 任务2搜索航点 self.create_pose(1.63196, 2.63176, 0.0, 0.0, 0.0, -0.350634, 0.936513), # 点3: 搜索点1 self.create_pose(1.353, 4.08081, 0.0, 0.0, 0.0, 0.35119, 0.936304), # 点4: 搜索点2 self.create_pose(0.445499, 3.68565, 0.0, 0.0, 0.0, 0.900844, 0.434142), # 点5: 搜索点3 # 任务2终点 self.create_pose(1.09864, 3.57304, 0.0, 0.0, 0.0, 0.0148318, 0.99989), # 点6: 任务2的终点 # 任务3相关航点 self.create_pose(2.69836, 3.77956, 0.0, 0.0, 0.0, 0.745125, 0.666924), # 点7: 路灯1 self.create_pose(2.57195, 3.44993, 0.0, 0.0, 0.0, -0.60105, 0.799212), # 点8: 路口1 self.create_pose(4.36605, 3.90711, 0.0, 0.0, 0.0, 0.698666, 0.715448), # 点9: 路灯2） self.create_pose(4.53154, 3.52776, 0.0, 0.0, 0.0, -0.771258, 0.636523) # 点10: 路口2 ] # 航点索引常量(提高可读性) - 更新索引 self.WAYPOINT_TRANSITION0 = 0 # 新增的过渡点0 self.WAYPOINT_SCAN = 1 # 点1: 扫描点,识别二维码 self.WAYPOINT_TRANSITION1 = 2 # 新增过渡点1 self.WAYPOINT_TRANSITION2 = 3 # 新增过渡点2 self.WAYPOINT_TASK1_EXIT = 4 # 点2: 任务1出口 self.WAYPOINT_SEARCH1 = 5 # 点3: 搜索点1 self.WAYPOINT_SEARCH2 = 6 # 点4: 搜索点2 self.WAYPOINT_SEARCH3 = 7 # 点5: 搜索点3 self.WAYPOINT_TASK2_END = 8 # 点6: 任务2的终点 self.WAYPOINT_LIGHT1 = 9 # 点7: 路灯1） self.WAYPOINT_CROSS1 = 10 # 点8: 路口1） self.WAYPOINT_LIGHT2 = 11 # 点9: 路灯2） self.WAYPOINT_CROSS2 = 12 # 点10: 路口2） # 音频文件映射 - 添加新音频 self.audio_files = { "Fruit": "/home/ucar/ucar_ws/src/mp3/Fruit.mp3", "Vegetable": "/home/ucar/ucar_ws/src/mp3/Vegetable.mp3", "Dessert": "/home/ucar/ucar_ws/src/mp3/Dessert.mp3", "apple": "/home/ucar/ucar_ws/src/mp3/apple.mp3", "watermelon": "/home/ucar/ucar_ws/src/mp3/watermelon.mp3", "banana": "/home/ucar/ucar_ws/src/mp3/banana.mp3", "potato": "/home/ucar/ucar_ws/src/mp3/potato.mp3", "tomato": "/home/ucar/ucar_ws/src/mp3/tomato.mp3", "chili": "/home/ucar/ucar_ws/src/mp3/chili.mp3", "cake": "/home/ucar/ucar_ws/src/mp3/cake.mp3", "coco": "/home/ucar/ucar_ws/src/mp3/coco.mp3", "milk": "/home/ucar/ucar_ws/src/mp3/milk.mp3", "load_1": "/home/ucar/ucar_ws/src/mp3/load_1.mp3", "load_2": "/home/ucar/ucar_ws/src/mp3/load_2.mp3", "A": "/home/ucar/ucar_ws/src/mp3/simulation_A.mp3", "B": "/home/ucar/ucar_ws/src/mp3/simulation_B.mp3", "C": "/home/ucar/ucar_ws/src/mp3/simulation_C.mp3" } # 目标搜索相关变量 self.qr_result = 0 self.target_object = None self.search_timeout = 5.0 # 每个搜索点的超时时间(秒) self.search_start_time = None self.search_timer = None self.search_timer_state = True self.search_acount_state = True self.search_acount_current = 0 self.search_acount_target = 50 # 目标类别映射 self.test1_categories = { 1: ['apple', 'watermelon', 'banana'], 2: ['potato', 'tomato', 'chili'], 3: ['cake', 'coco', 'milk'] } # 任务3相关变量 self.traffic_light_detected = False self.traffic_light_result = None # 'red' 或 'green' #仿真任务相关 self.simulation_result_received = False self.simulation_result1 = None self.simulation_result2 = None self.simulation_timeout_timer = None # 特殊任务超时定时器 #价格计算相关 self.goods_1 = None self.goods_2 = None rospy.loginfo("自动化节点已启动,等待语音指令...") rospy.on_shutdown(self.shutdown) def create_pose(self, x, y, z, qx, qy, qz, qw): """创建导航目标位姿""" pose = PoseStamped() pose.header.frame_id = "map" pose.header.stamp = rospy.Time.now() pose.pose.position.x = x pose.pose.position.y = y pose.pose.position.z = z pose.pose.orientation.x = qx pose.pose.orientation.y = qy pose.pose.orientation.z = qz pose.pose.orientation.w = qw return pose def navigate_to_waypoint(self, waypoint_index): """导航到指定航点""" if waypoint_index >= len(self.waypoints): rospy.logwarn("无效的航点索引: %d", waypoint_index) return self.waypoint_index = waypoint_index waypoint = self.waypoints[waypoint_index] rospy.loginfo("导航到航点 %d", waypoint_index + 1) # 根据任务设置状态 if self.task3_started: self.current_state = self.STATE_TASK3_NAVIGATING else: self.current_state = self.STATE_NAVIGATING self.status_pub.publish("NAVIGATING_TO_TARGET") # 使用move_base动作客户端发送目标 goal = MoveBaseGoal() goal.target_pose = waypoint self.move_base_client.send_goal(goal) # 设置定时器检查导航状态 rospy.Timer(rospy.Duration(0.3), self.check_navigation_status, oneshot=False) def check_navigation_status(self, event): """检查导航状态(使用move_base动作)""" state = self.move_base_client.get_state() if state == GoalStatus.SUCCEEDED: rospy.loginfo_once("成功到达航点 {}".format(self.waypoint_index + 1)) self.handle_arrival() # 停止定时器 event.new_message = None # 停止定时器 elif state in [GoalStatus.ABORTED, GoalStatus.PREEMPTED]: rospy.logwarn("导航失败,尝试重新规划...") self.navigate_to_waypoint(self.waypoint_index) # 停止当前定时器 event.new_message = None def handle_arrival(self): """处理到达航点后的逻辑""" self.current_state = self.STATE_ARRIVED self.status_pub.publish("ARRIVED_AT_TARGET") # 发布到达状态 arrival_pub = rospy.Publisher('/arrival_status', Bool, queue_size=10) arrival_pub.publish(True) def speech_callback(self, msg): """处理语音识别结果""" rospy.loginfo("收到语音指令: {}".format(msg.data)) # 处理初始指令 if "ok" in msg.data.lower() and self.current_state == self.STATE_IDLE: rospy.loginfo("收到语音指令,开始导航到航点1") self.navigate_to_waypoint(self.WAYPOINT_TRANSITION0) elif "fail" in msg.data.lower() and self.current_state == self.STATE_IDLE: # 创建服务请求 req = Get_Offline_Result_srvRequest() # 根据实际srv定义设置请求字段 req.offline_recognise_start = 1 #设置1为确认启用 req.confidence_threshold = 40 #置信度 req.time_per_order = 3 #启动持续时间 self.speech_recognition(req) def arrival_callback(self, msg): """处理到达状态""" if not msg.data or self.current_state != self.STATE_ARRIVED: return rospy.loginfo_once("处理航点 {} 的到达逻辑".format(self.waypoint_index+1)) # 新增过渡点0 - 直接导航到下一个点（二维码扫描点） if self.waypoint_index == self.WAYPOINT_TRANSITION0: rospy.loginfo("到达过渡点0, 继续导航到二维码扫描点") self.navigate_to_waypoint(self.WAYPOINT_SCAN) # 任务1: 二维码扫描点 elif self.waypoint_index == self.WAYPOINT_SCAN: rospy.loginfo_once("启动二维码识别...") self.current_state = self.STATE_SCANNING self.status_pub.publish("SCANNING") self.image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.image_callback) # 过渡点1 elif self.waypoint_index == self.WAYPOINT_TRANSITION1: rospy.loginfo("继续导航到过渡点2") self.navigate_to_waypoint(self.WAYPOINT_TRANSITION2) # 过渡点2 