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Air_Ground_CEC
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同意

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同意合并，下步尽快编写出，根据系统指令控制turtlebot移动
pull/14/head
pvqf6mep3 3 years ago
parent aa1423744b f9de4ae955
commit 9af234741f
6 changed files with 431 additions and 231 deletions
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5
CMakeLists.txt
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@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
std_msgs std_msgs
cv_bridge cv_bridge
sensor_msgs
image_transport image_transport
) )
@ -122,12 +123,12 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(SOURCES set(SOURCES
src/include/qnode.hpp src/include/qnode.hpp
src/include/roskeyboardteleopnode.h
src/main/main.cpp src/main/main.cpp
src/main/mainwindow.cpp src/main/mainwindow.cpp
src/main/qnode.cpp src/main/qnode.cpp
src/main/roskeyboardteleopnode.cpp
src/ui/mainwindow.hpp src/ui/mainwindow.hpp
src/ui/mainwindow.ui src/ui/mainwindow.ui

17
src/include/qnode.hpp
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@ -4,6 +4,8 @@
#ifndef Q_MOC_RUN #ifndef Q_MOC_RUN
#include <ros/ros.h> #include <ros/ros.h>
#endif #endif
#include <iostream>
#include <QImage> #include <QImage>
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
@ -17,6 +19,8 @@
#include <geometry_msgs/Twist.h> #include <geometry_msgs/Twist.h>
#include <QThread> #include <QThread>
using namespace std;
class QNode : public QThread{ class QNode : public QThread{
Q_OBJECT Q_OBJECT
@ -25,25 +29,16 @@ public:
virtual ~QNode(); virtual ~QNode();
bool init(); bool init();
void SubAndPubTopic(); void SubAndPubTopic();
void KeyboardMove(char key); void KeyboardMove(char key, float speed_linear, float speed_trun);
//void myCallback_img(const sensor_msgs::ImageConstPtr& msg);//camera callback function
//QImage image;
//Q_SIGNALS:
//void loggingCamera();//发出设置相机图片信号
private: private:
int init_argc; int init_argc;
char **init_argv; char **init_argv;
ros::Subscriber cmdVel_sub; ros::Subscriber cmdVel_sub;
ros::Publisher cmd_pub; ros::Publisher KeyboardControl_cmd_pub;
//ros::Publisher chatter_publisher;
//QStringList logging_model;
//image_transport::Subscriber image_sub;
//cv::Mat img;
}; };
#endif #endif

108
src/main/mainwindow.cpp
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@ -23,58 +23,80 @@ void MainWindow::slot_keyboard_control(){
QPushButton *btn = qobject_cast<QPushButton *>(sender()); QPushButton *btn = qobject_cast<QPushButton *>(sender());
std::string btn_name = btn->text().toStdString(); std::string btn_name = btn->text().toStdString();
char key = ' '; char key = ' ';
if (btn_name == "左"){
key = 'a'; if (btn_name == "↙")
} key = '1';
else if (btn_name == "右") { else if (btn_name == "↓")
key = 'd'; key = '2';
} else if (btn_name == "↘")
else if (btn_name == "前") { key = '3';
key = 'w'; else if (btn_name == "←")
} key = '4';
else if (btn_name == "后") { //else if (btn_name == "")
key = 's'; // key = '5';
} else if (btn_name == "→")
/* key = '6';
else if (btn_name == "加速") { else if (btn_name == "↖")
key = 'f'; key = '7';
} else if (btn_name == "↑")
*/ key = '8';
else if (btn_name == "↗")
key = '9';
qnode.KeyboardMove(key);
//速度
float liner = ui->horizontalSlider_linear->value() * 0.01;
float turn = ui->horizontalSlider_raw->value() * 0.01;
//bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
std::cout<<liner<<" "<<turn<<std::endl;
qnode.KeyboardMove(key, liner, turn);
} }
void MainWindow::connections(){ void MainWindow::connections(){
//绑定速度控制按钮 //绑定速度控制按钮
ui->pushButton_W->setShortcut(Qt::Key_W); // 8 -> Forward:↑
connect(ui->pushButton_W, SIGNAL(clicked()), this, SLOT(slot_keyboard_control())); ui->pushButton_Forward->setShortcut(Qt::Key_8);
ui->pushButton_S->setShortcut(Qt::Key_S); connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
connect(ui->pushButton_S, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
ui->pushButton_A->setShortcut(Qt::Key_A); ui->pushButton_Back->setShortcut(Qt::Key_2);
connect(ui->pushButton_A, SIGNAL(clicked()), this, SLOT(slot_keyboard_control())); connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
ui->pushButton_D->setShortcut(Qt::Key_D);
connect(ui->pushButton_D, SIGNAL(clicked()), this, SLOT(slot_keyboard_control())); ui->pushButton_Left->setShortcut(Qt::Key_4);
connect(ui->pushButton_shift, SIGNAL(clicked()), this, SLOT(slot_keyboard_control())); connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
//
//QObject::connect(&qnode, SIGNAL(loggingCamera()), this, SLOT(slot_updateCamera())); ui->pushButton_Right->setShortcut(Qt::Key_6);
} connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
/* ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
void MainWindow::slot_dispalyCamera(const QImage &image){ connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
qimage_mutex.lock();
qimage = image.copy(); ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
ui->UGV_Vedio->setPixmap(QPixmap::fromImage(qimage)); connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
ui->UGV_Vedio->resize(ui->UGV_Vedio->pixmap()->size());
qimage_mutex.unlock();
ui->pushButton_shift->setShortcut(Qt::ShiftModifier);
connect(ui->pushButton_shift, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
//绑定slider的函数
connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
SLOT(Slider_raw_valueChanged(int)));
connect(ui->horizontalSlider_linear, SIGNAL(valueChanged(int)), this,
SLOT(Slider_linear_valueChanged(int)));
} }
void MainWindow::slot_updateCamera() //滑动条处理槽函数
{ void MainWindow::Slider_raw_valueChanged(int v) {
slot_dispalyCamera(qnode.image); ui->label_raw->setText(QString::number(v));
}
//滑动条处理槽函数
void MainWindow::Slider_linear_valueChanged(int v) {
ui->label_linear->setText(QString::number(v));
} }
*/

