add python2 demo

2025-09-15 12:58:59 +08:00 · 2022-01-04 18:08:11 +08:00 · 2022-01-04 18:08:11 +08:00 · 003cb57186
commit 003cb57186
parent adef5ea5ed
19 changed files with 26944 additions and 0 deletions
--- a/wpb_home_python/CMakeLists.txt
+++ b/wpb_home_python/CMakeLists.txt
@ -0,0 +1,205 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(wpb_home_python)
+
+## 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
+  rospy
+  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()
+
+################################################
+## 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
+# )
+
+################################################
+## 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 wpb_home_python
+#  CATKIN_DEPENDS rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## 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/${PROJECT_NAME}/wpb_home_python.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/wpb_home_python_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_wpb_home_python.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/wpb_home_python/config/haarcascade_frontalface_alt.xml
+++ b/wpb_home_python/config/haarcascade_frontalface_alt.xml
--- a/wpb_home_python/launch/map_tools.launch
+++ b/wpb_home_python/launch/map_tools.launch
@ -0,0 +1,62 @@
+<launch>
+  <master auto="start"/>
+
+  <!-- wpb_home core-->
+  <node pkg="wpb_home_bringup" type="wpb_home_core" name="wpb_home_core" output="screen">
+    <param name="serial_port" type="string" value="/dev/ftdi"/> 
+    <rosparam file="$(find wpb_home_bringup)/config/wpb_home.yaml" command="load" />
+  </node>
+
+  <!--- Run Rplidar -->
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+    <param name="serial_port"         type="string" value="/dev/rplidar"/>  
+    <param name="serial_baudrate"     type="int"    value="115200"/>
+    <param name="frame_id"            type="string" value="laser"/>
+    <param name="inverted"            type="bool"   value="false"/>
+    <param name="angle_compensate"    type="bool"   value="true"/>
+    <remap from="scan" to="scan_raw"/>
+  </node>
+    
+  <!-- Run lidar filter -->
+  <node pkg="wpb_home_bringup" type="wpb_home_lidar_filter" name="wpb_home_lidar_filter">
+    <param name="pub_topic" value="/scan"/>
+  </node>
+
+  <!-- Run the map server -->
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find wpb_home_tutorials)/maps/map.yaml"/>
+
+  <!--- Run AMCL -->
+  <include file="$(find wpb_home_tutorials)/nav_lidar/amcl_omni.launch" />
+
+  <!--- Run move base -->
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base"  output="screen">
+    <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find wpb_home_tutorials)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find wpb_home_tutorials)/nav_lidar/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find wpb_home_tutorials)/nav_lidar/global_costmap_params.yaml" command="load" />
+    <param name="base_global_planner" value="global_planner/GlobalPlanner" /> 
+    <param name="use_dijkstra" value="true"/>
+    <param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
+
+    <param name= "controller_frequency" value="10" type="double"/>
+  </node>
+
+  <!-- RViz and TF tree -->
+  <arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
+  <arg name="gui" default="true" />
+  <arg name="rvizconfig" default="$(find waterplus_map_tools)/rviz/nav.rviz" />
+
+  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