elif self.waypoint_index == self.WAYPOINT_TRANSITION2: rospy.loginfo("继续导航到任务1出口") self.navigate_to_waypoint(self.WAYPOINT_TASK1_EXIT) # 任务1出口 elif self.waypoint_index == self.WAYPOINT_TASK1_EXIT: rospy.loginfo_once("到达任务1出口,开始任务2") #self.navigate_to_waypoint(self.WAYPOINT_SEARCH1) self.navigate_to_waypoint(self.WAYPOINT_SEARCH1) # 任务2搜索点 elif self.waypoint_index in [self.WAYPOINT_SEARCH1, self.WAYPOINT_SEARCH2, self.WAYPOINT_SEARCH3]: rospy.loginfo_once("在航点 {} 开始搜索目标...".format(self.waypoint_index+1)) self.start_searching() # 任务2终点 elif self.waypoint_index == self.WAYPOINT_TASK2_END: rospy.loginfo_once("到达任务2终点,执行特殊任务...") self.execute_special_task() # 任务3: 路灯1 elif self.waypoint_index == self.WAYPOINT_LIGHT1: rospy.loginfo("到达路灯1,开始识别交通灯...") self.current_state = self.STATE_TRAFFIC_LIGHT_DETECTION self.status_pub.publish("DETECTING_TRAFFIC_LIGHT") self.traffic_light_detected = False self.traffic_light_result = None # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_traffic_light_timeout, oneshot=True) # 任务3: 路灯2 elif self.waypoint_index == self.WAYPOINT_LIGHT2: rospy.loginfo("到达路灯2,开始识别交通灯...") self.current_state = self.STATE_TRAFFIC_LIGHT_DETECTION self.status_pub.publish("DETECTING_TRAFFIC_LIGHT") self.traffic_light_detected = False self.traffic_light_result = None # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_traffic_light_timeout, oneshot=True) # 任务3: 路口1或路口2 elif self.waypoint_index in [self.WAYPOINT_CROSS1, self.WAYPOINT_CROSS2]: rospy.loginfo("到达路口{},准备进行下一步任务...".format(self.waypoint_index-7)) self.status_pub.publish("TASK3_COMPLETED") self.current_state = self.STATE_IDLE self.task3_started = False # 根据到达的路口播放不同的音频 if self.waypoint_index == self.WAYPOINT_CROSS1: rospy.loginfo("在路口1播放load_1音频") audio_file = self.audio_files.get("load_1") else: rospy.loginfo("在路口2播放load_2音频") audio_file = self.audio_files.get("load_2") if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() rospy.loginfo("任务3完成,等待新指令...") def start_searching(self): """启动目标搜索""" if self.current_state == self.STATE_FOUND_TARGET: return rospy.loginfo_once("在航点 {} 开始搜索".format(self.waypoint_index+1)) self.current_state = self.STATE_SEARCHING self.status_pub.publish("SEARCHING_TARGET") if self.search_acount_state == True: self.search_acount_current += 1 rospy.loginfo_once('当前已搜索{}次, 目标搜索次数为{}'.format(self.search_acount_current,self.search_acount_target)) if self.search_acount_current >= self.search_acount_target: self.search_acount_state = False self.search_acount_current = 0 self.handle_search_timeout() #self.cancel_current_search() twist = Twist() twist.angular.z = 0.02 self.cmd_vel_pub.publish(twist) def handle_search_timeout(self): """处理搜索超时""" if self.current_state != self.STATE_SEARCHING: return # 检查是否已找到目标 if self.current_state == self.STATE_FOUND_TARGET: rospy.loginfo("搜索超时但已找到目标，忽略超时") return rospy.logwarn("航点 {} 搜索超时".format(self.waypoint_index+1)) self.search_acount_state = False