From 5cdfbeceb50d5dc864a9727ebd824582c0fb67b8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=A4=A7=E8=80=B3=E5=88=AE=E5=AD=90?= <2433069615@qq.com> Date: Tue, 3 May 2022 23:43:26 +0800 Subject: [PATCH] src --- CMakeLists.txt | 229 +++++++++++++++++++++++++++++++++++++++++++++ package.xml | 73 +++++++++++++++ src/main.cpp | 197 ++++++++++++++++++++++++++++++++++++++ src/mainwindow.cpp | 14 +++ src/mainwindow.hpp | 30 ++++++ src/mainwindow.ui | 45 +++++++++ src/qnode.cpp | 1 + src/qnode.hpp | 8 ++ 8 files changed, 597 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 package.xml create mode 100644 src/main.cpp create mode 100644 src/mainwindow.cpp create mode 100644 src/mainwindow.hpp create mode 100644 src/mainwindow.ui create mode 100644 src/qnode.cpp create mode 100644 src/qnode.hpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..8c11610 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,229 @@ +cmake_minimum_required(VERSION 3.0.2) +project(Air_Ground_CEC) + +## 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 + std_msgs + cv_bridge + image_transport +) + +## 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 installedsudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf' +## 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 +# 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 Air_Ground_CEC +# CATKIN_DEPENDS roscpp +# DEPENDS system_lib +) + +########### +## Build ## +########### + +find_package(OpenCV REQUIRED) +find_package(Qt5 REQUIRED COMPONENTS Widgets ) +set(CMAKE_AUTOMOC ON) +set(CMAKE_AUTOUIC ON) +set(CMAKE_INCLUDE_CURRENT_DIR ON) + +set(SOURCES + src/main.cpp + src/mainwindow.cpp + src/mainwindow.hpp + src/mainwindow.ui + src/qnode.cpp + src/qnode.hpp +) +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include/Air_Ground_CEC + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + +add_executable(Air_Ground_CEC ${SOURCES}) +target_link_libraries(Air_Ground_CEC + Qt5::Widgets + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/Air_Ground_CEC.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/Air_Ground_CEC_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_Air_Ground_CEC.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/package.xml b/package.xml new file mode 100644 index 0000000..9c40002 --- /dev/null +++ b/package.xml @@ -0,0 +1,73 @@ + + + Air_Ground_CEC + 0.1.0 + The Air_Ground_CEC package + + + + + jackyma + + + + + + Apache 2.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + roscpp + roscpp + + opencv2 + opencv2 + opencv2 + + message_generation + message_generation + message_runtime + + std_msgs sensor_msgs cv_bridge image_transport + std_msgs sensor_msgs cv_bridge image_transport + std_msgs sensor_msgs cv_bridge image_transport + + + + + + + diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..2702a1f --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,197 @@ +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#define KEYCODE_W 0x77 +#define KEYCODE_A 0x61 +#define KEYCODE_S 0x73 +#define KEYCODE_D 0x64 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 + +class SmartCarKeyboardTeleopNode +{ + private: + double walk_vel_; + double run_vel_; + double yaw_rate_; + double yaw_rate_run_; + + geometry_msgs::Twist cmdvel_; + ros::NodeHandle n_; + ros::Publisher pub_; + + public: + SmartCarKeyboardTeleopNode() + { + pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel_, 0.5); + n_private.param("run_vel", run_vel_, 1.0); + n_private.param("yaw_rate", yaw_rate_, 1.0); + n_private.param("yaw_rate_run", yaw_rate_run_, 1.5); + } + + ~SmartCarKeyboardTeleopNode() { } + void keyboardLoop(); + + void stopRobot() + { + cmdvel_.linear.x = 0.0; + cmdvel_.angular.z = 0.0; + pub_.publish(cmdvel_); + } +}; + +SmartCarKeyboardTeleopNode* tbk; +int kfd = 0; +struct