50
src/main/qnode.cpp
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@ -27,40 +27,38 @@ bool QNode::init() {
void QNode::SubAndPubTopic(){ void QNode::SubAndPubTopic(){
ros::NodeHandle n; ros::NodeHandle n;
cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1); KeyboardControl_cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
} }
void QNode::KeyboardMove(char key){ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
std::map<char, std::vector<float>> moveBindings { std::map<char, std::vector<float>> moveBindings {
// {'key', {speed, turn}} // {'key', {x, y, z, th}}
{'w', {1, 0}}, {'s', {-1, 0}}, {'a', {0, 1}}, {'d', {0, -1}}, {'7', {1, 1, 0, 0}}, {'8', {1, 0, 0, 0}}, {'9', {1, -1, 0, 0}},
{'W', {1, 0}}, {'S', {-1, 0}}, {'A', {0, 1}}, {'D', {0, -1}} {'4', {0, 0, 0, 1}}, {'5', {0, 0, 0, 0}}, {'6', {0, 0, 0, -1}},
{'1', {-1, 1, 0, 0}}, {'2', {-1, 0, 0, 0}}, {'3', {-1, -1, 0, 0}}
}; };
float x = moveBindings[key][0]; float x = moveBindings[key][0];
float z = moveBindings[key][1]; float y = moveBindings[key][1];
float z = moveBindings[key][2];
float th = moveBindings[key][3];
//计算线速度和角速度
float speed = speed_linear;
float turn = speed_trun;
geometry_msgs::Twist twist; geometry_msgs::Twist twist;
twist.linear.x = x; twist.linear.x = x * speed;
twist.angular.z = z; twist.linear.y = y * speed;
cmd_pub.publish(twist); twist.linear.z = z * speed;
twist.angular.x = 0;
twist.angular.y = 0;
twist.angular.z = th * turn;
KeyboardControl_cmd_pub.publish(twist);
ros::spinOnce(); ros::spinOnce();
} }
/*
void QNode::myCallback_img(const sensor_msgs::ImageConstPtr &msg)
{
try
{
cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
img = cv_ptr->image;
image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change to QImage format
ROS_INFO("I'm setting picture in mul_t callback function!");
Q_EMIT loggingCamera();
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
}
*/

10
src/ui/mainwindow.hpp
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@ -22,15 +22,17 @@ public:
public slots: public slots:
void slot_keyboard_control(); void slot_keyboard_control();
//void slot_updateCamera(); //void slot_command_control(int linear, int angular);
//void slot_dispalyCamera(const QImage& image); void Slider_raw_valueChanged(int v);
void Slider_linear_valueChanged(int v);
private: private:
Ui::MainWindow *ui; Ui::MainWindow *ui;
void connections(); void connections();
QNode qnode; QNode qnode;
//QImage qimage;
//mutable QMutex qimage_mutex;
}; };

