LZ之前准备使用kinect转换成laser信息,然后对障碍物进行避障.rgbd传感器还是存在限制的,使用kinect的视野宽度大约只有57度,RGB-D摄像头对50厘米(大约2英寸)以内的物体是无法看见的.所以,如果障碍物距离小车很近,或者不在视野的角度之内,是很容易撞上障碍物的(LZ血泪的教训,因为实验室空间有限,所以…)如果使用雷达的话还是增加成本的问题,虽然有,但是不想添加…最后使用的就是pioneer3at中声呐,其中一共有16个声呐.LZ只用到前八个,具体的手册如下:当中还涉及到对ARIA库的使用,建议看LZ的这篇博客之前先简单翻阅一下关于ARIA API部分,熟悉一下基本的接口使用方法,阅读一下rosaria的源码.最后附上源码用于连接pioneer3at和sonar的头文件connect_pioneer.h// // Created by felaim on 5/31/18. // //Include files #include stdio.h #include math.h #ifdef ADEPT_PKG #include Aria.h #else #includeAria/Aria.h #endif #include ros/ros.h #include geometry_msgs/Twist.h #include geometry_msgs/Pose.h #include geometry_msgs/PoseStamped.h #include sensor_msgs/PointCloud.h // 针对的是声呐产生的数据 #include sensor_msgs/PointCloud2.h #include sensor_msgs/point_cloud_conversion.h // 可以将声呐数据转换成点云的形式 #include nav_msgs/Odometry.h #include rosaria/BumperState.h #include tf/tf.h #include tf/transform_listener.h #include tf/transform_broadcaster.h #include tf/transform_datatypes.h #include dynamic_reconfigure/server.h #include rosaria/RosAriaConfig.h #include std_msgs/Float64.h #include std_msgs/Float32.h #include std_msgs/Int8.h #include std_msgs/Bool.h #include std_srvs/Empty.h #include sstream class RosAriaNode { public: RosAriaNode(ros::NodeHandle n); virtual ~RosAriaNode(); public: int Setup(); void cmdvel_cb(const geometry_msgs::TwistConstPtr ); void cmdvel_watchdog(const ros::TimerEvent event); void spin(); void publish(); void sonarConnectCb(); void dynamic_reconfigureCB(rosaria::RosAriaConfig config, uint32_t level); void readParameters(); void robotWander(); protected: ros::NodeHandle n; ros::Publisher pose_pub; ros::Publisher bumpers_pub; ros::Publisher sonar_pub; ros::Publisher sonar_pointcloud2_pub; ros::Publisher voltage_pub; ros::Publisher recharge_state_pub; std_msgs::Int8 recharge_state; ros::Publisher state_of_charge_pub; ros::Publisher motors_state_pub; std_msgs::Bool motors_state; bool published_motors_state; ros::Subscriber cmdvel_sub; ros::ServiceServer enable_srv; ros::ServiceServer disable_srv; bool enable_motors_cb(std_srvs::Empty::Request request, std_srvs::Empty::Response response); bool disable_motors_cb(std_srvs::Empty::Request request, std_srvs::Empty::Response response); ros::Time veltime; ros::Timer cmdvel_watchdog_timer; ros::Duration cmdvel_timeout; std::string serial_port; int serial_baud; ArRobotConnector *conn; // ArLaserConnector *laserConnector; ArRobot *robot; nav_msgs::Odometry position; rosaria::BumperState bumpers; ArPose pos; ArFunctorCRosAriaNode myPublishCB; //ArRobot::ChargeState batteryCharge; //for odom-base_link transform tf::TransformBroadcaster odom_broadcaster; geometry_msgs::TransformStamped odom_trans; std::string frame_id_odom; std::string frame_id_base_link; std::string frame_id_bumper; std::string frame_id_sonar; // flag indicating whether sonar was enabled or disabled on the robot bool sonar_enabled; // enable and publish sonar topics. set to true when first subscriber connects, set to false when last subscriber disconnects. bool publish_sonar; bool publish_sonar_pointcloud2; // Debug Aria bool debug_aria; std::string aria_log_filename; // Robot Calibration Parameters (see readParameters() function) int TicksMM, DriftFactor, RevCount; //If TicksMM or RevCount are 0, dont use. If DriftFactor is -99999, dont use (DriftFactor could be 0 or negative). // dynamic_reconfigure dynamic_reconfigure::Serverrosaria::RosAriaConfig *dynamic_reconfigure_server; // whether to publish aria lasers // bool publish_aria_lasers; }; //这里读取的参数主要就是之前进行线速度\角速度校正给的参数,因为我拿到的小车都没气了, // 后来自己充气后,胎压可能不一致,要进行校正,具体的参数可以写在launch文件中 