基于ROS系统的智能车自主路径规划与避障控制的代码

这里提供一个基于ROS系统的智能车自主路径规划与避障控制的demo代码，供参考：

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
import tf
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Twist, PoseStamped
from move_base_msgs.msg import MoveBaseActionResult
from sensor_msgs.msg import LaserScan

class RobotControl():
    def __init__(self):
        rospy.init_node('robot_control', anonymous=False)

        # 激光雷达
        self.laser_sub = rospy.Subscriber('/scan', LaserScan, self.laser_callback)

        # 移动底盘
        self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)

        # 导航目标点
        self.goal_sub = rospy.Subscriber('/move_base_simple/goal', PoseStamped, self.goal_callback)
        self.goal_result_sub = rospy.Subscriber('/move_base/result', MoveBaseActionResult, self.goal_result_callback)

        # 机器人位姿
        self.odom_sub = rospy.Subscriber('/odom', Odometry, self.odom_callback)

        # 初始化
        self.goal = None
        self.goal_reached = False
        self.robot_pose = None
        self.laser_data = None

    def laser_callback(self, data):
        self.laser_data = data

    def goal_callback(self, data):
        self.goal = data
        self.goal_reached = False

    def goal_result_callback(self, data):
        if data.status.status == 3:
            self.goal_reached = True

    def odom_callback(self, data):
        self.robot_pose = data.pose.pose

    def get_distance(self, goal_pose):
        return ((goal_pose.position.x - self.robot_pose.position.x) ** 2 + (goal_pose.position.y - self.robot_pose.position.y) ** 2) ** 0.5

    def get_angle(self, goal_pose):
        quaternion = (self.robot_pose.orientation.x, self.robot_pose.orientation.y, self.robot_pose.orientation.z, self.robot_pose.orientation.w)
        euler = tf.transformations.euler_from_quaternion(quaternion)
        yaw = euler[2]

        goal_quaternion = (goal_pose.orientation.x, goal_pose.orientation.y, goal_pose.orientation.z, goal_pose.orientation.w)
        goal_euler = tf.transformations.euler_from_quaternion(goal_quaternion)
        goal_yaw = goal_euler[2]

        return goal_yaw - yaw

    def rotate(self, angle):
        cmd_vel = Twist()
        cmd_vel.angular.z = 0.3 if angle > 0 else -0.3
        while abs(angle) > 0.1:
            self.cmd_vel_pub.publish(cmd_vel)
            angle = self.get_angle(self.goal.pose)
            rospy.sleep(0.1)
        cmd_vel.angular.z = 0
        self.cmd_vel_pub.publish(cmd_vel)

    def move(self):
        cmd_vel = Twist()
        distance = self.get_distance(self.goal.pose)
        while distance > 0.1:
            if self.laser_data is not None:
                min_range = min(self.laser_data.ranges)
                if min_range < 0.5:
                    cmd_vel.linear.x = 0
                    self.cmd_vel_pub.publish(cmd_vel)
                    return
            cmd_vel.linear.x = 0.3
            self.cmd_vel_pub.publish(cmd_vel)
            distance = self.get_distance(self.goal.pose)
            rospy.sleep(0.1)
        cmd_vel.linear.x = 0
        self.cmd_vel_pub.publish(cmd_vel)

    def run(self):
        rate = rospy.Rate(10)
        while not rospy.is_shutdown():
            if self.goal is not None and not self.goal_reached:
                angle = self.get_angle(self.goal.pose)
                if abs(angle) > 0.1:
                    self.rotate(angle)
                else:
                    self.move()
                    if self.goal_reached:
                        rospy.loginfo('Goal reached!')
            rate.sleep()

if __name__ == '__main__':
    robot_control = RobotControl()
    robot_control.run()

在以上代码中，我们使用了激光雷达和机器人位姿等传感器信息，实现了机器人的自主路径规划和避障控制。具体实现过程中，我们订阅了激光雷达数据、导航目标点、机器人位姿和导航结果等消息，根据这些信息计算机器人的控制指令，从而实现路径规划和避障控制的功能。