任务执行
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ywb
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# -*- coding: utf-8 -*-
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"""
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任务执行器 V3 — M×N 网格蛇形路径拍摄
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工作流：
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1. 根据 grid 生成蛇形路径（奇数行左→右，偶数行右→左）
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2. 逐台机器：
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- 正面：导航 → 扫码(多姿态重试) → 查机型 → 按姿态拍照
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- 背面：导航 → 按姿态拍照
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3. 回到 (0,0)
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"""
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import os
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import time
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import json
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import logging
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import threading
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import subprocess
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import math
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from typing import Optional, Dict, List
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from enum import Enum
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import requests
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import cv2
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import numpy as np
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logger = logging.getLogger(__name__)
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ROS2_SETUP_CMD = "source /opt/ros/humble/setup.bash && source ~/agv_pro_ros2/install/setup.bash"
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from config import ARM_CAMERA_CONFIG
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ARM_CAMERA_SNAPSHOT = ARM_CAMERA_CONFIG["snapshot_url"]
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PHOTOS_DIR = "/home/elephant/photos"
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# 二维码扫描重试参数
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QR_SCAN_TIMEOUT = 5 # 单次扫描超时
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QR_POSE_WAIT = 1.5 # 调整姿态后等待时间
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MANUAL_QR_TIMEOUT = 300 # 5分钟超时
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class MissionStatus(str, Enum):
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IDLE = "idle"
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RUNNING = "running"
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PAUSED = "paused"
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COMPLETED = "completed"
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WAITING_QR = "waiting_qr"
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class MissionExecutorV3:
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"""任务执行器 V3 — M×N 网格蛇形路径"""
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_instance = None # 单例，供外部停止用
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def __init__(self, config: dict):
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self.config = config
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self.status = MissionStatus.IDLE
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MissionExecutorV3._instance = self
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# 实时状态报告
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self.report = {
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"status": "idle",
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"step": "",
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"progress": 0,
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"total": 0,
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"log": [],
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"error": None,
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}
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# 线程同步
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self._stop = threading.Event()
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self._pause = threading.Event()
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self._pause.set() # 初始不暂停
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self._qr_event = threading.Event()
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self._qr_value: Optional[str] = None
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# 设备
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from .arm_client import ArmClient
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self.arm_client = ArmClient(
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config["arm"]["host"],
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config["arm"]["port"]
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)
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from .agv_controller_ros2 import AGVController
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self.agv = AGVController(
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device=config.get("device", "/dev/agvpro_controller"),
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baudrate=config.get("baudrate", 1000000)
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)
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# ==================== 连接 ====================
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def connect_all(self) -> Dict[str, bool]:
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results = {}
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results["agv"] = self.agv.connect()
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results["arm"] = self.arm_client.connect()
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return results
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def disconnect_all(self):
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if self.arm_client:
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self.arm_client.close()
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self.agv.disconnect()
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# ==================== 主任务流程 ====================
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def execute_mission(
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self,
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mission_config: dict,
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machines: list,
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qr_configs: list,
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models: list,
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) -> dict:
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"""
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执行完整拍摄任务。
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Args:
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mission_config: {rows, cols, grid, positions}
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machines: [{id, row, col, front: {coords}, back: {coords}}]
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qr_configs: [{id, name, joint_angles: [a1..a6]}]
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models: [{id, name, poses: [{name, arm_angles}], poses_back: [...]}]
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Returns:
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执行报告 dict
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"""
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self.status = MissionStatus.RUNNING
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self.report = {"status": "running", "step": "初始化", "progress": 0, "total": 0, "log": [], "error": None}
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self._stop.clear()
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self._pause.set()
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start_time = time.time()
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try:
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rows = int(mission_config.get("rows", 1))
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cols = int(mission_config.get("cols", 1))
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grid = mission_config.get("grid", [])
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positions = mission_config.get("positions", [])
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# 1. 生成蛇形路径
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path = self._build_snake_path(rows, cols, grid)
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if not path:
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self._log("❌ 网格中没有机器，任务终止")
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self.report["error"] = "No machines in grid"
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return self._finish(0)
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self.report["total"] = len(path)
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self._log(f"📍 蛇形路径生成: {len(path)} 台机器")
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# 初始化任务列表
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self.report["tasks"] = [{
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"row": r, "col": c,
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"machine_id": f"m_{r}_{c}",
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"label": f"{r+1}-{c+1}",
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"status": "pending",
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"step": "等待",
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"qr_value": None,
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"photos_front": 0,
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"photos_back": 0,
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} for (r, c) in path]
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# 初始化任务列表
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self.report["tasks"] = [{
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"row": r, "col": c,
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"machine_id": f"m_{r}_{c}",
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"label": f"{r+1}-{c+1}",
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"status": "pending",
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"step": "等待",
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"qr_value": None,
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"photos_front": 0,
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"photos_back": 0,
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} for (r, c) in path]
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# 2. 逐台执行
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for idx, (r, c) in enumerate(path):
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if self._stop.is_set():
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self._log("⏹️ 任务已停止")
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break
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self._wait_pause()
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# 更新任务状态 → 正面开始
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task = self._get_task(r, c)
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if task:
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task["status"] = "active"
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task["step"] = "正面扫码"
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machine_id = f"m_{r}_{c}"
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machine = next((m for m in machines if m.get("id") == machine_id), None)
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if not machine:
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self._log(f"⚠️ 机器 {r+1}-{c+1} 不存在，跳过")
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continue
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rl, cl = r + 1, c + 1 # 显示用的 1-based
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# --- 正面 ---
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self._log(f"📍 机器 {rl}-{cl} 进入正面点位")
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self._step(f"机器 {rl}-{cl} 正面")
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# 导航到正面点位
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front_pt = self._find_point(positions, r, c, "front")
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if front_pt and self._has_coords(front_pt):
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if not self._navigate(front_pt, "正面"):
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self._log(f"⚠️ 导航失败，尝试继续")
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else:
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self._log(f"⚠️ 无正面点位坐标")
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# 扫描二维码
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qr_value = self._scan_qr_with_poses(qr_configs)
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if self._stop.is_set():
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break
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# 查机型 + 更新任务步骤
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model_name = self._lookup_model(qr_value)
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self._log(f" 🏷️ 机型: {model_name}")
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if task and qr_value:
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task["qr_value"] = qr_value
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if task:
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task["step"] = "正面拍照"
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# 正面拍照
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model = self._find_model(models, model_name)
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if model:
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self._shoot(model, "front", rl, cl, qr_value or "unknown")
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else:
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self._log(f" ⚠️ 未找到机型 {model_name}")
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self._progress(idx, 1)
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# --- 背面 ---
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if task:
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task["step"] = "背面拍照"
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self._log(f"📍 机器 {rl}-{cl} 进入背面点位")
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self._step(f"机器 {rl}-{cl} 背面")
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# 导航到背面点位
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back_pt = self._find_point(positions, r + 1, c, "back")
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if back_pt and self._has_coords(back_pt):
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if not self._navigate(back_pt, "背面"):
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self._log(f"⚠️ 导航失败，尝试继续")
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else:
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self._log(f"⚠️ 无背面点位坐标")
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# 背面拍照
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if model:
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self._shoot(model, "back", rl, cl, qr_value or "unknown")
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# 标记任务完成
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if task:
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task["status"] = "completed"
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task["step"] = "完成"
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self._progress(idx, 2)
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# 3. 回到出发点
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if not self._stop.is_set():
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self._step("返回出发点")
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self._log("→ 返回 (0, 0)")
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self._nav2_go_to_point(0, 0, 0, timeout_sec=60)
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elapsed = time.time() - start_time
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return self._finish(elapsed)
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except Exception as e:
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self._log(f"❌ 任务异常: {e}")
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logger.exception("execute_mission 崩溃")
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self.report["error"] = str(e)
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self.status = MissionStatus.IDLE
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self.report["status"] = "idle"
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return self.report
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def _finish(self, elapsed: float) -> dict:
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if self._stop.is_set():
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self._step("已停止")
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else:
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self._step("完成")
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self._log(f"✅ 任务完成 ({elapsed:.0f}s)")
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self.report["progress"] = 100
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self.status = MissionStatus.IDLE
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self.report["status"] = "idle"
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return self.report
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# ==================== 蛇形路径 ====================
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def _build_snake_path(self, rows: int, cols: int, grid: list) -> list:
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"""奇数行(0,2,4...)左→右，偶数行(1,3,5...)右→左"""
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path = []
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for r in range(rows):
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if r % 2 == 0:
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for c in range(cols):
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if self._has_machine(grid, r, c):
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path.append((r, c))
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else:
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for c in range(cols - 1, -1, -1):
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if self._has_machine(grid, r, c):
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path.append((r, c))
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return path
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@staticmethod
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def _has_machine(grid: list, r: int, c: int) -> bool:
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if not grid or r >= len(grid):
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return False
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row = grid[r]
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if isinstance(row, list):
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return c < len(row) and bool(row[c])
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return False
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# ==================== 点位查找 ====================
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@staticmethod
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def _find_point(positions: list, row: int, col: int, side: str) -> Optional[dict]:
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for p in positions:
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if p.get("row") == row and p.get("col") == col and p.get("side") == side:
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return p
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return None
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@staticmethod
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def _has_coords(point: dict) -> bool:
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coords = point.get("coords", [])
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return len(coords) >= 2 and (coords[0] != 0 or coords[1] != 0)
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# ==================== 导航 ====================
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def _navigate(self, point: dict, label: str) -> bool:
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coords = point["coords"]
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x, y = float(coords[0]), float(coords[1])
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yaw = float(coords[2]) if len(coords) >= 3 else 0.0
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self._log(f" 🧭 导航到{label}点位 ({x:.2f}, {y:.2f}, yaw={math.degrees(yaw):.0f}°)")
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return self._nav2_go_to_point(x, y, yaw)
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# ==================== 二维码扫描 ====================
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def _scan_qr_with_poses(self, qr_configs: list) -> Optional[str]:
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"""用二维码配置中的姿态依次尝试"""
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if not qr_configs:
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self._log(f" ⚠️ 无二维码配置")
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return self._request_manual_qr()
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self._log(f" 🔍 尝试 {len(qr_configs)} 个二维码姿态...")
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for i, qc in enumerate(qr_configs):
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if self._stop.is_set():
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return None
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self._wait_pause()
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angles = qc.get("joint_angles", [])
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if not angles or len(angles) < 6:
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continue
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name = qc.get("name", f"姿态{i+1}")
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self._log(f" [{i+1}/{len(qr_configs)}] {name}")
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# 调整机械臂
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if self.arm_client:
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self.arm_client.set_angles(angles, speed=500)
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time.sleep(QR_POSE_WAIT)
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# 扫码
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qr = self._decode_qr_from_arm()
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if qr:
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self._log(f" ✅ 识别成功: {qr}")
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return qr
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time.sleep(0.3)
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self._log(f" ⚠️ 全部 {len(qr_configs)} 个姿态均未识别到二维码")
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return self._request_manual_qr()
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def _decode_qr_from_arm(self) -> Optional[str]:
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"""从机械臂摄像头取一帧，识别二维码"""
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for attempt in range(3):
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try:
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resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=QR_SCAN_TIMEOUT)
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if resp.status_code != 200 or not resp.content:
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continue
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arr = np.frombuffer(resp.content, dtype=np.uint8)
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frame = cv2.imdecode(arr, cv2.IMREAD_COLOR)
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if frame is None:
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continue
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detector = cv2.QRCodeDetector()
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data, bbox, _ = detector.detectAndDecode(frame)
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if data and len(data) > 0:
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return data
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except Exception:
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pass
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time.sleep(0.5)
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return None
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def _request_manual_qr(self) -> Optional[str]:
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"""暂停任务，等待手动输入"""
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self.status = MissionStatus.WAITING_QR
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self.report["status"] = "waiting_qr"
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self.report["step"] = "等待手动输入二维码"
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self._log(" ⌨️ 弹窗等待手动输入二维码...")