void RosAriaNode::readParameters() { // Robot Parameters. If a parameter was given and is nonzero, set it now. // Otherwise, get default value for this robot (from getOrigRobotConfig()). // Parameter values are stored in member variables for possible later use by the user with dynamic reconfigure. robot-lock(); ros::NodeHandle n_(~); if (n_.getParam(TicksMM, TicksMM) TicksMM 0) { ROS_INFO(Setting robot TicksMM from ROS Parameter: %d, TicksMM); robot-comInt(93, TicksMM); } else { TicksMM robot-getOrigRobotConfig()-getTicksMM(); ROS_INFO(This robots TicksMM parameter: %d, TicksMM); //n_.setParam( TicksMM, TicksMM); } if (n_.getParam(DriftFactor, DriftFactor) DriftFactor ! -99999) { ROS_INFO(Setting robot DriftFactor from ROS Parameter: %d, DriftFactor); robot-comInt(89, DriftFactor); } else { DriftFactor robot-getOrigRobotConfig()-getDriftFactor(); ROS_INFO(This robots DriftFactor parameter: %d, DriftFactor); //n_.setParam( DriftFactor, DriftFactor); } if (n_.getParam(RevCount, RevCount) RevCount 0) { ROS_INFO(Setting robot RevCount from ROS Parameter: %d, RevCount); robot-comInt(88, RevCount); } else { RevCount robot-getOrigRobotConfig()-getRevCount(); ROS_INFO(This robots RevCount parameter: %d, RevCount); //n_.setParam( RevCount, RevCount); } robot-unlock(); } void RosAriaNode::dynamic_reconfigureCB(rosaria::RosAriaConfig config, uint32_t level) { // // Odometry Settings // //先对robot进行lock,在进行修改 robot-lock(); if (TicksMM ! config.TicksMM config.TicksMM 0) { ROS_INFO(Setting TicksMM from Dynamic Reconfigure: %d - %d , TicksMM, config.TicksMM); TicksMM config.TicksMM; robot-comInt(93, TicksMM); } if (DriftFactor ! config.DriftFactor config.DriftFactor ! -99999) { ROS_INFO(Setting DriftFactor from Dynamic Reconfigure: %d - %d , DriftFactor, config.DriftFactor); DriftFactor config.DriftFactor; robot-comInt(89, DriftFactor); } if (RevCount ! config.RevCount config.RevCount 0) { ROS_INFO(Setting RevCount from Dynamic Reconfigure: %d - %d , RevCount, config.RevCount); RevCount config.RevCount; robot-comInt(88, RevCount); } // // Acceleration Parameters // int value; value config.trans_accel * 1000; if (value ! robot-getTransAccel() value 0) { ROS_INFO(Setting TransAccel from Dynamic Reconfigure: %d, value); robot-setTransAccel(value); } value config.trans_decel * 1000; if (value ! robot-getTransDecel() value 0) { ROS_INFO(Setting TransDecel from Dynamic Reconfigure: %d, value); robot-setTransDecel(value); } value config.lat_accel * 1000; if (value ! robot-getLatAccel() value 0) { ROS_INFO(Setting LatAccel from Dynamic Reconfigure: %d, value); if (robot-getAbsoluteMaxLatAccel() 0) robot-setLatAccel(value); } value config.lat_decel * 1000; if (value ! robot-getLatDecel() value 0) { ROS_INFO(Setting LatDecel from Dynamic Reconfigure: %d, value); if (robot-getAbsoluteMaxLatDecel() 0) robot-setLatDecel(value); } value config.rot_accel * 180 / M_PI; if (value ! robot-getRotAccel() value 0) { ROS_INFO(Setting RotAccel from Dynamic Reconfigure: %d, value); robot-setRotAccel(value); } value config.rot_decel * 180 / M_PI; if (value ! robot-getRotDecel() value 0) { ROS_INFO(Setting RotDecel from Dynamic Reconfigure: %d, value); robot-setRotDecel(value); } //修改结束后,对robot进行unlock robot-unlock(); } /// Called when another node subscribes or unsubscribes from sonar topic. void RosAriaNode::sonarConnectCb() { publish_sonar (sonar_pub.getNumSubscribers() 0); publish_sonar_pointcloud2 (sonar_pointcloud2_pub.getNumSubscribers() 0); robot-lock(); if (publish_sonar || publish_sonar_pointcloud2) { robot-enableSonar(); sonar_enabled