From f198650640ec5fdae380f795aef8b68533b10ef8 Mon Sep 17 00:00:00 2001 From: yongwangzhiqiankai <422168787@qq.com> Date: Fri, 22 Apr 2022 22:13:33 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BC=80=E6=BA=90=E4=BB=A3=E7=A0=81=EF=BC=8C?= =?UTF-8?q?=E9=AD=94=E6=94=B9=E7=9A=84=E6=94=AF=E6=8C=81=E6=95=B0=E6=8D=AE?= =?UTF-8?q?=E5=BA=93=E5=8A=A8=E6=80=81=E8=99=9A=E6=8B=9F=E5=A2=99=EF=BC=8C?= =?UTF-8?q?=E6=94=AF=E6=8C=81=E8=99=9A=E6=8B=9F=E5=A2=99=E5=8A=A8=E6=80=81?= =?UTF-8?q?=E5=88=B7=E6=96=B0=EF=BC=8C=E6=94=AF=E6=8C=81=E4=BB=A3=E7=A0=81?= =?UTF-8?q?=E4=B8=AD=E6=93=8D=E4=BD=9C=E8=99=9A=E6=8B=9F=E5=A2=99=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .catkin_workspace | 1 + catkit_make_source.sh | 14 + ...1\350\231\232\346\213\237\345\242\231.png" | Bin 0 -> 87169 bytes readme.md | 234 +++++ src/costmap_prohibition_layer/.gitignore | 49 + src/costmap_prohibition_layer/.travis.yml | 107 +++ src/costmap_prohibition_layer/CHANGELOG.rst | 21 + src/costmap_prohibition_layer/CMakeLists.txt | 191 ++++ src/costmap_prohibition_layer/LICENSE | 29 + src/costmap_prohibition_layer/README.md | 167 ++++ .../cfg/CostmapProhibitionLayer.cfg | 16 + .../cfg/prohibition_areas.yaml | 13 + .../costmap_plugins.xml | 5 + .../costmap_prohibition_layer.h | 216 +++++ src/costmap_prohibition_layer/package.xml | 39 + .../src/costmap_prohibition_layer.cpp | 653 ++++++++++++++ src/disinfect_msg/.gitignore | 2 + src/disinfect_msg/CMakeLists.txt | 217 +++++ src/disinfect_msg/Packages | 0 src/disinfect_msg/msg/Dictionaries.msg | 7 + src/disinfect_msg/msg/Table_CostMapLayer.msg | 16 + src/disinfect_msg/msg/Table_Task.msg | 9 + src/disinfect_msg/msg/TaskPOSE.msg | 24 + src/disinfect_msg/msg/testInfo.msg | 19 + src/disinfect_msg/package.xml | 73 ++ src/disinfect_msg/redme.md | 0 src/disinfect_srvs/.gitignore | 1 + src/disinfect_srvs/CMakeLists.txt | 212 +++++ src/disinfect_srvs/package.xml | 77 ++ src/disinfect_srvs/redme.md | 0 .../srv/Table_costmaplayer_srvs.srv | 8 + src/disinfect_srvs/srv/testInfo_srvs.srv | 22 + src/slamproject/.gitignore | 6 + src/slamproject/CMakeLists.txt | 321 +++++++ src/slamproject/config/prohibition_areas.yaml | 13 + src/slamproject/db/TABLE_OR_ROOM_POSE.db | Bin 0 -> 12288 bytes src/slamproject/package.xml | 106 +++ src/slamproject/readme.md | 236 +++++ src/slamproject/rviz/visualOrientation.rviz | 390 ++++++++ .../currencyChassis_CreateSqlDatabaseMain.cpp | 77 ++ ...ncyChassis_KSDemoDlgTABLE_COSTMAPLAYER.cpp | 745 ++++++++++++++++ ...rencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.h | 114 +++ ...hassis_KSDemoDlgTABLE_COSTMAPLAYERMain.cpp | 57 ++ .../currencyChassis_sqlDatabaseMain.cpp | 841 ++++++++++++++++++ src/slamproject/src/currencyChassis/readme.md | 71 ++ 45 files changed, 5419 insertions(+) create mode 100644 .catkin_workspace create mode 100755 catkit_make_source.sh create mode 100644 "qt\347\225\214\351\235\242\347\274\226\350\276\221\350\231\232\346\213\237\345\242\231.png" create mode 100644 readme.md create mode 100644 src/costmap_prohibition_layer/.gitignore create mode 100644 src/costmap_prohibition_layer/.travis.yml create mode 100644 src/costmap_prohibition_layer/CHANGELOG.rst create mode 100755 src/costmap_prohibition_layer/CMakeLists.txt create mode 100644 src/costmap_prohibition_layer/LICENSE create mode 100644 src/costmap_prohibition_layer/README.md create mode 100755 src/costmap_prohibition_layer/cfg/CostmapProhibitionLayer.cfg create mode 100755 src/costmap_prohibition_layer/cfg/prohibition_areas.yaml create mode 100755 src/costmap_prohibition_layer/costmap_plugins.xml create mode 100644 src/costmap_prohibition_layer/include/costmap_prohibition_layer/costmap_prohibition_layer.h create mode 100755 src/costmap_prohibition_layer/package.xml create mode 100644 src/costmap_prohibition_layer/src/costmap_prohibition_layer.cpp create mode 100644 src/disinfect_msg/.gitignore create mode 100755 src/disinfect_msg/CMakeLists.txt create mode 100644 src/disinfect_msg/Packages create mode 100755 src/disinfect_msg/msg/Dictionaries.msg create mode 100755 src/disinfect_msg/msg/Table_CostMapLayer.msg create mode 100755 src/disinfect_msg/msg/Table_Task.msg create mode 100755 src/disinfect_msg/msg/TaskPOSE.msg create mode 100755 src/disinfect_msg/msg/testInfo.msg create mode 100755 src/disinfect_msg/package.xml create mode 100755 src/disinfect_msg/redme.md create mode 100755 src/disinfect_srvs/.gitignore create mode 100755 src/disinfect_srvs/CMakeLists.txt create mode 100755 src/disinfect_srvs/package.xml create mode 100755 src/disinfect_srvs/redme.md create mode 100755 src/disinfect_srvs/srv/Table_costmaplayer_srvs.srv create mode 100755 src/disinfect_srvs/srv/testInfo_srvs.srv create mode 100644 src/slamproject/.gitignore create mode 100644 src/slamproject/CMakeLists.txt create mode 100755 src/slamproject/config/prohibition_areas.yaml create mode 100644 src/slamproject/db/TABLE_OR_ROOM_POSE.db create mode 100644 src/slamproject/package.xml create mode 100644 src/slamproject/readme.md create mode 100644 src/slamproject/rviz/visualOrientation.rviz create mode 100644 src/slamproject/src/currencyChassis/currencyChassis_CreateSqlDatabaseMain.cpp create mode 100644 src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.cpp create mode 100644 src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.h create mode 100644 src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain.cpp create mode 100644 src/slamproject/src/currencyChassis/currencyChassis_sqlDatabaseMain.cpp create mode 100644 src/slamproject/src/currencyChassis/readme.md diff --git a/.catkin_workspace b/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/catkit_make_source.sh 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[数据库只需要创建一次就可以了] + rosrun slamproject currencyChassis_CreateSqlDatabaseMain_node + + 2.数据库调用 [启动导航前优先启动] + rosrun slamproject currencyChassis_sqlDatabaseMain_node + + 3.虚拟墙qt界面编辑 [qt界面增加虚拟墙数据只支持 line，具体使用看图片] + rosrun slamproject currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node + + 4.刷新虚拟墙 【当数据库更改虚拟墙数据后需要发送topic重新加载虚拟墙】 + 4.1 引入头文件 + #include + 4.2创建 Publisher + ros::Publisher costmapProhibitionControl_pub = node.advertise("/costmapProhibitionControl", 10); + 4.3发送数据 + std_msgs::String data; + data.data="refreshCostMapPlayer"; + costmapProhibitionControl_pub.publish(data); + + + +#### 代码中使用介绍： + + + 1.查询虚拟墙数据 + 1.1 引入头文件 + #include + + 1.2 数据库操作 + ros::ServiceClient SqlQueryClient = nh.serviceClient("/QSqlQuery"); + + + 1.3【默认条件查询 MerchantNumber=EMPTY MerchantName=EMPTY RobotNumber=EMPTY MapName=EMPTY Robotfloor=EMPTY， + 需要改条件的话自己去数据库节点src/currencyChassis/currencyChassis_sqlDatabaseMain.cpp改源码，类中搜索 queryAllFromTable_CostMapPlayer 】 + disinfect_srvs::testInfo_srvs table_CostMapLayerService; + table_CostMapLayerService.request.request_type="queryAllFromTable_CostMapPlayer"; + SqlQueryClient.call(table_CostMapLayerService); + + for (int i = 0; i + 5.2创建 Publisher + ros::Publisher costmapProhibitionControl_pub = node.advertise("/costmapProhibitionControl", 10); + 5.3发送数据 + std_msgs::String data; + data.data="refreshCostMapPlayer"; + costmapProhibitionControl_pub.publish(data); + + + + +#### 项目实战通过 turtlebot3 仿真运行 + 1.首先确定数据库是否存在，不存在就创建 + 1.1 roscore + 1.2 创建数据库 [数据库只需要创建一次就可以了] + rosrun slamproject currencyChassis_CreateSqlDatabaseMain_node + 2.启动数据库 [启动导航前优先启动] + rosrun slamproject currencyChassis_sqlDatabaseMain_node + + 3.启动turtlebot3 + roslaunch turtlebot3_gazebo turtlebot3_house.launch + roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/iimt/map.yaml + 4.启动虚拟墙编辑器，取2点，录入数据 [qt界面增加虚拟墙数据只支持 line，具体使用看图片] + rosrun slamproject currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node + 5.启动rqt_publisher , 选择topic名字 /costmapProhibitionControl 发送 "refreshCostMapPlayer" 重新加载数据 + rosrun rqt_publisher rqt_publisher + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/costmap_prohibition_layer/.gitignore b/src/costmap_prohibition_layer/.gitignore new file mode 100644 index 0000000..13faf0f --- /dev/null +++ b/src/costmap_prohibition_layer/.gitignore @@ -0,0 +1,49 @@ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE +/.idea/ +/cmake-build-debug/ diff --git a/src/costmap_prohibition_layer/.travis.yml b/src/costmap_prohibition_layer/.travis.yml new file mode 100644 index 0000000..19562b8 --- /dev/null +++ b/src/costmap_prohibition_layer/.travis.yml @@ -0,0 +1,107 @@ +# Generic .travis.yml file for running continuous integration on Travis-CI with +# any ROS package. +# +# This installs ROS on a clean Travis-CI virtual machine, creates a ROS +# workspace, resolves all listed dependencies, and sets environment variables +# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are +# no compilation errors), and runs all the tests. If any of the compilation/test +# phases fail, the build is marked as a failure. +# +# We handle two types of package dependencies: +# - packages (ros and otherwise) available through apt-get. These are installed +# using rosdep, based on the information in the ROS package.xml. +# - dependencies that must be checked out from source. These are handled by +# 'wstool', and should be listed in a file named dependencies.rosinstall. +# +# There are two variables you may want to change: +# - ROS_DISTRO (default is indigo). Note that packages must be available for +# ubuntu 14.04 trusty. +# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo +# root). This should list all necessary repositories in wstool format (see +# the ros wiki). If the file does not exists then nothing happens. +# +# See the README.md for more information. +# +# Author: Felix Duvallet + +# NOTE: The build lifecycle on Travis.ci is something like this: +# before_install +# install +# before_script +# script +# after_success or after_failure +# after_script +# OPTIONAL before_deploy +# OPTIONAL deploy +# OPTIONAL after_deploy + +################################################################################ + +# Use ubuntu trusty (14.04) with sudo privileges. +dist: trusty +sudo: required +language: + - generic +cache: + - apt + +# Configuration variables. All variables are global now, but this can be used to +# trigger a build matrix for different ROS distributions if desired. +env: + global: + - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] + - CI_SOURCE_PATH=$(pwd) + - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall + - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - ROS_PARALLEL_JOBS='-j8 -l6' + matrix: + - ROS_DISTRO=jade + + +################################################################################ + +# Install system dependencies, namely a very barebones ROS setup. +before_install: + - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - + - sudo apt-get update -qq + - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin + - source /opt/ros/$ROS_DISTRO/setup.bash + # Prepare rosdep to install dependencies. + - sudo rosdep init + - rosdep update + +# Create a catkin workspace with the package under integration. +install: + - mkdir -p ~/catkin_ws/src + - cd ~/catkin_ws/src + - catkin_init_workspace + # Create the devel/setup.bash (run catkin_make with an empty workspace) and + # source it to set the path variables. + - cd ~/catkin_ws + - catkin_make + - source devel/setup.bash + # Add the package under integration to the workspace using a symlink. + - cd ~/catkin_ws/src + - ln -s $CI_SOURCE_PATH . + +# Install all dependencies, using wstool and rosdep. +# wstool looks for a ROSINSTALL_FILE defined in the environment variables. +before_script: + # source dependencies: install using wstool. + - cd ~/catkin_ws/src + - wstool init + - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi + - wstool up + # package depdencies: install using rosdep. + - cd ~/catkin_ws + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO + +# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to +# catkin_make. +script: + - cd ~/catkin_ws + - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) + # Testing: Use both run_tests (to see the output) and test (to error out). + - catkin_make run_tests # This always returns 0, but looks pretty. + - catkin_make test # This will return non-zero if a test fails. diff --git a/src/costmap_prohibition_layer/CHANGELOG.rst b/src/costmap_prohibition_layer/CHANGELOG.rst new file mode 100644 index 0000000..87dd510 --- /dev/null +++ b/src/costmap_prohibition_layer/CHANGELOG.rst @@ -0,0 +1,21 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package costmap_prohibition_layer +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.0.5 (2017-01-25) +------------------ +* Support a rolling window map + Enable support for rolling window maps + +0.0.4 (2016-10-30) +------------------ +* Enable recognizing Integer values in single points +* restored