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self._qr_event.clear()
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if self._qr_event.wait(timeout=MANUAL_QR_TIMEOUT):
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self.status = MissionStatus.RUNNING
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self.report["status"] = "running"
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self._log(f" ✏️ 手动输入: {self._qr_value}")
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return self._qr_value
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else:
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self.status = MissionStatus.RUNNING
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self.report["status"] = "running"
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self._log(f" ⚠️ 等待超时（{MANUAL_QR_TIMEOUT}s），跳过")
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return None
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def set_manual_qr(self, value: str):
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self._qr_value = value.strip()
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self._qr_event.set()
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# ==================== 机型查询 ====================
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def _lookup_model(self, qr_value: Optional[str]) -> str:
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"""TODO: 后续通过 HTTP 接口查询机型"""
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return "机器1"
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@staticmethod
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def _find_model(models: list, name: str) -> Optional[dict]:
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"""在机型列表中找到匹配的机型"""
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for m in models:
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if m.get("name") == name or m.get("id") == name:
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return m
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# fallback: 第一个机型
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return models[0] if models else None
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# ==================== 姿态拍照 ====================
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def _shoot(self, model: dict, side: str, row: int, col: int, qr_value: str):
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"""按机型配置的所有姿态依次拍照"""
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# 更新任务照片计数
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task = self._get_task(row - 1, col - 1)
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side_label = "正面" if side == "front" else "背面"
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poses = model.get("poses", []) if side == "front" else model.get("poses_back", [])
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if not poses:
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self._log(f" ⚠️ 机型无{side_label}姿态配置")
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return
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self._log(f" 📷 {side_label}拍照 ({len(poses)} 个姿态)")
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for pi, pose in enumerate(poses):
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if self._stop.is_set():
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break
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self._wait_pause()
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angles = pose.get("arm_angles", [])
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if not angles or len(angles) < 6:
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self._log(f" 跳过 {pose.get('name', f'姿态{pi+1}')}: 无效角度")
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continue
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||||
|
||||
name = pose.get("name", f"{side_label}-{pi+1}")
|
||||
self._log(f" 🎯 {name}")
|
||||
|
||||
# 调整机械臂
|
||||
if self.arm_client:
|
||||
self.arm_client.set_angles(angles, speed=500)
|
||||
time.sleep(QR_POSE_WAIT)
|
||||
|
||||
# 拍照
|
||||
path = self._capture_arm_photo(row, col, side, pi + 1, qr_value)
|
||||
if path:
|
||||
self._log(f" 💾 {os.path.basename(path)}")
|
||||
|
||||
def _capture_arm_photo(self, row: int, col: int, side: str,
|
||||
pose_idx: int, qr_value: str) -> Optional[str]:
|
||||
"""从机械臂摄像头拍照存本地"""
|
||||
try:
|
||||
resp = requests.get(ARM_CAMERA_SNAPSHOT, timeout=10)
|
||||
if resp.status_code != 200 or not resp.content:
|
||||
logger.error("arm snapshot 请求失败")
|
||||
return None
|
||||
|
||||
os.makedirs(PHOTOS_DIR, exist_ok=True)
|
||||
ts = time.strftime("%Y%m%d_%H%M%S")
|
||||
fname = f"{ts}_r{row}c{col}_{side}_p{pose_idx}_{qr_value[:20]}.jpg"
|
||||
fpath = os.path.join(PHOTOS_DIR, fname)
|
||||
with open(fpath, "wb") as f:
|
||||
f.write(resp.content)
|
||||
return fpath
|
||||
except Exception as e:
|
||||
logger.error(f"拍照异常: {e}")
|
||||
return None
|
||||
|
||||
# ==================== 控制 ====================
|
||||
|
||||
def _wait_pause(self):
|
||||
"""等待暂停状态解除"""
|
||||
self._pause.wait()
|
||||
|
||||
def pause(self):
|
||||
self._pause.clear()
|
||||
self.status = MissionStatus.PAUSED
|
||||
self.report["status"] = "paused"
|
||||
self.report["step"] = "已暂停"
|
||||
self._log("⏸️ 任务已暂停")
|
||||
|
||||
def resume(self):
|
||||
self._pause.set()
|
||||
self.status = MissionStatus.RUNNING
|
||||
self.report["status"] = "running"
|
||||
self._log("▶️ 任务已恢复")
|
||||
|
||||
def stop(self):
|
||||
self._stop.set()
|
||||
self._pause.set() # 解除暂停
|
||||
self._qr_event.set() # 解除 QR 等待
|
||||
if self.arm_client:
|
||||
try:
|
||||
self.arm_client.task_stop()
|
||||
except Exception:
|
||||
pass
|
||||
self.agv.stop()
|
||||
self.status = MissionStatus.IDLE
|
||||
self.report["status"] = "idle"
|
||||
|
||||
def get_status(self) -> dict:
|
||||
return {
|
||||
"status": self.report["status"],
|
||||
"step": self.report["step"],
|
||||
"progress": self.report["progress"],
|
||||
"total": self.report["total"],
|
||||
}
|
||||
|
||||
def get_logs(self) -> dict:
|
||||
"""返回实时日志和完整状态"""
|
||||
return self.report
|
||||
|
||||
# ==================== 状态报告 ====================
|
||||
|
||||
def _log(self, msg: str):
|
||||
self.report["log"].append(msg)
|
||||
# Keep last 500 entries
|
||||
if len(self.report["log"]) > 500:
|
||||
self.report["log"] = self.report["log"][-500:]
|
||||
logger.info(msg)
|
||||
|
||||
def _step(self, text: str):
|
||||
self.report["step"] = text
|
||||
|
||||
def _get_task(self, row: int, col: int) -> Optional[dict]:
|
||||
"""获取指定行列的任务记录"""
|
||||
for t in self.report.get("tasks", []):
|
||||
if t["row"] == row and t["col"] == col:
|
||||
return t
|
||||
return None
|
||||
|
||||
def _progress(self, machine_idx: int, side_code: int):
|
||||
"""side_code: 1=正面完成, 2=背面完成"""
|
||||
if self.report["total"]:
|
||||
self.report["progress"] = min(
|
||||
int((machine_idx * 2 + side_code) / (self.report["total"] * 2) * 100),
|
||||
99
|
||||
)
|
||||
|
||||
# ==================== Nav2 导航 ====================
|
||||
# (保留原实现)
|
||||
|
||||
def _nav2_check_available(self) -> bool:
|
||||
try:
|
||||
rc, out, err = self._run_ros2_cmd("ros2 action list")
|
||||
if rc != 0:
|
||||
return False
|
||||
return "/navigate_to_pose" in out
|
||||
except:
|
||||
return False
|
||||
|
||||
def _nav2_go_to_point(self, x: float, y: float, yaw: float = 0.0,
|
||||
timeout_sec: float = 120.0) -> bool:
|
||||
if not self._nav2_check_available():
|
||||
logger.error("Nav2 action server 不可用")
|
||||
return False
|
||||
|
||||
qz = math.sin(yaw / 2.0)
|
||||
qw = math.cos(yaw / 2.0)
|
||||
|
||||
pose_yaml = (
|
||||
f"pose:\n"
|
||||
f" header:\n"
|
||||
f" stamp:\n"
|
||||
f" sec: 0\n"
|
||||
f" nanosec: 0\n"
|
||||
f" frame_id: 'map'\n"
|
||||
f" pose:\n"
|
||||
f" position:\n"
|
||||
f" x: {x}\n"
|
||||
f" y: {y}\n"
|
||||
f" z: 0.0\n"
|
||||
f" orientation:\n"
|
||||
f" x: 0.0\n"
|
||||
f" y: 0.0\n"
|
||||
f" z: {qz}\n"
|
||||
f" w: {qw}"
|
||||
)
|
||||
|
||||
cmd = (
|
||||
f"ros2 action send_goal /navigate_to_pose "
|
||||
f"nav2_msgs/action/NavigateToPose "
|
||||
f"'{pose_yaml}' --feedback"
|
||||
)
|
||||
full_cmd = f"bash -c '{ROS2_SETUP_CMD} && {cmd}'"
|
||||
|
||||
try:
|
||||
process = subprocess.Popen(
|
||||
full_cmd, shell=True,
|
||||
stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
|
||||
)
|
||||
succeeded = False
|
||||
elapsed = 0.0
|
||||
while elapsed < timeout_sec:
|
||||
import select
|
||||
reads = [process.stdout]
|
||||
ready, _, _ = select.select(reads, [], [], 1.0)
|
||||
elapsed += 1.0
|
||||
if process.stdout in ready:
|
||||
line = process.stdout.readline()
|
||||
if not line:
|
||||
break
|
||||
ls = line.strip()
|
||||
if "succeeded" in ls.lower():
|
||||
succeeded = True
|
||||
break
|
||||
elif "failed" in ls.lower() or "aborted" in ls.lower():
|
||||
break
|
||||
elif "canceled" in ls.lower() or "cancelled" in ls.lower():
|
||||
break
|
||||
if process.poll() is not None:
|
||||
break
|
||||
if process.poll() is None:
|
||||
process.terminate()
|
||||
try:
|
||||
process.wait(timeout=3)
|
||||
except subprocess.TimeoutExpired:
|
||||
process.kill()
|
||||
return succeeded
|
||||
except Exception as e:
|
||||
logger.error(f"Nav2 异常: {e}")
|
||||
return False
|
||||
|
||||
def _nav2_cancel(self):
|
||||
cancel_cmd = f"bash -c '{ROS2_SETUP_CMD} && ros2 action cancel /navigate_to_pose 2>/dev/null || true'"
|
||||
try:
|
||||
subprocess.run(cancel_cmd, shell=True, timeout=3)
|
||||
except:
|
||||
pass
|
||||
|
||||
def _run_ros2_cmd(self, cmd: str, timeout: float = 5.0) -> tuple:
|
||||
full_cmd = f"bash -c '{ROS2_SETUP_CMD} && {cmd}'"
|
||||
try:
|
||||
result = subprocess.run(
|
||||
full_cmd, shell=True,
|
||||
capture_output=True, text=True, timeout=timeout
|
||||
)
|
||||
return result.returncode, result.stdout.strip(), result.stderr.strip()
|
||||
except subprocess.TimeoutExpired:
|
||||
return -1, "", "Timeout"
|
||||
except Exception as e:
|
||||
return -1, "", str(e)
|
||||
@@ -0,0 +1,122 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="zh-CN">
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
<title>运行监控 - AGV 拍摄系统</title>
|
||||
<link rel="stylesheet" href="/static/css/style.css">
|
||||
</head>
|
||||
<body>
|
||||
<div id="app">
|
||||
<header class="topbar">
|
||||
<div class="logo">▶️ 任务运行</div>
|
||||
<nav class="nav">
|
||||
<a href="/" class="nav-link">🏠 首页</a>
|
||||
<a href="/setting" class="nav-link">⚙️ 设置</a>
|
||||
<a href="/running" class="nav-link active">▶️ 运行</a>
|
||||
</nav>
|
||||
</header>
|
||||
|
||||
<main class="container">
|
||||
<!-- 状态概览 -->
|
||||
<section class="card">
|
||||
<div class="running-header">
|
||||
<div class="running-status" :class="missionState">
|
||||
<span class="pulse"></span>
|
||||
[[ missionStateText ]]
|
||||
</div>
|
||||
<div class="running-progress" v-if="missionState === 'running' || missionState === 'waiting_qr'">
|
||||
<span>进度 [[ Math.round(progress) ]]%</span>
|
||||
<div class="progress-bar">
|
||||
<div class="progress-fill" :style="{width: progress + '%'}"></div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="btn-row">
|
||||
<button class="btn btn-success btn-large" @click="startMission" :disabled="missionState !== 'idle'">
|
||||
▶️ 开始任务
|
||||
</button>
|
||||
<button class="btn btn-warning btn-large" @click="pauseMission" :disabled="missionState !== 'running'">
|
||||
⏸️ 暂停
|
||||
</button>
|
||||
<button class="btn btn-primary btn-large" @click="resumeMission" :disabled="missionState !== 'paused'">
|
||||
▶️ 继续
|
||||
</button>
|
||||