termios cooked, raw; +bool done; + +int main(int argc, char** argv) +{ + ros::init(argc,argv,"tbk", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler); + SmartCarKeyboardTeleopNode tbk; + + boost::thread t = boost::thread(boost::bind(&SmartCarKeyboardTeleopNode::keyboardLoop, &tbk)); + + ros::spin(); + + t.interrupt(); + t.join(); + tbk.stopRobot(); + tcsetattr(kfd, TCSANOW, &cooked); + + return(0); +} + +void SmartCarKeyboardTeleopNode::keyboardLoop() +{ + char c; + double max_tv = walk_vel_; + double max_rv = yaw_rate_; + bool dirty = false; + int speed = 0; + int turn = 0; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("Use WASD keys to control the robot"); + puts("Press Shift to move faster"); + + struct pollfd ufd; + ufd.fd = kfd; + ufd.events = POLLIN; + + for(;;) + { + boost::this_thread::interruption_point(); + + // get the next event from the keyboard + int num; + + if ((num = poll(&ufd, 1, 250)) < 0) + { + perror("poll():"); + return; + } + else if(num > 0) + { + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + return; + } + } + else + { + if (dirty == true) + { + stopRobot(); + dirty = false; + } + + continue; + } + + switch(c) + { + case KEYCODE_W: + max_tv = walk_vel_; + speed = 1; + turn = 0; + dirty = true; + break; + case KEYCODE_S: + max_tv = walk_vel_; + speed = -1; + turn = 0; + dirty = true; + break; + case KEYCODE_A: + max_rv = yaw_rate_; + speed = 0; + turn = 1; + dirty = true; + break; + case KEYCODE_D: + max_rv = yaw_rate_; + speed = 0; + turn = -1; + dirty = true; + break; + + case KEYCODE_W_CAP: + max_tv = run_vel_; + speed = 1; + turn = 0; + dirty = true; + break; + case KEYCODE_S_CAP: + max_tv = run_vel_; + speed = -1; + turn = 0; + dirty = true; + break; + case KEYCODE_A_CAP: + max_rv = yaw_rate_run_; + speed = 0; + turn = 1; + dirty = true; + break; + case KEYCODE_D_CAP: + max_rv = yaw_rate_run_; + speed = 0; + turn = -1; + dirty = true; + break; + default: + max_tv = walk_vel_; + max_rv = yaw_rate_; + speed = 0; + turn = 0; + dirty = false; + } + cmdvel_.linear.x = speed * max_tv; + cmdvel_.angular.z = turn * max_rv; + pub_.publish(cmdvel_); + } +} diff --git a/src/mainwindow.cpp b/src/mainwindow.cpp new file mode 100644 index 0000000..443597b --- /dev/null +++ b/src/mainwindow.cpp @@ -0,0 +1,14 @@ +#include "mainwindow.hpp" +#include "ui_mainwindow.h" + +MainWindow::MainWindow(QWidget *parent) : + QMainWindow(parent), + ui(new Ui::MainWindow) +{ + ui->setupUi(this); +} + +MainWindow::~MainWindow() +{ + delete ui; +} diff --git a/src/mainwindow.hpp b/src/mainwindow.hpp new file mode 100644 index 0000000..3671e71 --- /dev/null +++ b/src/mainwindow.hpp @@ -0,0 +1,30 @@ +#ifndef MAINWINDOW_H +#define MAINWINDOW_H + +#include +#include "ui_mainwindow.h" +//#include "qnode.hpp" +#include +#include + +namespace Ui { +class MainWindow; +} + +class MainWindow : public QMainWindow +{ + Q_OBJECT + +public: + explicit MainWindow(QWidget *parent = nullptr); + ~MainWindow(); + void updateLogcamera(); + void displayCamera(const QImage& image); +private: + Ui::MainWindow *ui; + //QNode qnode; + QImage qimage_; + mutable QMutex qinmage_mutex_; +}; + +#endif // MAINWINDOW_H diff --git a/src/mainwindow.ui b/src/mainwindow.ui new file mode 100644 index 0000000..2c99f46 --- /dev/null +++ b/src/mainwindow.ui @@ -0,0 +1,45 @@ + + + MainWindow + + + + 0 + 0 + 800 + 600 + + + + MainWindow + + + + + + 110 + 50 + 67 + 17 + + + + TextLabel + + + + + + + 0 + 0 + 800 + 22 + + + + + + + + diff --git a/src/qnode.cpp b/src/qnode.cpp new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/qnode.cpp @@ -0,0 +1 @@ + diff --git a/src/qnode.hpp b/src/qnode.hpp new file mode 100644 index 0000000..b144f17 --- /dev/null +++ b/src/qnode.hpp @@ -0,0 +1,8 @@ +#include +#include +#include +#include +#include +#include + +