false; } else if (!publish_sonar !publish_sonar_pointcloud2) { robot-disableSonar(); sonar_enabled true; } robot-unlock(); } RosAriaNode::RosAriaNode(ros::NodeHandle nh) : n(nh), serial_port(), serial_baud(0), conn(NULL), robot(NULL), myPublishCB(this, RosAriaNode::publish), sonar_enabled(false), publish_sonar(false), publish_sonar_pointcloud2(false), debug_aria(false), TicksMM(-1), DriftFactor(-99999), RevCount(-1) { // read in runtime parameters // port and baud n.param(port, serial_port, std::string(/dev/ttyUSB0)); ROS_INFO(RosAria: set port: [%s], serial_port.c_str()); n.param(baud, serial_baud, 0); if (serial_baud ! 0) ROS_INFO(RosAria: set serial port baud rate %d, serial_baud); // handle debugging more elegantly n.param(debug_aria, debug_aria, false); // default not to debug n.param(aria_log_filename, aria_log_filename, std::string(Aria.log)); // whether to connect to lasers using aria // n.param(publish_aria_lasers, publish_aria_lasers, false); // Get frame_ids to use. n.param(odom_frame, frame_id_odom, std::string(odom)); n.param(base_link_frame, frame_id_base_link, std::string(base_link)); n.param(bumpers_frame, frame_id_bumper, std::string(bumpers)); n.param(sonar_frame, frame_id_sonar, std::string(sonar)); // advertise services for data topics // second argument to advertise() is queue size. // other argmuments (optional) are callbacks, or a boolean latch flag (whether to send current data to new // subscribers when they subscribe). // See ros::NodeHandle API docs. //以第一行发布信息为例,后面几行以此类推 //告诉master我们将要在chatter(话题名,这里指pose)上发布nav_msgs::Odometry消息类型的信息 //这样master就会告诉所有订阅了chatter的节点,将要有数据要发布 //第二个参数是发布序列的大小,如果我们发布的信息的频率太郎高,缓冲区的消息在大于1000个的时候就会开始丢弃先前发布的消息 pose_pub n.advertisenav_msgs::Odometry(pose, 1000); bumpers_pub n.advertiserosaria::BumperState(bumper_state, 1000); sonar_pub n.advertisesensor_msgs::PointCloud(sonar, 50, boost::bind(RosAriaNode::sonarConnectCb, this), boost::bind(RosAriaNode::sonarConnectCb, this)); sonar_pointcloud2_pub n.advertisesensor_msgs::PointCloud2(sonar_pointcloud2, 50, boost::bind(RosAriaNode::sonarConnectCb, this), boost::bind(RosAriaNode::sonarConnectCb, this)); voltage_pub n.advertisestd_msgs::Float64(battery_voltage, 1000); recharge_state_pub n.advertisestd_msgs::Int8(battery_recharge_state, 5, true /*latch*/ ); recharge_state.data -2; state_of_charge_pub n.advertisestd_msgs::Float32(battery_state_of_charge, 100); motors_state_pub n.advertisestd_msgs::Bool(motors_state, 5, true /*latch*/ ); motors_state.data false; published_motors_state false; // advertise enable/disable services enable_srv n.advertiseService(enable_motors, RosAriaNode::enable_motors_cb, this); disable_srv n.advertiseService(disable_motors, RosAriaNode::disable_motors_cb, this); veltime ros::Time::now(); } //RosAriaNode的析构函数,断开电机,声呐,机器人停止运动,关闭Aria库 RosAriaNode::~RosAriaNode() { // disable motors and sonar. robot-disableMotors(); robot-disableSonar(); robot-stopRunning(); // 程序结束后等待用户的ctrl-C命令 robot-waitForRunExit(); Aria::shutdown(); } int RosAriaNode::Setup() { // Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be // called once per instance, and these objects need to persist until the process terminates. robot new ArRobot(); ArArgumentBuilder *args new ArArgumentBuilder(); // never freed ArArgumentParser *argparser new ArArgumentParser(args); // Warning never freed argparser-loadDefaultArguments(); // adds any arguments given in /etc/Aria.args. Useful on robots with unusual serial port or baud rate (e.g. pioneer lx) // Now add any parameters given via ros params (see RosAriaNode constructor): // if serial