<button class="btn btn-error btn-large" @click="stopMission" :disabled="missionState === 'idle'">
|
||||
⏹️ 停止
|
||||
</button>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<!-- 任务清单 -->
|
||||
<section class="card" v-if="tasks.length > 0">
|
||||
<h2>📋 任务清单 ([[ tasks.length ]] 台机器)</h2>
|
||||
<div class="task-grid">
|
||||
<div v-for="task in tasks" :key="task.machine_id"
|
||||
class="task-cell" :class="'task-' + task.status"
|
||||
:title="task.step">
|
||||
<div class="task-pos">[[ task.label ]]</div>
|
||||
<div class="task-status-icon">
|
||||
<span v-if="task.status === 'pending'">⏳</span>
|
||||
<span v-else-if="task.status === 'active'" class="pulse-icon">🔄</span>
|
||||
<span v-else-if="task.status === 'completed'">✅</span>
|
||||
<span v-else>❓</span>
|
||||
</div>
|
||||
<div class="task-step-text">[[ task.step ]]</div>
|
||||
<div class="task-info">
|
||||
<div v-if="task.qr_value" class="task-qr">🏷 [[ task.qr_value.substring(0,8) ]]</div>
|
||||
<div class="task-photos" v-if="task.photos_front || task.photos_back">
|
||||
📷 [[ task.photos_front ]]正 [[ task.photos_back ]]背
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<!-- 实时日志 -->
|
||||
<section class="card" v-if="missionState === 'running' || missionState === 'waiting_qr'">
|
||||
<h2>📜 实时日志</h2>
|
||||
<div class="log-box" ref="logBox">
|
||||
<div v-for="(log, i) in logs" :key="i" class="log-line">[[ log ]]</div>
|
||||
<div v-if="logs.length === 0" class="log-empty">等待任务开始...</div>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<!-- 实时预览 -->
|
||||
<section class="card">
|
||||
<h2>📷 摄像头预览</h2>
|
||||
<div class="camera-full">
|
||||
<img :src="previewUrl" @error="onPreviewError">
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<!-- 任务报告 -->
|
||||
<section class="card" v-if="report">
|
||||
<h2>📊 任务报告</h2>
|
||||
<div class="report-summary">
|
||||
<div class="stat ok">✅ 完成: [[ report.completed ]]</div>
|
||||
<div class="stat error">❌ 失败: [[ report.failed ]]</div>
|
||||
<div class="stat">总计: [[ report.total_points ]]</div>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<!-- 手动输入二维码弹窗 -->
|
||||
<div class="modal-overlay" v-if="showQrModal">
|
||||
<div class="modal">
|
||||
<h3>⌨️ 手动输入二维码</h3>
|
||||
<p>所有姿态均未识别到二维码，请手动输入：</p>
|
||||
<input type="text" v-model="qrValue" placeholder="输入二维码内容" autofocus @keyup.enter="submitQr">
|
||||
<div class="modal-actions">
|
||||
<button class="btn btn-primary" @click="submitQr">确认</button>
|
||||
<button class="btn" @click="cancelQr">跳过</button>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
</main>
|
||||
</div>
|
||||
|
||||
<script src="/static/js/vue3.global.prod.js"></script>
|
||||
<script src="/static/js/running.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,130 @@
|
||||
const { createApp } = Vue
|
||||
const API = ''
|
||||
|
||||
createApp({
|
||||
delimiters: ['[[', ']]'],
|
||||
|
||||
data() {
|
||||
return {
|
||||
missionState: 'idle',
|
||||
progress: 0,
|
||||
tasks: [],
|
||||
report: null,
|
||||
previewUrl: API + '/api/camera/preview',
|
||||
polling: null,
|
||||
logs: [],
|
||||
showQrModal: false,
|
||||
qrValue: '',
|
||||
}
|
||||
},
|
||||
computed: {
|
||||
missionStateText() {
|
||||
const map = {
|
||||
idle: '空闲',
|
||||
running: '任务运行中',
|
||||
paused: '已暂停',
|
||||
completed: '已完成',
|
||||
waiting_qr: '等待输入二维码'
|
||||
}
|
||||
return map[this.missionState] || '未知'
|
||||
},
|
||||
},
|
||||
mounted() {
|
||||
this.poll()
|
||||
},
|
||||
beforeUnmount() {
|
||||
if (this.polling) clearInterval(this.polling)
|
||||
},
|
||||
methods: {
|
||||
poll() {
|
||||
this.refresh()
|
||||
this.pollLogs()
|
||||
this.polling = setInterval(() => {
|
||||
this.refresh()
|
||||
this.pollLogs()
|
||||
}, 2000)
|
||||
},
|
||||
async refresh() {
|
||||
try {
|
||||
const res = await fetch(API + '/api/mission/state')
|
||||
const data = await res.json()
|
||||
this.missionState = data.status || 'idle'
|
||||
this.progress = data.progress || 0
|
||||
if (data.tasks) this.tasks = data.tasks
|
||||
|
||||
// QR 弹窗
|
||||
if (this.missionState === 'waiting_qr' && !this.showQrModal) {
|
||||
this.showQrModal = true
|
||||
this.qrValue = ''
|
||||
}
|
||||
|
||||
// 完成后获取报告
|
||||
if (this.missionState === 'idle' && this.tasks.length > 0) {
|
||||
const reportRes = await fetch(API + '/api/mission/report')
|
||||
const reportData = await reportRes.json()
|
||||
this.report = reportData.report
|
||||
}
|
||||
} catch (e) {}
|
||||
},
|
||||
async pollLogs() {
|
||||
if (this.missionState !== 'running' && this.missionState !== 'waiting_qr') return
|
||||
try {
|
||||
const res = await fetch(API + '/api/mission/log')
|
||||
const data = await res.json()
|
||||
if (data.log) this.logs = data.log
|
||||
if (data.progress != null) this.progress = data.progress
|
||||
if (data.tasks) this.tasks = data.tasks
|
||||
// 自动滚到底
|
||||
this.$nextTick(() => {
|
||||
const box = this.$refs.logBox
|
||||
if (box) box.scrollTop = box.scrollHeight
|
||||
})
|
||||
} catch (e) {}
|
||||
},
|
||||
async startMission() {
|
||||
if (this.missionState !== 'idle') return
|
||||
this.logs = []
|
||||
this.progress = 0
|
||||
this.report = null
|
||||
this.showQrModal = false
|
||||
await fetch(API + '/api/mission/start', { method: 'POST' })
|
||||
this.missionState = 'running'
|
||||
},
|
||||
async pauseMission() {
|
||||
await fetch(API + '/api/mission/pause', { method: 'POST' })
|
||||
this.missionState = 'paused'
|
||||
},
|
||||
async resumeMission() {
|
||||
await fetch(API + '/api/mission/resume', { method: 'POST' })
|
||||
this.missionState = 'running'
|
||||
this.showQrModal = false
|
||||
},
|
||||
async stopMission() {
|
||||
await fetch(API + '/api/mission/stop', { method: 'POST' })
|
||||
this.missionState = 'idle'
|
||||
this.showQrModal = false
|
||||
},
|
||||
async submitQr() {
|
||||
const val = this.qrValue.trim()
|
||||
await fetch(API + '/api/mission/manual-qr', {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ qr: val || ' ' })
|
||||
})
|
||||
this.showQrModal = false
|
||||
this.qrValue = ''
|
||||
},
|
||||
cancelQr() {
|
||||
this.showQrModal = false
|
||||
this.qrValue = ''
|
||||
fetch(API + '/api/mission/manual-qr', {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ qr: 'SKIP' })
|
||||
})
|
||||
},
|
||||
onPreviewError(e) {
|
||||
e.target.style.display = 'none'
|
||||
}
|
||||
}
|
||||
}).mount('#app')
|
||||
@@ -0,0 +1,67 @@
|
||||
#!/usr/bin/env python3
|
||||
"""修复激光雷达时间戳偏移的修正器 v5"""
|
||||
import os, sys, rclpy
|
||||
from rclpy.node import Node
|
||||
from sensor_msgs.msg import LaserScan
|
||||
from builtin_interfaces.msg import Time
|
||||
|
||||
LOCKFILE = "/tmp/scan_fixer.lock"
|
||||
|
||||
if os.path.exists(LOCKFILE):
|
||||
with open(LOCKFILE) as f:
|
||||
old_pid = int(f.read().strip())
|
||||
try:
|
||||
os.kill(old_pid, 0)
|
||||
print(f"Another fixer running PID {old_pid}, exit.", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
except (OSError, ProcessLookupError):
|
||||
print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
|
||||
|
||||
with open(LOCKFILE, "w") as f:
|
||||
f.write(str(os.getpid()))
|
||||
|
||||
def main():
|
||||
rclpy.init(args=sys.argv[1:])
|
||||
node = Node('scan_timestamp_fixer')
|
||||
offset = 2.0
|
||||
pub = node.create_publisher(LaserScan, '/scan_corrected', 10)
|
||||
count = [0]
|
||||
|
||||
def cb(msg: LaserScan):
|
||||
count[0] += 1
|
||||
s, ns = msg.header.stamp.sec, msg.header.stamp.nanosec
|
||||
s2 = s - int(offset)
|
||||
ns2 = ns - int((offset % 1) * 1e9)
|
||||
if ns2 < 0:
|
||||
ns2 += 1000000000
|
||||
s2 -= 1
|
||||
out = LaserScan()
|
||||
out.header.frame_id = msg.header.frame_id
|
||||
out.header.stamp = Time(sec=s2, nanosec=ns2)
|
||||
out.angle_min = msg.angle_min
|
||||
out.angle_max = msg.angle_max
|
||||
out.angle_increment = msg.angle_increment
|
||||
out.time_increment = msg.time_increment
|
||||
out.scan_time = msg.scan_time
|
||||
out.range_min = msg.range_min
|
||||
out.range_max = msg.range_max
|
||||
out.ranges = msg.ranges
|
||||
out.intensities = msg.intensities
|
||||
pub.publish(out)
|
||||
if count[0] % 200 == 0:
|
||||
node.get_logger().info(f'#{count[0]} /scan={s} -> /scan_corrected={s2}')
|
||||
|
||||
node.create_subscription(LaserScan, '/scan', cb, 10)
|
||||
node.get_logger().info(f'Fixer PID={os.getpid()}, offset={offset}s')
|
||||
|
||||
try:
|
||||
while rclpy.ok():
|
||||
rclpy.spin_once(node, timeout_sec=0.5)
|
||||
finally:
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
if os.path.exists(LOCKFILE):
|
||||
os.unlink(LOCKFILE)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -0,0 +1,17 @@
|
||||
#!/bin/bash
|
||||
source /opt/ros/humble/setup.bash
|
||||
source /home/elephant/agv_pro_ros2/install/setup.bash
|
||||
export ROS_DOMAIN_ID=1
|
||||
cd /home/elephant/agv_pro_ros2
|
||||
nohup ros2 daemon start >/dev/null 2>&1 &
|
||||
sleep 5
|
||||
nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
|
||||
sleep 8
|
||||
nohup python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py > /tmp/scan_fixer.log 2>&1 &
|
||||
sleep 5
|
||||
nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True > /tmp/ros2_nav2.log 2>&1 &
|
||||
sleep 15
|
||||
cd /home/elephant/work/agv_app && nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
|
||||
sleep 5
|
||||
echo "ALL_STARTED"
|
||||
ps aux | grep -E 'lslidar|agv_pro_node|nav2_container|scan_timestamp_fixer|ros2-daemon|app.py' | grep -v grep
|
||||
Executable
+17
@@ -0,0 +1,17 @@
|
||||
#!/bin/bash
|
||||
source /opt/ros/humble/setup.bash
|
||||
source /home/elephant/agv_pro_ros2/install/setup.bash
|
||||
export ROS_DOMAIN_ID=1
|
||||
cd /home/elephant/agv_pro_ros2
|
||||
nohup ros2 daemon start >/dev/null 2>&1 &
|
||||
sleep 5
|
||||
nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
|
||||
sleep 8
|
||||
nohup python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py > /tmp/scan_fixer.log 2>&1 &
|
||||
sleep 5
|
||||
nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True > /tmp/ros2_nav2.log 2>&1 &
|
||||
sleep 15
|
||||
cd /home/elephant/work/agv_app && nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
|
||||
sleep 5
|
||||
echo "ALL_STARTED"
|
||||
ps aux | grep -E 'lslidar|agv_pro_node|nav2_container|scan_timestamp_fixer|ros2-daemon|app.py' | grep -v grep
|
||||
Executable
+177
@@ -0,0 +1,177 @@
|
||||
#!/bin/bash
|
||||
# ============================================================
|
||||
# Robot AGV 全量启动脚本 v2.6
|
||||
# 修复：
|
||||
# - 清理 scan_fixer lock 文件防残留
|
||||
# - Nav2 节点检测 grep -c 改为单行输出
|
||||
# - nohup 启动 Nav2 用 bash -c 包裹（确保 source 环境）
|
||||
# ============================================================
|
||||
set -e
|
||||
|
||||
AGV_APP_DIR="/home/elephant/work/agv_app"
|
||||
AGV_ROS2_DIR="/home/elephant/agv_pro_ros2"
|
||||
ROS_DOMAIN_ID_VAL=1
|
||||
|
||||
echo "=========================================="
|
||||
echo " Robot AGV 全量启动 v2.6"
|
||||
echo "=========================================="
|
||||
echo ""
|
||||
|
||||
# ---------- 1. 清理旧进程（不杀 ros2-daemon） ----------
|
||||
echo "[1/7] 清理旧进程..."
|
||||
pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
|
||||
pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
|
||||
pkill -f "agv_pro_node" 2>/dev/null || true
|
||||
pkill -f "lslidar_driver_node" 2>/dev/null || true
|
||||
pkill -f "fix_scan_timestamp" 2>/dev/null || true
|
||||
pkill -f "python.*app.py" 2>/dev/null || true
|
||||
sleep 4
|
||||
|
||||
# 清理 scan_fixer 锁文件（防残留 PID 导致启动失败）
|
||||
rm -f /tmp/scan_fixer.lock
|
||||
|
||||
echo " 清理完成"
|
||||
|
||||
# ---------- 2. 重启 ros2 daemon ----------
|
||||
echo "[2/7] 重启 ros2 daemon..."