self.search_acount_current = 0 if self.waypoint_index == self.WAYPOINT_SEARCH1: rospy.loginfo("前往搜索点2 ") self.search_acount_state = True self.navigate_to_waypoint(self.WAYPOINT_SEARCH2) rospy.sleep(1) elif self.waypoint_index == self.WAYPOINT_SEARCH2: rospy.loginfo("前往搜索点3") self.search_acount_state = True self.navigate_to_waypoint(self.WAYPOINT_SEARCH3) rospy.sleep(1) else: rospy.logwarn("所有搜索点均未找到目标,前往任务终点") self.search_acount_state = False self.search_acount_current = 0 self.navigate_to_waypoint(self.WAYPOINT_TASK2_END) rospy.sleep(1) ##if next_index <= max_search_index: # rospy.loginfo("前往下一个搜索点: {}".format(next_index+1)) # self.navigate_to_waypoint(next_index) #else: # rospy.logwarn("所有搜索点均未找到目标,前往任务终点") # self.navigate_to_waypoint(self.WAYPOINT_TASK2_END) def cancel_current_search(self): if self.search_timer is not None: try: self.search_acount_state = False rospy.loginfo_once("搜索定时器已取消") except Exception as e: rospy.logwarn("取消定时器时出错: {}".format(e)) finally: self.search_acount_current = 0 def handle_traffic_light_timeout(self, event): """处理交通灯识别超时""" if self.current_state == self.STATE_TRAFFIC_LIGHT_DETECTION: rospy.logwarn("交通灯识别超时,执行默认操作") # 如果在路灯1,默认前往路口1 if self.waypoint_index == self.WAYPOINT_LIGHT1: rospy.loginfo("默认前往路口1(点9)") self.navigate_to_waypoint(self.WAYPOINT_CROSS1) # 如果在路灯2,默认前往路口2 elif self.waypoint_index == self.WAYPOINT_LIGHT2: rospy.loginfo("默认前往路口2(点11)") self.navigate_to_waypoint(self.WAYPOINT_CROSS2) def image_callback(self, data): """统一的图像处理回调函数""" try: cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8") # 统一翻转图像 cv_image = cv2.flip(cv_image, 1) self.image = cv_image except CvBridgeError as e: rospy.logerr("图像转换错误: {}".format(e)) return # 状态分发处理 if self.current_state == self.STATE_SCANNING: self._handle_qr_scanning(cv_image) self.process_counter +=1 elif self.current_state == self.STATE_FOUND_TARGET: self._handle_target_tracking(cv_image) elif self.current_state == self.STATE_TRAFFIC_LIGHT_DETECTION: # 交通灯检测仍通过YOLO回调处理，这里只需显示图像 if self.display: cv2.imshow("Traffic Light Detection", cv_image) cv2.waitKey(1) def _handle_qr_scanning(self, cv_image): """处理二维码扫描""" if self.process_counter % self.process_every_n != 0: return # 跳过处理 decoded_objects = pyzbar.decode(cv_image) results = [] for obj in decoded_objects: data = obj.data.decode('utf-8') results.append(data) if results: result_msg = ", ".join(results) rospy.loginfo("识别到二维码: {}".format(result_msg)) self.qr_result_pub.publish(result_msg) self.qr_detected = True self.current_state = self.STATE_PLAYING self.status_pub.publish("PLAYING_AUDIO") # 取消图像订阅（任务完成后） #if self.image_sub: # self.image_sub.unregister() # self.image_sub = None self.play_audio(result_msg) rospy.sleep(3) self.navigate_to_waypoint(self.WAYPOINT_TRANSITION1) # 可选：显示图像 if self.display: for obj in decoded_objects: points = obj.polygon if len(points) > 4: hull = cv2.convexHull(np.array([point for point in points], dtype=np.float32)) hull = list(map(tuple, np.squeeze(hull))) else: hull = points n = len(hull) for j in range(n): cv2.line(cv_image, hull[j], hull[(j+1) % n], (0, 255, 0), 3) cv2.imshow("QR Scanning", cv_image) cv2.waitKey(1) def _handle_target_tracking(self, cv_image): """处理目标跟踪""" if not self.target_object: return self.search_acount_state = False self.search_acount_current = 0 # 计算目标位置 target_center_x = (self.xmin + self.xmax) // 2 target_width = self.xmax - self.xmin frame_center_x = cv_image.shape[1] // 2 # 视觉控制逻辑 twist = Twist() # 横向控制（转向） lateral_error = target_center_x - frame_center_x twist.angular.z = 0.005 * lateral_error if abs(lateral_error) > 50 else 0.0 # 纵向控制（前进/停止） if target_width < 100: twist.linear.x = 0.3 else: # 到达目标面前 twist.linear.x = 0.0 twist.angular.z = 0.0 rospy.loginfo("已到达目标 {} 面前!".format(self.target_object)) self.status_pub.publish("ARRIVED_AT_TARGET") self.goods_1 = self.target_object rospy.loginfo_once("货物1为{}".format(self.goods_1)) # 播放目标音频 audio_file = self.audio_files.get(self.target_object) #self.play_audio(audio_file) if audio_file and os.path.exists(audio_file): threading.Thread(target=playsound, args=(audio_file,)).start() rospy.sleep(2) # 导航到任务2终点 rospy.loginfo("前往任务2终点...") self.navigate_to_waypoint(self.WAYPOINT_TASK2_END) # 重置目标状态 self.target_object = None self.current_state = self.STATE_SIMULATION # 发布控制命令 self.cmd_vel_pub.publish(twist) # 可选：显示跟踪框 if self.display: cv2.rectangle(cv_image, (self.xmin, self.ymin), (self.xmax, self.ymax), (0, 255, 0), 2) cv2.circle(cv_image, (target_center_x, (self.ymin + self.ymax)//2), 5, (0, 0, 255), -1) cv2.imshow("Target Tracking", cv_image) cv2.waitKey(1) def play_audio(self, qr_code): """播放音频文件""" rospy.loginfo("播放音频: {}".format(qr_code)) # 查找对应的音频文件 audio_file = None for key in self.audio_files: if key in qr_code: audio_file = self.audio_files[key] break if audio_file and os.path.exists(audio_file): # 播放音频（异步） threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() # 设置二维码结果 if "Fruit" in qr_code: self.qr_result = 1 self.qr_simulation = "fruit" elif "Vegetable" in qr_code: self.qr_result = 2 self.qr_simulation = "vegetable" elif "Dessert" in qr_code: self.qr_result = 3 self.qr_simulation = "dessert" else: rospy.logwarn("未找到匹配的音频文件: {}".format(qr_code) ) def play_audio_thread(self, audio_file): """线程中播放音频""" try: playsound(audio_file) rospy.loginfo("音频播放完成") except Exception as e: rospy.logerr("音频播放错误: {}".format(e)) def yolo_callback(self, msg): """处理YOLO检测结果""" # 目标搜索状态 if self.current_state == self.STATE_SEARCHING or self.current_state == self.STATE_FOUND_TARGET: test1_targets = self.test1_categories.get(self.qr_result, []) for bbox in msg.bounding_boxes: if bbox.Class in test1_targets: rospy.loginfo_once("发现目标: {}".format(bbox.Class)) self.target_object = bbox.Class self.xmin = bbox.xmin self.ymin = bbox.ymin self.xmax = bbox.xmax self.ymax = bbox.ymax # 取消搜索定时器 #self.cancel_current_search() self.search_acount_state = False