bool MoveObject::goObject() { //connet to the Server, 5s limit while (!move_base.waitForServer(ros::Duration(5.0))) { ROS_INFO("Waiting for move_base action server..."); } ROS_INFO("Connected to move base server"); /t the targetpose move_base_msgs::MoveBaseGoal goal; goal.target_pose.header.frame_id = "map"; goal.target_pose.header.stamp = ros::Time::now(); target_odom_point.pose.pose.position.x=Obj_pose.pose.position.x; target_odom_point.pose.pose.position.y=Obj_pose.pose.position.y; cout << goal.target_pose.pose.position.x << endl; cout << goal.target_pose.pose.position.y << endl; //goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(g.response.yaw); //goal.target_pose.pose.orientation.z = 0.0; //goal.target_pose.pose.orientation.w = 1.0; double roll,pitch,yaw; tf::quaternionMsgToTF(target_odom_point.pose.orientation, quat); tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);//进行转换 if(yaw>3.14) { yaw -=2*PI;//旋转 target_odom_point.pose.position.x -=keep_distance*cos(yaw); target_odom_point.pose.position.y -=keep_distance*sin(yaw); goal.target_pose.pose.position.x=target_odom_point.pose.pose.position.x goal.target_pose.pose.position.y=target_odom_point.pose.pose.position.y target_odom_point.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); goal.target_pose.pose.orientation.w= target_odom_point.pose.orientation goal.target_pose.pose.orientation.z = 0 //map坐标系下的Z轴 ROS_INFO("Sending goal"); move_base.sendGoal(goal); } move_base.waitForResult(); if (move_base.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { ROS_INFO("Goal succeeded!"); return true; } else { ROS_INFO("Goal failed"); return false; } }
时间: 2024-01-10 20:05:07 浏览: 44
这段代码是一个移动机器人到目标点的函数。具体来说,它等待连接到move_base服务器,然后设置目标点的位置和姿态,发送目标点并等待机器人到达目标点。如果机器人成功到达目标点,返回true;否则,返回false。
其中,move_base是一个ROS的action,用于控制机器人移动到目标点。move_base.waitForServer()会等待连接到move_base服务器,如果5秒内没有连接成功,则会输出“Waiting for move_base action server...”,表示等待中。ROS_INFO()用于输出一些ROS相关的信息。target_odom_point是一个表示目标点位置和姿态的变量。tf库是ROS中的一个库,用于坐标系的转换和变换。其中,getRPY()函数将四元数转换成欧拉角(roll、pitch和yaw)。如果yaw大于3.14,就需要旋转到相反的方向,然后计算新的目标点位置和姿态。ROS中有很多库和工具可以用于机器人的控制和导航,需要根据具体的需求选择合适的库和工具。
相关问题
bool MoveObject::goObject() { //connet to the Server, 5s limit while (!move_base.waitForServer(ros::Duration(5.0))) { ROS_INFO("Waiting for move_base action server..."); } ROS_INFO("Connected to move base server"); /t the targetpose move_base_msgs::MoveBaseGoal goal; goal.target_pose.header.frame_id = "map"; goal.target_pose.header.stamp = ros::Time::now(); // goal.target_pose.pose.position.x = Obj_pose.pose.position.x; // goal.target_pose.pose.position.y = Obj_pose.pose.position.y; // target_odom_point.pose.pose.position.x=goal.target_pose.pose.position.x // target_odom_point.pose.pose.position.y=goal.target_pose.pose.position.y target_odom_point.pose.pose.position.x=Obj_pose.pose.position.x; target_odom_point.pose.pose.position.y=Obj_pose.pose.position.y; cout << goal.target_pose.pose.position.x << endl; cout << goal.target_pose.pose.position.y << endl; //goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(g.response.yaw); goal.target_pose.pose.orientation.z = 0.0; goal.target_pose.pose.orientation.w = 1.0; tf::quaternionMsgToTF(target_odom_point.pose.orientation, quat); tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);//进行转换 yaw +=1.5708;//旋转90 target_odom_point.pose.position.x -=keep_distance*cos(yaw); target_odom_point.pose.position.y -=keep_distance*sin(yaw); goal.target_pose.pose.position.x=target_odom_point.pose.pose.position.x goal.target_pose.pose.position.y=target_odom_point.pose.pose.position.y target_odom_point.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); ROS_INFO("Sending goal"); move_base.sendGoal(goal); move_base.waitForResult(); if (move_base.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { ROS_INFO("Goal succeeded!"); return true; } else { ROS_INFO("Goal failed"); return false; } }