|
||||
pkill -f "ros2-daemon" 2>/dev/null || true
|
||||
sleep 2
|
||||
nohup bash -c "source /opt/ros/humble/setup.bash && ros2 daemon start" >/dev/null 2>&1 &
|
||||
sleep 5
|
||||
echo " ros2 daemon 已就绪"
|
||||
|
||||
# ---------- 3. 启动 bringup (含激光雷达) ----------
|
||||
echo "[3/7] 启动 AGV Bringup..."
|
||||
source /opt/ros/humble/setup.bash
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source install/setup.bash
|
||||
nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py \
|
||||
port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
|
||||
BRINGUP_PID=$!
|
||||
echo " bringup PID: $BRINGUP_PID"
|
||||
|
||||
echo " 等待 bringup 就绪..."
|
||||
for i in $(seq 1 20); do
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/odom'; then
|
||||
echo " ✅ bringup 已就绪"
|
||||
break
|
||||
fi
|
||||
sleep 2
|
||||
done
|
||||
|
||||
# ---------- 4. 启动激光时间戳修正节点 ----------
|
||||
echo "[4/7] 启动激光时间戳修正节点..."
|
||||
pkill -f "fix_scan_timestamp" 2>/dev/null || true
|
||||
sleep 2
|
||||
|
||||
# 确保 /scan 存在
|
||||
for i in $(seq 1 10); do
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan'; then
|
||||
echo " /scan 话题已上线"
|
||||
break
|
||||
fi
|
||||
sleep 2
|
||||
done
|
||||
|
||||
nohup bash -c "source /opt/ros/humble/setup.bash && \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py" \
|
||||
> /tmp/scan_fixer.log 2>&1 &
|
||||
FIXER_PID=$!
|
||||
echo " fix_scan_timestamp PID: $FIXER_PID"
|
||||
sleep 5
|
||||
|
||||
# 验证 fixer 进程和 scan_corrected
|
||||
FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
|
||||
if [ "$FIXER_COUNT" -gt 1 ]; then
|
||||
echo " ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
|
||||
pkill -f "fix_scan_timestamp" 2>/dev/null || true
|
||||
sleep 2
|
||||
rm -f /tmp/scan_fixer.lock
|
||||
nohup bash -c "source /opt/ros/humble/setup.bash && \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py" \
|
||||
> /tmp/scan_fixer.log 2>&1 &
|
||||
FIXER_PID=$!
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
|
||||
echo " ✅ /scan_corrected 已上线"
|
||||
else
|
||||
echo " ⚠️ /scan_corrected 未上线，检查日志："
|
||||
tail -5 /tmp/scan_fixer.log
|
||||
fi
|
||||
|
||||
# ---------- 5. 启动 Nav2 ----------
|
||||
echo "[5/7] 启动 Nav2 导航..."
|
||||
source /opt/ros/humble/setup.bash
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source install/setup.bash
|
||||
# 使用 bash -c 确保 source 环境变量传递到 nohup
|
||||
nohup bash -c "source /opt/ros/humble/setup.bash && \
|
||||
source /home/elephant/agv_pro_ros2/install/setup.bash && \
|
||||
export ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL && \
|
||||
ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
|
||||
autostart:=True" > /tmp/ros2_nav2.log 2>&1 &
|
||||
NAV2_PID=$!
|
||||
echo " Nav2 PID: $NAV2_PID"
|
||||
sleep 12
|
||||
|
||||
echo " 等待 Nav2 节点就绪..."
|
||||
for i in $(seq 1 20); do
|
||||
NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
|
||||
grep -cE 'lifecycle_manager_navigation|bt_navigator|controller_server' 2>/dev/null || echo 0)
|
||||
# 去除可能的换行符，确保是单个数字
|
||||
NODES=$(echo "$NODES" | tr -d '\n' | awk '{print $1}')
|
||||
if [ "$NODES" -ge 3 ] 2>/dev/null; then
|
||||
echo " ✅ Nav2 节点已就绪 ($NODES 个)"
|
||||
break
|
||||
fi
|
||||
sleep 3
|
||||
done
|
||||
|
||||
# ---------- 6. 设置精度参数 ----------
|
||||
echo "[6/7] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
|
||||
source /opt/ros/humble/setup.bash
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source install/setup.bash
|
||||
|
||||
for NODE in /controller_server /bt_navigator /planner_server; do
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
|
||||
done
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL timeout 1 ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
|
||||
echo " 精度参数已设置"
|
||||
|
||||
# ---------- 7. 启动 Flask ----------
|
||||
echo "[7/7] 启动 Flask API..."
|
||||
cd "$AGV_APP_DIR"
|
||||
nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
|
||||
FLASK_PID=$!
|
||||
echo " Flask PID: $FLASK_PID"
|
||||
sleep 4
|
||||
|
||||
# ---------- 完成 ----------
|
||||
echo ""
|
||||
echo "=========================================="
|
||||
echo " ✅ 启动完成"
|
||||
echo "=========================================="
|
||||
echo ""
|
||||
echo " 进程状态:"
|
||||
for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
|
||||
NAME="${PROC%%:*}"
|
||||
PID="${PROC##*:}"
|
||||
echo " $NAME : $(ps aux | grep -w "$PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
|
||||
done
|
||||
echo ""
|
||||
echo " 日志文件:"
|
||||
echo " bringup : /tmp/ros2_bringup.log"
|
||||
echo " Nav2 : /tmp/ros2_nav2.log"
|
||||
echo " fixer : /tmp/scan_fixer.log"
|
||||
echo " Flask : /tmp/agv_flask.log"
|
||||
echo ""
|
||||
echo " 关键验证命令:"
|
||||
echo " curl http://localhost:5000/api/navigate/status"
|
||||
echo " ROS_DOMAIN_ID=1 ros2 topic echo /scan_corrected --once"
|
||||
echo " ROS_DOMAIN_ID=1 ros2 topic echo /amcl_pose --once"
|
||||
Executable
+165
@@ -0,0 +1,165 @@
|
||||
#!/bin/bash
|
||||
# ============================================================
|
||||
# Robot AGV 全量启动脚本 v2.2
|
||||
# 完整流程：
|
||||
# 清理旧进程（不杀 daemon） -> 启动 bringup ->
|
||||
# 启动激光时间戳修正节点 -> 启动 Nav2 ->
|
||||
# 设置导航精度参数 -> 启动 Flask
|
||||
# ============================================================
|
||||
set -e
|
||||
|
||||
AGV_APP_DIR="/home/elephant/work/agv_app"
|
||||
AGV_ROS2_DIR="/home/elephant/agv_pro_ros2"
|
||||
ROS_DOMAIN_ID_VAL=1
|
||||
|
||||
echo "=========================================="
|
||||
echo " Robot AGV 全量启动 v2.2"
|
||||
echo "=========================================="
|
||||
echo ""
|
||||
|
||||
# ---------- 1. 清理旧进程（不杀 ros2-daemon） ----------
|
||||
echo "[1/7] 清理旧进程..."
|
||||
pkill -f "ros2 launch agv_pro_bringup" 2>/dev/null || true
|
||||
pkill -f "ros2 launch agv_pro_navigation2" 2>/dev/null || true
|
||||
pkill -f "agv_pro_node" 2>/dev/null || true
|
||||
pkill -f "lslidar_driver_node" 2>/dev/null || true
|
||||
pkill -f "scan_timestamp_fixer" 2>/dev/null || true
|
||||
pkill -f "python.*app.py" 2>/dev/null || true
|
||||
sleep 4
|
||||
echo " 清理完成"
|
||||
|
||||
# ---------- 2. 重启 ros2 daemon（仅杀 daemon进程本身，不杀整个环境） ----------
|
||||
echo "[2/7] 重启 ros2 daemon..."
|
||||
pkill -f "ros2-daemon" 2>/dev/null || true
|
||||
sleep 2
|
||||
nohup bash -c "source /opt/ros/humble/setup.bash && ros2 daemon start" >/dev/null 2>&1 &
|
||||
sleep 5
|
||||
echo " ros2 daemon 已就绪"
|
||||
|
||||
# ---------- 3. 启动 bringup (含激光雷达) ----------
|
||||
echo "[3/7] 启动 AGV Bringup..."
|
||||
source /opt/ros/humble/setup.bash
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source install/setup.bash
|
||||
nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py \
|
||||
port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
|
||||
BRINGUP_PID=$!
|
||||
echo " bringup PID: $BRINGUP_PID"
|
||||
|
||||
echo " 等待 bringup 就绪..."
|
||||
for i in $(seq 1 20); do
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/odom'; then
|
||||
echo " ✅ bringup 已就绪"
|
||||
break
|
||||
fi
|
||||
sleep 2
|
||||
done
|
||||
|
||||
# ---------- 4. 启动激光时间戳修正节点（单例，不重复启动） ----------
|
||||
echo "[4/7] 启动激光时间戳修正节点..."
|
||||
# 确保只有1个 fixer 进程在运行
|
||||
pkill -f "scan_timestamp_fixer" 2>/dev/null || true
|
||||
sleep 2
|
||||
|
||||
for i in $(seq 1 10); do
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan'; then
|
||||
echo " /scan 话题已上线"
|
||||
break
|
||||
fi
|
||||
sleep 2
|
||||
done
|
||||
|
||||
nohup bash -c "source /opt/ros/humble/setup.bash && \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py" \
|
||||
> /tmp/scan_fixer.log 2>&1 &
|
||||
FIXER_PID=$!
|
||||
echo " scan_timestamp_fixer PID: $FIXER_PID"
|
||||
sleep 5
|
||||
|
||||
# 验证只有1个 fixer 进程
|
||||
FIXER_COUNT=$(ps aux | grep -c "[f]ix_scan_timestamp" 2>/dev/null || echo 0)
|
||||
if [ "$FIXER_COUNT" -gt 1 ]; then
|
||||
echo " ⚠️ 发现 $FIXER_COUNT 个 fixer 进程，杀掉多余的..."
|
||||
pkill -f "scan_timestamp_fixer" 2>/dev/null || true
|
||||
sleep 2
|
||||
nohup bash -c "source /opt/ros/humble/setup.bash && \
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py" \
|
||||
> /tmp/scan_fixer.log 2>&1 &
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
if ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 topic list 2>/dev/null | grep -q '/scan_corrected'; then
|
||||
echo " ✅ /scan_corrected 已上线"
|
||||
else
|
||||
echo " ⚠️ /scan_corrected 未上线，检查日志："
|
||||
cat /tmp/scan_fixer.log
|
||||
fi
|
||||
|
||||
# ---------- 5. 启动 Nav2 ----------
|
||||
echo "[5/7] 启动 Nav2 导航..."
|
||||
source /opt/ros/humble/setup.bash
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source install/setup.bash
|
||||
nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py \
|
||||
autostart:=True > /tmp/ros2_nav2.log 2>&1 &
|
||||
NAV2_PID=$!
|
||||
echo " Nav2 PID: $NAV2_PID"
|
||||
sleep 12
|
||||
|
||||
echo " 等待 Nav2 节点就绪..."
|
||||
for i in $(seq 1 15); do
|
||||
NODES=$(ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 node list 2>/dev/null | \
|
||||
grep -c "lifecycle_manager_navigation\|bt_navigator\|controller_server" 2>/dev/null || echo 0)
|
||||
if [ "$NODES" -ge 3 ]; then
|
||||
echo " ✅ Nav2 节点已就绪 ($NODES 个)"
|
||||
break
|
||||
fi
|
||||
sleep 3
|
||||
done
|
||||
|
||||
# ---------- 6. 设置精度参数 ----------
|
||||
echo "[6/7] 设置导航精度参数 (xy_goal_tolerance=0.05m)..."
|
||||
source /opt/ros/humble/setup.bash
|
||||
cd "$AGV_ROS2_DIR"
|
||||
source install/setup.bash
|
||||
|
||||
for NODE in /controller_server /bt_navigator /planner_server; do
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 param set $NODE general_goal_checker.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 param set $NODE general_goal_checker.yaw_goal_tolerance 0.05 2>/dev/null || true
|
||||
done
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 param set /controller_server FollowPath.xy_goal_tolerance 0.05 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 param set /controller_server general_goal_checker.stateful True 2>/dev/null || true
|
||||
ROS_DOMAIN_ID=$ROS_DOMAIN_ID_VAL ros2 param set /controller_server FollowPath.stateful True 2>/dev/null || true
|
||||
echo " 精度参数已设置"
|
||||
|
||||
# ---------- 7. 启动 Flask ----------
|
||||
echo "[7/7] 启动 Flask API..."
|
||||
cd "$AGV_APP_DIR"
|
||||
nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
|
||||
FLASK_PID=$!