deleted line + +0.0.3 (2016-10-28) +------------------ +* Install scripts added + +0.0.2 (2016-10-27) +------------------ +* Initial package version diff --git a/src/costmap_prohibition_layer/CMakeLists.txt b/src/costmap_prohibition_layer/CMakeLists.txt new file mode 100755 index 0000000..44159ab --- /dev/null +++ b/src/costmap_prohibition_layer/CMakeLists.txt @@ -0,0 +1,191 @@ +cmake_minimum_required(VERSION 2.8.3) +project(costmap_prohibition_layer) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + costmap_2d + dynamic_reconfigure + roscpp + disinfect_msg + disinfect_srvs + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +## Enable C++11 support +include(CheckCXXCompilerFlag) +CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif(COMPILER_SUPPORTS_CXX0X) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +else() + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") +endif() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +generate_dynamic_reconfigure_options( + cfg/CostmapProhibitionLayer.cfg +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + LIBRARIES costmap_prohibition_layer + CATKIN_DEPENDS costmap_2d dynamic_reconfigure + DEPENDS +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories(${catkin_INCLUDE_DIRS} include) + +## Declare a C++ library + +add_library(costmap_prohibition_layer src/costmap_prohibition_layer.cpp) +target_link_libraries(costmap_prohibition_layer ${catkin_LIBRARIES}) + +# Dynamic reconfigure: make sure configure headers are built before any node using them +add_dependencies(costmap_prohibition_layer ${PROJECT_NAME}_gencfg) + +############ +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + + +## Mark executables and/or libraries for installation +install(TARGETS costmap_prohibition_layer + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + #FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +## Mark other files for installation (e.g. launch and bag files, etc.) +install(FILES + costmap_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY + cfg + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN ".svn" EXCLUDE +) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_layers.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + diff --git a/src/costmap_prohibition_layer/LICENSE b/src/costmap_prohibition_layer/LICENSE new file mode 100644 index 0000000..861fccb --- /dev/null +++ b/src/costmap_prohibition_layer/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2016, TU Dortmund - Lehrstuhl RST +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/src/costmap_prohibition_layer/README.md b/src/costmap_prohibition_layer/README.md new file mode 100644 index 0000000..0f3f761 --- /dev/null +++ b/src/costmap_prohibition_layer/README.md @@ -0,0 +1,167 @@ +虚拟墙 + + + navigation里如何写自己的全局路径规划插件教程 +http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS +https://blog.csdn.net/heyijia0327/article/details/42241831 +https://blog.csdn.net/qq_41995710/article/details/88750354 + +# costmap_prohibition_layer +ROS-Package that implements a costmap layer to add prohibited areas to the costmap-2D by a user configuration. + +Build status of the *kinetic-devel* branch: +- Travis (Ubuntu Trusty): [![Build Status](https://travis-ci.org/rst-tu-dortmund/costmap_prohibition_layer.svg?branch=kinetic-devel)](https://travis-ci.org/rst-tu-dortmund/costmap_prohibition_layer) + +禁止层，虚拟墙 +https://blog.csdn.net/qq_41995710/article/details/88750354 +在Costmap_2d里面插入Prohibition_layer(禁止区域层) + +他们都喊我sao G 2019-03-25 16:37:10 2036 收藏 19 +版权 +在Costmap_2d里面插入Prohibition_layer(禁止区域层) +简介 +costmap_2d在navigaition里面是一个很重要的板块，通常默认的是三层地图（静态/障碍/膨胀层）叠加在一起，构成整个完整的代价地图，但是我们也可以插入一些自定义的图层，然后实现自己定制化的功能，基础的教程大家可以参考costmap_2d中插入自定义层。本文的主要目的是来告诉大家如何在代价地图中插入Prohibition_layer（禁止层），然后在已经建好的地图中设立禁止通行区域，关于prohibition_layer具体的作用大家可以参照roswiki上的解释。 + +具体实现步骤 +1　代码下载与编译 +　　之前我们学习插入simple_layer的时候是在自己的工作空间（catkin_ws）中建立一个pakage，然后再去自己创建.cpp文件和.h头文件，再去改cmakelist，添加.xml文件，在这个教程中我们不需要这么麻烦，我们可以直接在github上把prohibition_layer的包下载下来(源码下载地址戳这里).，解压后放在自己的工作空间中的　src　文件夹里面，然后在终端输入： + +$ cd catkin_ws("catkin_ws"替换成你的工作空间名称) +$ catkin_make +1 +2 +编译完成以后在终端中输入 +编译完成以后，可以查看ROS系统里是否已经有了这个layer 插件。在终端中输入： + + +rospack plugins --attrib=plugin costmap_2d +1 +当你发现终端中输出： +这就表明prohibition_layer已经是一个可供使用的地图插件了． + +２　在代价地图中插入prohibition_layer +　　完成步骤１后说明prohibition_layer已经可以供costmap使用了，现在我们要做的就是把prohibition_layer插入到costmap中去． +　　我们在自己的代价地图参数配置文件夹中找到　global_costmap_params.yaml　和　local_costmap_params.yaml　，打开这两个文档，分别在两个文档的末尾做修改，修改后应该是下面的内容： + + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: obstacles, type: "costmap_2d::VoxelLayer"} + - {name: costmap_prohibition_layer, type: "costmap_prohibition_layer_namespace::CostmapProhibitionLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + +1 +2 +3 +========================================================================================== + 下面我们来把创建的simple_layer，放入全局global_costmap中。要想使得ROS接受你的插件，要在参数中用plugins指明，也就是主要修改move_base中涉及到costmap的yaml文件，下面给出我的修改： + +1.costmap_common_params.yaml + +obstacle_range: 2.5 +raytrace_range: 3.0 +robot_radius: 0.49 +inflation_radius: 0.1 +max_obstacle_height: 0.6 +min_obstacle_height: 0.0 +obstacles: + observation_sources: scan + scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0} +一定要注意，这里添加了一个obstales，说明障碍物层的数据来源scan，"obstacles："的作用是强调命名空间。 + +2.global_costmap_params.yaml + +global_costmap: + global_frame: /map + robot_base_frame: /base_footprint + update_frequency: 1.0 + publish_frequency: 0 + static_map: true + rolling_window: false + resolution: 0.01 + transform_tolerance: 1.0 + map_type: costmap + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: obstacles, type: "costmap_2d::VoxelLayer"} + - {name: simplelayer, type: "simple_layer_namespace::SimpleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} +3.local_costmap_params.yaml + +local_costmap: + global_frame: /map + robot_base_frame: /base_footprint + update_frequency: 3.0 + publish_frequency: 1.0 + static_map: false + rolling_window: true + width: 6.0 + height: 6.0 + resolution: 0.01 + transform_tolerance: 1.0 + map_type: costmap + +———————————————— + +原文链接：https://blog.csdn.net/heyijia0327/article/details/42241831 + +=========================================================================================== +5 +6 +３　修改launch文件 +　　完成插入地图后我们还需要修改自己的launch文件，我是在自己的move_base.launch 中插入的，这个大家根据自己的需求，你用的carlike就修改carlike的launch文件．打开自己的launch文件中插入如下内容: + + + +1 +2 +其中的＂turtlebot3_navigation＂需要根据自己的情况修改，你打开自己的launch文件对照上下文就知道怎么更改了． + +４　设置禁止区域坐标参数 +　　完成以上步骤所有的配置工作就剩下最后一步了，设置禁止区域坐标参数． +　　首先需要在参数配置文件夹（就是和　global_costmap_params.yaml　以及　local_costmap_params.yaml　相同位置的文件夹）中创建新的文档，命名为　＂prohibition_areas.yaml＂． +　　然后在prohibition_areas.yaml文档中输入: + +prohibition_areas: +#定义一个禁止点 + - [17.09, -6.388] +# 定义一个禁止通行的线 + - [[8.33, 2.11], + [8.26, 5.11]] +# 定义一个禁止通行的区域 + - [[-11.15, -15.614], + [-12.35, -13.89], + [-10.05, -12.218]] + +1 +2 +3 +4 +5 +6 +7 +8 +9 +10 +11 +注意事项： +１　一定要严格按照上述格式来设置坐标，我之前遇到的格式错误导致不能识别禁止区域坐标情形有 +　　（１）：坐标前的短横线没对齐 +　　（２）：定义禁止区域或者禁止线，两坐标之间缺少了逗号 +２　你可以同时定义多个禁止点／多个禁止线／多个禁止区域，或者混合定义多个点／线／区域． +３　禁止区域的坐标如何设置就需要你根据自己建的图来测量，这里就不赘述了． + +５　结语 +完成以上所有内容，你再次打开自己的导航就能够在rviz中看到自己的设置的禁止区域了，这里贴出我之前做的结果： +这是我在实验室里面建立的地图，图中的红色三角形是我设立的禁止区域，矩形框是我画的四条禁止线，小车现在在矩形框内，当我把导航目标设置在矩形框外的时候，结果显示的是无法规划路线的． +———————————————— +版权声明：本文为CSDN博主「他们都喊我sao G」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。 +原文链接：https://blog.csdn.net/qq_41995710/article/details/88750354 +https://blog.csdn.net/qq_41995710/article/details/88750354 + + navigation里如何写自己的全局路径规划插件教程 +http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS +https://blog.csdn.net/heyijia0327/article/details/42241831 +https://blog.csdn.net/qq_41995710/article/details/88750354 +http://wiki.ros.org/costmap_prohibition_layer +move_base 分层代价地图的作用（翻译） +https://guyuehome.com/28201 diff --git a/src/costmap_prohibition_layer/cfg/CostmapProhibitionLayer.cfg b/src/costmap_prohibition_layer/cfg/CostmapProhibitionLayer.cfg new file mode 100755 index 0000000..11b028c --- /dev/null +++ b/src/costmap_prohibition_layer/cfg/CostmapProhibitionLayer.cfg @@ -0,0 +1,16 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("enabled", bool_t, 0, "Whether to apply this plugin or not", True) +gen.add("fill_polygons", bool_t, 0, "Whether to fill polygon cells or not", True) + +exit(gen.generate("costmap_prohibition_layer_namespace", "costmap_prohibition_layer_namespace", "CostmapProhibitionLayer")) diff --git a/src/costmap_prohibition_layer/cfg/prohibition_areas.yaml b/src/costmap_prohibition_layer/cfg/prohibition_areas.yaml new file mode 100755 index 0000000..ad9c1d8 --- /dev/null +++ b/src/costmap_prohibition_layer/cfg/prohibition_areas.yaml @@ -0,0 +1,13 @@ +prohibition_areas: +#定义一个禁止点 + - [-3.8, 4.13] +# 定义一个禁止通行的线 + - [[-5.0, 4.28], + [-5.97, 3.32]] + - [[-3.15, 4.4], + [-4.18, 3.13]] + + + + + diff --git a/src/costmap_prohibition_layer/costmap_plugins.xml b/src/costmap_prohibition_layer/costmap_plugins.xml new file mode 100755 index 0000000..c1f3fa9 --- /dev/null +++ b/src/costmap_prohibition_layer/costmap_plugins.xml @@ -0,0 +1,5 @@ + + + ROS-Package that implements a costmap layer to add prohibited areas to the costmap-2D by a user configuration. + + diff --git a/src/costmap_prohibition_layer/include/costmap_prohibition_layer/costmap_prohibition_layer.h b/src/costmap_prohibition_layer/include/costmap_prohibition_layer/costmap_prohibition_layer.h new file mode 100644 index 0000000..f69e55f --- /dev/null +++ b/src/costmap_prohibition_layer/include/costmap_prohibition_layer/costmap_prohibition_layer.h @@ -0,0 +1,216 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Stephan Kurzawe + *********************************************************************/ +#ifndef COSTMAP_PROHIBITION_LAYER_H_ +#define COSTMAP_PROHIBITION_LAYER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace costmap_prohibition_layer_namespace +{ + +// point with integer coordinates +struct PointInt +{ + int x; + int y; +}; + +class CostmapProhibitionLayer : public costmap_2d::Layer +{ +public: + + /** + * default constructor + */ + CostmapProhibitionLayer(); + + /** + * destructor + */ + virtual ~CostmapProhibitionLayer(); + /** + * function which get called at initializing the costmap + * define the reconfige callback, get the reoslution + * and read the prohibitions from the ros-parameter server + */ + virtual void onInitialize(); + + /** + * This is called by the LayeredCostmap to poll this plugin + * as to how much of the costmap it needs to update. + * Each layer can increase the size of this bounds. + */ + virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, + double *min_x, double *min_y, double *max_x, double *max_y); + + /** + * function which get called at every cost updating procdure + * of the overlayed costmap. The before readed costs will get + * filled + */ + virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, + int max_i, int max_j); + +private: + + /** + * overlayed reconfigure callback function + */ + void reconfigureCB(CostmapProhibitionLayerConfig& config, uint32_t level); + + /** + * Compute bounds in world coordinates for the current set of points and polygons. + * The result is stored in class members _min_x, _min_y, _max_x and _max_y. + */ + void computeMapBounds(); + + /** + * Set cost in a Costmap2D for a polygon (polygon may be located outside bounds) + * + * @param master_grid reference to the Costmap2D object + * @param polygon polygon defined by a vector of points (in world coordinates) + * @param cost the cost value to be set (0,255) + * @param min_i minimum bound on the horizontal map index/coordinate + * @param min_j minimum bound on the vertical map index/coordinate + * @param max_i maximum bound on the horizontal map index/coordinate + * @param max_j maximum bound on the vertical map index/coordinate + * @param fill_polygon if true, tue cost for the interior of the polygon will be set as well + */ + void setPolygonCost(costmap_2d::Costmap2D &master_grid, const std::vector& polygon, + unsigned char cost, int min_i, int min_j, int max_i, int max_j, bool fill_polygon); + + /** + * Convert polygon (in map coordinates) to a set of cells in the map + * + * @remarks This method is mainly based on Costmap2D::convexFillCells() but accounts + * for a self-implemented polygonOutlineCells() method and allows negative map coordinates + * + * @param polygon polygon defined by a vector of map coordinates + * @param[out] polygon_cells new cells in map coordinates are pushed back on this container + * @param fill if true, the interior of the polygon will be considered as well + */ + void rasterizePolygon(const std::vector& polygon, std::vector& polygon_cells, bool fill); + + /** + * Extract the boundary of a polygon in terms of map cells + * + * @remarks This method is based on Costmap2D::polygonOutlineCells() but accounts + * for a self-implemented raytrace algorithm and allows negative map coordinates + * + * @param polygon polygon defined by a vector of map coordinates + * @param[out] polygon_cells new cells in map coordinates are pushed back on this container + */ + void polygonOutlineCells(const std::vector& polygon, std::vector& polygon_cells); + + /** + * Rasterize line between two map coordinates into a set of cells + * + * @remarks Since Costmap2D::raytraceLine() is based on the size_x and since we want to rasterize + * polygons that might also be located outside map bounds we provide a modified raytrace + * implementation (also Bresenham) based on the integer version presented here: + * http://playtechs.blogspot.de/2007/03/raytracing-on-grid.html + * + * @param x0 line start x-coordinate (map frame) + * @param y0 line start y-coordinate (map frame) + * @param x1 line end x-coordinate (map frame) + * @param y1 line end y-coordinate (map frame) + * @param[out] cells new cells in map coordinates are pushed back on this container + */ + void raytrace(int x0, int y0, int x1, int y1, std::vector& cells); + + + /** + * read the prohibition areas in YAML-Format from the + * ROS parameter server in the namespace of this + * plugin + * e.g. /move_base/global_costmap/prohibition_layer/param + * + * @param nhandle pointer to the ros-Node handle + * @param param name of the parameter where the + * prohibition areas saved in YAML format + * + * @return bool true if the parsing was successful + * false if it wasn't + */ + bool parseProhibitionListFromYaml(ros::NodeHandle* nhandle, const std::string& param); + + /** + * get a geometry_msgs::Point from a YAML-Array + * The z-coordinate get always written to zero! + * + * @param val YAML-array with to point-coordinates (x and y) + * @param point variable where the determined point get saved + * + * @return bool true if the determining was successful + * false if it wasn't + */ + bool getPoint(XmlRpc::XmlRpcValue& val, geometry_msgs::Point& point); + + dynamic_reconfigure::Server* _dsrv; //!< dynamic_reconfigure server for the costmap + std::mutex _data_mutex; //!< mutex for the accessing _prohibition_points and _prohibition_polygons + double _costmap_resolution; //!< resolution of the overlayed costmap to create the thinnest line out of two points + bool _fill_polygons; //!< if true, all cells that are located in the interior of polygons are marked as obstacle as well + std::vector _prohibition_points; //!< vector to save the lonely points in source coordinates + std::vector> _prohibition_polygons; //!< vector to save the polygons (including lines) in source coordinates + double _min_x, _min_y, _max_x, _max_y; //!< cached map bounds + //数据库操作 + ros::ServiceClient SqlQueryClient ; + //虚拟墙操作 + ros::Subscriber costmapProhibitionControl_sub; + //2. todo sukai load prohibition positions out of the sql server + bool parseProhibitionListFromSql(); + //虚拟墙操作 data:start stop refresh + void callBack_costmapProhibitionControl(std_msgs::String msg); + + double mark_x_, mark_y_; +}; +} +#endif diff --git a/src/costmap_prohibition_layer/package.xml b/src/costmap_prohibition_layer/package.xml new file mode 100755 index 0000000..7fc1872 --- /dev/null +++ b/src/costmap_prohibition_layer/package.xml @@ -0,0 +1,39 @@ + + + costmap_prohibition_layer + 0.0.5 + ROS-Package that implements a costmap layer to add prohibited areas to the costmap-2D by a user configuration. + + Stephan Kurzawe + + BSD + + + + + Stephan Kurzawe + + + + catkin + costmap_2d + dynamic_reconfigure + roscpp + costmap_2d + dynamic_reconfigure + roscpp + + std_msgs + std_msgs + + disinfect_msg + disinfect_msg + + disinfect_srvs + disinfect_srvs + + + + + + diff --git a/src/costmap_prohibition_layer/src/costmap_prohibition_layer.cpp b/src/costmap_prohibition_layer/src/costmap_prohibition_layer.cpp new file mode 100644 index 0000000..9ad3437 --- /dev/null +++ b/src/costmap_prohibition_layer/src/costmap_prohibition_layer.cpp @@ -0,0 +1,653 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the institute nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Stephan Kurzawe + * sukai 注释 2022-03-26 + *********************************************************************/ + +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_prohibition_layer_namespace::CostmapProhibitionLayer, costmap_2d::Layer) + +using costmap_2d::LETHAL_OBSTACLE; + +namespace costmap_prohibition_layer_namespace +{ + +CostmapProhibitionLayer::CostmapProhibitionLayer() : _dsrv(NULL) +{ +} + +CostmapProhibitionLayer::~CostmapProhibitionLayer() +{ + if (_dsrv!=NULL) + delete _dsrv; +} + +void CostmapProhibitionLayer::onInitialize() +{ + ros::NodeHandle nh("~/" + name_); + current_ = true; + + _dsrv = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = + boost::bind(&CostmapProhibitionLayer::reconfigureCB, this, _1, _2); + _dsrv->setCallback(cb); + + // get a pointer to the layered costmap and save resolution + costmap_2d::Costmap2D *costmap = layered_costmap_->getCostmap(); + _costmap_resolution = costmap->getResolution(); + + //todo sukai 这里加载虚拟墙数据库 + //数据库操作 + SqlQueryClient = nh.serviceClient("/QSqlQuery"); + //更改字典数据 + //SqlQueryClient.waitForExistence(); + //虚拟墙操作 data：refreshCostMapPlayer + costmapProhibitionControl_sub = nh.subscribe("/costmapProhibitionControl", 10, &CostmapProhibitionLayer::callBack_costmapProhibitionControl, this); + + + // set initial bounds + _min_x = _min_y = _max_x = _max_y = 0; + + // reading the prohibition areas out of the namespace of this plugin! + // e.g.: "move_base/global_costmap/prohibition_layer/prohibition_areas" + + + std::string params = "prohibition_areas"; + //todo 苏凯 加载虚拟墙数据 + if (!parseProhibitionListFromSql()) + ROS_ERROR_STREAM("sukai Reading prohibition areas from sql TABLE_COSTMAPLAYER'" << "' failed!"); + + //todo 作废 用上面的 （原） + // if (!parseProhibitionListFromYaml(&nh, params)) + // ROS_ERROR_STREAM("Reading prohibition areas from '" << nh.getNamespace() << "/" << params << "' failed!"); + + + //======================================================================== + _fill_polygons = true; + nh.param("fill_polygons", _fill_polygons, _fill_polygons); + + //todo （原） compute map bounds for the current set of prohibition areas. 更新costmap区域，updateBounds的参数 + computeMapBounds(); + + ROS_INFO("CostmapProhibitionLayer initialized."); +} + +void CostmapProhibitionLayer::reconfigureCB(CostmapProhibitionLayerConfig &config, uint32_t level) +{ + enabled_ = config.enabled; + _fill_polygons = config.fill_polygons; +} + +//更新costmap区域，updateBounds的参数 robot_x,robot_y,robot_yaw 是机器人的当前位姿，不需要我们人为的去设定，ROS会自动传递这几个参数 +// https://blog.csdn.net/heyijia0327/article/details/42241831 +void CostmapProhibitionLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, + double *min_x, double *min_y, double *max_x, double *max_y) +{ + if (!enabled_) + return; + + std::lock_guard l(_data_mutex); + + if (_prohibition_points.empty() && _prohibition_polygons.empty()){ + // std::cout<<"=====sukai===================_prohibition_points.empty() && _prohibition_polygons.empty()======================="< l(_data_mutex); + + // set costs of polygons + for (int i = 0; i < _prohibition_polygons.size(); ++i) + { + setPolygonCost(master_grid, _prohibition_polygons[i], LETHAL_OBSTACLE, min_i, min_j, max_i, max_j, _fill_polygons); + } + + // set cost of points + for (int i = 0; i < _prohibition_points.size(); ++i) + { + unsigned int mx; + unsigned int my; + if (master_grid.worldToMap(_prohibition_points[i].x, _prohibition_points[i].y, mx, my)) + { + master_grid.setCost(mx, my, LETHAL_OBSTACLE); + } + } +} + +void CostmapProhibitionLayer::computeMapBounds() +{ + std::lock_guard l(_data_mutex); + + // reset bounds + _min_x = _min_y = _max_x = _max_y = 0; + + // iterate polygons + for (int i = 0; i < _prohibition_polygons.size(); ++i) + { + for (int j=0; j < _prohibition_polygons.at(i).size(); ++j) + { + double px = _prohibition_polygons.at(i).at(j).x; + double py = _prohibition_polygons.at(i).at(j).y; + _min_x = std::min(px, _min_x); + _min_y = std::min(py, _min_y); + _max_x = std::max(px, _max_x); + _max_y = std::max(py, _max_y); + } + } + + // iterate points + for (int i = 0; i < _prohibition_points.size(); ++i) + { + double px = _prohibition_points.at(i).x; + double py = _prohibition_points.at(i).y; + _min_x = std::min(px, _min_x); + _min_y = std::min(py, _min_y); + _max_x = std::max(px, _max_x); + _max_y = std::max(py, _max_y); + } +} + + +void CostmapProhibitionLayer::setPolygonCost(costmap_2d::Costmap2D &master_grid, const std::vector& polygon, unsigned char cost, + int min_i, int min_j, int max_i, int max_j, bool fill_polygon) +{ + std::vector map_polygon; + for (unsigned int i = 0; i < polygon.size(); ++i) + { + PointInt loc; + master_grid.worldToMapNoBounds(polygon[i].x, polygon[i].y, loc.x, loc.y); + map_polygon.push_back(loc); + } + + std::vector polygon_cells; + + // get the cells that fill the polygon + rasterizePolygon(map_polygon, polygon_cells, fill_polygon); + + // set the cost of those cells + for (unsigned int i = 0; i < polygon_cells.size(); ++i) + { + int mx = polygon_cells[i].x; + int my = polygon_cells[i].y; + // check if point is outside bounds + if (mx < min_i || mx >= max_i) + continue; + if (my < min_j || my >= max_j) + continue; + master_grid.setCost(mx, my, cost); + } +} + + +void CostmapProhibitionLayer::polygonOutlineCells(const std::vector& polygon, std::vector& polygon_cells) + { + for (unsigned int i = 0; i < polygon.size() - 1; ++i) + { + raytrace(polygon[i].x, polygon[i].y, polygon[i + 1].x, polygon[i + 1].y, polygon_cells); + } + if (!polygon.empty()) + { + unsigned int last_index = polygon.size() - 1; + // we also need to close the polygon by going from the last point to the first + raytrace(polygon[last_index].x, polygon[last_index].y, polygon[0].x, polygon[0].y, polygon_cells); + } + } + +void CostmapProhibitionLayer::raytrace(int x0, int y0, int x1, int y1, std::vector& cells) +{ + int dx = abs(x1 - x0); + int dy = abs(y1 - y0); + PointInt pt; + pt.x = x0; + pt.y = y0; + int n = 1 + dx + dy; + int x_inc = (x1 > x0) ? 1 : -1; + int y_inc = (y1 > y0) ? 1 : -1; + int error = dx - dy; + dx *= 2; + dy *= 2; + + for (; n > 0; --n) + { + cells.push_back(pt); + + if (error > 0) + { + pt.x += x_inc; + error -= dy; + } + else + { + pt.y += y_inc; + error += dx; + } + } +} + + +void CostmapProhibitionLayer::rasterizePolygon(const std::vector& polygon, std::vector& polygon_cells, bool fill) +{ + // this implementation is a slighly modified version of Costmap2D::convexFillCells(...) + + //we need a minimum polygon of a traingle + if(polygon.size() < 3) + return; + + //first get the cells that make up the outline of the polygon + polygonOutlineCells(polygon, polygon_cells); + + if (!fill) + return; + + //quick bubble sort to sort points by x + PointInt swap; + unsigned int i = 0; + while(i < polygon_cells.size() - 1) + { + if(polygon_cells[i].x > polygon_cells[i + 1].x) + { + swap = polygon_cells[i]; + polygon_cells[i] = polygon_cells[i + 1]; + polygon_cells[i + 1] = swap; + + if(i > 0) + --i; + } + else + ++i; + } + + i = 0; + PointInt min_pt; + PointInt max_pt; + int min_x = polygon_cells[0].x; + int max_x = polygon_cells[(int)polygon_cells.size() -1].x; + + //walk through each column and mark cells inside the polygon + for(int x = min_x; x <= max_x; ++x) + { + if(i >= (int)polygon_cells.size() - 1) + break; + + if(polygon_cells[i].y < polygon_cells[i + 1].y) + { + min_pt = polygon_cells[i]; + max_pt = polygon_cells[i + 1]; + } + else + { + min_pt = polygon_cells[i + 1]; + max_pt = polygon_cells[i]; + } + + i += 2; + while(i < polygon_cells.size() && polygon_cells[i].x == x) + { + if(polygon_cells[i].y < min_pt.y) + min_pt = polygon_cells[i]; + else if(polygon_cells[i].y > max_pt.y) + max_pt = polygon_cells[i]; + ++i; + } + + PointInt pt; + //loop though cells in the column + for(int y = min_pt.y; y < max_pt.y; ++y) + { + pt.x = x; + pt.y = y; + polygon_cells.push_back(pt); + } + } + } + + +//2. todo sukai load prohibition positions out of the sql server 加载 +bool CostmapProhibitionLayer::parseProhibitionListFromSql() + { + bool ret_val = true; + + //数据库设计 costmapProhibitionLayer + //FigureType:point point_A_x point_A_y + //FigureType:line point_A_x point_A_y point_B_x point_B_y + //FigureType:polygons point_A_x point_A_y point_B_x point_B_y point_C_x point_C_y point_D_x point_D_y + //设计数据库【x,y】,【x,y】 + //查询虚拟墙数据 + disinfect_srvs::testInfo_srvs table_CostMapLayerService; + table_CostMapLayerService.request.request_type="queryAllFromTable_CostMapPlayer"; + SqlQueryClient.call(table_CostMapLayerService); + + if(table_CostMapLayerService.response.result_Table_CostMapLayers.size()<=0){ + //std::cout<<"0. ============================table_CostMapLayerService.response.result_Table_CostMapLayers.size()================================: "< vector_to_add; + if(table_CostMapLayerService.response.result_Table_CostMapLayers[i].FigureType=="point"){//点 + + geometry_msgs::Point point; + point.x =atof(table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_A_X.c_str()); + point.y =atof(table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_A_Y.c_str()); + point.z = 0.0; + _prohibition_points.push_back(point); + //std::cout<<"1.FigureType==point 1.point.x: "< l(_data_mutex); + std::unordered_map map_out; + + XmlRpc::XmlRpcValue param_yaml; + + bool ret_val = true; + + if (nhandle->getParam(param, param_yaml)) + { + if (param_yaml.getType() == XmlRpc::XmlRpcValue::TypeArray) // list of goals + { + for (int i = 0; i < param_yaml.size(); ++i) + { + if (param_yaml[i].getType() == XmlRpc::XmlRpcValue::TypeArray) + { + std::vector vector_to_add; + + /* ************************************** + * differ between points and polygons + * lines get to a polygon with the resolution + * of the costmap + **************************************** */ + + // add a point + if (param_yaml[i].size() == 1) + { + geometry_msgs::Point point; + ret_val = getPoint(param_yaml[i][0], point); + _prohibition_points.push_back(point); + } + // add a line + else if (param_yaml[i].size() == 2) + { + if (param_yaml[i][0].getType() == XmlRpc::XmlRpcValue::TypeDouble || + param_yaml[i][0].getType() == XmlRpc::XmlRpcValue::TypeInt) + { + // add a lonely point + geometry_msgs::Point point; + ret_val = getPoint(param_yaml[i], point); + _prohibition_points.push_back(point); + } + else + { + // add a line! + geometry_msgs::Point point_A; + ret_val = getPoint(param_yaml[i][0], point_A); + vector_to_add.push_back(point_A); + + geometry_msgs::Point point_B; + ret_val = getPoint(param_yaml[i][1], point_B); + vector_to_add.push_back(point_B); + + // calculate the normal vector for AB + geometry_msgs::Point point_N; + point_N.x = point_B.y - point_A.y; + point_N.y = point_A.x - point_B.x; + + // get the absolute value of N to normalize and get + // it to the length of the costmap resolution + double abs_N = sqrt(pow(point_N.x, 2) + pow(point_N.y, 2)); + point_N.x = point_N.x / abs_N * _costmap_resolution; + point_N.y = point_N.y / abs_N * _costmap_resolution; + + // calculate the new points to get a polygon which can be filled + geometry_msgs::Point point; + point.x = point_A.x + point_N.x; + point.y = point_A.y + point_N.y; + vector_to_add.push_back(point); + + point.x = point_B.x + point_N.x; + point.y = point_B.y + point_N.y; + vector_to_add.push_back(point); + + _prohibition_polygons.push_back(vector_to_add); + } + } + // add a point or add a polygon + else if (param_yaml[i].size() >= 3) + { + // add a polygon with any number of points + for (int j = 0; j < param_yaml[i].size(); ++j) + { + geometry_msgs::Point point; + ret_val = getPoint(param_yaml[i][j], point); + vector_to_add.push_back(point); + } + _prohibition_polygons.push_back(vector_to_add); + } + } + else + { + ROS_ERROR_STREAM("Prohibition Layer:" << param << " with index " << i << " is not correct."); + ret_val = false; + } + } + } + else + { + ROS_ERROR_STREAM("Prohibition Layer: " << param << "struct is not correct."); + ret_val = false; + } + } + else + { + ROS_ERROR_STREAM("Prohibition Layer: Cannot read " << param << " from parameter server"); + ret_val = false; + } + return ret_val; +} + +// get a point out of the XML Type into a geometry_msgs::Point +bool CostmapProhibitionLayer::getPoint(XmlRpc::XmlRpcValue &val, geometry_msgs::Point &point) +{ + try + { + // check if there a two values for the coordinate + if (val.getType() == XmlRpc::XmlRpcValue::TypeArray && val.size() == 2) + { + auto convDouble = [](XmlRpc::XmlRpcValue &val) -> double + { + if (val.getType() == XmlRpc::XmlRpcValue::TypeInt) // XmlRpc cannot cast int to double + return int(val); + return val; // if not double, an exception is thrown; + }; + + point.x = convDouble(val[0]); + point.y = convDouble(val[1]); + point.z = 0.0; + return true; + } + else + { + ROS_ERROR_STREAM("Prohibition_Layer: A point has to consist two values!"); + return false; + } + } + catch (const XmlRpc::XmlRpcException &ex) + { + ROS_ERROR_STREAM("Prohibition Layer: Cannot add current point: " << ex.getMessage()); + return false; + } +} + +//虚拟墙操作 data:start stop refresh +void CostmapProhibitionLayer::callBack_costmapProhibitionControl(std_msgs::String msg){ + + + + + + try { + std::cout<<"1. 虚拟墙操作 refresh"< + + disinfect_msg + 0.0.7 + The disinfect_msg package + + + + + iimt + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rosmsg + rospy + std_msgs + roscpp + rosmsg + rospy + std_msgs + roscpp + rosmsg + rospy + message_generation + message_runtime + std_msgs + + + + + + + + diff --git a/src/disinfect_msg/redme.md b/src/disinfect_msg/redme.md new file mode 100755 index 0000000..e69de29 diff --git a/src/disinfect_srvs/.gitignore b/src/disinfect_srvs/.gitignore new file mode 100755 index 0000000..85e7c1d --- /dev/null +++ b/src/disinfect_srvs/.gitignore @@ -0,0 +1 @@ +/.idea/ diff --git a/src/disinfect_srvs/CMakeLists.txt b/src/disinfect_srvs/CMakeLists.txt new file mode 100755 index 0000000..ad830ed --- /dev/null +++ b/src/disinfect_srvs/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(disinfect_srvs) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rosmsg + rospy + message_generation + disinfect_msg +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder + add_service_files( + FILES + testInfo_srvs.srv + Table_costmaplayer_srvs.srv + # Service1.srv + #Service2.srv + ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here + generate_messages( + DEPENDENCIES + std_msgs # Or other packages containing msgs + disinfect_msg + ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES qRcode_srvs +# CATKIN_DEPENDS roscpp rosmsg rospy +# DEPENDS system_lib + CATKIN_DEPENDS roscpp rosmsg rospy message_runtime +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/qRcode_srvs.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/qRcode_srvs_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_qRcode_srvs.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/disinfect_srvs/package.xml b/src/disinfect_srvs/package.xml new file mode 100755 index 0000000..dd8f14b --- /dev/null +++ b/src/disinfect_srvs/package.xml @@ -0,0 +1,77 @@ + + + disinfect_srvs + 0.0.1 + The disinfect_srvs package + + + + + iimt + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rosmsg + rospy + roscpp + rosmsg + rospy + roscpp + rosmsg + rospy + + disinfect_msg + disinfect_msg + disinfect_msg + + message_generation + message_runtime + + + + + + + + + + diff --git a/src/disinfect_srvs/redme.md b/src/disinfect_srvs/redme.md new file mode 100755 index 0000000..e69de29 diff --git a/src/disinfect_srvs/srv/Table_costmaplayer_srvs.srv b/src/disinfect_srvs/srv/Table_costmaplayer_srvs.srv new file mode 100755 index 0000000..74bcc51 --- /dev/null +++ b/src/disinfect_srvs/srv/Table_costmaplayer_srvs.srv @@ -0,0 +1,8 @@ +string request_type +disinfect_msg/Table_CostMapLayer request_Table_CostMapLayer +--- +string result +int32 result_flg +int32 result_count +int32 result_maximunId +disinfect_msg/Table_CostMapLayer[] result_Table_CostMapLayerS diff --git a/src/disinfect_srvs/srv/testInfo_srvs.srv b/src/disinfect_srvs/srv/testInfo_srvs.srv new file mode 100755 index 0000000..56537b5 --- /dev/null +++ b/src/disinfect_srvs/srv/testInfo_srvs.srv @@ -0,0 +1,22 @@ +string request_type +int32 request_numRoom +int32 request_status +int32 request_ioNum +int32 request_quantum +string request_area +string request_markerName +disinfect_msg/testInfo request_testInfo +disinfect_msg/Dictionaries request_Dictionarie +disinfect_msg/TaskPOSE request_TaskPOSE +disinfect_msg/Table_Task request_Table_Task +disinfect_msg/Table_CostMapLayer request_Table_CostMapLayer +--- +string result +int32 result_flg +int32 result_count +int32 result_maximunId +disinfect_msg/testInfo[] result_testInfos +disinfect_msg/Dictionaries[] result_Dictionaries +disinfect_msg/TaskPOSE[] result_TaskPOSES +disinfect_msg/Table_Task[] result_Table_Tasks +disinfect_msg/Table_CostMapLayer[] result_Table_CostMapLayers diff --git a/src/slamproject/.gitignore b/src/slamproject/.gitignore new file mode 100644 index 0000000..7c82a58 --- /dev/null +++ b/src/slamproject/.gitignore @@ -0,0 +1,6 @@ +/.idea/ +/cmake-build-debug/ +/images2/ + +/debian/ +/obj-x86_64-linux-gnu/ diff --git a/src/slamproject/CMakeLists.txt b/src/slamproject/CMakeLists.txt new file mode 100644 index 0000000..33f84a4 --- /dev/null +++ b/src/slamproject/CMakeLists.txt @@ -0,0 +1,321 @@ +cmake_minimum_required(VERSION 3.0.2) +project(slamproject) + +add_compile_options(-std=c++11 ) +add_compile_options(-std=c++14 ) + +set(CMAKE_CXX_STANDARD 14) +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -O3 -mtune=native ") + + + + + +####################################################################################################### + + + + +message(PROJECT_SOURCE_DIR "${PROJECT_SOURCE_DIR}") +find_package(catkin REQUIRED COMPONENTS + roscpp + rosmsg + rospy + std_msgs + sensor_msgs + cv_bridge + image_transport + tf + + disinfect_msg + disinfect_srvs + geometry_msgs + +) + +find_package(OpenCV REQUIRED ) + + +set(CMAKE_INCLUDE_CURRENT_DIR ON) +set(CMAKE_AUTOMOC ON) + +find_package(Qt5 COMPONENTS Core Gui Widgets PrintSupport Network SerialPort Sql WebSockets WebChannel REQUIRED) + + + + + + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES visualOrientation +# CATKIN_DEPENDS roscpp rosmsg rospy +# DEPENDS system_lib + #CATKIN_DEPENDS geometry_msgs roscpp rosmsg rospy tf + CATKIN_DEPENDS geometry_msgs roscpp rosmsg rospy tf +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations + + + + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${Qt5Core_INCLUDE_DIRS} + ${Qt5Gui_INCLUDE_DIRS} + ${Qt5Widgets_INCLUDE_DIRS} + ${Qt5Network_INCLUDE_DIRS} + ${Qt5SerialPort_INCLUDE_DIRS} + ${Qt5Sql_INCLUDE_DIRS} + ${Qt5WebSockets_INCLUDE_DIRS} + ${Qt5WebChannel_INCLUDE_DIRS} + + +) +# /usr/lib/x86_64-linux-gnu/libpthread.a + +#message(STATUS ${Qt5WebChannel_INCLUDE_DIRS}) + +# ${Qt5websockets_INCLUDE_DIRS} +include_directories(/usr/include/eigen3) + + +########################################################################## + +add_executable(currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain.cpp src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.cpp) + +add_executable(currencyChassis_CreateSqlDatabaseMain_node src/currencyChassis/currencyChassis_CreateSqlDatabaseMain.cpp) +add_executable(currencyChassis_sqlDatabaseMain_node src/currencyChassis/currencyChassis_sqlDatabaseMain.cpp) + + + + + + + +##################################################################### + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +# qt加载的库 +SET(QT_LIBRARIES ${Qt5Core_LIBRARIES} ${Qt5Gui_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${Qt5OpenGL_LIBRARIES} + ${Qt5Network_LIBRARIES} ${Qt5Xml_LIBRARIES} ${Qt5Qml_LIBRARIES} ${Qt5SerialPort_LIBRARIES} ${Qt5Sql_LIBRARIES} ${Qt5WebSockets_LIBRARIES} ${Qt5WebChannel_LIBRARIES} ) + +message(STATUS " Qt5: ${QT_LIBRARIES}") +## Specify libraries to link a library or executable target against + +########################################################################## +###############currencyChassis#############龙源############################ + + + +target_link_libraries( + currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node + #${OpenCV_LIBS} + ${util} + ${tinyxml} + ${catkin_LIBRARIES} + ${QT_LIBRARIES} +) + + + + + +target_link_libraries( + currencyChassis_CreateSqlDatabaseMain_node + #${OpenCV_LIBS} + ${util} + ${tinyxml} + ${catkin_LIBRARIES} + ${QT_LIBRARIES} +) +target_link_libraries( + currencyChassis_sqlDatabaseMain_node + #${OpenCV_LIBS} + ${util} + ${tinyxml} + ${catkin_LIBRARIES} + ${QT_LIBRARIES} +) + + + + + +########################################################################## + + + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_visualOrientation.