334
src/ui/mainwindow.ui
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@ -17,15 +17,84 @@
<widget class="QWidget" name="layoutWidget"> <widget class="QWidget" name="layoutWidget">
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>1160</x> <x>60</x>
<y>240</y> <y>30</y>
<width>314</width> <width>502</width>
<height>164</height> <height>654</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="UAV_Vedio">
<property name="minimumSize">
<size>
<width>500</width>
<height>300</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>300</height>
</size>
</property>
<property name="mouseTracking">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>UAV_VEDIO</string>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="UAV_Path">
<property name="minimumSize">
<size>
<width>500</width>
<height>300</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>300</height>
</size>
</property>
<property name="text">
<string>PATH</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QPushButton" name="pushButton_shift">
<property name="geometry">
<rect>
<x>760</x>
<y>70</y>
<width>100</width>
<height>50</height>
</rect> </rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_W">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>100</width> <width>100</width>
@ -44,22 +113,57 @@
</font> </font>
</property> </property>
<property name="text"> <property name="text">
<string>前</string> <string>加速</string>
</property>
</widget>
<widget class="QWidget" name="">
<property name="geometry">
<rect>
<x>1020</x>
<y>271</y>
<width>316</width>
<height>172</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_Forward">
<property name="minimumSize">
<size>
<width>100</width>
<height>32</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>32</height>
</size>
</property>
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="text">
<string>↑</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="2"> <item row="1" column="2">
<widget class="QPushButton" name="pushButton_D"> <widget class="QPushButton" name="pushButton_Right">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="font"> <property name="font">
@ -68,22 +172,22 @@
</font> </font>
</property> </property>
<property name="text"> <property name="text">
<string>右</string> <string>→</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
<widget class="QPushButton" name="pushButton_A"> <widget class="QPushButton" name="pushButton_Left">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="font"> <property name="font">
@ -92,22 +196,22 @@
</font> </font>
</property> </property>
<property name="text"> <property name="text">
<string>左</string> <string>←</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="2" column="1">
<widget class="QPushButton" name="pushButton_S"> <widget class="QPushButton" name="pushButton_Back">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="font"> <property name="font">
@ -116,22 +220,22 @@
</font> </font>
</property> </property>
<property name="text"> <property name="text">
<string>后</string> <string>↓</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="0" column="0">
<widget class="QPushButton" name="pushButton_shift"> <widget class="QPushButton" name="pushButton_Left_Forward">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>100</width> <width>100</width>
<height>50</height> <height>32</height>
</size> </size>
</property> </property>
<property name="font"> <property name="font">
@ -140,96 +244,174 @@
</font> </font>
</property> </property>
<property name="text"> <property name="text">
<string>加速</string> <string>↖</string>
</property> </property>
</widget> </widget>
</item> </item>
</layout> <item row="0" column="2">
</widget> <widget class="QPushButton" name="pushButton_Right_Forward">
<widget class="QLabel" name="UGV_Vedio"> <property name="minimumSize">
<property name="geometry"> <size>
<rect> <width>100</width>
<x>610</x> <height>32</height>
<y>60</y> </size>
<width>321</width> </property>
<height>211</height> <property name="maximumSize">
</rect> <size>
<width>100</width>
<height>32</height>
</size>
</property>
<property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property> </property>
<property name="text"> <property name="text">
<string>TextLabel</string> <string>↗</string>
</property> </property>
</widget> </widget>
<widget class="QWidget" name=""> </item>
<property name="geometry"> <item row="2" column="0">
<rect> <widget class="QPushButton" name="pushButton_Left_Back">
<x>60</x>
<y>30</y>
<width>502</width>
<height>654</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="UAV_Vedio">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>500</width> <width>100</width>
<height>300</height> <height>32</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>500</width> <width>100</width>
<height>300</height> <height>32</height>
</size> </size>
</property> </property>
<property name="mouseTracking"> <property name="font">
<bool>false</bool> <font>
</property> <pointsize>15</pointsize>
<property name="styleSheet"> </font>
<string notr="true"/>
</property> </property>
<property name="text"> <property name="text">
<string>UAV_VEDIO</string> <string>↙</string>
</property>
<property name="scaledContents">
<bool>false</bool>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item row="2" column="2">
<spacer name="verticalSpacer"> <widget class="QPushButton" name="pushButton_Right_Back">
<property name="orientation"> <property name="minimumSize">
<enum>Qt::Vertical</enum> <size>
<width>100</width>
<height>32</height>
</size>
</property> </property>
<property name="sizeHint" stdset="0"> <property name="maximumSize">
<size> <size>
<width>20</width> <width>100</width>
<height>40</height> <height>32</height>
</size> </size>
</property> </property>
</spacer> <property name="font">
<font>
<pointsize>15</pointsize>
</font>
</property>
<property name="text">
<string>↘</string>
</property>
</widget>
</item> </item>
<item> <item row="1" column="1">
<widget class="QLabel" name="UAV_Path"> <widget class="QCheckBox" name="checkBox">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>500</width> <width>100</width>
<height>300</height> <height>32</height>
</size> </size>
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>500</width> <width>100</width>
<height>300</height> <height>32</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>12</pointsize>
</font>
</property>
<property name="text"> <property name="text">
<string>PATH</string> <string>狂暴模式</string>
</property> </property>
</widget> </widget>
</item> </item>
</layout> </layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_21">
<item>
<widget class="QLabel" name="label_linear_">
<property name="text">
<string>线速度(cm/s)：</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_linear">
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>50</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_linear">
<property name="text">
<string>100</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_20">
<item>
<widget class="QLabel" name="label_raw_">
<property name="text">
<string>角速度(cm/s)：</string>
</property>
</widget>
</item>
<item>
<widget class="QSlider" name="horizontalSlider_raw">
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>100</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_raw">
<property name="text">
<string>100</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget> </widget>
</widget> </widget>
<widget class="QMenuBar" name="menubar"> <widget class="QMenuBar" name="menubar">

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