|
||||
echo " Flask PID: $FLASK_PID"
|
||||
sleep 4
|
||||
|
||||
# ---------- 完成 ----------
|
||||
echo ""
|
||||
echo "=========================================="
|
||||
echo " ✅ 启动完成"
|
||||
echo "=========================================="
|
||||
echo ""
|
||||
echo " 进程状态:"
|
||||
for PROC in "bringup:$BRINGUP_PID" "Nav2:$NAV2_PID" "fixer:$FIXER_PID" "Flask:$FLASK_PID"; do
|
||||
NAME="${PROC%%:*}"
|
||||
PID="${PROC##*:}"
|
||||
echo " $NAME : $(ps aux | grep -w "$PID" | grep -v grep | awk '{print $2}' || echo '已退出')"
|
||||
done
|
||||
echo ""
|
||||
echo " 日志文件:"
|
||||
echo " bringup : /tmp/ros2_bringup.log"
|
||||
echo " Nav2 : /tmp/ros2_nav2.log"
|
||||
echo " fixer : /tmp/scan_fixer.log"
|
||||
echo " Flask : /tmp/agv_flask.log"
|
||||
echo ""
|
||||
echo " 关键验证命令:"
|
||||
echo " curl http://localhost:5000/api/navigate/status"
|
||||
echo " ROS_DOMAIN_ID=1 ros2 topic echo /scan_corrected --once"
|
||||
echo " ROS_DOMAIN_ID=1 ros2 topic echo /amcl_pose --once"
|
||||
@@ -0,0 +1,350 @@
|
||||
amcl:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
alpha1: 0.2
|
||||
alpha2: 0.2
|
||||
alpha3: 0.2
|
||||
alpha4: 0.2
|
||||
alpha5: 0.2
|
||||
base_frame_id: "base_footprint"
|
||||
beam_skip_distance: 0.5
|
||||
beam_skip_error_threshold: 0.9
|
||||
beam_skip_threshold: 0.3
|
||||
do_beamskip: false
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
max_particles: 2000
|
||||
min_particles: 500
|
||||
odom_frame_id: "odom"
|
||||
pf_err: 0.05
|
||||
pf_z: 0.99
|
||||
recovery_alpha_fast: 0.0
|
||||
recovery_alpha_slow: 0.0
|
||||
resample_interval: 1
|
||||
robot_model_type: "nav2_amcl::DifferentialMotionModel"
|
||||
save_pose_rate: 0.5
|
||||
sigma_hit: 0.2
|
||||
tf_broadcast: true
|
||||
transform_tolerance: 5.0
|
||||
update_min_a: 0.2
|
||||
update_min_d: 0.25
|
||||
z_hit: 0.5
|
||||
z_max: 0.05
|
||||
z_rand: 0.5
|
||||
z_short: 0.05
|
||||
scan_topic: scan_corrected
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
wait_for_service_timeout: 1000
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
plugin_lib_names:
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_smooth_path_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_assisted_teleop_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_drive_on_heading_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_globally_updated_goal_condition_bt_node
|
||||
- nav2_is_path_valid_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_truncate_path_local_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_path_expiring_timer_condition
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
- nav2_controller_cancel_bt_node
|
||||
- nav2_path_longer_on_approach_bt_node
|
||||
- nav2_wait_cancel_bt_node
|
||||
- nav2_spin_cancel_bt_node
|
||||
- nav2_back_up_cancel_bt_node
|
||||
- nav2_assisted_teleop_cancel_bt_node
|
||||
- nav2_drive_on_heading_cancel_bt_node
|
||||
- nav2_is_battery_charging_condition_bt_node
|
||||
|
||||
bt_navigator_navigate_through_poses_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
bt_navigator_navigate_to_pose_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
controller_frequency: 20.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
failure_tolerance: 0.3
|
||||
progress_checker_plugin: "progress_checker"
|
||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
# Progress checker parameters
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.5
|
||||
movement_time_allowance: 10.0
|
||||
# Goal checker parameters
|
||||
#precise_goal_checker:
|
||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
||||
# xy_goal_tolerance: 0.05
|
||||
# yaw_goal_tolerance: 0.05
|
||||
# stateful: True
|
||||
general_goal_checker:
|
||||
stateful: True
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.05
|
||||
yaw_goal_tolerance: 0.05
|
||||
# DWB parameters
|
||||
FollowPath:
|
||||
plugin: "dwb_core::DWBLocalPlanner"
|
||||
debug_trajectory_details: True
|
||||
min_vel_x: 0.0
|
||||
min_vel_y: 0.0
|
||||
max_vel_x: 0.26
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 1.0
|
||||
min_speed_xy: 0.0
|
||||
max_speed_xy: 0.26
|
||||
min_speed_theta: 0.0
|
||||
# Add high threshold velocity for turtlebot 3 issue.
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
acc_lim_x: 2.5
|
||||
acc_lim_y: 0.0
|
||||
acc_lim_theta: 3.2
|
||||
decel_lim_x: -2.5
|
||||
decel_lim_y: 0.0
|
||||
decel_lim_theta: -3.2
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 20
|
||||
sim_time: 1.7
|
||||
linear_granularity: 0.05
|
||||
angular_granularity: 0.025
|
||||
transform_tolerance: 5.0
|
||||
xy_goal_tolerance: 0.05
|
||||
trans_stopped_velocity: 0.25
|
||||
short_circuit_trajectory_evaluation: True
|
||||
stateful: True
|
||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.02
|
||||
PathAlign.scale: 32.0
|
||||
PathAlign.forward_point_distance: 0.1
|
||||
GoalAlign.scale: 24.0
|
||||
GoalAlign.forward_point_distance: 0.1
|
||||
PathDist.scale: 32.0
|
||||
GoalDist.scale: 24.0
|
||||
RotateToGoal.scale: 32.0
|
||||
RotateToGoal.slowing_factor: 5.0
|
||||
RotateToGoal.lookahead_time: -1.0
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 5.0
|
||||
publish_frequency: 2.0
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
rolling_window: true
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
robot_radius: 0.22
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
enabled: True
|
||||
publish_voxel_map: True
|
||||
origin_z: 0.0
|
||||
z_resolution: 0.05
|
||||
z_voxels: 16
|
||||
max_obstacle_height: 2.0
|
||||
mark_threshold: 0
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan_corrected
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
always_send_full_costmap: True
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 1.0
|
||||
publish_frequency: 1.0
|
||||
global_frame: map
|
||||
robot_base_frame: base_link
|
||||
use_sim_time: True
|
||||
robot_radius: 0.22
|
||||
resolution: 0.05
|
||||
track_unknown_space: true
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
enabled: True
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan_corrected
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.55
|
||||
always_send_full_costmap: True
|
||||
|
||||
map_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
# Overridden in launch by the "map" launch configuration or provided default value.
|
||||
# To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
|
||||
yaml_filename: ""
|
||||
|
||||
map_saver:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
save_map_timeout: 5.0
|
||||
free_thresh_default: 0.25
|
||||
occupied_thresh_default: 0.65
|
||||
map_subscribe_transient_local: True
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
expected_planner_frequency: 20.0
|
||||
use_sim_time: True
|
||||
planner_plugins: ["GridBased"]
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 0.5
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoother_plugins: ["simple_smoother"]
|
||||
simple_smoother:
|
||||
plugin: "nav2_smoother::SimpleSmoother"
|
||||
tolerance: 1.0e-10
|
||||
max_its: 1000
|
||||
do_refinement: True
|
||||
|
||||
behavior_server:
|
||||
ros__parameters:
|
||||
costmap_topic: local_costmap/costmap_raw
|
||||
footprint_topic: local_costmap/published_footprint
|
||||
cycle_frequency: 10.0
|
||||
behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
|
||||
spin:
|
||||
plugin: "nav2_behaviors/Spin"
|
||||
backup:
|
||||
plugin: "nav2_behaviors/BackUp"
|
||||
drive_on_heading:
|
||||
plugin: "nav2_behaviors/DriveOnHeading"
|
||||
wait:
|
||||
plugin: "nav2_behaviors/Wait"
|
||||
assisted_teleop:
|
||||
plugin: "nav2_behaviors/AssistedTeleop"
|
||||
global_frame: odom
|
||||
robot_base_frame: base_link
|
||||
transform_tolerance: 5.0
|
||||
use_sim_time: true
|
||||
simulate_ahead_time: 2.0
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
|
||||
robot_state_publisher:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
|
||||
waypoint_follower:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
loop_rate: 20
|
||||
stop_on_failure: false
|
||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
||||
wait_at_waypoint:
|
||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
||||
enabled: True
|
||||
waypoint_pause_duration: 200
|
||||
|
||||
velocity_smoother:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoothing_frequency: 20.0
|
||||
scale_velocities: False
|
||||
feedback: "OPEN_LOOP"
|
||||
max_velocity: [0.26, 0.0, 1.0]
|
||||
min_velocity: [-0.26, 0.0, -1.0]
|
||||
max_accel: [2.5, 0.0, 3.2]
|
||||
max_decel: [-2.5, 0.0, -3.2]
|
||||
odom_topic: "odom"
|
||||
odom_duration: 0.1
|
||||
deadband_velocity: [0.0, 0.0, 0.0]
|
||||
velocity_timeout: 1.0
|
||||
@@ -0,0 +1,362 @@
|
||||
amcl:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
alpha1: 0.4
|
||||
alpha2: 0.3
|
||||
alpha3: 0.1
|
||||
alpha4: 0.1
|
||||
alpha5: 0.04
|
||||
base_frame_id: "base_footprint"
|
||||
beam_skip_distance: 0.5
|
||||
beam_skip_error_threshold: 0.9
|
||||
beam_skip_threshold: 0.3
|
||||
do_beamskip: false
|
||||
global_frame_id: "map"
|
||||
lambda_short: 0.1
|
||||
laser_likelihood_max_dist: 2.0
|
||||
laser_max_range: 100.0
|
||||
laser_min_range: -1.0
|
||||
laser_model_type: "likelihood_field"
|
||||
max_beams: 60
|
||||
max_particles: 2000
|
||||
min_particles: 500
|
||||
odom_frame_id: "odom"
|
||||
pf_err: 0.05
|
||||
pf_z: 0.99
|
||||
recovery_alpha_fast: 0.0
|
||||
recovery_alpha_slow: 0.0
|
||||
resample_interval: 2
|
||||
robot_model_type: "nav2_amcl::OmniMotionModel"
|
||||
scan_topic: scan_corrected
|
||||
save_pose_rate: 0.5
|
||||
sigma_hit: 0.02
|
||||
tf_broadcast: true
|
||||
transform_tolerance: 5.0
|
||||
update_min_a: 0.06
|
||||
update_min_d: 0.025
|
||||
z_hit: 0.7
|
||||
z_max: 0.001
|
||||
z_rand: 0.059
|
||||
z_short: 0.24
|
||||
|
||||
# Initial Pose
|
||||
set_initial_pose: True
|
||||
initial_pose.x: 0.0
|
||||
initial_pose.y: 0.0
|
||||
initial_pose.z: 0.0
|
||||
initial_pose.yaw: 0.0
|
||||
|
||||
amcl_map_client:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
amcl_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
bt_navigator:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
global_frame: map
|
||||
robot_base_frame: base_footprint
|
||||
odom_topic: /odom
|
||||
bt_loop_duration: 10
|
||||
default_server_timeout: 20
|
||||
enable_groot_monitoring: True
|
||||
groot_zmq_publisher_port: 1666
|
||||
groot_zmq_server_port: 1667
|
||||
# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
|
||||
# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
|
||||
# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
|
||||
# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
|
||||
plugin_lib_names:
|
||||
- nav2_compute_path_to_pose_action_bt_node
|
||||
- nav2_compute_path_through_poses_action_bt_node
|
||||
- nav2_follow_path_action_bt_node
|
||||
- nav2_back_up_action_bt_node
|
||||
- nav2_spin_action_bt_node
|
||||
- nav2_wait_action_bt_node
|
||||
- nav2_clear_costmap_service_bt_node
|
||||
- nav2_is_stuck_condition_bt_node
|
||||
- nav2_goal_reached_condition_bt_node
|
||||
- nav2_goal_updated_condition_bt_node
|
||||
- nav2_initial_pose_received_condition_bt_node
|
||||
- nav2_reinitialize_global_localization_service_bt_node
|
||||
- nav2_rate_controller_bt_node
|
||||
- nav2_distance_controller_bt_node
|
||||
- nav2_speed_controller_bt_node
|
||||
- nav2_truncate_path_action_bt_node
|
||||
- nav2_goal_updater_node_bt_node
|
||||
- nav2_recovery_node_bt_node
|
||||
- nav2_pipeline_sequence_bt_node
|
||||
- nav2_round_robin_node_bt_node
|
||||
- nav2_transform_available_condition_bt_node
|
||||
- nav2_time_expired_condition_bt_node
|
||||
- nav2_distance_traveled_condition_bt_node
|
||||
- nav2_single_trigger_bt_node
|
||||
- nav2_goal_updated_controller_bt_node
|
||||
- nav2_is_battery_low_condition_bt_node
|
||||
- nav2_navigate_through_poses_action_bt_node
|
||||
- nav2_navigate_to_pose_action_bt_node
|
||||
- nav2_remove_passed_goals_action_bt_node
|
||||
- nav2_planner_selector_bt_node
|
||||
- nav2_controller_selector_bt_node
|
||||
- nav2_goal_checker_selector_bt_node
|
||||
|
||||
bt_navigator_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
controller_frequency: 10.0
|
||||
min_x_velocity_threshold: 0.001
|
||||
min_y_velocity_threshold: 0.5
|
||||
min_theta_velocity_threshold: 0.001
|
||||
failure_tolerance: 3.0
|
||||
progress_checker_plugin: "progress_checker"
|
||||
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
|
||||
controller_plugins: ["FollowPath"]
|
||||
|
||||
# Progress checker parameters
|
||||
progress_checker:
|
||||
plugin: "nav2_controller::SimpleProgressChecker"
|
||||
required_movement_radius: 0.15
|
||||
movement_time_allowance: 8.0
|
||||
# Goal checker parameters
|
||||
#precise_goal_checker:
|
||||
# plugin: "nav2_controller::SimpleGoalChecker"
|
||||
# xy_goal_tolerance: 0.05
|
||||
# yaw_goal_tolerance: 0.05
|
||||
# stateful: True
|
||||
general_goal_checker:
|
||||
stateful: True
|
||||
plugin: "nav2_controller::SimpleGoalChecker"
|
||||
xy_goal_tolerance: 0.05
|
||||
yaw_goal_tolerance: 0.05
|
||||
# DWB parameters
|
||||
FollowPath:
|
||||
plugin: "dwb_core::DWBLocalPlanner"
