@小鱼 试试我这个代码
import rclpy
from geometry_msgs.msg import PoseStamped, Pose
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
from tf2_ros import TransformListener, Buffer
from tf_transformations import euler_from_quaternion, quaternion_from_euler
from rclpy.duration import Duration
# 添加服务接口
from autopatrol_interfaces.srv import SpeachText
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import cv2
class PatrolNode(BasicNavigator):
def __init__(self, node_name='patrol_node'):
super().__init__(node_name)
# 导航相关定义
self.declare_parameter('initial_point', [0.0, 0.0, 0.0])
self.declare_parameter('target_points', [0.0, 0.0, 0.0, 1.0, 1.0, 1.57])
self.initial_point_ = self.get_parameter('initial_point').value
self.target_points_ = self.get_parameter('target_points').value
# 实时位置获取 TF 相关定义
self.buffer_ = Buffer()
self.listener_ = TransformListener(self.buffer_, self)
self.speach_client_ = self.create_client(SpeachText, 'speech_text')
# 订阅与保存图像相关定义
self.declare_parameter('image_save_path', '')
self.image_save_path = self.get_parameter('image_save_path').value
self.bridge = CvBridge()
self.latest_image = None
self.subscription_image = self.create_subscription(
Image, '/camera_sensor/image_raw', self.image_callback, 10)
def image_callback(self, msg):
"""
将最新的消息放到 latest_image 中
"""
self.latest_image = msg
def record_image(self):
"""
记录图像
"""
if self.latest_image is not None:
pose = self.get_current_pose()
cv_image = self.bridge.imgmsg_to_cv2(self.latest_image)
cv2.imwrite(f'{self.image_save_path}image_{pose.translation.x:3.2f}_{pose.translation.y:3.2f}.png', cv_image)
def speach_text(self, text):
"""
调用服务播放语音
"""
while not self.speach_client_.wait_for_service(timeout_sec=1.0):
self.get_logger().info('语合成服务未上线，等待中。。。')
request = SpeachText.Request()
request.text = text
future = self.speach_client_.call_async(request)
rclpy.spin_until_future_complete(self, future)
if future.result() is not None:
result = future.result().result
if result:
self.get_logger().info(f'语音合成成功：{text}')
else:
self.get_logger().warn(f'语音合成失败：{text}')
else:
self.get_logger().warn('语音合成服务请求失败')
def get_pose_by_xyyaw(self, x, y, yaw):
"""
通过 x,y,yaw 合成 PoseStamped
"""
pose = PoseStamped()
pose.header.frame_id = 'map'
pose.pose.position.x = x
pose.pose.position.y = y
rotation_quat = quaternion_from_euler(0, 0, yaw)
pose.pose.orientation.x = rotation_quat[0]
pose.pose.orientation.y = rotation_quat[1]
pose.pose.orientation.z = rotation_quat[2]
pose.pose.orientation.w = rotation_quat[3]
return pose
def init_robot_pose(self):
"""
初始化机器人位姿
"""
# 从参数获取初始化点
self.initial_point_ = self.get_parameter('initial_point').value
# 合成位姿并进行初始化
self.setInitialPose(self.get_pose_by_xyyaw(
self.initial_point_[0], self.initial_point_[1], self.initial_point_[2]))
# 等待直到导航激活
self.waitUntilNav2Active()
def get_target_points(self):
"""
通过参数值获取目标点集合
"""
points = []
self.target_points_ = self.get_parameter('target_points').value
for index in range(int(len(self.target_points_)/3)):
x = self.target_points_[index*3]
y = self.target_points_[index*3+1]
yaw = self.target_points_[index*3+2]
points.append([x, y, yaw])
self.get_logger().info(f'获取到目标点: {index}->({x},{y},{yaw})')
return points
def nav_to_pose(self, target_pose):
"""
导航到指定位姿
"""
self.waitUntilNav2Active()
result = self.goToPose(target_pose)
while not self.isTaskComplete():
feedback = self.getFeedback()
if feedback:
self.get_logger().info(f'预计: {Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9} s 后到达')
# 最终结果判断
result = self.getResult()
if result == TaskResult.SUCCEEDED:
self.get_logger().info('导航结果：成功')
elif result == TaskResult.CANCELED:
self.get_logger().warn('导航结果：被取消')
elif result == TaskResult.FAILED:
self.get_logger().error('导航结果：失败')
else:
self.get_logger().error('导航结果：返回状态无效')
def get_current_pose(self):
"""
通过TF获取当前位姿
"""
while rclpy.ok():
try:
tf = self.buffer_.lookup_transform(
'map', 'base_footprint', rclpy.time.Time(seconds=0), rclpy.time.Duration(seconds=1))
transform = tf.transform
rotation_euler = euler_from_quaternion([
transform.rotation.x,
transform.rotation.y,
transform.rotation.z,
transform.rotation.w
])
self.get_logger().info(
f'平移:{transform.translation},旋转四元数:{transform.rotation}:旋转欧拉角:{rotation_euler}')
return transform
except Exception as e:
self.get_logger().warn(f'不能够获取坐标变换，原因: {str(e)}')
def main():
rclpy.init()
patrol = PatrolNode()
patrol.speach_text(text='正在初始化位置')
patrol.init_robot_pose()
patrol.speach_text(text='位置初始化完成')
while rclpy.ok():
for point in patrol.get_target_points():
x, y, yaw = point[0], point[1], point[2]
# 导航到目标点
target_pose = patrol.get_pose_by_xyyaw(x, y, yaw)
patrol.speach_text(text=f'准备前往目标点{x},{y}')
patrol.nav_to_pose(target_pose)
patrol.speach_text(text=f"已到达目标点{x},{y},准备记录图像")
patrol.record_image()
patrol.speach_text(text=f"图像记录完成")
rclpy.shutdown()
if __name__ == '__main__':
main()