+  <param name="use_gui" value="$(arg gui)"/>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+  <!-- Map tools  -->
+  <node pkg="waterplus_map_tools" type="wp_manager" name="wp_manager" output="screen"/>
+
+  <!-- WP_navi_server  -->
+  <node pkg="waterplus_map_tools" type="wp_navi_server" name="wp_navi_server" output="screen"/>
+
+
+</launch>
--- a/wpb_home_python/package.xml
+++ b/wpb_home_python/package.xml
@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>wpb_home_python</name>
+  <version>0.0.0</version>
+  <description>The wpb_home_python package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="robot@todo.todo">robot</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/wpb_home_python</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/wpb_home_python/scripts/grab_node.py
+++ b/wpb_home_python/scripts/grab_node.py
@ -0,0 +1,57 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from wpb_home_behaviors.msg import Coord
+from std_msgs.msg import String
+from geometry_msgs.msg import Pose
+
+# 标记变量，是否处于抓取过程当中
+grabbing = False
+
+# 物品检测回调函数
+def cbObject(msg):
+    global grabbing
+    if grabbing == False:
+        num = len(msg.name)
+        rospy.loginfo("检测物品个数 = %d", num)
+        if num > 0:
+            rospy.logwarn("抓取目标 %s! (%.2f , %.2f , %.2f)",msg.name[0],msg.x[0],msg.y[0],msg.z[0]);
+            grab_msg = Pose()
+            grab_msg.position.x = msg.x[0]
+            grab_msg.position.y = msg.y[0]
+            grab_msg.position.z = msg.z[0]
+            global grab_pub
+            grab_pub.publish(grab_msg)
+            grabbing = True
+            # 已经获取物品坐标，停止检测
+            behavior_msg = String()
+            behavior_msg.data = "object_detect stop"
+            behaviors_pub.publish(behavior_msg)
+
+# 抓取执行结果回调函数
+def cbGrabResult(msg):
+    rospy.logwarn("抓取执行结果 = %s",msg.data)
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("grab_node")
+    # 发布物品检测激活话题
+    behaviors_pub = rospy.Publisher("/wpb_home/behaviors", String, queue_size=10)
+    # 发布抓取行为激活话题
+    grab_pub = rospy.Publisher("/wpb_home/grab_action", Pose, queue_size=10)
+    # 订阅物品检测结果的话题
+    object_sub = rospy.Subscriber("/wpb_home/objects_3d", Coord, cbObject, queue_size=10)
+    # 订阅抓取执行结果的话题
+    result_sub = rospy.Subscriber("/wpb_home/grab_result", String, cbGrabResult, queue_size=10)
+ 
+    # 延时三秒，让后台的话题初始化操作能够完成
+    d = rospy.Duration(3.0)
+    rospy.sleep(d)
+
+    # 发送消息，激活物品检测行为
+    msg = String()
+    msg.data = "object_detect start"
+    behaviors_pub.publish(msg)
+
+    rospy.spin()
--- a/wpb_home_python/scripts/image_data.py
+++ b/wpb_home_python/scripts/image_data.py
@ -0,0 +1,30 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+import cv2
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge, CvBridgeError
+
+capture_one_frame = True
+
+# 彩色图像回调函数
+def cbImage(msg):
+    bridge = CvBridge()
+    cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
+    # 弹出窗口显示图片
+    cv2.imshow("Image window", cv_image)
+    cv2.waitKey(1)
+    # 保存图像到文件
+    global capture_one_frame
+    if capture_one_frame == True:
+        cv2.imwrite('/home/robot/1.jpg', cv_image)
+        rospy.logwarn("保存图片成功！")
+        capture_one_frame = False
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("image_data")
+    # 订阅机器人视觉传感器Kinect2的图像话题
+    image_sub = rospy.Subscriber("/kinect2/hd/image_color_rect",Image,cbImage,queue_size=10)
+    rospy.spin()
--- a/wpb_home_python/scripts/image_face_detect.py