|
||||
debug_trajectory_details: True
|
||||
min_vel_x: 0.0
|
||||
min_vel_y: 0.0
|
||||
max_vel_x: 0.26
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 0.5
|
||||
min_speed_xy: 0.0
|
||||
max_speed_xy: 0.26
|
||||
min_speed_theta: 0.0
|
||||
# Add high threshold velocity for turtlebot 3 issue.
|
||||
# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
|
||||
acc_lim_x: 2.5
|
||||
acc_lim_y: 0.0
|
||||
acc_lim_theta: 0.5
|
||||
decel_lim_x: -2.5
|
||||
decel_lim_y: 0.0
|
||||
decel_lim_theta: -0.5
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 40
|
||||
sim_time: 1.7
|
||||
linear_granularity: 0.05
|
||||
angular_granularity: 0.025
|
||||
transform_tolerance: 5.0
|
||||
xy_goal_tolerance: 0.05
|
||||
trans_stopped_velocity: 0.1
|
||||
short_circuit_trajectory_evaluation: True
|
||||
stateful: True
|
||||
critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.02
|
||||
PathAlign.scale: 23.0
|
||||
PathAlign.forward_point_distance: 0.1
|
||||
GoalAlign.scale: 18.0
|
||||
GoalAlign.forward_point_distance: 0.1
|
||||
PathDist.scale: 32.0
|
||||
GoalDist.scale: 24.0
|
||||
RotateToGoal.scale: 32.0
|
||||
RotateToGoal.slowing_factor: 5.0
|
||||
RotateToGoal.lookahead_time: -1.0
|
||||
|
||||
controller_server_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 5.0
|
||||
publish_frequency: 2.0
|
||||
global_frame: odom
|
||||
robot_base_frame: base_footprint
|
||||
use_sim_time: False
|
||||
rolling_window: true
|
||||
width: 3
|
||||
height: 3
|
||||
resolution: 0.05
|
||||
footprint: "[[0.26, 0.18], [0.26, -0.18], [-0.26, -0.18], [-0.26, 0.18]]"
|
||||
plugins: ["voxel_layer", "inflation_layer"]
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 4.0
|
||||
inflation_radius: 0.30
|
||||
voxel_layer:
|
||||
plugin: "nav2_costmap_2d::VoxelLayer"
|
||||
enabled: True
|
||||
publish_voxel_map: True
|
||||
origin_z: 0.0
|
||||
z_resolution: 0.05
|
||||
z_voxels: 16
|
||||
max_obstacle_height: 2.0
|
||||
mark_threshold: 0
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan_corrected_corrected
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
map_subscribe_transient_local: True
|
||||
always_send_full_costmap: True
|
||||
local_costmap_client:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
local_costmap_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
update_frequency: 1.0
|
||||
publish_frequency: 1.0
|
||||
global_frame: map
|
||||
robot_base_frame: base_footprint
|
||||
use_sim_time: False
|
||||
footprint: "[[0.26, 0.18], [0.26, -0.18], [-0.26, -0.18], [-0.26, 0.18]]"
|
||||
resolution: 0.05
|
||||
track_unknown_space: true
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
enabled: True
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan_corrected_corrected
|
||||
max_obstacle_height: 2.0
|
||||
clearing: True
|
||||
marking: True
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 3.0
|
||||
raytrace_min_range: 0.0
|
||||
obstacle_max_range: 2.5
|
||||
obstacle_min_range: 0.0
|
||||
static_layer:
|
||||
plugin: "nav2_costmap_2d::StaticLayer"
|
||||
map_subscribe_transient_local: True
|
||||
inflation_layer:
|
||||
plugin: "nav2_costmap_2d::InflationLayer"
|
||||
cost_scaling_factor: 4.0
|
||||
inflation_radius: 0.30
|
||||
always_send_full_costmap: True
|
||||
global_costmap_client:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
global_costmap_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
map_server:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
# Overridden in launch by the "map" launch configuration or provided default value.
|
||||
# To use in yaml, remove the default "map" value in the navigation2_active.launch.py file & provide full path to map below.
|
||||
yaml_filename: ""
|
||||
|
||||
map_saver:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
save_map_timeout: 5.0
|
||||
free_thresh_default: 0.25
|
||||
occupied_thresh_default: 0.65
|
||||
map_subscribe_transient_local: True
|
||||
|
||||
planner_server:
|
||||
ros__parameters:
|
||||
expected_planner_frequency: 1.0
|
||||
use_sim_time: False
|
||||
planner_plugins: ["GridBased"]
|
||||
GridBased:
|
||||
plugin: "nav2_navfn_planner/NavfnPlanner"
|
||||
tolerance: 2.0
|
||||
use_astar: false
|
||||
allow_unknown: true
|
||||
|
||||
planner_server_rclcpp_node:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
smoother_server:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoother_plugins: ["simple_smoother"]
|
||||
simple_smoother:
|
||||
plugin: "nav2_smoother::SimpleSmoother"
|
||||
tolerance: 1.0e-10
|
||||
max_its: 1000
|
||||
do_refinement: True
|
||||
|
||||
recoveries_server:
|
||||
ros__parameters:
|
||||
costmap_topic: local_costmap/costmap_raw
|
||||
footprint_topic: local_costmap/published_footprint
|
||||
cycle_frequency: 10.0
|
||||
recovery_plugins: ["spin", "backup", "wait"]
|
||||
spin:
|
||||
plugin: "nav2_recoveries/Spin"
|
||||
backup:
|
||||
plugin: "nav2_recoveries/BackUp"
|
||||
wait:
|
||||
plugin: "nav2_recoveries/Wait"
|
||||
global_frame: odom
|
||||
robot_base_frame: base_footprint
|
||||
transform_timeout: 0.1
|
||||
use_sim_time: False
|
||||
simulate_ahead_time: 2.0
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
|
||||
robot_state_publisher:
|
||||
ros__parameters:
|
||||
use_sim_time: False
|
||||
|
||||
waypoint_follower:
|
||||
ros__parameters:
|
||||
loop_rate: 20
|
||||
stop_on_failure: false
|
||||
waypoint_task_executor_plugin: "wait_at_waypoint"
|
||||
wait_at_waypoint:
|
||||
plugin: "nav2_waypoint_follower::WaitAtWaypoint"
|
||||
enabled: True
|
||||
waypoint_pause_duration: 200
|
||||
|
||||
velocity_smoother:
|
||||
ros__parameters:
|
||||
use_sim_time: True
|
||||
smoothing_frequency: 20.0
|
||||
scale_velocities: False
|
||||
feedback: "OPEN_LOOP"
|
||||
max_velocity: [0.26, 0.0, 0.5]
|
||||
min_velocity: [-0.26, 0.0, -0.5]
|
||||
max_accel: [2.5, 0.0, 0.5]
|
||||
max_decel: [-2.5, 0.0, -0.5]
|
||||
odom_topic: "odom"
|
||||
odom_duration: 0.1
|
||||
deadband_velocity: [0.0, 0.0, 0.0]
|
||||
velocity_timeout: 1.0
|
||||
@@ -0,0 +1,624 @@
|
||||
#include "agv_pro_base/agv_pro_driver.h"
|
||||
|
||||
uint16_t AGV_PRO::crc16_ibm(const uint8_t* data, size_t length) {
|
||||
uint16_t crc = 0xFFFF;
|
||||
for (size_t i = 0; i < length; ++i) {
|
||||
crc ^= static_cast<uint16_t>(data[i]);
|
||||
for (int j = 0; j < 8; ++j) {
|
||||
if (crc & 0x0001)
|
||||
crc = (crc >> 1) ^ 0xA001;
|
||||
else
|
||||
crc = crc >> 1;
|
||||
}
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> AGV_PRO::build_serial_frame(uint8_t cmd_id, const std::vector<uint8_t>& payload)
|
||||
{
|
||||
std::vector<uint8_t> frame(SEND_DATA_SIZE, 0x00);
|
||||
frame[0] = 0xFE;
|
||||
frame[1] = 0xFE;
|
||||
frame[2] = 0x0B;
|
||||
frame[3] = cmd_id;
|
||||
|
||||
for (size_t i = 0; i < payload.size() && i < 8; ++i) {
|
||||
frame[4 + i] = payload[i];
|
||||
}
|
||||
|
||||
uint16_t crc = crc16_ibm(frame.data(), 12);
|
||||
frame[12] = (crc >> 8) & 0xff;
|
||||
frame[13] = crc & 0xff;
|
||||
|
||||
return frame;
|
||||
}
|
||||
|
||||
void AGV_PRO::print_hex(const std::string& label, const std::vector<uint8_t>& data, std::optional<size_t> override_size) {
|
||||
std::stringstream ss;
|
||||
for (auto b : data) {
|
||||
ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)
|
||||
<< static_cast<int>(b) << " ";
|
||||
}
|
||||
size_t len = override_size.value_or(data.size());
|
||||
RCLCPP_INFO(this->get_logger(), "%s (%zu bytes): [%s]", label.c_str(), len, ss.str().c_str());
|
||||
}
|
||||
|
||||
void AGV_PRO::send_serial_frame(const std::vector<uint8_t>& frame, bool debug)
|
||||
{
|
||||
try {
|
||||
size_t bytes_transmit_size = boost::asio::write(*serial_port_, boost::asio::buffer(frame));
|
||||
if (debug) {
|
||||
print_hex("Sent", frame, bytes_transmit_size);
|
||||
}
|
||||
} catch (const std::exception &ex) {
|
||||
RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port: %s", ex.what());
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<uint8_t> AGV_PRO::read_serial_response(
|
||||
const std::vector<uint8_t>& expected_header,
|
||||
size_t payload_size,
|
||||
double timeout_sec)
|
||||
{
|
||||
std::vector<uint8_t> sliding_buf;
|
||||
uint8_t byte = 0;
|
||||
|
||||
rclcpp::Time start_time = this->now();
|
||||
rclcpp::Duration timeout = rclcpp::Duration::from_seconds(timeout_sec);
|
||||
|
||||
while ((this->now() - start_time) < timeout) {
|
||||
boost::asio::mutable_buffers_1 buf(&byte, 1);
|
||||
boost::system::error_code ec;
|
||||
size_t n = serial_port_->read_some(buf, ec);
|
||||
if (ec) {
|
||||
RCLCPP_WARN(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return {};
|
||||
}
|
||||
if (n == 1) {
|
||||
sliding_buf.push_back(byte);
|
||||
if (sliding_buf.size() > expected_header.size()) {
|
||||
sliding_buf.erase(sliding_buf.begin());
|
||||
}
|
||||
if (sliding_buf == expected_header) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (sliding_buf != expected_header) {
|
||||
RCLCPP_WARN(this->get_logger(), "Timeout waiting for header");
|
||||
return {};
|
||||
}
|
||||
|
||||
size_t remain_len = payload_size + 2;
|
||||
std::vector<uint8_t> remain_buf(remain_len);
|
||||
size_t total_read = 0;
|
||||
|
||||
while (total_read < remain_len && (this->now() - start_time) < timeout) {
|
||||
boost::asio::mutable_buffers_1 buf(&remain_buf[total_read], remain_len - total_read);
|
||||
boost::system::error_code ec;
|
||||
size_t n = serial_port_->read_some(buf, ec);
|
||||
if (ec) {
|
||||
RCLCPP_WARN(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return {};
|
||||
}
|
||||
total_read += n;
|
||||
}
|
||||
|
||||
if (total_read != remain_len) {
|
||||
RCLCPP_WARN(this->get_logger(), "Timeout or incomplete data payload");
|
||||
return {};
|
||||
}
|
||||
|
||||
std::vector<uint8_t> full_buf = expected_header;
|
||||
full_buf.insert(full_buf.end(), remain_buf.begin(), remain_buf.end());
|
||||
|
||||
return full_buf;
|
||||
}
|
||||
|
||||
bool AGV_PRO::is_power_on(){
|
||||
auto power_query_frame = build_serial_frame(GET_POWER_STATE, {});
|
||||
send_serial_frame(power_query_frame,true);
|
||||
|
||||