这段代码是一个移动机器人到目标点的函数。首先会等待 move_base action server 的连接,如果在 5 秒内没有连接成功,则会输出 "Waiting for move_base action server..."。如果连接成功,则会输出 "Connected to move base server"。
接下来,设置目标点的坐标和姿态,这里的目标点是以地图为参考系的。然后通过计算机器人需要旋转的角度,将目标点向机器人前进方向偏移一定距离,即目标点距离机器人保持一定距离。最后通过 move_base.sendGoal(goal) 发送目标点,等待机器人到达目标点,如果成功到达则返回 true,否则返回 false。
读取#@brief: gerneral config parameters general: use_ros: true #@type: bool @detail: flag to control using ROS functions or not # if ture, you can send or receive messages through ROS (different messages need to be config in their own yaml file separatedly) use_proto: true #@type: bool @detail: flag to control using Proto functions or not # if ture, you can send or receive sensor: #@brief: config file for Imu message imu: include: ../sensor_config/other_sensors/rs_imu.yaml #@brief: config file for Gnss message gnss: include: ../sensor_config/other_sensors/rs_gnss.yaml #@brief: config file for Odom message odom: include: ../sensor_config/other_sensors/rs_odom.yaml #@brief: config file for Lidar message lidar: include: ../sensor_config/lidar/rs_lidar.yaml #@brief: config file for Lidar message camera: include: ../sensor_config/other_sensors/rs_camera.yaml #@brief: config file for Radar message radar: include: ../sensor_config/other_sensors/rs_radar.yaml
要读取上述YAML文件,可以使用适合的YAML解析库,例如YAML-CPP或YAMLCPP-Parser。以下是使用YAML-CPP的示例代码:
```cpp
#include <iostream>
#include <yaml-cpp/yaml.h>
void readConfig(const YAML::Node& config) {
if (config["general"]) {
// 读取general字段的值
YAML::Node general = config["general"];
if (general["use_ros"]) {
bool useRos = general["use_ros"].as<bool>();
std::cout << "use_ros: " << std::boolalpha << useRos << std::endl;
}
if (general["use_proto"]) {
bool useProto = general["use_proto"].as<bool>();
std::cout << "use_proto: " << std::boolalpha << useProto << std::endl;
}
}
if (config["sensor"]) {
// 读取sensor字段的值
YAML::Node sensor = config["sensor"];
if (sensor["imu"]) {
std::string imuInclude = sensor["imu"]["include"].as<std::string>();
std::cout << "imu include: " << imuInclude << std::endl;
}
if (sensor["gnss"]) {
std::string gnssInclude = sensor["gnss"]["include"].as<std::string>();
std::cout << "gnss include: " << gnssInclude << std::endl;
}
if (sensor["odom"]) {
std::string odomInclude = sensor["odom"]["include"].as<std::string>();
std::cout << "odom include: " << odomInclude << std::endl;
}
if (sensor["lidar"]) {
std::string lidarInclude = sensor["lidar"]["include"].as<std::string>();
std::cout << "lidar include: " << lidarInclude << std::endl;
}
if (sensor["camera"]) {
std::string cameraInclude = sensor["camera"]["include"].as<std::string>();
std::cout << "camera include: " << cameraInclude << std::endl;
}
if (sensor["radar"]) {
std::string radarInclude = sensor["radar"]["include"].as<std::string>();
std::cout << "radar include: " << radarInclude << std::endl;
}
}
}
int main() {
// 加载YAML文件
YAML::Node config = YAML::LoadFile("config.yaml");
// 读取配置
readConfig(config);
return 0;
}
```
请确保将上述示例代码与YAML-CPP库一起编译、链接并运行。从YAML文件中读取的值将打印到控制台上。