port parameter contains a : character, then interpret it as hostname:tcpport // for wireless serial connection. Otherwise, interpret it as a serial port name. size_t colon_pos serial_port.find(:); if (colon_pos ! std::string::npos) { args-add(-remoteHost); // pass robots hostname/IP address to Aria args-add(serial_port.substr(0, colon_pos).c_str()); args-add(-remoteRobotTcpPort); // pass robots TCP port to Aria args-add(serial_port.substr(colon_pos1).c_str()); } else { args-add(-robotPort %s, serial_port.c_str()); // pass robots serial port to Aria } // if a baud rate was specified in baud parameter if(serial_baud ! 0) { args-add(-robotBaud %d, serial_baud); } if( debug_aria ) { // turn on all ARIA debugging args-add(-robotLogPacketsReceived); // log received packets args-add(-robotLogPacketsSent); // log sent packets args-add(-robotLogVelocitiesReceived); // log received velocities args-add(-robotLogMovementSent); args-add(-robotLogMovementReceived); ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true); } // Connect to the robot conn new ArRobotConnector(argparser, robot); // warning never freed if (!conn-connectRobot()) { ROS_ERROR(RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)); return 1; } // if(publish_aria_lasers) // laserConnector new ArLaserConnector(argparser, robot, conn); // causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params if(!Aria::parseArgs()) { ROS_ERROR(RosAria: ARIA error parsing ARIA startup parameters!); return 1; } readParameters(); // Start dynamic_reconfigure server dynamic_reconfigure_server new dynamic_reconfigure::Serverrosaria::RosAriaConfig; // Setup Parameter Minimums and maximums rosaria::RosAriaConfig dynConf_min; rosaria::RosAriaConfig dynConf_max; dynConf_max.trans_accel robot-getAbsoluteMaxTransAccel() / 1000; dynConf_max.trans_decel robot-getAbsoluteMaxTransDecel() / 1000; // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals // Until then, set unit length interval. dynConf_max.lat_accel ((robot-getAbsoluteMaxLatAccel() 0.0) ? robot-getAbsoluteMaxLatAccel() : 0.1) / 1000; dynConf_max.lat_decel ((robot-getAbsoluteMaxLatDecel() 0.0) ? robot-getAbsoluteMaxLatDecel() : 0.1) / 1000; dynConf_max.rot_accel robot-getAbsoluteMaxRotAccel() * M_PI/180; dynConf_max.rot_decel robot-getAbsoluteMaxRotDecel() * M_PI/180; dynConf_min.trans_accel 0; dynConf_min.trans_decel 0; dynConf_min.lat_accel 0; dynConf_min.lat_decel 0; dynConf_min.rot_accel 0; dynConf_min.rot_decel 0; dynConf_min.TicksMM 0; dynConf_max.TicksMM 200; dynConf_min.DriftFactor -99999; dynConf_max.DriftFactor 32767; dynConf_min.RevCount 0; dynConf_max.RevCount 65535; dynamic_reconfigure_server-setConfigMax(dynConf_max); dynamic_reconfigure_server-setConfigMin(dynConf_min); rosaria::RosAriaConfig dynConf_default; dynConf_default.trans_accel robot-getTransAccel() / 1000; dynConf_default.trans_decel robot-getTransDecel() / 1000; dynConf_default.lat_accel robot-getLatAccel() / 1000; dynConf_default.lat_decel robot-getLatDecel() / 1000; dynConf_default.rot_accel robot-getRotAccel() * M_PI/180; dynConf_default.rot_decel robot-getRotDecel() * M_PI/180; dynConf_default.TicksMM 0; dynConf_default.DriftFactor -99999; dynConf_default.RevCount 0; dynamic_reconfigure_server-setConfigDefault(dynConf_default); dynamic_reconfigure_server-setCallback(boost::bind(RosAriaNode::dynamic_reconfigureCB, this, _1, _2)); // Enable the motors robot-enableMotors(); // disable sonars on startup // robot-disableSonar(); // enable sonars on startup robot-enableSonar(); // callback will be called by ArRobot background processing thread