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +# +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + + +#c++ 打包 | 把所有node节点名称加入 install +install(TARGETS + currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node + currencyChassis_CreateSqlDatabaseMain_node + currencyChassis_sqlDatabaseMain_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + +) + +#静态资源打包 +install(DIRECTORY launch +DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +PATTERN ".svn" EXCLUDE) +install(DIRECTORY filepath param script/source images db config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +#catkin_install_python(PROGRAMS src/ laser2pc.py +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/src/slamproject/config/prohibition_areas.yaml b/src/slamproject/config/prohibition_areas.yaml new file mode 100755 index 0000000..ad9c1d8 --- /dev/null +++ b/src/slamproject/config/prohibition_areas.yaml @@ -0,0 +1,13 @@ +prohibition_areas: +#定义一个禁止点 + - [-3.8, 4.13] +# 定义一个禁止通行的线 + - [[-5.0, 4.28], + [-5.97, 3.32]] + - [[-3.15, 4.4], + [-4.18, 3.13]] + + + + + diff --git a/src/slamproject/db/TABLE_OR_ROOM_POSE.db b/src/slamproject/db/TABLE_OR_ROOM_POSE.db new file mode 100644 index 0000000000000000000000000000000000000000..88268367f670eb084b461cbb8f70f94919ba1338 GIT binary patch literal 12288 zcmeI#U2oD*7zgmvvH+TNbupwDhOFLc;u=n0D7(_q)o20}S?45PbY(kp&46Mpaoid| zjkkUpKZ#y=;VCbYg2`^Yarr+9W=HvBW|Z>l2Eo_?3)pG4d~CfmpIx0`Oj90Cx400bZa0SG_<0uX=z1pXs| z&+mkiLaFd2OvCerca(n?q3>^fcahv9J1t8JE?U52Cda5C((WWH&&_-9`??#H=3?QpzG znN2SSal8oV#QZq|CwRNaTlT$N-&~tFgZ$iGo4afC13u3M9`Fsbg~zT~R8FWsqR~0K z{`g_Q-`|69lJdvmeXvOz(9N~%y}q3Nqa^t&5# + + slamproject + 0.0.0 + The slamproject package + + + + + iimt + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rosmsg + rospy + std_msgs + roscpp + rosmsg + rospy + std_msgs + roscpp + rosmsg + rospy + std_msgs + cv_bridge + cv_bridge + cv_bridge + + + + + image_transport + image_transport + image_transport + + + disinfect_msg + disinfect_msg + disinfect_msg + + disinfect_srvs + disinfect_srvs + disinfect_srvs + + + + + + + + + + + geometry_msgs + geometry_msgs + geometry_msgs + + tf + tf + tf + + + + + + + diff --git a/src/slamproject/readme.md b/src/slamproject/readme.md new file mode 100644 index 0000000..74d6d5e --- /dev/null +++ b/src/slamproject/readme.md @@ -0,0 +1,236 @@ +送餐机器人:双轮差速导诊车 +slamproject +系统ubunt16.04 +依赖：opencv3.4.9 +开发工具 clion +项目路径：/home/iimt/workspace/workspace_ros_guidance +静态资源说明： + filepath： + 相机内参： + filepath/camera_calibration.yaml + 棋盘格图片与小车pose关联的文件 + filepath/extrinsic_param_car_in_eye.xml + 相机相对于小车的坐标 + filepath/calibration_ex_params_car_in_eye.xml + 不同二维码在基坐标下的坐标 + filepath/target_qrcode_position_with_base_*.yml + 餐桌在基坐标下的坐标(作废，用数据库) + filepath/target_foodcar_position_with_base_*.yml + 配置餐桌(作废，用数据库)： + visualOrientation/param/params.yaml tables：按示例格式填写，遵守 名字tablea:->table*的顺序填 值不限制格式，tablea不要填对应的餐桌，a号默认是0位置； + 配置送餐车到达目标点后的等待时间： + visualOrientation/param/params.yaml waitGoalTime：单位毫秒 + images： + 棋盘格图片 + 注意：images文件夹中不允许有其它无关的文件，注意保存的图片文件名字格式； + 路点数据，数据库文件： + /home/iimt/workspace/workspace_ros_guidance/src/visualOrien/visualOrientation/db/TABLE_OR_ROOM_POSE.db + 地图更改位置： + src/controlMaster/luanch/amcl.launch + +------------------------------------------------------------------------- +qt：serialport安装 + sudo apt-get install ros-kinetic-qt-create + sudo apt-get install ros-kinetic-qt-build + sudo apt install libqt5serialport5-dev +二维码识别： + 二维码安装包： + sudo apt-get install ros-kinetic-ar-track-alvar + 创建二维码： + 新建一个目录，cd进目录中： + rosrun ar_track_alvar createMarker -s 5 1 + rosrun ar_track_alvar createMarker -s 5 2 + rosrun ar_track_alvar createMarker -s 5 3 + 启动二维码识： + roslaunch robot_vision usb_cam_with_calibration.launch 【需要在launch中加载内参标定文件，注意文件路径及文件名字】 + roslaunch robot_vision ar_track_camera.launch 【改二维码尺寸】 + rostopic echo /ar_pose_marker + rostopic echo /visualization_marker + +视觉定位纠偏执行步骤: + 1.内参标定 + 标定包安装：sudo apt-get install ros-kinetic-camera-calibration + roslaunch robot_vision usb_cam.launch + rosrun camera_calibration cameracalibrator.py --size 6x9 --square 20 image:=/usb_cam/image_raw + 【标定文件在cd /tmp 中解压改名：camera_calibration.yaml cp到/home/iimt/workspace/workspace_ros_guidance/src/robot_vision目录下】 + 2.外参数据采集 src/saveImgeAndCarPose.cpp + roslaunch robot_vision usb_cam.launch + roslaunch visualOrientation saveImgeAndCarPose.launch + + 3.外参标定 src/CarInEyeCalibration.cpp + rosrun visualOrientation carInEyeCalibration_node + 注意：images文件夹中不允许有其它无关的文件，注意保存的图片文件名字格式； + 注意： + 需要收到小车当前pose及二维码pose + + 4.标定：二维码位置，餐桌位置，初始化小车姿态：收到小车pose得到二维码在基坐标的pose及得到小车在基座标的pose：【先启动小车】 + roslaunch robot_vision usb_cam_with_calibration.launch 【注意加载内参文件】 + roslaunch robot_vision ar_track_camera.launch 【注意改二维码尺寸】 + roslaunch visualOrientation sendOdomClient_sql.launch + 注意： + 第一次运行需要创建数据库： + rosrun visualOrientation KSDemoDlgCreate_node + 需要收到小车当前pose及二维码pose + 目标位置手工输入编辑： + rosrun visualOrientation KSDemoDlg_node + 5.送餐演示demo + roslaunch robot_vision usb_cam_with_calibration.launch 【注意加载内参文件】 + roslaunch robot_vision ar_track_camera.launch 【注意改二维码尺寸】 + roslaunch visualOrientation sendFoodCarDemo.launch （自动更新小车姿态） +6.自动识别二维码调整小车位置信息位置 (方差大于1阀值时才会触发调整小车姿态) + roslaunch robot_vision usb_cam_with_calibration.launch 【注意加载内参文件】 + roslaunch robot_vision ar_track_camera.launch 【注意改二维码尺寸】 + roslaunch visualOrientation automaticComputerInitialPose.launch + +7. 启动导诊车ui + roslaunch visualOrientation sendGuidanceCar.launch + +日志： + 日志路径： + ~/data/log/ + + +----------------car--------------------------------- +1.通过获取tf坐标转换获取小车坐标并实时发布出去 src/ListenerCarBaseLinkPose.cpp + rosrun visualOrientation listenerCarBaselinkPose_node +2.发送小车pose得到二维码在基坐标的pose及得到小车在基座标的pose + rosrun visualOrientation sendOdomClient_node + +-------------------------校准角校准-------------线速度校准----------------- +1.校准角速度 +rosrun zxcar_nav calibrate_angular.py +执行完成之后,根据提示执行如下命令: +rosrun rqt_reconfigure rqt_reconfigure +点击start_test 转360度 +先记下手机指南针第一次的度数，比如：静止时第一次手机指南针度数50度，如果点击start_test后，小车转动后停下的度数超过50，那么就是转够了一圈有多，如果小车转动后停下的度数小于50，那么就是没有转够一圈。分以下两种情况： +情况1：小车停下后度数假如是60度,那么小车实际上是转了370度。 +此时角速度比例系数 anguler_scale= 370/360 = 1.028 +情况2：小车停下后度数假如是40度,那么小车实际上是转了350度。 +此时角速度比例系数 anguler_scale= 350/360 = 0.972 + +2.校准线速度 +rosrun zxcar_nav calibrate_linear.py +执行完成之后,根据提示执行如下命令: +rosrun rqt_reconfigure rqt_reconfigure + +点击start_test,进行第一次的走一米测试，测量小车走的距离。 +假如小车走了1.1米，那么线速度的比例系数 linear_scale = 1.1/1=1.1 +假如小车走了0.9米，那么线速度的比例系数 linear_scale = 0.9/1= 0.9 +bringup.launch + + +修改代码： + anguler/home/iimt/workspace/workspace_ros_foodCar/src/motorControl/src/motorControl.cpp + odomMsg.twist.twist.linear.x = AvergeVel*linear_scale; + odomMsg.twist.twist.angular.z = deltaThVel*anguler_scale; +----------------test--------------------------------- + +获取基坐标下小车的坐标demo：src/getOdomClient_test.cpp +启动： + rosrun visualOrientation getOdomClient_test_node + 发送serviceClient小车坐标： + request： + 1.serviceClient + 2.消息名字 serviceName = "target_odom_service"; + 3.消息类型：qRcode_srvs::qRcode + response：得到小车在基坐标下的位置 + +模拟发送小车位置的数据demo：src/sendOdomClient_test.cpp +启动： + rosrun visualOrientation sendOdomClient_test_node + server： + 1.serviceClient + 2.消息名字serviceName = "target_qrcode_service" + 3.消息类型：qRcode_srvs::qRcode + response：ok + + topic: + 1.publisher + 2.消息名字 topicName_odom = "/car_odom"; + 3.消息类型： qRcode_msg::qRcode_msg + + +------------------------------------------------------------------------- +usb_cam 启动报错：v412-ctl not found + sudo apt-get install v4l-utils +控制台 + sudo apt-get install terminator + 打开多终端同步输入 + win + G + 关闭多终端同步输入 + win + shift + G +更新命令 + sudo apt-get update + sudo apt-get upgrade + sudo apt-get dist-upgrade + sudo apt-get -f install +标定板： + 角点顺序，红橙黄绿青蓝紫的顺序 + 红色为x坐标 + y的方向是相机摆的方向 +rosrun rqt_service_caller rqt_service_caller +turtlebot-3仿真 + 启动： + roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch + roslaunch turtlebot3_gazebo turtlebot3_world.launch + roslaunch turtlebot3_gazebo turtlebot3_house.launch + 控制： + roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch + Turtlebot开始根据激光雷达的信号开始自主规划避障: + export TURTLEBOT3_MODEL=waffle + roslaunch turtlebot3_gazebo turtlebot3_simulation.launch + 打开rviz + export TURTLEBOT3_MODEL=waffle + roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch + rostopic type /odom + rosmsg show nav_msgs/Odometry + + 开启实时建图功能,算法选择gmapping, 还有多种slam算法, 如cartographer,hector_slam + roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping + 尽可能保证地图闭合,然后保存地图为文件 + rosrun map_server map_saver -f ~/map + + 打开自动导航功能 + roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/iimt/map.yaml + 初始化小车pose + rostopic echo /initialpose +二、配置文件 +        move_base使用前需要配置一些参数：运行成本、机器人半径、到达目标位置的距离，机器人移动的速度，这些参数都在rbx1_nav包的以下几个配置文件中： +        • base_local_planner_params.yaml +        • costmap_common_params.yaml +        • global_costmap_params.yaml +        • local_costmap_params.yaml + + +小乌龟： + 启动： + rosrun turtlesim turtlesim_node + rosrun turtlesim turtlesim turtle_teleop_key + rostopic list + rostopic pub /turtle1/cmd_vel + rostopic pub /turtle1/pose + rosservice type /spawn + rossrv show turtlesim/Spawn + +rviz + 启动： + rosrun rviz rviz + 选择add，加tf + 选择Fixed Frame，选择发布的tf话题 + 保存启动文件： + File->saveConfigAs 选择一个目录存放，改好名字 + + + + + + + + + + + + + + + diff --git a/src/slamproject/rviz/visualOrientation.rviz b/src/slamproject/rviz/visualOrientation.rviz new file mode 100644 index 0000000..8a525fd --- /dev/null +++ b/src/slamproject/rviz/visualOrientation.rviz @@ -0,0 +1,390 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Costmap1 + - /Global Map1/Planner1 + - /Local Map1 + - /Local Map1/Polygon1 + - /Local Map1/Costmap1 + - /Local Map1/Planner1 + Splitter Ratio: 0.5 + Tree Height: 814 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 13069 + Min Color: 0; 0; 0 + Min Intensity: 28 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0300000012 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /raspicam_node/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false + Value: false + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/NavfnROS/plan + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/global_plan + Unreliable: false + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 1 + Class: rviz/Polygon + Color: 0; 0; 0 + Enabled: true + Name: Polygon + Topic: /move_base/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/DWAPlannerROS/local_plan + Unreliable: false + Value: true + Enabled: true + Name: Local Map + - Alpha: 1 + Arrow Length: 0.0500000007 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: Amcl Particles + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /particlecloud + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Goal + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /move_base_simple/goal + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + Value: true + Views: + Current: + Angle: -1.57079637 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 100 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1027 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a000003bdfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003bd000000d700fffffffb0000000a0049006d0061006700650000000317000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000038f000003bd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1279 + X: 336 + Y: 67 diff --git a/src/slamproject/src/currencyChassis/currencyChassis_CreateSqlDatabaseMain.cpp b/src/slamproject/src/currencyChassis/currencyChassis_CreateSqlDatabaseMain.cpp new file mode 100644 index 0000000..a895faf --- /dev/null +++ b/src/slamproject/src/currencyChassis/currencyChassis_CreateSqlDatabaseMain.cpp @@ -0,0 +1,77 @@ +// +// Created by iimt on 21-3-20. +// + +/** + * 苏凯 + * 22-04-21 + * 创建数据库sqllite + * rosrun slamproject currencyChassis_CreateSqlDatabaseMain_node + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +using namespace std; +std::string MerchantNumber;//商户编号 +std::string MerchantName;//商户名称 +std::string dbPath = "~/workspace/xuniqiang/src/slamproject/db/TABLE_OR_ROOM_POSE.db"; +//主机名 +string hostname="iimt"; + + +int main(int argc, char *argv[]) { + + + //节点名 + string nodeName = "currencyChassisskSDemoDlgCreateMainNode"; + //初始化节点 + ros::init(argc,argv,nodeName); + + + std::string home = getenv("HOME");// + dbPath =home+"/workspace/xuniqiang/src/slamproject/db/TABLE_OR_ROOM_POSE.db"; + + //创建节点 + ros::NodeHandle node; + + QApplication a(argc, argv); + + QSqlDatabase db = QSqlDatabase::addDatabase("QSQLITE"); + cout<<"dbPath: "< point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据 + + if(!sql_query.exec("create table TABLE_COSTMAPLAYER(Id int primary key,FigureType text,FigureName text, MerchantNumber text, MerchantName text,RobotNumber text,MapName text,Robotfloor text,Point_A_X text, Point_A_Y text, Point_B_X text, Point_B_Y text, Point_C_X text, Point_C_Y text, Point_D_X text, Point_D_Y text)")) + { + qDebug() << "Error: Fail to create TABLE_COSTMAPLAYER"; + } + else + { + qDebug() << "TABLE_TASK TABLE_COSTMAPLAYER!"; + } + + +} + diff --git a/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.cpp b/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.cpp new file mode 100644 index 0000000..883bbad --- /dev/null +++ b/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.cpp @@ -0,0 +1,745 @@ +// +// Created by iimt on 