基于ros的A*与dwa算法结合cpp主函数

好的，我可以帮你回答这个问题。

首先，需要安装ROS系统和相关的软件包，以及C++编译环境。然后，可以按照以下步骤进行操作：

1. 创建ROS工作空间并初始化

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

2. 创建ROS包

cd ~/catkin_ws/src
catkin_create_pkg astar_dwa

3. 在`astar_dwa`包下创建`src`文件夹，并在其中创建`astar_dwa.cpp`文件

cd ~/catkin_ws/src/astar_dwa
mkdir src
cd src
touch astar_dwa.cpp

4. 在`astar_dwa.cpp`文件中添加代码

#include <ros/ros.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/Twist.h>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

// 导入A*和DWA算法的头文件
#include "astar.h"
#include "dwa.h"

class AstarDwa
{
public:
    AstarDwa() : tf_(ros::Duration(10))
    {
        // 订阅地图和目标点
        map_sub_ = nh_.subscribe("map", 1, &AstarDwa::mapCallback, this);
        goal_sub_ = nh_.subscribe("goal", 1, &AstarDwa::goalCallback, this);

        // 发布路径和控制指令
        path_pub_ = nh_.advertise<nav_msgs::Path>("path", 1);
        cmd_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel", 1);

        // 初始化A*和DWA算法
        astar_ = new Astar();
        dwa_ = new DWA();

        // 设置地图分辨率和边界
        astar_->setResolution(0.05);
        astar_->setBoundary(-15.0, 15.0, -15.0, 15.0);
    }

    ~AstarDwa()
    {
        delete astar_;
        delete dwa_;
    }

    void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& map_msg)
    {
        // 将地图数据传递给A*算法
        astar_->setMap(map_msg->data, map_msg->info.width, map_msg->info.height, map_msg->info.resolution);

        // 发布地图
        map_pub_.publish(*map_msg);
    }

    void goalCallback(const geometry_msgs::PoseStamped::ConstPtr& goal_msg)
    {
        // 获取机器人当前位置
        tf::StampedTransform transform;
        try
        {
            tf_.waitForTransform("map", "base_link", ros::Time(0), ros::Duration(5.0));
            tf_.lookupTransform("map", "base_link", ros::Time(0), transform);
        }
        catch (tf::TransformException ex)
        {
            ROS_ERROR("%s", ex.what());
            return;
        }

        // 将机器人当前位置和目标点传递给A*算法
        int start_x, start_y, goal_x, goal_y;
        start_x = (int)round((transform.getOrigin().x() - astar_->getBoundaryXMin()) / astar_->getResolution());
        start_y = (int)round((transform.getOrigin().y() - astar_->getBoundaryYMin()) / astar_->getResolution());
        goal_x = (int)round((goal_msg->pose.position.x - astar_->getBoundaryXMin()) / astar_->getResolution());
        goal_y = (int)round((goal_msg->pose.position.y - astar_->getBoundaryYMin()) / astar_->getResolution());
        astar_->setStart(start_x, start_y);
        astar_->setGoal(goal_x, goal_y);

        // 获取A*算法计算的路径
        std::vector<std::pair<int, int>> path = astar_->getPath();

        // 将路径转换为ROS消息
        nav_msgs::Path path_msg;
        path_msg.header.frame_id = "map";
        for (int i = 0; i < path.size(); i++)
        {
            geometry_msgs::PoseStamped pose;
            pose.pose.position.x = path[i].first * astar_->getResolution() + astar_->getBoundaryXMin();
            pose.pose.position.y = path[i].second * astar_->getResolution() + astar_->getBoundaryYMin();
            pose.pose.orientation.w = 1.0;
            path_msg.poses.push_back(pose);
        }

        // 发布路径
        path_pub_.publish(path_msg);

        // 获取机器人当前姿态
        tf::Quaternion q(transform.getRotation().x(), transform.getRotation().y(), transform.getRotation().z(), transform.getRotation().w());
        double roll, pitch, yaw;
        tf::Matrix3x3(q).getRPY(roll, pitch, yaw);

        // 获取DWA算法计算的控制指令
        geometry_msgs::Twist cmd = dwa_->getCommand(transform.getOrigin().x(), transform.getOrigin().y(), yaw, path);

        // 发布控制指令
        cmd_pub_.publish(cmd);
    }

private:
    ros::NodeHandle nh_;

    ros::Subscriber map_sub_;
    ros::Subscriber goal_sub_;
    ros::Publisher map_pub_;
    ros::Publisher path_pub_;
    ros::Publisher cmd_pub_;

    tf::TransformListener tf_;
    tf::MessageFilter<nav_msgs::OccupancyGrid> *map_filter_;

    Astar *astar_;
    DWA *dwa_;
};

int main(int argc, char **argv)
{
    ros::init(argc, argv, "astar_dwa");
    AstarDwa astar_dwa;
    ros::spin();
    return 0;
}

5. 编译并运行程序

cd ~/catkin_ws
catkin_make
source devel/setup.bash
rosrun astar_dwa astar_dwa

这样，就可以运行一个基于ROS的A*与DWA算法结合的程序了。需要注意的是，需要将地图和目标点发布到对应的话题中。