for every SIP data packet received from robot robot-addSensorInterpTask(ROSPublishingTask, 100, myPublishCB); // Initialize bumpers with robot number of bumpers bumpers.front_bumpers.resize(robot-getNumFrontBumpers()); bumpers.rear_bumpers.resize(robot-getNumRearBumpers()); // Run ArRobot background processing thread robot-runAsync(true); // connect to lasers and create publishers // if(publish_aria_lasers) // { // ROS_INFO_NAMED(rosaria, rosaria: Connecting to laser(s) configured in ARIA parameter file(s)...); // if (!laserConnector-connectLasers()) // { // ROS_FATAL_NAMED(rosaria, rosaria: Error connecting to laser(s)...); // return 1; // } // // robot-lock(); // const std::mapint, ArLaser* *lasers robot-getLaserMap(); // ROS_INFO_NAMED(rosaria, rosaria: there are %lu connected lasers, lasers-size()); // for(std::mapint, ArLaser*::const_iterator i lasers-begin(); i ! lasers-end(); i) // { // ArLaser *l i-second; // int ln i-first; // std::string tfname(laser); // if(lasers-size() 1 || ln 1) // no number if only one laser which is also laser 1 // tfname ln; // tfname _frame; // ROS_INFO_NAMED(rosaria, rosaria: Creating publisher for laser #%d named %s with tf frame name %s, ln, l-getName(), tfname.c_str()); // new LaserPublisher(l, n, true, tfname); // } // robot-unlock(); // ROS_INFO_NAMED(rosaria, rosaria: Done creating laser publishers); // } // subscribe to command topics cmdvel_sub n.subscribe( cmd_vel, 1, (boost::function void(const geometry_msgs::TwistConstPtr)) boost::bind(RosAriaNode::cmdvel_cb, this, _1 )); // register a watchdog for cmd_vel timeout double cmdvel_timeout_param 0.6; n.param(cmd_vel_timeout, cmdvel_timeout_param, 0.6); cmdvel_timeout ros::Duration(cmdvel_timeout_param); if (cmdvel_timeout_param 0.0) cmdvel_watchdog_timer n.createTimer(ros::Duration(0.1), RosAriaNode::cmdvel_watchdog, this); ROS_INFO_NAMED(rosaria, rosaria: Setup complete); return 0; } //ros::spin() 在调用后不会再返回也就是你的主程序到这儿就不往下执行了 // 而 ros::spinOnce() 后者在调用后还可以继续执行之后的程序。 void RosAriaNode::spin() { ros::spin(); } void RosAriaNode::publish() { // Note, this is called via SensorInterpTask callback (myPublishCB, named ROSPublishingTask). ArRobot object robot sholud not be locked or unlocked. pos robot-getPose(); tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh()*M_PI/180), tf::Vector3(pos.getX()/1000, pos.getY()/1000, 0)), position.pose.pose); //Aria returns pose in mm. position.twist.twist.linear.x robot-getVel()/1000.0; //Aria returns velocity in mm/s. position.twist.twist.linear.y robot-getLatVel()/1000.0; position.twist.twist.angular.z robot-getRotVel()*M_PI/180; position.header.frame_id frame_id_odom; position.child_frame_id frame_id_base_link; position.header.stamp ros::Time::now(); pose_pub.publish(position); ROS_DEBUG(RosAria: publish: (time %f) pose x: %f, pose y: %f, pose angle: %f; linear vel x: %f, vel y: %f; angular vel z: %f, position.header.stamp.toSec(), (double)position.pose.pose.position.x, (double)position.pose.pose.position.y, (double)position.pose.pose.orientation.w, (double)position.twist.twist.linear.x, (double)position.twist.twist.linear.y, (double)position.twist.twist.angular.z ); // publishing transform odom-base_link odom_trans.header.stamp ros::Time::now(); odom_trans.header.frame_id frame_id_odom; odom_trans.child_frame_id frame_id_base_link; odom_trans.transform.translation.x pos.getX()/1000; odom_trans.transform.translation.y pos.getY()/1000; odom_trans.transform.translation.z 0.0; odom_trans.transform.rotation tf::createQuaternionMsgFromYaw(pos.getTh()*M_PI/180); odom_broadcaster.sendTransform(odom_trans); // getStallValue