21-3-20. +// + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.h" + + +/************************************************************************** +* 函数名称：SlamtecKSDemoDlgCostMap +* 函数功能：目标点管理对话框构造函数 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +SlamtecKSDemoDlgCostMap::SlamtecKSDemoDlgCostMap(QString databaseName, QString dataTableName, QWidget *parent):QDialog(parent, Qt::WindowCloseButtonHint | Qt::WindowMinMaxButtonsHint | Qt::WindowStaysOnTopHint), + m_Group(this), m_PrimaryKeyLabel(this), m_PrimaryKeyLineEdit(this), m_QueryButton(this), m_NewButton(this), m_UpdateButton(this), m_DeleteButton(this), m_TabView(NULL),m_model(NULL), + m_OKButton(this),m_CancelButton(this), m_DBName(databaseName), m_DBTableName(dataTableName), m_operator(-1) +{ + //打开数据库 + m_db = QSqlDatabase::addDatabase("QSQLITE"); +// QString datName=QApplication::applicationDirPath() + "/CONFIG/" + databaseName; +// qDebug()<<"datName: "<("/QSqlQuery"); + try { + //更改字典数据 + SqlQueryClient.waitForExistence(); + //查询字典数据 + disinfect_srvs::testInfo_srvs dictionariesservice; + dictionariesservice.request.request_type="queryAllFromTABLE_DICTIONARES";//查询字典数据 + SqlQueryClient.call(dictionariesservice); + for (int i = 0; i < dictionariesservice.response.result_Dictionaries.size(); ++i) { + // 构建map，key = 文件名， value = pose + dictionariesMap[dictionariesservice.response.result_Dictionaries.at(i).Key] = dictionariesservice.response.result_Dictionaries.at(i).Value; + qDebug()<setTable(m_DBTableName); + m_model->setEditStrategy(QSqlTableModel::OnManualSubmit); //手动提交后才修改 + m_model->select(); + m_TabView = new QTableView(this); + m_TabView->setEditTriggers(QAbstractItemView::NoEditTriggers); //设置内容不可编辑 + /*************关联槽函数*********************/ + connect(&m_NewButton, SIGNAL(clicked()), this, SLOT(onNewButtonClicked())); + connect(&m_QueryButton, SIGNAL(clicked()), this, SLOT(onQueryButtonClicked())); + connect(&m_backButton, SIGNAL(clicked()), this, SLOT(onBackButtonClicked())); //todo 1 sukai 2021-08-19 + + connect(&m_UpdateButton, SIGNAL(clicked()), this, SLOT(onUpdateButtonClicked())); + connect(&m_DeleteButton, SIGNAL(clicked()), this, SLOT(onDeleteButtonClicked())); + connect(&m_RefreshButton, SIGNAL(clicked()), this, SLOT(onRefreshButtonClicked())); + connect(&m_PrimaryKeyLineEdit, SIGNAL(textChanged(const QString &)), this, SLOT(onPrimaryKeyLineEditEmpty(const QString &))); + connect(m_TabView, SIGNAL(clicked(const QModelIndex &)), this, SLOT(onCurrentTableViewClicked(const QModelIndex &))); + connect(&m_OKButton, SIGNAL(clicked()), this, SLOT(onOKButtonClicked())); + connect(&m_CancelButton, SIGNAL(clicked()), this, SLOT(onCancelButtonClicked())); + /*************模型关联视图*******************/ + m_TabView->setModel(m_model); + /*************选中行为为整行选中*************/ + m_TabView->setSelectionBehavior(QAbstractItemView::SelectRows); + /*************对话框窗体初始化***************/ + UiInit(); + /*************对话框窗体初始化***************/ + setFixedSize(1100, 500); + setWindowTitle(QStringLiteral("执行任务管理")); +} +/************************************************************************** +* 函数名称：UiInit +* 函数功能：目标点管理对话框界面初始化 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::UiInit() +{ + int id=0; + SqlQueryClient.waitForExistence(); + disinfect_srvs::testInfo_srvs serviceMaximunId; + serviceMaximunId.request.request_type="queryMaximunIdFromTABLE_TASK";//读取数据库最大的一个id号 + SqlQueryClient.call(serviceMaximunId); + id=serviceMaximunId.response.result_maximunId; + + m_PrimaryKeyLabel.setText(m_model->headerData(0, Qt::Horizontal).toString()); + m_NewButton.setText(QStringLiteral("增加")); + m_QueryButton.setText(QStringLiteral("查询")); + m_backButton.setText(QStringLiteral("返回"));//todo 2 sukai 2021-08-19 + + m_UpdateButton.setText(QStringLiteral("修改")); + m_DeleteButton.setText(QStringLiteral("删除")); + m_RefreshButton.setText(QStringLiteral("查询所有")); + m_UpdateButton.setEnabled(true); + m_OKButton.setText(QStringLiteral("确定")); + m_CancelButton.setText(QStringLiteral("取消")); + /**************灵活增加界面右侧数据显示形式******************/ + for(int i=0; icolumnCount(); i++) + { + m_infoLabelList.append(new QLabel(this)); + QString m_modelName= m_model->headerData(i, Qt::Horizontal).toString(); + + // m_infoEditList.append(new QLineEdit(this)); + + + if(m_modelName=="Id"){ + + //读取数据库最大的一个id号 + int id=0; + SqlQueryClient.waitForExistence(); + disinfect_srvs::testInfo_srvs serviceMaximunId; + serviceMaximunId.request.request_type="queryMaximunIdFromTABLE_CostMapPlayer";//读取数据库最大的一个id号 + SqlQueryClient.call(serviceMaximunId); + id=serviceMaximunId.response.result_maximunId; + QLineEdit *pEdit = new QLineEdit(this); + pEdit->setText(QString::number(id)); + m_infoEditList.append(pEdit); + }else if(m_modelName=="FigureType"){ + //图形类型 point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据 + QComboBox *qbox = new QComboBox(this); + qbox->addItem("请选择图形类型"); + qbox->addItem("point"); + qbox->addItem("line"); + qbox->addItem("polygons"); + m_infoEditList.append(qbox);//new QComboBox(this) + } else if(m_modelName=="MerchantNumber"){ + string merchantNumber = dictionariesMap["merchantNumber"]; + QLineEdit *pEdit = new QLineEdit(this); + if(merchantNumber.size()>0){ + pEdit->setText(QString::fromStdString(merchantNumber)); + qDebug()<<"QString::fromStdString(merchantNumber: "<setText(""); + qDebug()<<" 空 QString::fromStdString(merchantNumber: "<0){ + pEdit->setText(QString::fromStdString(merchantName)); + }else{ + pEdit->setText(""); + } + m_infoEditList.append(pEdit); + }else if(m_modelName=="RobotNumber"){ + string robotNumber = dictionariesMap["robotNumber"]; + QLineEdit *pEdit = new QLineEdit(this); + if(robotNumber.size()>0){ + pEdit->setText(QString::fromStdString(robotNumber)); + }else{ + pEdit->setText(""); + } + m_infoEditList.append(pEdit); + }else if(m_modelName=="MapName"){ + string mapName = dictionariesMap["mapName"]; + QLineEdit *pEdit = new QLineEdit(this); + if(mapName.size()>0){ + pEdit->setText(QString::fromStdString(mapName)); + }else{ + pEdit->setText(""); + } + m_infoEditList.append(pEdit); + }else if(m_modelName=="Robotfloor"){ + string robotfloor = dictionariesMap["robotfloor"]; + QLineEdit *pEdit = new QLineEdit(this); + if(robotfloor.size()>0){ + pEdit->setText(QString::fromStdString(robotfloor)); + }else{ + pEdit->setText(""); + } + m_infoEditList.append(pEdit); + } else{ + m_infoEditList.append(new QLineEdit(this)); + } + + m_infoLabelList[i]->setText(m_modelName); + m_infoEditList[i]->setEnabled(false); + + } + m_OKButton.setEnabled(false); + m_CancelButton.setEnabled(false); + /**************灵活增加界面右侧数据显示形式 END******************/ + QHBoxLayout *TotalHBoxLayout = new QHBoxLayout(); + QVBoxLayout *TotalVBoxLayout = new QVBoxLayout(); + QVBoxLayout *UserGroupVBoxLayout = new QVBoxLayout(); + QHBoxLayout *UserEditHBoxLayout = new QHBoxLayout(); + QHBoxLayout *UserButtonHBoxLayout = new QHBoxLayout(); + QFormLayout *UserPrimaryKeyFormLayout = new QFormLayout(); + QFormLayout *UserSelectFormLayout = new QFormLayout(); + QHBoxLayout *UserSelectHBoxLayout = new QHBoxLayout(); + QVBoxLayout *UserSelectVBoxLayout = new QVBoxLayout(); + /*****************界面右侧group布局******************/ + for (int i=0; iaddRow( m_infoLabelList[i], m_infoEditList[i]); + } + UserSelectHBoxLayout->addWidget(&m_OKButton); + UserSelectHBoxLayout->addWidget(&m_CancelButton); + UserSelectVBoxLayout->addLayout(UserSelectFormLayout); + UserSelectVBoxLayout->addLayout(UserSelectHBoxLayout); + UserSelectVBoxLayout->addStretch(); + /*****************界面右侧group布局 END******************/ + + UserPrimaryKeyFormLayout->addRow(&m_PrimaryKeyLabel, &m_PrimaryKeyLineEdit); + UserEditHBoxLayout->addLayout(UserPrimaryKeyFormLayout); + UserEditHBoxLayout->addWidget(&m_QueryButton); + UserEditHBoxLayout->addWidget(&m_backButton);//todo 3 sukai 2021-08-19 + + UserEditHBoxLayout->addStretch(); + + UserButtonHBoxLayout->addWidget(&m_NewButton); + UserButtonHBoxLayout->addWidget(&m_UpdateButton); + UserButtonHBoxLayout->addWidget(&m_DeleteButton); + UserButtonHBoxLayout->addWidget(&m_RefreshButton); + UserGroupVBoxLayout->addLayout(UserEditHBoxLayout); + UserGroupVBoxLayout->addLayout(UserButtonHBoxLayout); + m_Group.setLayout(UserGroupVBoxLayout); + TotalVBoxLayout->addWidget(&m_Group); + TotalVBoxLayout->addWidget(m_TabView); + TotalHBoxLayout->addLayout(TotalVBoxLayout, 3); + TotalHBoxLayout->addLayout(UserSelectVBoxLayout, 1); + setLayout(TotalHBoxLayout); +} + + +//todo 4 sukai 2021-8-19 返回ui +void SlamtecKSDemoDlgCostMap::onBackButtonClicked() +{ + // system("rosnode kill SlamtecKSDemoDlgCostMapMainNode"); + // sleep(1); + execlp("rosrun", "rosrun", "ui","ui", NULL); + qDebug()<<"======ui====="; +} + +/************************************************************************** +* 函数名称：onNewUserButtonClick +* 函数功能：目标点管理对话框界新增目标点pose按钮槽函数 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::onNewButtonClicked() +{ + for (int i=0; isetEnabled(true); + } + m_operator = INSERT; + m_OKButton.setEnabled(true); + m_CancelButton.setEnabled(true); +} +/************************************************************************** +* 函数名称：onQueryUserButtonClick +* 函数功能：目标点管理对话框界查询目标点pose按钮槽函数 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员：廖明胜 +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::onQueryButtonClicked() +{ + QString toFind = m_PrimaryKeyLineEdit.text(); + QString ID = m_model->headerData(0, Qt::Horizontal).toString(); + m_model->setFilter(ID + "=\'" + toFind + "\'"); + m_model->select(); +} +/************************************************************************** +* 函数名称：onUpdateButtonClicked +* 函数功能：目标点管理对话框界修改目标点pose按钮槽函数 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::onUpdateButtonClicked() +{ + int toUpdate = m_TabView->currentIndex().row(); + QSqlRecord recode = m_model->record(toUpdate); +// for (int i=0; isetEnabled(true); +// m_infoEditList[i]->setText(recode.value(i).toString()); +// } + update_infoEditListSetText(recode,true); + m_operator = UPDATE; + m_OKButton.setEnabled(true); + m_CancelButton.setEnabled(true); + +} + +/************************************************************************** +* 函数名称：onDeleteButtonClicked +* 函数功能：目标点管理对话框界删除目标点pose按钮槽函数 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::onDeleteButtonClicked() +{ + int toDelRow = m_TabView->currentIndex().row(); + if (QMessageBox::Ok == QMessageBox::warning(this, QStringLiteral("提示"), QStringLiteral("确定要删除") + m_model->data(m_model->index(toDelRow, 0)).toString() + QStringLiteral("吗?"), QMessageBox::Ok|QMessageBox::No)) + { + m_model->removeRow(toDelRow); + m_model->submitAll(); + } + + m_model->select(); +} +/************************************************************************** +* 函数名称：onDeleteButtonClicked +* 函数功能：目标点管理对话框界刷新目标点pose按钮槽函数 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::onRefreshButtonClicked(){ + m_model->setTable(m_DBTableName); //重新关联数据库表，这样才能查询整个表 + m_model->select(); +} +/************************************************************************** +* 函数名称：onUserNameEditEmpty +* 函数功能：当m_UserNameEdit编辑框为空时，显示所有目标点pose +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::onPrimaryKeyLineEditEmpty(const QString & text) +{ + if (text.isEmpty()) + { + m_model->setTable(m_DBTableName); //重新关联数据库表，这样才能查询整个表 + m_model->select(); + } +} +/************************************************************************** + * 函数名称：onCurrentTableViewActived + * 函数功能：m_TableView视图选取当前行槽函数，内容映射到右侧目标点pose编辑中 + * 输入参数：无 + * 输出参数：无 + * 返回数值：void + * 创建人员： + * 创建时间：2021-03-20 + * 修改人员： + * 修改时间： + **************************************************************************/ +void SlamtecKSDemoDlgCostMap::onCurrentTableViewClicked(const QModelIndex & index) +{ + if (!m_OKButton.isEnabled() || (INSERT == m_operator)) //只有可编辑并且操作为修改操作时才映射内容 + { + return; + } + int currentRow = index.row(); + QSqlRecord recode = m_model->record(currentRow); +// for (int i=0; isetEnabled(true); +// m_infoEditList[i]->setText(recode.value(i).toString()); +// } + update_infoEditListSetText(recode,true); +} +/************************************************************************** + * 函数名称：onOKButtonClicked + * 函数功能：OKButton点击槽函数，确定修改数据库 + * 输入参数：无 + * 输出参数：无 + * 返回数值：void + * 创建人员： + * 创建时间：2021-03-20 + * 修改人员： + * 修改时间： + **************************************************************************/ +void SlamtecKSDemoDlgCostMap::onOKButtonClicked() +{ +//sukai + QList infoTextList; +//todo sukai + m_infoEditListSetText(infoTextList); +//sukai + if (infoTextList.count()text().isEmpty()) +// if (m_infoEditList[i]->text().isEmpty()) +// { +// QMessageBox::warning(this, QStringLiteral("提示"), QStringLiteral("请将内容填写完整"), QMessageBox::Ok); +// return; +// } +// } + switch (m_operator) + { + case INSERT: + { + if (QMessageBox::Ok == QMessageBox::warning(this, QStringLiteral("提示"), QStringLiteral("请确定是否增加"), QMessageBox::Ok|QMessageBox::No)) + { + int col = m_model->columnCount(); + int row = m_model->rowCount(); + m_model->insertRow(row); + for (int i=0; isetData(m_model->index(row, i),infoTextList[i]); + } + m_model->submitAll(); //提交修改 + } + } + break; + case UPDATE: + { + if (QMessageBox::Ok == QMessageBox::warning(this, QStringLiteral("提示"), QStringLiteral("请确定是否修改"), QMessageBox::Ok|QMessageBox::No)) + { + int col = m_model->columnCount(); + int CurrentRow = m_TabView->currentIndex().row(); + for (int i=0; isetData(m_model->index(CurrentRow, i),infoTextList[i]); + } + m_model->submitAll(); //提交修改 + } + } + break; + default: + break; + } +// for (int i=0; isetText(""); +// m_infoEditList[i]->setEnabled(false); +// } + //sukai + init_infoEditListSetText(); + m_model->select(); + m_OKButton.setEnabled(false); + m_CancelButton.setEnabled(false); +} +/************************************************************************** +* 函数名称：onCancelButtonClicked +* 函数功能：OKButton点击槽函数，不操作 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +void SlamtecKSDemoDlgCostMap::onCancelButtonClicked() +{ +// for (int i=0; isetText(""); +// m_infoEditList[i]->setEnabled(false); +// } + //sukai + init_infoEditListSetText(); + m_OKButton.setEnabled(false); + m_CancelButton.setEnabled(false); +} +/************************************************************************** +* 函数名称：~KsUserManageDlg +* 函数功能：目标点管理对话框析构函数 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-03-20 +* 修改人员： +* 修改时间： +**************************************************************************/ +SlamtecKSDemoDlgCostMap::~SlamtecKSDemoDlgCostMap() +{ + qDebug() << "SlamtecKSDemoDlgCostMap::~SlamtecKSDemoDlgCostMap()"; + m_db.close(); +} + +/************************************************************************** +* 函数名称：m_infoEditListSetText +* 函数功能：取数据库数据填充右边栏数据 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-05-25 +* 修改人员： +* 修改时间： +**************************************************************************/ + +//todo sukai +void SlamtecKSDemoDlgCostMap::update_infoEditListSetText(QSqlRecord &recode,bool flg) +{ + + for (int i=0; icurrentText(): "<currentText(); + const QString &string1 = recode.value(i).toString(); + pEdit->setCurrentText(string1); + + } + break; + + default: + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + pEdit->setText(recode.value(i).toString()); + + + } + m_infoEditList[i]->setEnabled(flg); + } + +} +/************************************************************************** +* 函数名称：m_infoEditListSetText +* 函数功能：取右边栏数据 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-05-25 +* 修改人员： +* 修改时间： +**************************************************************************/ +//todo sukai +void SlamtecKSDemoDlgCostMap::m_infoEditListSetText(QList &infoTextList) +{ + + + for (int i=0; icurrentIndex(); + //sukai EMPTY提示用户 + if(i==0){ + infoTextList.append("EMPTY"); + }else{ + infoTextList.append(pEdit->currentText()); + } + } + break; + + default: + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + qDebug() << "pEdit->text: "<text(); + infoTextList.append(pEdit->text()); + } + + m_infoEditList[i]->setEnabled(false); + } + +} +/************************************************************************** +* 函数名称：init_infoEditListSetText +* 函数功能：初始化右边栏数据 +* 输入参数：无 +* 输出参数：无 +* 返回数值：void +* 创建人员： +* 创建时间：2021-05-25 +* 修改人员： +* 修改时间： +**************************************************************************/ +//todo sukai +void SlamtecKSDemoDlgCostMap::init_infoEditListSetText() +{ + + + for (int i=0; i0){ + pEdit->setText(QString::number(id)); + }else{ + pEdit->setText(""); + } + } + + break; + case 1://QComboBox + { + QComboBox *pEdit = (QComboBox *) m_infoEditList[i]; + pEdit->setCurrentIndex(0); + } + + break; + case 2: + { + string merchantNumber = dictionariesMap["merchantNumber"]; + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + + if(merchantNumber.size()>0){ + pEdit->setText(QString::fromStdString(merchantNumber)); + }else{ + pEdit->setText(""); + } + } + + break; + case 3: + { + + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + string merchantName = dictionariesMap["merchantName"]; + + if(merchantName.size()>0){ + pEdit->setText(QString::fromStdString(merchantName)); + }else{ + pEdit->setText(""); + } + } + + break; + case 4: + { + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + string robotNumber = dictionariesMap["robotNumber"]; + + if(robotNumber.size()>0){ + pEdit->setText(QString::fromStdString(robotNumber)); + }else{ + pEdit->setText(""); + } + } + + break; + case 5: + { + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + string mapName = dictionariesMap["mapName"]; + if(mapName.size()>0){ + pEdit->setText(QString::fromStdString(mapName)); + }else{ + pEdit->setText(""); + } + + } + + break; + case 6: + { + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + string robotfloor = dictionariesMap["robotfloor"]; + if(robotfloor.size()>0){ + pEdit->setText(QString::fromStdString(robotfloor)); + }else{ + pEdit->setText(""); + } + + } + + break; + default: + QLineEdit *pEdit = (QLineEdit *) m_infoEditList[i]; + pEdit->setText(""); + + } + m_infoEditList[i]->setEnabled(false); + } + +} +//todo sukai +void SlamtecKSDemoDlgCostMap::onUpdate() { + ros::spinOnce(); + //处理消息 + if(ros::isShuttingDown()){ + QApplication::quit(); + } + + +} \ No newline at end of file diff --git a/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.h b/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.h new file mode 100644 index 0000000..3e65714 --- /dev/null +++ b/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.h @@ -0,0 +1,114 @@ +// +// Created by iimt on 21-3-20. +// + +#ifndef VISUALORIENTATION_currencyChassis_SAMTECKSDEMODLGTABLE_TASKPOSE_H +#define VISUALORIENTATION_currencyChassis_SAMTECKSDEMODLGTABLE_TASKPOSE_H + + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +//************sukai****************** +#include +#include +#include +#include +#include +#include +#include +/* + * sukai + * 21-3-20 + * 测试 sqllite + */ +using namespace std; +class SlamtecKSDemoDlgCostMap : public QDialog +{ +Q_OBJECT + + enum {UPDATE, INSERT}; + int m_operator; +//主机名 + std::string hostname="iimt"; +public: + QTimer* updateTimer; + ros::NodeHandle node; + //数据库操作 + ros::ServiceClient SqlQueryClient; + //字典数据 + map dictionariesMap; + void onUpdate(); + + explicit SlamtecKSDemoDlgCostMap(QString databaseName, QString dataTableName, QWidget *parent = 0 ); + ~SlamtecKSDemoDlgCostMap(); + +private: + + void UiInit(); + //取数据库数据填充右边栏数据 + void update_infoEditListSetText(QSqlRecord &recode,bool flg); + + //取右边栏数据 + void m_infoEditListSetText(QList &infoTextList); + //初始化右边栏数据 + void init_infoEditListSetText(); +protected slots: + void onNewButtonClicked(); + void onQueryButtonClicked(); + void onBackButtonClicked();//todo sukai 2021-08-19 + + void onUpdateButtonClicked(); + void onDeleteButtonClicked(); + void onRefreshButtonClicked(); + void onPrimaryKeyLineEditEmpty(const QString & text); + void onCurrentTableViewClicked(const QModelIndex & index); + void onOKButtonClicked(); + void onCancelButtonClicked(); + +private: + QSqlDatabase m_db; + QString m_DBName; + QString m_DBTableName; + +private: + QTableView* m_TabView; + QSqlTableModel* m_model; + +private: + // QList m_infoEditList; + QList m_infoEditList; + QList m_infoLabelList; + QPushButton m_OKButton; + QPushButton m_CancelButton; + +private: + + /*所有用户信息容器组*/ + QGroupBox m_Group; + + QLabel m_PrimaryKeyLabel; + QLineEdit m_PrimaryKeyLineEdit; + QPushButton m_QueryButton; + QPushButton m_backButton;//todo sukai 2021-08-19 + + QPushButton m_NewButton; + QPushButton m_UpdateButton; + QPushButton m_DeleteButton; + QPushButton m_RefreshButton; + /*所选择用户信息容器组*/ + QGroupBox m_SelectGroup; + +}; + + + + +#endif //VISUALORIENTATION_currencyChassis_SAMTECKSDEMODLGTABLE_TASKPOSE_H diff --git a/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain.cpp b/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain.cpp new file mode 100644 index 0000000..470b614 --- /dev/null +++ b/src/slamproject/src/currencyChassis/currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain.cpp @@ -0,0 +1,57 @@ +// +// Created by iimt on 21-3-20. +// + +/** + * sukai + * 虚拟墙编辑 + * 22-01-15 + * 第一次执行前需要 首先执行 rosrun slamservice currencyChassis_CreateSqlDatabaseMain_node 创建数据库 + * + * rosrun slamservice currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node + * point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据 + */ + +//#include "KsTestDemo.h" +#include +#include + +#include "currencyChassis_KSDemoDlgTABLE_COSTMAPLAYER.h" +#include +#include +using namespace std; + +//std::string dbPath = ros::package::getPath("visualorientation")+"/db/TABLE_OR_ROOM_POSE.db"; +std::string dbPath ="~/workspace/xuniqiang/src/slamproject/db/TABLE_OR_ROOM_POSE.db"; +//主机名 +string hostname="iimt"; +int main(int argc, char *argv[]) +{ + + //节点名 + string nodeName = "currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node"; + //初始化节点 + ros::init(argc,argv,nodeName); + + //获取主机名称 + + char hname[128]; + gethostname(hname, sizeof(hname)); + cout<<"hname:"< +#include +#include + +#include +#include +#include +#include +#include +#include "disinfect_srvs/testInfo_srvs.h" +#include "disinfect_msg/testInfo.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include + + + + +using namespace std; +std::string dbPath = "/workspace/xuniqiang/src/slamproject/db/TABLE_OR_ROOM_POSE.db";// + +int time_int=50; + +struct SqlSendMessage +{ + + disinfect_srvs::testInfo_srvsRequest request; + disinfect_srvs::testInfo_srvsResponse response; +}; + + + +//指令队列 +queue instructionQueue; +mutex *m = new mutex; +//操作sql日志 +void logWriteSql(string type,int id,string status){ + try{ + + + }catch (std::exception e){ + // ROS_ERROR(e.what()); + + } + +} +//操作sql日志 +void logWriteSqlString(string data){ + try{ + + + }catch (std::exception e){ + // ROS_ERROR(e.what()); + + } + +} + + + +// ============start============虚拟墙=======：TABLE_COSTMAPLAYER=========FigureType-> point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据========================================== + + +void query_disinfect_msg_Table_CostMapPlayer(disinfect_msg::Table_CostMapLayer &t,QSqlQuery &query){ + + t.Id=query.value("Id").toInt();//执行路点任务id号 + t.FigureType = query.value("FigureType").toString().toStdString();//图形类型 point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据 + t.FigureName = query.value("FigureName").toString().toStdString();//虚拟墙线或点名字 + t.MerchantName = query.value("MerchantName").toString().toStdString();// 商户名称 + t.MerchantNumber = query.value("MerchantNumber").toString().toStdString();// 商户编号 客户编号 比如龙源或者某个餐饮店比如海底捞1号店【每家店铺可能包含10台机器人，它们在同一个场景运行所以它们的客户编号都是一致的（方便多机协作）】 + t.MapName = query.value("MapName").toString().toStdString();//地图名字 + t.Robotfloor = query.value("Robotfloor").toString().toStdString();//地图楼层 + t.RobotNumber = query.value("RobotNumber").toString().toStdString();//自研底盘机器人编号： longyuan_wt_00001；思岚机器人编号 SLAMWARE-812370； WT5LS103194： 云迹 机器人编号 ； + t.POINT_A_X = query.value("POINT_A_X").toString().toStdString();//第一个点位A + t.POINT_A_Y = query.value("POINT_A_Y").toString().toStdString();//第一个点位A + t.POINT_B_X = query.value("POINT_B_X").toString().toStdString();//第二个点位B + t.POINT_B_Y = query.value("POINT_B_Y").toString().toStdString();//第二个点位B + t.POINT_C_X = query.value("POINT_C_X").toString().toStdString();//第三个点位C + t.POINT_C_Y = query.value("POINT_C_Y").toString().toStdString();//第三个点位C + t.POINT_D_X = query.value("POINT_D_X").toString().toStdString();//第四个点位D + t.POINT_D_Y = query.value("POINT_D_Y").toString().toStdString();//第四个点位D + +} +//删除数据ByFigureName +bool deleteTaskPOSEFromTABLE_CostMapPlayerByFigureName(disinfect_srvs::testInfo_srvsRequest &request){ + bool fig= false; + try{ + QString connectionName = "currencyChassisdeleteTaskPOSEFromTABLE_CostMapPlayerByFigureName"; + + QSqlQuery query(connectionName); + +//============================5.1 更新数据库 ============================ + +//更新数据 DELETE FROM COMPANY WHERE ID = 7 + QString deleteSql ="DELETE FROM TABLE_COSTMAPLAYER WHERE FigureName='"+QString::fromStdString(request.request_Table_CostMapLayer.FigureName)+"'"; + //qDebug()<<"deleteSql: "< 2754433){//刚建数据库的id数据有问题 + id=0; + }else{ + id=id+1; + } + response.result_maximunId=id; + + }catch (exception e){ + //qDebug()<<"数据库操作异常请检查文件是否存在！" ,"send"; + } + +} +//保存虚拟墙数据 +bool saveTASKFromTABLE_CostMapPlayer(disinfect_srvs::testInfo_srvsRequest &request){ + bool fig= false; + try{ + //查询字典数据 + // selectAllFromTABLE_DICTIONARES(); + //qDebug()<<"===========================保存数据 ==========================="; + QString connectionName = "currencyChassissaveTASKFromCostMapPlayer"; + + QSqlQuery query(connectionName); + int id=0; //自增长id + if(request.request_Table_CostMapLayer.Id<=0){ + //sukai 查询数据,id自增 + query.prepare("SELECT * FROM TABLE_COSTMAPLAYER order by Id desc limit 1"); + query.exec(); + QSqlRecord recode1 = query.record(); //recode保存查询到一些内容信息，如表头、列数等等 + int column1 = recode1.count(); //获取读取结果的列数 + QString s11 = recode1.fieldName(0); //获取第0列的列名 + + while (query.next()) { + id = query.value("Id").toInt(); + } + + if(id<0 || id> 2754433){//刚建数据库的id数据有问题 + id=0; + }else{ + id=id+1; + } + }else{ + id =request.request_Table_CostMapLayer.Id; + } + + //============================ 保存数据库 ============================ + // //虚拟墙点位储存 图形类型 FigureType-> point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据 + QString installSql ="INSERT INTO TABLE_COSTMAPLAYER (Id, FigureType,FigureName,MerchantName, MerchantNumber,MapName,Robotfloor,RobotNumber,POINT_A_X,POINT_A_Y,POINT_B_X,POINT_B_Y,POINT_C_X,POINT_C_Y,POINT_D_X,POINT_D_Y) VALUES (:Id,:FigureType,:FigureName, :MerchantName, :MerchantNumber,:MapName,:Robotfloor,:RobotNumber,:POINT_A_X,:POINT_A_Y,:POINT_B_X,:POINT_B_Y,:POINT_C_X,:POINT_C_Y,:POINT_D_X,:POINT_D_Y)"; + + //qDebug()<<"installSql: "< point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据 + QString updateSql ="UPDATE TABLE_COSTMAPLAYER SET "; + if(QString::fromStdString(request.request_Table_CostMapLayer.FigureType)!