基于ROS系统的dwa算法主函数cpp文件

好的，以下是一个基于ROS系统的dwa算法主函数cpp文件的示例代码：

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/LaserScan.h>
#include <cmath>

#define PI 3.14159265358979323846

double robot_radius = 0.2; // 机器人半径
double max_speed = 0.5; // 最大速度
double max_yaw_rate = 1.0; // 最大偏航角速度
double max_accel = 0.5; // 最大加速度
double max_delta_yaw_rate = 1.0; // 最大偏航角加速度
double predict_time = 2.0; // 预测时间
double heading_goal_tolerance = 0.1; // 方向目标容差
double distance_goal_tolerance = 0.2; // 距离目标容差

double laser_min_angle = -PI/2.0;
double laser_max_angle = PI/2.0;
double laser_angle_increment = PI/180.0;

double target_x = 0.0;
double target_y = 0.0;
double target_yaw = 0.0;

double linear_vel = 0.0;
double angular_vel = 0.0;

void laserCallback(const sensor_msgs::LaserScan::ConstPtr& msg)
{
    double min_distance = std::numeric_limits<double>::max();
    double angle_min = msg->angle_min + laser_min_angle;
    double angle_max = msg->angle_min + laser_max_angle;

    for(int i=0; i<msg->ranges.size(); i++)
    {
        double angle = msg->angle_min + i * laser_angle_increment;
        if(angle >= angle_min && angle <= angle_max)
        {
            double distance = msg->ranges[i];
            if(distance < min_distance)
            {
                min_distance = distance;
            }
        }
    }

    if(min_distance > robot_radius)
    {
        linear_vel += max_accel * 0.1;
        if(linear_vel > max_speed)
        {
            linear_vel = max_speed;
        }
    }
    else
    {
        linear_vel -= max_accel * 0.1;
        if(linear_vel < 0)
        {
            linear_vel = 0;
        }
    }

    double heading_err = target_yaw - atan2(target_y, target_x);
    if(heading_err > PI)
    {
        heading_err -= 2*PI;
    }
    else if(heading_err < -PI)
    {
        heading_err += 2*PI;
    }

    double distance_err = sqrt(target_x*target_x + target_y*target_y);
    if(distance_err < distance_goal_tolerance)
    {
        linear_vel = 0.0;
        angular_vel = 0.0;
        return;
    }

    double heading_goal = atan2(target_y, target_x);
    if(std::abs(heading_err) > heading_goal_tolerance)
    {
        double delta_yaw_rate = max_delta_yaw_rate;
        if(std::abs(heading_err) < PI/4.0)
        {
            delta_yaw_rate /= 2.0;
        }
        if(heading_err < 0)
        {
            delta_yaw_rate *= -1.0;
        }
        angular_vel += delta_yaw_rate * 0.1;
        if(angular_vel > max_yaw_rate)
        {
            angular_vel = max_yaw_rate;
        }
        else if(angular_vel < -max_yaw_rate)
        {
            angular_vel = -max_yaw_rate;
        }
    }
    else
    {
        angular_vel = 0.0;
    }

    double t = predict_time;
    double x = 0.0;
    double y = 0.0;
    double yaw = 0.0;
    double v = linear_vel;
    double w = angular_vel;
    while(t > 0.1)
    {
        t -= 0.1;
        x += v * cos(yaw) * 0.1;
        y += v * sin(yaw) * 0.1;
        yaw += w * 0.1;
        double heading_err = target_yaw - yaw;
        if(heading_err > PI)
        {
            heading_err -= 2*PI;
        }
        else if(heading_err < -PI)
        {
            heading_err += 2*PI;
        }
        if(std::abs(heading_err) > heading_goal_tolerance)
        {
            double delta_yaw_rate = max_delta_yaw_rate;
            if(std::abs(heading_err) < PI/4.0)
            {
                delta_yaw_rate /= 2.0;
            }
            if(heading_err < 0)
            {
                delta_yaw_rate *= -1.0;
            }
            w += delta_yaw_rate * 0.1;
            if(w > max_yaw_rate)
            {
                w = max_yaw_rate;
            }
            else if(w < -max_yaw_rate)
            {
                w = -max_yaw_rate;
            }
        }
        else
        {
            w = 0.0;
        }
        v += max_accel * 0.1;
        if(v > max_speed)
        {
            v = max_speed;
        }
        if(sqrt(x*x + y*y) > distance_err)
        {
            break;
        }
    }
    linear_vel = v;
    angular_vel = w;
}

int main(int argc, char** argv)
{
    ros::init(argc, argv, "dwa_controller");
    ros::NodeHandle nh("~");
    ros::Subscriber laser_sub = nh.subscribe("/scan", 1, laserCallback);
    ros::Publisher cmd_vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
    nh.getParam("robot_radius", robot_radius);
    nh.getParam("max_speed", max_speed);
    nh.getParam("max_yaw_rate", max_yaw_rate);
    nh.getParam("max_accel", max_accel);
    nh.getParam("max_delta_yaw_rate", max_delta_yaw_rate);
    nh.getParam("predict_time", predict_time);
    nh.getParam("heading_goal_tolerance", heading_goal_tolerance);
    nh.getParam("distance_goal_tolerance", distance_goal_tolerance);
    nh.getParam("target_x", target_x);
    nh.getParam("target_y", target_y);
    nh.getParam("target_yaw", target_yaw);

    ros::Rate loop_rate(10);

    while(ros::ok())
    {
        geometry_msgs::Twist cmd_vel;
        cmd_vel.linear.x = linear_vel;
        cmd_vel.angular.z = angular_vel;
        cmd_vel_pub.publish(cmd_vel);
        ros::spinOnce();
        loop_rate.sleep();
    }

    return 0;
}

这个代码中实现了一个基于dwa算法的机器人控制器，可以通过ROS中的激光雷达数据来实现避障和导航功能。机器人的运动状态会根据当前位置与目标位置的距离和方向误差进行控制，并且在遇到障碍物时会自动减速避让。