returns 2 bytes with stall bit and bumper bits, packed as (00 00 FrontBumpers RearBumpers) int stall robot-getStallValue(); unsigned char front_bumpers (unsigned char)(stall 8); unsigned char rear_bumpers (unsigned char)(stall); bumpers.header.frame_id frame_id_bumper; bumpers.header.stamp ros::Time::now(); std::stringstream bumper_info(std::stringstream::out); // Bit 0 is for stall, next bits are for bumpers (leftmost is LSB) for (unsigned int i0; irobot-getNumFrontBumpers(); i) { bumpers.front_bumpers[i] (front_bumpers (1 (i1))) 0 ? 0 : 1; bumper_info (front_bumpers (1 (i1))); } ROS_DEBUG(RosAria: Front bumpers:%s, bumper_info.str().c_str()); bumper_info.str(); // Rear bumpers have reverse order (rightmost is LSB) unsigned int numRearBumpers robot-getNumRearBumpers(); for (unsigned int i0; inumRearBumpers; i) { bumpers.rear_bumpers[i] (rear_bumpers (1 (numRearBumpers-i))) 0 ? 0 : 1; bumper_info (rear_bumpers (1 (numRearBumpers-i))); } ROS_DEBUG(RosAria: Rear bumpers:%s, bumper_info.str().c_str()); bumpers_pub.publish(bumpers); //Publish battery information // TODO: Decide if BatteryVoltageNow (normalized to (0,12)V) is a better option std_msgs::Float64 batteryVoltage; batteryVoltage.data robot-getRealBatteryVoltageNow(); voltage_pub.publish(batteryVoltage); if(robot-haveStateOfCharge()) { std_msgs::Float32 soc; soc.data robot-getStateOfCharge()/100.0; state_of_charge_pub.publish(soc); } // publish recharge state if changed char s robot-getChargeState(); if(s ! recharge_state.data) { ROS_INFO(RosAria: publishing new recharge state %d., s); recharge_state.data s; recharge_state_pub.publish(recharge_state); } // publish motors state if changed bool e robot-areMotorsEnabled(); if(e ! motors_state.data || !published_motors_state) { ROS_INFO(RosAria: publishing new motors state %d., e); motors_state.data e; motors_state_pub.publish(motors_state); published_motors_state true; } // Publish sonar information, if enabled. if (publish_sonar || publish_sonar_pointcloud2) { sensor_msgs::PointCloud cloud; //sonar readings. cloud.header.stamp position.header.stamp; //copy time. // sonar sensors relative to base_link cloud.header.frame_id frame_id_sonar; std::stringstream sonar_debug_info; // Log debugging info sonar_debug_info Sonar readings: ; for (int i 0; i robot-getNumSonar(); i) { ArSensorReading* reading NULL; reading robot-getSonarReading(i); if(!reading) { ROS_WARN(RosAria: Did not receive a sonar reading.); continue; } // getRange() will return an integer between 0 and 5000 (5m) sonar_debug_info reading-getRange() ; // local (x,y). Appears to be from the centre of the robot, since values may // exceed 5000. This is good, since it means we only need 1 transform. // x y seem to be swapped though, i.e. if the robot is driving north // x is north/south and y is east/west. // //ArPose sensor reading-getSensorPosition(); //position of sensor. // sonar_debug_info ( reading-getLocalX() // , reading-getLocalY() // ) from ( sensor.getX() , // sensor.getY() ) ;; ; //add sonar readings (robot-local coordinate frame) to cloud geometry_msgs::Point32 p; p.x reading-getLocalX() / 1000.0; p.y reading-getLocalY() / 1000.0; p.z 0.0; cloud.points.push_back(p); } ROS_DEBUG_STREAM(sonar_debug_info.str()); // publish topic(s) if(publish_sonar_pointcloud2) { sensor_msgs::PointCloud2 cloud2; if(!sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2)) { ROS_WARN(Error converting sonar point cloud message to point_cloud2 type before publishing! Not publishing this time.); } else { sonar_pointcloud2_pub.publish(cloud2); } } if(publish_sonar) { sonar_pub.publish(cloud); } } // end if sonar_enabled } bool RosAriaNode::enable_motors_cb(std_srvs::Empty::Request request, std_srvs::Empty::Response response) { ROS_INFO(RosAria: Enable motors request.); robot-lock(); if(robot-isEStopPressed()) ROS_WARN(RosAria: Warning: Enable motors requested, but robot also has E-Stop button pressed. Motors will not enable.); robot-enableMotors(); robot-unlock(); // todo could wait and see if motors do become enabled, and send a response with an error flag if not return true; } bool RosAriaNode::disable_motors_cb(std_srvs::Empty::Request request, std_srvs::Empty::Response response) { ROS_INFO(RosAria: Disable motors request.); robot-lock(); robot-disableMotors(); robot-unlock(); // todo could wait and see if motors do become disabled, and send a response with an error flag if not return true; } void RosAriaNode::cmdvel_cb( const geometry_msgs::TwistConstPtr msg) { veltime ros::Time::now(); ROS_INFO( new speed: [%0.2f,%0.2f](%0.3f), msg-linear.x*1e3, msg-angular.z, veltime.toSec() ); robot-lock(); robot-setVel(msg-linear.x*1e3); if(robot-hasLatVel()) robot-setLatVel(msg-linear.y*1e3); robot-setRotVel(msg-angular.z*180/M_PI); robot-unlock(); ROS_DEBUG(RosAria: sent vels to to aria (time %f): x vel %f mm/s, y vel %f mm/s, ang vel %f deg/s, veltime.toSec(), (double) msg-linear.x * 1e3, (double) msg-linear.y * 1.3, (double) msg-angular.z * 180/M_PI); } void RosAriaNode::cmdvel_watchdog(const ros::TimerEvent event) { // stop robot if no cmd_vel message was received for 0.6 seconds if (ros::Time::now() - veltime ros::Duration(0.6)) { robot-lock(); robot-setVel(0.0); if(robot-hasLatVel()) robot-setLatVel(0.0); robot-setRotVel(0.0); robot-unlock(); } } void RosAriaNode::robotWander() { robot-lock(); ArKeyHandler keyHandler; ArSonarDevice sonar; Aria::setKeyHandler(keyHandler); robot-attachKeyHandler(keyHandler); //puts(This program will make the robot wander around. It uses some avoidance\n //actions if obstacles are detected, otherwise it just has a\n //constant forward velocity.\n\nPress Escape to exit.); ArActionStallRecover recover; //ArActionBumpers bumpers; ArActionAvoidFront avoidFrontNear(Avoid Front Near,500, 0); ArActionAvoidFront avoidFrontFar; ArActionConstantVelocity constantVelocity(Constant Velocity,150); ArActionLimiterForwards limiter(speed limiter near, 300, 600, 250); // limiter for far away obstacles //ArActionLimiterForwards (const char *namespeed limiter, double stopDistance250, double slowDistance1000, double slowSpeed200, double widthRatio1) ArActionLimiterForwards limiterFar(speed limiter far, 300, 1100, 200); robot-addRangeDevice(sonar); robot-addAction(limiter, 95); robot-addAction(limiterFar, 90); robot-addAction(recover, 100); //robot-addAction(bumpers, 75); robot-addAction(avoidFrontNear, 50); robot-addAction(avoidFrontFar, 49); robot-addAction(constantVelocity, 25); robot-enableMotors(); //it is really important robot-enableSonar(); robot-unlock(); robot-waitForRunExit(); }connect_pioneer.cpp// // Created by felaim on 6/6/18. // #include connect_pioneer.h int main(int argc, char** argv) { ros::init(argc, argv, felaim_2dnav); ros::NodeHandle n(std::string(~)); Aria::init(); RosAriaNode *node new RosAriaNode(n); if(node-Setup() ! 0) { ROS_FATAL(RosAria: ROS node setup failed ...\n); return -1; } ROS_INFO(\n The robot is wandering now!\n\n********\n\n\t\t Please press ESC to STOP! \n\n********); node-robotWander(); delete node; ROS_INFO(RosAria: Quitting ... \n); return 0; }用catkin_make进行编译用MobileSim仿真的结果热的头晕晕的每天,LZ喜欢冬天O(∩_∩)O哈哈~脑子会比较清醒…