self.search_acount_current = 0 # 更新状态 self.current_state = self.STATE_FOUND_TARGET self.status_pub.publish("TARGET_FOUND") # 订阅图像用于目标跟踪 #if not self.image_sub: # self.image_sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.yolo_image_callback) break # 交通灯识别状态 elif self.current_state == self.STATE_TRAFFIC_LIGHT_DETECTION: # 检查交通灯类别 for bbox in msg.bounding_boxes: if bbox.Class in ['red', 'green']: rospy.loginfo("识别到交通灯: {}".format(bbox.Class) ) self.traffic_light_result = bbox.Class self.traffic_light_detected = True if bbox.Class == 'green': self.xmin = bbox.xmin self.ymin = bbox.ymin self.xmax = bbox.xmax self.ymax = bbox.ymax target_center_x = (self.xmin + self.xmax) // 2 target_width = self.xmax - self.xmin frame_center_x = self.image.shape[1] // 2 # 视觉控制逻辑 twist = Twist() # 横向控制（转向） lateral_error = target_center_x - frame_center_x twist.angular.z = 0.005 * lateral_error if abs(lateral_error) > 50 else 0.0 # 纵向控制（前进/停止） if target_width < 80: twist.linear.x = 0.3 else: # 到达目标面前 twist.linear.x = 0.0 twist.angular.z = 0.0 self.light = True # 取消超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = None # 根据识别结果决定下一步 if self.light == True: self.handle_traffic_light_result() elif bbox.Class == 'red' : self.handle_traffic_light_result() break def handle_traffic_light_result(self): """根据交通灯识别结果决定导航路径并播放音频""" if self.waypoint_index == self.WAYPOINT_LIGHT1: # 路灯1 if self.traffic_light_result == 'green': rospy.loginfo("路灯1为绿灯,播放load_1音频并前往路口1") # 播放音频 if self.sound_state_1 == 1: self.sound_state_1 = 0 audio_file = self.audio_files.get("load_1") if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn("load_1音频文件不存在!") # 导航到路口1 self.navigate_to_waypoint(self.WAYPOINT_CROSS1) else: # 红灯 rospy.loginfo("路灯1为红灯,前往路灯2") self.navigate_to_waypoint(self.WAYPOINT_LIGHT2) elif self.waypoint_index == self.WAYPOINT_LIGHT2: # 路灯2 if self.traffic_light_result == 'green': rospy.loginfo("路灯2为绿灯,播放load_2音频并前往路口2") # 播放音频 if self.sound_state_1 == 1: self.sound_state_1 = 0 audio_file = self.audio_files.get("load_1") if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn("load_1音频文件不存在!") # 导航到路口2 self.navigate_to_waypoint(self.WAYPOINT_CROSS2) else: # 红灯 rospy.loginfo("路灯2为红灯,默认前往路口2") self.navigate_to_waypoint(self.WAYPOINT_CROSS2) def execute_special_task(self): """执行任务二终点的特殊任务""" rospy.loginfo_once("执行特殊任务: 发布simulation_start话题") # 创建并发布simulation_start消息 sim_msg = simulation() sim_msg.start = "start" sim_msg.myclass_send = str(self.qr_simulation) # 二维码结果 self.simulation_start_pub.publish(sim_msg) # 进入等待结果状态 self.current_state = self.STATE_WAITING_FOR_SIMULATION_RESULT self.status_pub.publish("WAITING_FOR_SIMULATION_RESULT") # 重置结果接收标志 self.simulation_result_received = False # 设置超时定时器(2分50秒 = 170秒) rospy.loginfo_once("设置特殊任务超时定时器(120秒)") self.simulation_timeout_timer = rospy.Timer(rospy.Duration(120), self.handle_simulation_timeout, oneshot=True) rospy.loginfo_once("已发布simulation_start,等待simulation_result...") def