同意

CMakeLists.txt

@@ -4,9 +4,7 @@ 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
@@ -15,94 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
   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
@@ -115,6 +26,7 @@ catkin_package(
 ## Build ##
 ###########
 
+#set(OpenCV_DIR /usr/local/share/opencv4)
 find_package(OpenCV REQUIRED)
 find_package(Qt5  REQUIRED COMPONENTS  Widgets )
 set(CMAKE_AUTOMOC ON)
@@ -151,87 +63,5 @@ target_link_libraries(Air_Ground_CEC
     ${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)

src/include/automove.cpp

@@ -0,0 +1,6 @@
+#include "automove.h"
+
+AutoMove::AutoMove()
+{
+
+}

src/include/automove.h

@@ -0,0 +1,12 @@
+#ifndef AUTOMOVE_H
+#define AUTOMOVE_H
+
+
+class AutoMove
+{
+public:
+    AutoMove();
+
+};
+
+#endif // AUTOMOVE_H

src/include/qnode.hpp

@@ -35,28 +35,41 @@ public:
     bool init();
     void SubAndPubTopic();
     void KeyboardMove(char key, float speed_linear, float speed_trun);
+    void AutoMove(float speed_linear, float speed_turn,
+                  float target_linear, float target_turn);
+    QImage image;
 
 Q_SIGNALS:
     void speed_x(double x);
     void speed_th(double th);
     void power(float p);
 
+    void loggingCamera();//发出设置相机图片信号
+
+
+
 private:
     int init_argc;
     char **init_argv;
     ros::Publisher chatter_publisher;
     ros::Subscriber chatter_subscriber;
     ros::Publisher cmd_pub;
+    ros::Publisher cmd_pub1;
     ros::Subscriber cmdVel_sub;
     ros::Subscriber power_sub;
-
+    QStringListModel logging_model;
+    image_transport::Subscriber image_sub;
+    cv::Mat img;
     QString odom_topic;
     QString batteryState_topic;
 
 
     void speedCallback(const nav_msgs::Odometry::ConstPtr& msg);
     void powerCallback(const std_msgs::Float32& message_holder);
-    void myCallback(const std_msgs::Float64& message_holder);
+    //void myCallback(const std_msgs::Float64& message_holder);
+
+    void myCallback_img(const sensor_msgs::ImageConstPtr& msg);//camera callback function
+
 
 };
 

src/main/mainwindow.cpp

@@ -191,6 +191,7 @@ void MainWindow::slot_keyboard_control(){
     //std::cout<<liner<<" "<<turn<<std::endl;
     qnode.KeyboardMove(key, liner, turn);
 
+
 }
 
 
@@ -277,6 +278,8 @@ void MainWindow::connections(){
 
     connect(&qnode, SIGNAL(speed_x(double)), this, SLOT(slot_speed_x(double)));
     connect(&qnode, SIGNAL(speed_th(double)), this, SLOT(slot_speed_th(double)));
+
+    QObject::connect(&qnode,SIGNAL(loggingCamera()),this,SLOT(updateLogcamera()));
 }
 
 
@@ -322,4 +325,15 @@ void MainWindow::Slider_linear_valueChanged(int v) {
   ui->label_linear->setText(QString::number(v));
 }
 
-
+void MainWindow::displayCamera(const QImage &image)
+{
+    qimage_mutex_.lock();
+    qimage_ = image.copy();
+    ui->label_camera->setPixmap(QPixmap::fromImage(qimage_));
+    ui->label_camera->resize(ui->label_camera->pixmap()->size());
+    qimage_mutex_.unlock();
+}
+void MainWindow::updateLogcamera()
+{
+  displayCamera(qnode.image);
+}

src/main/qnode.cpp

@@ -25,6 +25,7 @@ bool QNode::init() {
     ros::init(init_argc,init_argv,"Air_Ground_CEC",
             ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
     SubAndPubTopic();
+    //start();
     return true;
 }
 
@@ -36,6 +37,11 @@ void QNode::SubAndPubTopic(){
     //power_sub = n.subscribe(batteryState_topic.toStdString(), 1000,
       //                          &QNode::powerCallback, this);
     cmd_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
+    cmd_pub1 = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
+    image_transport::ImageTransport it(n);
+    //chatter_subscriber = n.subscribe("chatter",1000,&QNode::myCallback,this);
+    image_sub = it.subscribe("camera/image",100,&QNode::myCallback_img,this);
+    //chatter_publisher = n.advertise<std_msgs::String>("chatter1", 1000);
 }
 
 void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
@@ -70,9 +76,101 @@ void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
     ros::spinOnce();
 }
 
+void QNode::AutoMove(float speed_linear, float speed_turn,
+              float target_linear, float target_turn){
+
+    // wrong command
+    if (speed_linear==0 && speed_turn ==0){
+        std::cout<<"wrong command"<<endl;
+        return;
+    }
+
+
+    //How fast will we update the robot's movement?
+    double rate = 1;
+    //Set the equivalent ROS rate variable
+    ros::Rate loopRate(rate);
+
+    std::map<char, std::vector<float>> Directions {
+        {'w',{1, 0, 0, 0}}, {'x',{-1, 0, 0, 0}}, {'s',{0, 0, 0, 0}},
+        {'a',{0, 0, 0, 1}}, {'d',{0, 0, 0, -1}}
+    };
+    char key = 's';
+    if(target_linear < 0){
+        key = 'x';
+    }
+    else if (target_linear > 0){
+        key = 'w';
+    }
+    else if (target_turn > 0){
+        key = 'a';
+    }
+    else if (target_turn < 0){
+        key = 'd';
+    }
+
+    float x = Directions[key][0];
+    float y = Directions[key][1];
+    float z = Directions[key][2];
+    float th = Directions[key][3];
+
+
+
+    float total_times = 0;
+    if (target_linear == 0){
+        total_times = fabs(target_turn)/speed_turn;
+    }
+    else{
+        total_times = fabs(target_linear)/speed_linear;
+    }
+
+    std::cout<< total_times<<std::endl;
+
+    int ticks;
+    geometry_msgs::Twist twist;
+
+
+    twist.linear.x = speed_linear * x;
+    twist.linear.y = speed_linear * y;
+    twist.linear.z = speed_linear * z;
+
+    twist.angular.x = 0;
+    twist.angular.y = 0;
+    twist.angular.z = speed_turn * th;
+
+    ticks = int(total_times);
+
+    for(int i = 0; i < ticks; i++)
+    {
+      cmd_pub.publish(twist); // 将刚才设置的指令发送给机器人
+      loopRate.sleep();
+    }
+
+    ros::spinOnce();
+}
+
 //速度回调函数
 void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
 {
     emit speed_x(msg->twist.twist.linear.x);
     emit speed_th(msg->twist.twist.angular.z);
 }
+
+
+
+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!");
+    std::cout<<"10"<<std::endl;
+    emit loggingCamera();
+  }
+catch (cv_bridge::Exception& e)
+  {
+    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
+  }
+}

src/ui/mainwindow.hpp

@@ -44,6 +44,8 @@ public slots:
     void Slider_raw_valueChanged(int v);
     void Slider_linear_valueChanged(int v);
 
+    void updateLogcamera();//added
+    void displayCamera(const QImage& image);//added
 
 
 private:
@@ -57,6 +59,8 @@ private:
     void setBtnStyles();
     void connections();
 
+    QImage qimage_;//added
+    mutable QMutex qimage_mutex_;//added
 
 
 };