="EMPTY"){ + updateSql = updateSql +"FigureType= '"+ QString::fromStdString(request.request_Table_CostMapLayer.FigureType)+"', "; + } + +// updateSql = updateSql +" MerchantNumber='EMPTY'"; +// updateSql = updateSql +"', MerchantName='EMPTY'"; +// updateSql = updateSql +"', RobotNumber='EMPTY'"; +// updateSql = updateSql +"', MapName='EMPTY'"; +// updateSql = updateSql +"', Robotfloor='EMPTY'"; + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_A_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_X); + } + + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_A_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_Y); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_B_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_X); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_B_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_Y); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_C_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_X); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_C_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_Y); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_D_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_X); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_D_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_Y); + + } + updateSql = updateSql +"' WHERE FigureName='"+QString::fromStdString(request.request_Table_CostMapLayer.FigureName)+"'"; + qDebug()<<"updateSql: "< point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据 + QString updateSql ="UPDATE TABLE_COSTMAPLAYER SET "; + if(QString::fromStdString(request.request_Table_CostMapLayer.FigureType)!="EMPTY"){ + updateSql = updateSql +"FigureType= '"+ QString::fromStdString(request.request_Table_CostMapLayer.FigureType)+"', "; + } + if(QString::fromStdString(request.request_Table_CostMapLayer.FigureName)!="EMPTY"){ + updateSql = updateSql +"FigureName= '"+ QString::fromStdString(request.request_Table_CostMapLayer.FigureName)+"', "; + } + + +// updateSql = updateSql +" MerchantNumber= '"+QString::fromStdString(request.request_Table_CostMapLayer.MerchantNumber); +// updateSql = updateSql +"', MerchantName= '"+QString::fromStdString(request.request_Table_CostMapLayer.MerchantName); +// updateSql = updateSql +"', RobotNumber= '"+QString::fromStdString(request.request_Table_CostMapLayer.RobotNumber); +// updateSql = updateSql +"', MapName= '"+QString::fromStdString(request.request_Table_CostMapLayer.MapName); +// updateSql = updateSql +"', Robotfloor= '"+QString::fromStdString(request.request_Table_CostMapLayer.Robotfloor); + + + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_A_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_X); + } + + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_A_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_A_Y); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_B_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_X); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_B_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_B_Y); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_C_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_X); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_C_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_C_Y); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_X)!="EMPTY"){ + updateSql = updateSql +"', POINT_D_X= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_X); + + } + if(QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_Y)!="EMPTY"){ + updateSql = updateSql +"', POINT_D_Y= '"+QString::fromStdString(request.request_Table_CostMapLayer.POINT_D_Y); + + } + updateSql = updateSql +"' WHERE Id="+QString::number(request.request_Table_CostMapLayer.Id); + qDebug()<<"updateSql: "<try_lock(); + //互锁 当获取锁时，如果其他线程持有该锁，无可用锁资源，直接返回false，这时候线程不用阻塞等待，可以先去做其他事情； + if(!tryLock) + return; + + bool fig= false; + + //2.取出一条指令中的夹抓状态与定时器时间 + SqlSendMessage sqlSendMessage = instructionQueue.front(); + +//============================================================================================== + + if(sqlSendMessage.request.request_type=="saveTASKFromTABLE_CostMapPlayer"){//保存虚拟墙数据 + //*********************************************************************************************************** + // ============start============虚拟墙=======：TABLE_COSTMAPLAYER=========FigureType-> point：点 至少1个点数据, line：线 至少2个点数据, polygons:多边形 至少3个点数据========================================== + fig= saveTASKFromTABLE_CostMapPlayer(sqlSendMessage.request); + //刷新虚拟墙 data：refreshCostMapPlayer + std_msgs::String data; + data.data="refreshCostMapPlayer"; + costmapProhibitionControl_pub.publish(data); + }else if( sqlSendMessage.request.request_type=="deleteTaskPOSEFromTABLE_CostMapPlayer"){//删除数据byId + fig= deleteTaskPOSEFromTABLE_CostMapPlayer(sqlSendMessage.request); + //刷新虚拟墙 data：refreshCostMapPlayer + std_msgs::String data; + data.data="refreshCostMapPlayer"; + costmapProhibitionControl_pub.publish(data); + + }else if( sqlSendMessage.request.request_type=="deleteTaskPOSEFromTABLE_CostMapPlayerByFigureName"){//删除数据ByFigureName + fig= deleteTaskPOSEFromTABLE_CostMapPlayerByFigureName(sqlSendMessage.request); + //刷新虚拟墙 data：refreshCostMapPlayer + std_msgs::String data; + data.data="refreshCostMapPlayer"; + costmapProhibitionControl_pub.publish(data); + }else if(sqlSendMessage.request.request_type=="updateAllByIdFromTable_CostMapPlayer"){//更新TABLE_COSTMAPLAYER所有数据数据数据byID + fig= updateAllByIdFromTable_CostMapPlayer(sqlSendMessage.request); + //刷新虚拟墙 data：refreshCostMapPlayer + std_msgs::String data; + data.data="refreshCostMapPlayer"; + costmapProhibitionControl_pub.publish(data); + + }else if(sqlSendMessage.request.request_type=="updateAllByFigureNameFromTable_CostMapPlayer"){//更新TABLE_COSTMAPLAYER所有数据数据数据byFigureName + fig= updateAllByFigureNameFromTable_CostMapPlayer(sqlSendMessage.request); + //刷新虚拟墙 data：refreshCostMapPlayer + std_msgs::String data; + data.data="refreshCostMapPlayer"; + costmapProhibitionControl_pub.publish(data); + + }else{ + //其它数据默认 true + fig=true; + } + + //5.删除队列中的这条指令,sql 操作成功就删除否则在执行一次，直到执行成功 + if(fig){ + instructionQueue.pop(); + // std::cout<<"6.sukai 队列 yes executeSql====sinstructionQueue.pop()" <unlock(); + e.what(); + std::cout<<"QTcpServer 数据发送给所有客户端: " <unlock(); +} + +//数据库操作 disinfect_srvs/testInfo_srvs.h disinfect_srvs::testInfo_srvs::Request,disinfect_srvs::testInfo_srvs::Response +bool callback_QSqlQuery(disinfect_srvs::testInfo_srvs::Request &request , disinfect_srvs::testInfo_srvs::Response &response,QTimer* executeTimer) { + + try { + + int count=0; + + if( QString::fromStdString(request.request_type).contains("query")){ + m->lock(); + + if(request.request_type=="queryMaximunIdFromTABLE_CostMapPlayer"){//读取ABLE_CostMapPlayer数据库最大的一个id号 + queryMaximunIdFromTABLE_CostMapPlayer(response); + //cout<<"queryMaximunIdFromTABLE_CostMapPlayer 查询 by Id"<unlock(); + // executeTimer->start(); + }else if (!QString::fromStdString(request.request_type).contains("query")){ + //除查询外所有的数据库操作都加入队列执行 + SqlSendMessage sqlSendMessage; + sqlSendMessage.request=request; + sqlSendMessage.response=response; + // cout<<"1.加入队列request.request_type: "<unlock(); + + } + + response.result="ok"; + return true; +} + +//定时任务从队列中执行sql +void executeSql( ros::Publisher &costmapProhibitionControl_pub){ + //从队列中执行sql + executeSqlfun(costmapProhibitionControl_pub); + +} + +// ============end==================数据库操作all=================================================== +//ros::spin +void update(){ + ros::spinOnce(); + //处理消息 + if(ros::isShuttingDown()){ + QApplication::quit(); + } + +} + + +//检查数据库文件(所有类型)是否存在 +// 1:存在 0:不存在 +int IsFileExist(const char* path) +{ + return !access(path, F_OK); +} + + +//3秒后检查数据库是否存在，不存在则建立 +void startTimerfun(QTimer *startTimer){ + // string dbpath1="/home/"+hostname+"/slam/TABLE_OR_ROOM_POSE.db"; +// std::string home = getenv("HOME");// +// dbPath=home+"/workspace/xuniqiang/src/slamproject/db/TABLE_OR_ROOM_POSE.db"; +// +// startTimer->stop(); +// QSqlDatabase db = QSqlDatabase::addDatabase("QSQLITE"); +// //cout<<"dbPath: "<("/costmapProhibitionControl", 10); + + + //======end================================ 注册码验证 ============================================================== + + QApplication app(argc, argv); + + QSqlDatabase db = QSqlDatabase::addDatabase("QSQLITE"); + //cout<<"dbPath: "<setInterval(100); + QObject::connect(updateTimer, &QTimer::timeout, &update); + updateTimer->start(); + + //轮询检查队列中是否存在需要执行的sql操作 + QTimer* executeTimer = new QTimer(); + executeTimer->setInterval(time_int); + QObject::connect(executeTimer, &QTimer::timeout, boost::bind(&executeSql,costmapProhibitionControl_pub)); + executeTimer->start(); + + + //3秒后检查数据库是否存在，不存在则建立 + QTimer* startTimer = new QTimer(); + startTimer->setInterval(3000); + // QObject::connect(updateTimer, &QTimer::timeout, &startTimer); + QObject::connect(startTimer, &QTimer::timeout, boost::bind(&startTimerfun, startTimer)); + + //数据库操作 disinfect_srvs::testInfo_srvsRequest &request , disinfect_srvs::testInfo_srvsResponse &response + const ros::ServiceServer &SqlQueryServer = node.advertiseService("/QSqlQuery", boost::bind(&callback_QSqlQuery,_1,_2,executeTimer)); + + + + return app.exec(); +} + diff --git a/src/slamproject/src/currencyChassis/readme.md b/src/slamproject/src/currencyChassis/readme.md new file mode 100644 index 0000000..c6eb1ab --- /dev/null +++ b/src/slamproject/src/currencyChassis/readme.md @@ -0,0 +1,71 @@ +龙源通用底盘 + 链接机器人热点： + 名称： longyuan_wt_00001 密码：longyuansa + TCP连接方式：TCP连接 10.168.1.10:31001 + 配置网络 ：10.168.1.1 密码： longyuansa +编译： + 直接运行这两个命令： + catkin_make --pkg disinfect_msg + catkin_make --pkg disinfect_srvs + catkin_make + source devel/setup.sh + +启动功能介绍： + 1.创建数据库 + rosrun slamservice currencyChassis_CreateSqlDatabaseMain_node + + 2. 获取base_link相对于map的坐标，实时发布小车坐标 + + rosrun slamservice currencyChassis_listenerCarBaselinkPose_node + + 3.数据库调用 + rosrun slamservice currencyChassis_sqlDatabaseMain_node + + 4.路点标记 + rosrun slamservice currencyChassis_savePoseByOdom_node + + 5.设置初始点校正机器人位置 结合 cartographer_ros 算法 + rosrun slamservice currencyChassis_initial_pose_set_node + + 6.导航逻辑 + rosrun slamservice currencyChassis_carStartServiceMain_node + + 7.发送 movebase + rosrun slamservice currencyChassis_car_action_node + + 8.发送 位置标定 + rosrun slamservice currencyChassis_savePoseByOdom_node + + + 9.网络接口服务器 + rosrun slamservice currencyChassis_netWork_server_node + + + 10. 测试网络接口 + rosrun slamservice currencyChassis_netWork_send_test_node + + 总启动： + roslaunch slamservice currencyChassis_sendfoodCar.launch + + + +=================================================================== + +1.路点值编辑 +rosrun slamservice currencyChassis_KSDemoDlg_node +2.执行任务编辑 +rosrun slamservice currencyChassis_KSDemoDlgTABLE_TASKPOSEMain_node +3.定时任务表编辑 +rosrun slamservice currencyChassis_KSDemoDlgTaskMain_node +4.设置，字典编辑 +rosrun slamservice currencyChassis_KSDemoDlgTABLE_DICTIONARESMain_node +=================================================================== +仿真： + roslaunch turtlebot3_gazebo turtlebot3_house.launch + roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/iimt/map.yaml + + roslaunch slamservice currencyChassis_sendfoodCar.launch + roslaunch rosbridge_server rosbridge_websocket.launch + +==================================================================== +