simulation_result_callback(self, msg): """处理simulation_result消息""" if self.current_state != self.STATE_WAITING_FOR_SIMULATION_RESULT: return rospy.loginfo("收到simulation_result: stop={}, room={}, myclass={}".format(msg.stop,msg.room,msg.myclass)) # 检查消息格式 if msg.stop == "stop": self.simulation_result1 = msg.room self.simulation_result2 = msg.myclass self.simulation_result_received = True self.goods_2 = self.simulation_result2 # 取消超时定时器 if self.simulation_timeout_timer: self.simulation_timeout_timer.shutdown() self.simulation_timeout_timer = None # 根据str2的内容播放相应的音频 self.handle_simulation_result() def handle_simulation_result(self): """处理模拟结果并导航到路灯1(点7)""" if not self.simulation_result_received or not self.simulation_result1: return rospy.loginfo("处理模拟结果: {}".format(self.simulation_result1)) # 检查结果是否有效(A, B, C) if self.simulation_result1 in ["A", "B", "C"]: # 播放相应的音频 audio_file = self.audio_files.get(self.simulation_result1) if audio_file and os.path.exists(audio_file): rospy.loginfo("播放结果音频: {}".format(self.simulation_result1) ) threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn("找不到结果音频文件:{}".format(self.simulation_result1)) # 导航到路灯1(点7)开始任务3 rospy.loginfo("特殊任务完成,导航到路灯1开始任务3") self.task3_started = True # 标记任务3已开始 self.navigate_to_waypoint(self.WAYPOINT_LIGHT1) # 直接导航到路灯1 def handle_simulation_timeout(self, event): """处理特殊任务超时""" if self.current_state == self.STATE_WAITING_FOR_SIMULATION_RESULT: rospy.logwarn("特殊任务超时(170秒),未收到simulation_result,将直接前往路灯1") # 取消超时定时器 if self.simulation_timeout_timer: self.simulation_timeout_timer.shutdown() self.simulation_timeout_timer = None # 导航到路灯1(点7) rospy.loginfo("导航到路灯1") self.task3_started = True # 标记任务3已开始 self.navigate_to_waypoint(self.WAYPOINT_LIGHT1) def Final_voice(self): if self.qr_result == 1: if self.goods_1 == 'apple': if self.goods_2 == 'apple': playsound("/home/ucar/ucar_ws/src/mp3/2apple.mp3") elif self.goods_2 == 'banana': playsound("/home/ucar/ucar_ws/src/mp3/apple_banana.mp3") elif self.goods_2 == 'watermelon': playsound("/home/ucar/ucar_ws/src/mp3/apple_watermelon.mp3") elif self.goods_1 == 'banana': if self.goods_2 == 'banana': playsound("/home/ucar/ucar_ws/src/mp3/2banana.mp3") elif self.goods_2 == 'apple': playsound("/home/ucar/ucar_ws/src/mp3/apple_banana.mp3") elif self.goods_2 == 'watermelon': playsound("/home/ucar/ucar_ws/src/mp3/banana_watermelon.mp3") elif self.goods_1 == 'watermelon': if self.goods_2 == 'watermelon': playsound("/home/ucar/ucar_ws/src/mp3/2watermelon.mp3") elif self.goods_2 == 'apple': playsound("/home/ucar/ucar_ws/src/mp3/apple_watermelon.mp3") elif self.goods_2 == 'banana': playsound("/home/ucar/ucar_ws/src/mp3/banana_watermelon.mp3") if self.qr_result == 2: if self.goods_1 == 'cake': if self.goods_2 == 'cake': playsound("/home/ucar/ucar_ws/src/mp3/2cake.mp3") elif self.goods_2 == 'coco': playsound("/home/ucar/ucar_ws/src/mp3/cake_coco.mp3") elif self.goods_2 == 