ros小车导航并识别靠近AR码的python代码

ROS (Robot Operating System) 小车导航并识别AR(增强现实)码通常涉及多个步骤，包括视觉感知、路径规划和控制。这里提供一个简化的Python示例概述：

# 导入必要的库
import rospy
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import cv2
import numpy as np
from aruco import ArucoDetector

class ARCodeNavigation:
    def __init__(self):
        self.bridge = CvBridge()
        self.aruco_detector = ArucoDetector()
        self.subscriber = rospy.Subscriber("camera/image", Image, self.detect_ar_code)
        self.publisher = rospy.Publisher("cmd_vel", Twist, queue_size=1)

    def detect_ar_code(self, img_msg):
        try:
            # 转换ROS图像到OpenCV格式
            cv_image = self.bridge.imgmsg_to_cv2(img_msg, "bgr8")
            # 检测aruco标记
            corners, ids, rejected_img_points = self.aruco_detector.detect(cv_image)
            
            if len(corners) > 0:
                # 根据标识处理导航逻辑
                code_id = ids[0]
                # ... 这里可以添加基于代码ID的导航策略，比如改变车速或方向
                cmd_vel_msg = self.calculate_command(corners)
                self.publisher.publish(cmd_vel_msg)
        except CvBridgeError as e:
            print(e)

    def calculate_command(self, corners):  # 假设我们简单地基于aruco位置调整速度
        # 进行计算，例如根据aruco坐标移动小车
        # cmd_vel_msg = Twist(x_speed, y_speed)
        pass

if __name__ == "__main__":
    rospy.init_node('ar_code_navigation')
    node = ARCodeNavigation()
    try:
        rospy.spin()
    except KeyboardInterrupt:
        print("Shutting down ROS node")