const std::vector<uint8_t> expected_header = {0xFE, 0xFE, 0x0B, 0x12};
|
||||
auto power_query_response = read_serial_response(expected_header, 8, 12.0);
|
||||
|
||||
print_hex("recv_buf", power_query_response);
|
||||
|
||||
if (power_query_response.size() != 14) return false;
|
||||
|
||||
uint16_t received_crc = (power_query_response[12] << 8) | power_query_response[13];
|
||||
uint16_t computed_crc = crc16_ibm(power_query_response.data(), 12);
|
||||
if (received_crc != computed_crc) {
|
||||
RCLCPP_WARN(this->get_logger(), "CRC mismatch: received=0x%04X, expected=0x%04X", received_crc, computed_crc);
|
||||
return false;
|
||||
}
|
||||
|
||||
int is_poweron_status = static_cast<int8_t>(power_query_response[4]);
|
||||
RCLCPP_INFO(this->get_logger(), "is_poweron_status: %d", is_poweron_status);
|
||||
|
||||
if (is_poweron_status == 0){
|
||||
auto status_query_frame = build_serial_frame(POWER_ON, {});
|
||||
send_serial_frame(status_query_frame,true);
|
||||
|
||||
rclcpp::sleep_for(std::chrono::milliseconds(1000));// Sleep for 1000 milliseconds to allow the device enough time to process the previous command
|
||||
|
||||
const std::vector<uint8_t> expected_header = {0xFE, 0xFE, 0x0B, 0x10};
|
||||
auto status_query_response = read_serial_response(expected_header, 8, 5.0);// Read the serial response with the specified expected header, payload size, and timeout of 5 seconds
|
||||
print_hex("recv_buf", status_query_response);
|
||||
|
||||
if (status_query_response.size() != 14) return false;
|
||||
|
||||
uint16_t received_crc = (status_query_response[12] << 8) | status_query_response[13];
|
||||
uint16_t computed_crc = crc16_ibm(status_query_response.data(), 12);
|
||||
if (received_crc != computed_crc) {
|
||||
RCLCPP_WARN(this->get_logger(), "CRC mismatch: received=0x%04X, expected=0x%04X", received_crc, computed_crc);
|
||||
return false;
|
||||
}
|
||||
|
||||
int poweron_status = static_cast<int8_t>(status_query_response[4]);
|
||||
std::string status_msg;
|
||||
|
||||
switch (poweron_status) {
|
||||
case 1:
|
||||
status_msg = "Motor is operating normally.";
|
||||
RCLCPP_INFO(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
|
||||
return true;
|
||||
case 2:
|
||||
status_msg = "Emergency stop button is not released.";
|
||||
RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
|
||||
return false;
|
||||
case 3:
|
||||
status_msg = "Battery voltage is below 19.5V.";
|
||||
RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
|
||||
return false;
|
||||
case 4:
|
||||
status_msg = "CAN initialization error.";
|
||||
RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
|
||||
return false;
|
||||
case 5:
|
||||
status_msg = "Motor initialization error.";
|
||||
RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
|
||||
return false;
|
||||
default:
|
||||
RCLCPP_WARN(this->get_logger(), "power_status: %d, Unknown power status code", poweron_status);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
else{
|
||||
RCLCPP_INFO(this->get_logger(), "Motor is operating normally.");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
void AGV_PRO::set_auto_report(bool enable){
|
||||
auto frame = build_serial_frame(0x23, {static_cast<uint8_t>(enable)});
|
||||
send_serial_frame(frame,true);
|
||||
}
|
||||
|
||||
void AGV_PRO::clearSerialBuffer(int fd) {
|
||||
if (tcflush(fd, TCIOFLUSH) < 0) {
|
||||
RCLCPP_WARN(this->get_logger(), "Failed to flush serial buffer: %s", std::strerror(errno));
|
||||
} else {
|
||||
RCLCPP_INFO(this->get_logger(), "Serial buffer flushed.");
|
||||
}
|
||||
}
|
||||
|
||||
void AGV_PRO::disableDTR_RTS(int fd) {
|
||||
int status;
|
||||
if (::ioctl(fd, TIOCMGET, &status) == 0) {
|
||||
status &= ~(TIOCM_DTR | TIOCM_RTS);
|
||||
if (::ioctl(fd, TIOCMSET, &status) != 0) {
|
||||
RCLCPP_WARN(this->get_logger(), "Failed to clear DTR and RTS: %s", std::strerror(errno));
|
||||
} else {
|
||||
RCLCPP_INFO(this->get_logger(), "DTR and RTS lines disabled successfully.");
|
||||
}
|
||||
} else {
|
||||
RCLCPP_WARN(this->get_logger(), "Failed to read modem status: %s", std::strerror(errno));
|
||||
}
|
||||
}
|
||||
|
||||
void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
{
|
||||
linearX = std::clamp(msg->linear.x, -1.5, 1.5);
|
||||
linearY = std::clamp(msg->linear.y, -1.0, 1.0);
|
||||
angularZ = std::clamp(msg->angular.z, -1.0, 1.0);
|
||||
|
||||
int16_t x_send = static_cast<int16_t>(linearX * 100);
|
||||
int16_t y_send = static_cast<int16_t>(linearY * 100);
|
||||
int16_t rot_send = static_cast<int16_t>(angularZ * 100);
|
||||
|
||||
uint8_t buf[14] = { 0xfe,0xfe,0x0b,0x21 };
|
||||
|
||||
buf[4] = (x_send >> 8) & 0xff;
|
||||
buf[5] = x_send & 0xff;
|
||||
buf[6] = (y_send >> 8) & 0xff;
|
||||
buf[7] = y_send & 0xff;
|
||||
buf[8] = (rot_send >> 8) & 0xff;
|
||||
buf[9] = rot_send & 0xff;
|
||||
buf[10] = 0x00;
|
||||
buf[11] = 0x00;
|
||||
|
||||
uint16_t crc = crc16_ibm(buf, 12);
|
||||
buf[12] = (crc >> 8) & 0xff;
|
||||
buf[13] = crc & 0xff;
|
||||
|
||||
std::vector<uint8_t> data_vec(buf, buf + sizeof(buf));
|
||||
|
||||
try
|
||||
{
|
||||
boost::asio::write(*serial_port_,boost::asio::buffer(data_vec));
|
||||
// print_hex("Sent", data_vec);//debug
|
||||
}
|
||||
catch(const std::exception &ex)
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port:%s",ex.what());
|
||||
}
|
||||
}
|
||||
|
||||
void AGV_PRO::handleSetDigitalOutput(
|
||||
const std::shared_ptr<agv_pro_msgs::srv::SetDigitalOutput::Request> request,
|
||||
std::shared_ptr<agv_pro_msgs::srv::SetDigitalOutput::Response> response)
|
||||
{
|
||||
uint8_t output_number = request->pin;
|
||||
uint8_t output_state = request->state;
|
||||
|
||||
if (output_number < 1 || output_number > 6){
|
||||
RCLCPP_ERROR(this->get_logger(), "Invalid output pin number: %u", output_number);
|
||||
response->success = false;
|
||||
response->message = "Invalid output pin number";
|
||||
return;
|
||||
}
|
||||
|
||||
auto frame = build_serial_frame(SET_OUTPUT_IO, {output_number, output_state});
|
||||
send_serial_frame(frame, true);
|
||||
|
||||
const std::vector<uint8_t> expected_header = {0xFE, 0xFE, 0x0B, SET_OUTPUT_IO};
|
||||
auto response_frame = read_serial_response(expected_header, 8, 5.0);
|
||||
|
||||
// print_hex("recv_buf", response_frame); //debug
|
||||
|
||||
uint8_t status = response_frame[4];
|
||||
if (status == 0x01) {
|
||||
RCLCPP_INFO(this->get_logger(), "SetDigitalOutput succeeded");
|
||||
response->success = true;
|
||||
response->message = "Success";
|
||||
} else {
|
||||
RCLCPP_ERROR(this->get_logger(), "SetDigitalOutput failed with status: 0x%02X", status);
|
||||
response->success = false;
|
||||
response->message = "Failed with status code";
|
||||
}
|
||||
}
|
||||
|
||||
void AGV_PRO::handleGetDigitalInput(
|
||||
const std::shared_ptr<agv_pro_msgs::srv::GetDigitalInput::Request> request,
|
||||
std::shared_ptr<agv_pro_msgs::srv::GetDigitalInput::Response> response)
|
||||
{
|
||||
uint8_t input_number = request->pin;
|
||||
|
||||
if (input_number < 1 || input_number > 6){
|
||||
RCLCPP_ERROR(this->get_logger(), "Invalid input pin number: %u", input_number);
|
||||
response->success = false;
|
||||
response->message = "Invalid input pin number";
|
||||
return;
|
||||
}
|
||||
|
||||
auto frame = build_serial_frame(GET_INPUT_IO, {input_number});
|
||||
send_serial_frame(frame, true);
|
||||
|
||||
const std::vector<uint8_t> expected_header = {0xFE, 0xFE, 0x0B, GET_INPUT_IO};
|
||||
auto response_frame = read_serial_response(expected_header, 8, 5.0);
|
||||
// print_hex("recv_buf", response_frame); //debug
|
||||
|
||||
uint8_t status = response_frame[5];
|
||||
if (status == 0xff) {
|
||||
RCLCPP_ERROR(this->get_logger(), "GetDigitalInput failed with status: 0x%02X", status);
|
||||
response->success = false;
|
||||
} else {
|
||||
RCLCPP_INFO(this->get_logger(), "GetDigitalInput succeeded, state: %u", status);
|
||||
response->state = static_cast<int32_t>(status);
|
||||
response->success = true;
|
||||
response->message = "Success";
|
||||
}
|
||||
}
|
||||
|
||||
bool AGV_PRO::readData()
|
||||
{
|
||||
std::vector<uint8_t> buf_length(1);
|
||||
std::vector<uint8_t> data_buf(RECEIVE_PAYLOAD_SIZE);
|
||||
|
||||
uint8_t byte = 0;
|
||||
boost::system::error_code ec;
|
||||
|
||||
while (true)
|
||||
{
|
||||
size_t ret = boost::asio::read(*serial_port_, boost::asio::buffer(&byte, 1), ec);
|
||||
if (ec) {
|
||||
RCLCPP_ERROR(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return false;
|
||||
}
|
||||
if (ret != 1 || byte != 0xfe) {
|
||||
continue;
|
||||
}
|
||||
|
||||
ret = boost::asio::read(*serial_port_, boost::asio::buffer(&byte, 1), ec);
|
||||
if (ec) {
|
||||
RCLCPP_ERROR(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return false;
|
||||
}
|
||||
if (ret == 1 && byte == 0xfe) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
size_t ret = boost::asio::read(*serial_port_, boost::asio::buffer(buf_length), ec);
|
||||
if (ec) {
|
||||
RCLCPP_ERROR(this->get_logger(), "Serial read error: %s", ec.message().c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
if (buf_length[0] != RECEIVE_PAYLOAD_SIZE) {
|
||||
//RCLCPP_ERROR(this->get_logger(), "The received length is incorrect:%u", buf_length[0]);
|
||||
return false;
|
||||
}
|
||||
|
||||
ret = boost::asio::read(*serial_port_, boost::asio::buffer(data_buf), ec);
|
||||
if (ec || ret != data_buf.size())
|
||||
{
|
||||
RCLCPP_ERROR(this->get_logger(), "Failed to receive full payload");
|
||||
return false;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> recv_buf;
|
||||
recv_buf.push_back(0xFE);
|
||||
recv_buf.push_back(0xFE);
|
||||
recv_buf.push_back(0x1C);
|
||||
recv_buf.insert(recv_buf.end(), data_buf.begin(), data_buf.end());
|
||||
|
||||
// print_hex("recv_buf", recv_buf); //debug
|
||||
|
||||
if (recv_buf[3] != 0x25) {
|
||||
//RCLCPP_WARN(this->get_logger(), "Command error:0x%02X", recv_buf[2]); //debug
|
||||
return false;
|
||||
}
|
||||
|
||||
uint16_t received_crc = recv_buf[RECEIVE_FRAME_SIZE-1] | (recv_buf[RECEIVE_FRAME_SIZE-2] << 8);