'milk': playsound("/home/ucar/ucar_ws/src/mp3/milk_cake.mp3") elif self.goods_1 == 'coco': if self.goods_2 == 'coco': playsound("/home/ucar/ucar_ws/src/mp3/2coco.mp3") elif self.goods_2 == 'cake': playsound("/home/ucar/ucar_ws/src/mp3/cake_coco.mp3") elif self.goods_2 == 'milk': playsound("/home/ucar/ucar_ws/src/mp3/milk_coco.mp3") elif self.goods_1 == 'milk': if self.goods_2 == 'milk': playsound("/home/ucar/ucar_ws/src/mp3/2milk.mp3") elif self.goods_2 == 'coco': playsound("/home/ucar/ucar_ws/src/mp3/milk_coco.mp3") elif self.goods_2 == 'cake': playsound("/home/ucar/ucar_ws/src/mp3/milk_cake.mp3") if self.qr_result == 3: if self.goods_1 == 'potato': if self.goods_2 == 'potato': playsound("/home/ucar/ucar_ws/src/mp3/2potato.mp3") elif self.goods_2 == 'chili': playsound("/home/ucar/ucar_ws/src/mp3/chili_potato.mp3") elif self.goods_2 == 'tomato': playsound("/home/ucar/ucar_ws/src/mp3/tomato_potato.mp3") elif self.goods_1 == 'chili': if self.goods_2 == 'chili': playsound("/home/ucar/ucar_ws/src/mp3/2chili.mp3") elif self.goods_2 == 'potato': playsound("/home/ucar/ucar_ws/src/mp3/chili_potato.mp3") elif self.goods_2 == 'tomato': playsound("/home/ucar/ucar_ws/src/mp3/chili_tomato.mp3") elif self.goods_1 == 'tomato': if self.goods_2 == 'tomato': playsound("/home/ucar/ucar_ws/src/mp3/2tomato.mp3") elif self.goods_2 == 'chili': playsound("/home/ucar/ucar_ws/src/mp3/chili_tomato.mp3") elif self.goods_2 == 'potato': playsound("/home/ucar/ucar_ws/src/mp3/tomato_potato.mp3") def shutdown(self): """节点关闭时的清理工作""" rospy.loginfo("关闭节点...") if self.image_sub: self.image_sub.unregister() if self.search_timer: self.search_timer.shutdown() if self.simulation_timeout_timer: self.simulation_timeout_timer.shutdown() self.cmd_vel_pub.publish(Twist()) # 停止机器人运动 if __name__ == '__main__': try: node = AutomationNode() rospy.spin() except rospy.ROSInterruptException: pass 在完成任务三后发送一个line话题，话题的内容为'start'，之后便等待接受到名为line_result的话题，当接收到改话题的消息为'over'时便执行Final_voice函数，执行完等待3s后便结束整个文件
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- 添加一个发布者：self.line_pub = rospy.Publisher('/line', String, queue_size=10) - 添加一个订阅者：self.line_result_sub = rospy.Subscriber('/line_result', String, self.line_result_callback) - 添加...
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u013153465的博客
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关于pytorch 的dataloader库，使用pytorch 基本都会用到的一个库 今天遇到了一个问题，我在训练的时候，采用batch_size =2 去训练，最终的loss抖动太大了，看得出来应该是某些样本在打标的时候打的不好导致的，需要找出这些样本重新修正。但是一开始是采用的dataloader默认库。然后输入进去的图像dataset 传出来之后是经过shuffle的，没有办法定位到哪张...
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墨瞳的Blog
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问题1：gnutls_handshake() failed: A TLS packet with unexpected length was received. fatal: unable to access ‘https://github.com/facebookresearch/detectron2.git/’: gnutls_handshake() failed: A TLS packet with unexpected length was received. 解决方案： 执行以下代码： git
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