|
||||
uint16_t computed_crc = crc16_ibm(recv_buf.data(), RECEIVE_FRAME_SIZE-2);
|
||||
|
||||
if (received_crc != computed_crc) {
|
||||
RCLCPP_WARN(this->get_logger(), "CRC error: received 0x%04X, calculated 0x%04X", received_crc, computed_crc);
|
||||
return false;
|
||||
}
|
||||
|
||||
vx = static_cast<double>(static_cast<int8_t>(recv_buf[4])) * 0.01;
|
||||
vy = static_cast<double>(static_cast<int8_t>(recv_buf[5])) * 0.01;
|
||||
vtheta = static_cast<double>(static_cast<int8_t>(recv_buf[6])) * 0.01;
|
||||
|
||||
motor_status = recv_buf[7];
|
||||
motor_error = recv_buf[8];
|
||||
battery_voltage = static_cast<float>(recv_buf[9]) / 10.0f;
|
||||
enable_status = recv_buf[10];
|
||||
|
||||
imu_data.linear_acceleration.x = static_cast<double>(static_cast<int16_t>((recv_buf[11] << 8) | recv_buf[12])) * 0.01;
|
||||
imu_data.linear_acceleration.y = static_cast<double>(static_cast<int16_t>((recv_buf[13] << 8) | recv_buf[14])) * 0.01;
|
||||
imu_data.linear_acceleration.z = static_cast<double>(static_cast<int16_t>((recv_buf[15] << 8) | recv_buf[16])) * 0.01;
|
||||
|
||||
imu_data.angular_velocity.x = static_cast<double>(static_cast<int16_t>((recv_buf[17] << 8) | recv_buf[18])) * 0.01;
|
||||
imu_data.angular_velocity.y = static_cast<double>(static_cast<int16_t>((recv_buf[19] << 8) | recv_buf[20])) * 0.01;
|
||||
imu_data.angular_velocity.z = static_cast<double>(static_cast<int16_t>((recv_buf[21] << 8) | recv_buf[22])) * 0.01;
|
||||
|
||||
roll = static_cast<double>(static_cast<int16_t>((recv_buf[23] << 8) | recv_buf[24])) * 0.01;
|
||||
pitch = static_cast<double>(static_cast<int16_t>((recv_buf[25] << 8) | recv_buf[26])) * 0.01;
|
||||
yaw = static_cast<double>(static_cast<int16_t>((recv_buf[27] << 8) | recv_buf[28])) * 0.01;
|
||||
|
||||
// RCLCPP_INFO(this->get_logger(),
|
||||
// "IMU Data - Accel[x: %.2f, y: %.2f, z: %.2f], "
|
||||
// "Gyro[x: %.2f, y: %.2f, z: %.2f], "
|
||||
// "RPY[roll: %.2f, pitch: %.2f, yaw: %.2f]",
|
||||
// imu_data.linear_acceleration.x,
|
||||
// imu_data.linear_acceleration.y,
|
||||
// imu_data.linear_acceleration.z,
|
||||
// imu_data.angular_velocity.x,
|
||||
// imu_data.angular_velocity.y,
|
||||
// imu_data.angular_velocity.z,
|
||||
// roll, pitch, yaw);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void AGV_PRO::publisherVoltage()
|
||||
{
|
||||
std_msgs::msg::Float32 voltage_msg,voltage_backup_msg;
|
||||
voltage_msg.data = battery_voltage;
|
||||
pub_voltage->publish(voltage_msg);
|
||||
}
|
||||
|
||||
void AGV_PRO::publisherImuSensor()
|
||||
{
|
||||
sensor_msgs::msg::Imu ImuSensor;
|
||||
|
||||
ImuSensor.header.stamp = this->get_clock()->now();
|
||||
ImuSensor.header.frame_id = "imu_link";
|
||||
|
||||
tf2::Quaternion qua;
|
||||
qua.setRPY(0, 0, yaw * M_PI / 180.0);
|
||||
|
||||
ImuSensor.orientation.x = qua[0];
|
||||
ImuSensor.orientation.y = qua[1];
|
||||
ImuSensor.orientation.z = qua[2];
|
||||
ImuSensor.orientation.w = qua[3];
|
||||
|
||||
ImuSensor.angular_velocity.x = imu_data.angular_velocity.x;
|
||||
ImuSensor.angular_velocity.y = imu_data.angular_velocity.y;
|
||||
ImuSensor.angular_velocity.z = imu_data.angular_velocity.z;
|
||||
|
||||
ImuSensor.linear_acceleration.x = imu_data.linear_acceleration.x;
|
||||
ImuSensor.linear_acceleration.y = imu_data.linear_acceleration.y;
|
||||
ImuSensor.linear_acceleration.z = imu_data.linear_acceleration.z;
|
||||
|
||||
ImuSensor.orientation_covariance[0] = 1e6;
|
||||
ImuSensor.orientation_covariance[4] = 1e6;
|
||||
ImuSensor.orientation_covariance[8] = 1e-6;
|
||||
|
||||
ImuSensor.angular_velocity_covariance[0] = 1e6;
|
||||
ImuSensor.angular_velocity_covariance[4] = 1e6;
|
||||
ImuSensor.angular_velocity_covariance[8] = 1e-6;
|
||||
|
||||
pub_imu->publish(ImuSensor);
|
||||
}
|
||||
|
||||
void AGV_PRO::publisherOdom(double dt)
|
||||
{
|
||||
currentTime = this->get_clock()->now();
|
||||
|
||||
double delta_x = (vx * cos(theta) - vy * sin(theta)) * dt;
|
||||
double delta_y = (vx * sin(theta) + vy * cos(theta)) * dt;
|
||||
double delta_th = vtheta * dt;
|
||||
|
||||
x += delta_x;
|
||||
y += delta_y;
|
||||
theta += delta_th;
|
||||
|
||||
geometry_msgs::msg::TransformStamped odom_trans;
|
||||
odom_trans.header.stamp = currentTime;
|
||||
odom_trans.header.frame_id = frame_id_of_odometry_;
|
||||
odom_trans.child_frame_id = child_frame_id_of_odometry_;
|
||||
|
||||
tf2::Quaternion quat;
|
||||
quat.setRPY(0.0, 0.0, theta);
|
||||
geometry_msgs::msg::Quaternion odom_quat = tf2::toMsg(quat);
|
||||
|
||||
odom_trans.transform.translation.x = x;
|
||||
odom_trans.transform.translation.y = y;
|
||||
odom_trans.transform.translation.z = 0.0;
|
||||
odom_trans.transform.rotation = odom_quat;
|
||||
|
||||
odomBroadcaster->sendTransform(odom_trans);
|
||||
|
||||
nav_msgs::msg::Odometry odom;
|
||||
odom.header.stamp = currentTime;
|
||||
odom.header.frame_id = frame_id_of_odometry_;
|
||||
odom.child_frame_id = child_frame_id_of_odometry_;
|
||||
|
||||
odom.pose.pose.position.x = x;
|
||||
odom.pose.pose.position.y = y;
|
||||
odom.pose.pose.position.z = 0.0;
|
||||
odom.pose.pose.orientation = odom_quat;
|
||||
odom.pose.covariance = this->odom_pose_covariance;
|
||||
|
||||
odom.twist.twist.linear.x = vx;
|
||||
odom.twist.twist.linear.y = vy;
|
||||
odom.twist.twist.angular.z = vtheta;
|
||||
odom.twist.covariance = this->odom_twist_covariance;
|
||||
|
||||
pub_odom->publish(odom);
|
||||
}
|
||||
|
||||
void AGV_PRO::Control()
|
||||
{
|
||||
if (true == readData())
|
||||
{
|
||||
currentTime = this->get_clock()->now();
|
||||
double dt = 0.0;
|
||||
if (lastTime.nanoseconds() != 0) {
|
||||
dt = (currentTime - lastTime).seconds();
|
||||
}
|
||||
|
||||
lastTime = currentTime;
|
||||
publisherOdom(dt);
|
||||
// RCLCPP_INFO(this->get_logger(), "dt:%f", dt);
|
||||
publisherVoltage();
|
||||
publisherImuSensor();
|
||||
}
|
||||
}
|
||||
|
||||
AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
|
||||
{
|
||||
this->declare_parameter<std::string>("port_name","/dev/agvpro_controller");
|
||||
this->declare_parameter<std::string>("odometry.frame_id", "odom");
|
||||
this->declare_parameter<std::string>("odometry.child_frame_id", "base_footprint");
|
||||
this->declare_parameter<std::string>("imu.frame_id", "imu_link");
|
||||
this->declare_parameter<std::string>("namespace", "");
|
||||
|
||||
this->get_parameter_or<std::string>("port_name",device_name_,std::string("/dev/agvpro_controller"));
|
||||
this->get_parameter_or<std::string>("odometry.frame_id",frame_id_of_odometry_,std::string("odom"));
|
||||
this->get_parameter_or<std::string>("odometry.child_frame_id",child_frame_id_of_odometry_,std::string("base_footprint"));
|
||||
this->get_parameter_or<std::string>("imu.frame_id",frame_id_of_imu_,std::string("imu_link"));
|
||||
this->get_parameter_or<std::string>("namespace",name_space_,std::string(""));
|
||||
|
||||
if (name_space_ != "") {
|
||||
frame_id_of_odometry_ = name_space_ + "/" + frame_id_of_odometry_;
|
||||
child_frame_id_of_odometry_ = name_space_ + "/" + child_frame_id_of_odometry_;
|
||||
frame_id_of_imu_ = name_space_ + "/" + frame_id_of_imu_;
|
||||
}
|
||||
|
||||
odomBroadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(this);
|
||||
pub_imu = this->create_publisher<sensor_msgs::msg::Imu>("imu", 20);
|
||||
pub_odom = this->create_publisher<nav_msgs::msg::Odometry>("odom", rclcpp::SensorDataQoS());
|
||||
pub_voltage = create_publisher<std_msgs::msg::Float32>("voltage", 10);
|
||||
cmd_sub = this->create_subscription<geometry_msgs::msg::Twist>(
|
||||
"/cmd_vel", 10, std::bind(&AGV_PRO::cmdCallback, this, std::placeholders::_1));
|
||||
|
||||
set_output_service = this->create_service<agv_pro_msgs::srv::SetDigitalOutput>(
|
||||
"set_digital_output",
|
||||
std::bind(&AGV_PRO::handleSetDigitalOutput, this, std::placeholders::_1, std::placeholders::_2)
|
||||
);
|
||||
|
||||
get_input_service = this->create_service<agv_pro_msgs::srv::GetDigitalInput>(
|
||||
"get_digital_input",
|
||||
std::bind(&AGV_PRO::handleGetDigitalInput, this, std::placeholders::_1, std::placeholders::_2)
|
||||
);
|
||||
|
||||
lastTime = this->get_clock()->now();
|
||||
|
||||
try{
|
||||
serial_port_ = std::make_unique<boost::asio::serial_port>(io_);
|
||||
|
||||
serial_port_->open(device_name_);
|
||||
serial_port_->set_option(boost::asio::serial_port_base::baud_rate(1000000));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::character_size(8));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one));
|
||||
serial_port_->set_option(boost::asio::serial_port_base::flow_control(boost::asio::serial_port_base::flow_control::none));
|
||||
|
||||
int fd = serial_port_->native_handle();
|
||||
this->clearSerialBuffer(fd);
|
||||
this->disableDTR_RTS(fd);
|
||||
|
||||
rclcpp::sleep_for(std::chrono::milliseconds(3000));//esp32 Restart time
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "Serial port initialized successfully");
|
||||
RCLCPP_INFO(this->get_logger(), "Using device: %s", device_name_.c_str());
|
||||
|
||||
boost::asio::serial_port_base::baud_rate baud_option;
|
||||
serial_port_->get_option(baud_option);
|
||||
unsigned int current_baud = baud_option.value();
|
||||
RCLCPP_INFO(this->get_logger(), "Baud_rate: %u", current_baud);
|
||||
}
|
||||
catch (const std::exception &ex){
|
||||
RCLCPP_ERROR(this->get_logger(), "Failed to initialize serial port: %s", ex.what());
|
||||
return;
|
||||
}
|
||||
|
||||
if (this->is_power_on()) {
|
||||
this->set_auto_report(1);
|
||||
|
||||
control_timer_ = this->create_wall_timer(
|
||||
std::chrono::milliseconds(20),
|
||||
std::bind(&AGV_PRO::Control, this)
|
||||
);
|
||||
RCLCPP_INFO(this->get_logger(), "Control timer started");
|
||||
}
|
||||
else {
|
||||
RCLCPP_WARN(this->get_logger(), "Control timer not started.");
|
||||
}
|
||||
}
|
||||
|
||||
AGV_PRO::~AGV_PRO()
|
||||
{
|
||||
if (serial_port_ && serial_port_->is_open()) {
|
||||
this->set_auto_report(0);
|
||||
serial_port_->cancel();
|
||||
serial_port_->close();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user