+++ b/wpb_home_python/scripts/image_face_detect.py
@ -0,0 +1,31 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+import cv2
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge, CvBridgeError
+
+# 彩色图像回调函数
+def cbImage(msg):
+    bridge = CvBridge()
+    cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
+    #转换为灰度图
+    gray_img=cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
+    #创建一个级联分类器
+    face_casecade = cv2.CascadeClassifier('/home/robot/catkin_ws/src/wpb_home_python/config/haarcascade_frontalface_alt.xml')
+    #人脸检测
+    face = face_casecade.detectMultiScale(gray_img, 1.3, 5)
+    for (x,y,w,h) in face:
+        #在原图上绘制矩形
+        cv2.rectangle(cv_image,(x,y),(x+w,y+h),(0,0,255),3)
+    # 弹出窗口显示图片
+    cv2.imshow("face window", cv_image)
+    cv2.waitKey(1)
+    
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("image_face_detect")
+    # 订阅机器人视觉传感器Kinect2的图像话题
+    image_sub = rospy.Subscriber("/kinect2/hd/image_color_rect",Image,cbImage,queue_size=10)
+    rospy.spin()
--- a/wpb_home_python/scripts/lidar_behavior.py
+++ b/wpb_home_python/scripts/lidar_behavior.py
@ -0,0 +1,35 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from sensor_msgs.msg import LaserScan
+from geometry_msgs.msg import Twist
+
+count = 0
+
+# 激光雷达回调函数
+def cbScan(msg):
+    global vel_pub
+    global count
+    vel_msg = Twist()
+    dist = msg.ranges[180]
+    rospy.logwarn("正前方测距数值 = %.2f",dist)
+    if count > 0:
+        count = count -1
+        rospy.loginfo("持续转向 count = %d",count)
+        return
+    if dist > 1.5:
+        vel_msg.linear.x = 0.05
+    else:
+        vel_msg.angular.z = 0.3
+        count = 50
+    vel_pub.publish(vel_msg)
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("lidar_behavior")
+    # 发布机器人运动控制话题
+    vel_pub = rospy.Publisher("cmd_vel",Twist,queue_size=10)
+    # 订阅激光雷达的数据话题
+    lidar_sub = rospy.Subscriber("scan",LaserScan,cbScan,queue_size=10)
+    rospy.spin()
--- a/wpb_home_python/scripts/lidar_data.py
+++ b/wpb_home_python/scripts/lidar_data.py
@ -0,0 +1,17 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from sensor_msgs.msg import LaserScan
+
+# 激光雷达回调函数
+def cbScan(msg):
+    rospy.loginfo("雷达数据个数 = %d",len(msg.ranges))
+    rospy.logwarn("正前方测距数值 = %.2f",msg.ranges[180])
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("lidar_data")
+    # 订阅激光雷达的数据话题
+    lidar_sub = rospy.Subscriber("scan",LaserScan,cbScan,queue_size=10)
+    rospy.spin()
--- a/wpb_home_python/scripts/mani_ctrl.py
+++ b/wpb_home_python/scripts/mani_ctrl.py
@ -0,0 +1,53 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from sensor_msgs.msg import JointState
+
+state = 0
+
+if __name__ == "__main__":
+    rospy.init_node("mani_ctrl")
+    # 发布机械臂控制话题
+    mani_pub = rospy.Publisher("/wpb_home/mani_ctrl",JointState,queue_size=30)
+    # 构造机械臂控制消息并进行赋值
+    msg = JointState()
+    msg.name = ['lift', 'gripper']
+    msg.position = [ 0 , 0 ]
+    msg.velocity = [ 0 , 0 ]
+    rospy.loginfo("bef")
+    # 延时三秒，让后台的话题发布操作能够完成
+    d = rospy.Duration(3.0)
+    rospy.sleep(d)
+    # 构建发送频率对象
+    rate = rospy.Rate(0.1)
+    while not rospy.is_shutdown():
+        if state == 0:
+            rospy.loginfo("[mani_ctrl] ZERO -> DOWN")
+            msg.position[0] = 0.5   # 升降高度(单位:米)
+            msg.velocity[0] = 0.5   #升降速度(单位:米/秒)
+            msg.position[1] = 0.1   #手爪指间距(单位:米)
+            msg.velocity[1] = 5         #手爪开合角速度(单位:度/秒)
+        if state == 1:
+            rospy.loginfo("[mani_ctrl] DOWN -> UP")
+            msg.position[0] = 1.0   # 升降高度(单位:米)
+            msg.velocity[0] = 0.5   #升降速度(单位:米/秒)
+            msg.position[1] = 0   #手爪指间距(单位:米)
+            msg.velocity[1] = 5         #手爪开合角速度(单位:度/秒)
+        if state == 2:
+            rospy.loginfo("[mani_ctrl] UP -> DOWN")
+            msg.position[0] = 0.5   # 升降高度(单位:米)
+            msg.velocity[0] = 0.5   #升降速度(单位:米/秒)
+            msg.position[1] = 0.1   #手爪指间距(单位:米)
+            msg.velocity[1] = 5         #手爪开合角速度(单位:度/秒)
+        if state == 3:
+            rospy.loginfo("[mani_ctrl] DOWN -> ZERO")
+            msg.position[0] = 0   # 升降高度(单位:米)
+            msg.velocity[0] = 0.5   #升降速度(单位:米/秒)
+            msg.position[1] = 0.1   #手爪指间距(单位:米)
+            msg.velocity[1] = 5         #手爪开合角速度(单位:度/秒)
+        mani_pub.publish(msg)
+        rate.sleep()
+        state += 1
+        if state == 4:
+            state = 0
--- a/wpb_home_python/scripts/map_tools_navi.py
+++ b/wpb_home_python/scripts/map_tools_navi.py
@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from std_msgs.msg import String
+
+# 导航结果回调函数
+def resultNavi(msg):
+    rospy.loginfo("导航结果 = %s",msg.data)
+
+if __name__ == "__main__":
+    rospy.init_node("map_tools_navi")
+    # 发布航点名称话题
+    waypoint_pub = rospy.Publisher("/waterplus/navi_waypoint",String,queue_size=10)
+    # 订阅导航结果话题
+    result_sub = rospy.Subscriber("/waterplus/navi_result",String,resultNavi,queue_size=10)
+    # 延时1秒钟，让后台的话题发布操作能够完成
+    rospy.sleep(1)
+    # 构建航点名称消息包
+    msg = String()
+    msg.data = '1'
+    # 发送航点名称消息包
+    waypoint_pub.publish(msg)
+    # 构建循环让程序别退出，等待导航结果
+    rate = rospy.Rate(10)
+    while not rospy.is_shutdown():
+        rate.sleep()
--- a/wpb_home_python/scripts/object_detect.py
+++ b/wpb_home_python/scripts/object_detect.py
@ -0,0 +1,33 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from wpb_home_behaviors.msg import Coord
+from std_msgs.msg import String
+
+# 物品检测回调函数
+def cbObject(msg):
+    print("------------------------------------------")
+    rospy.loginfo("检测物品个数 = %d",len(msg.name))
+    for i in range(len(msg.name)):
+        rospy.logwarn("%d号物品 %s 坐标为(%.2f, %.2f, %.2f) ",
+        i, msg.name[i], msg.x[i], msg.y[i], msg.z[i] )
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("object_detect")
+    # 发布物品检测激活话题
+    behaviors_pub = rospy.Publisher("/wpb_home/behaviors", String, queue_size=10)
+    # 订阅物品检测结果的话题
+    object_sub = rospy.Subscriber("/wpb_home/objects_3d", Coord, cbObject, queue_size=10)
+
+    # 延时三秒，让后台的话题初始化操作能够完成
+    d = rospy.Duration(3.0)
+    rospy.sleep(d)
+
+    # 发送消息，激活物品检测行为
+    msg = String()
+    msg.data = "object_detect start"
+    behaviors_pub.publish(msg)
+    
+    rospy.spin()
--- a/wpb_home_python/scripts/pointcloud_data.py
+++ b/wpb_home_python/scripts/pointcloud_data.py
@ -0,0 +1,22 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from sensor_msgs.msg import PointCloud2
+import sensor_msgs.point_cloud2 as pc2
+
+# 三维点云回调函数
+def callbackPointcloud(msg):
+    # 从点云中提取三维坐标数值
+    pc = pc2.read_points(msg, skip_nans=True, field_names=("x", "y", "z"))
+    point_cnt = 0
+    for p in pc:
+        rospy.loginfo("第%d点坐标 (x= %.2f, y= %.2f, z= %.2f)",point_cnt, p[0],p[1],p[2] )
+        point_cnt += 1
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("pointcloud_data")
+    # 订阅机器人视觉传感器Kinect2的三维点云话题
+    pc_sub = rospy.Subscriber("/kinect2/sd/points",PointCloud2, callbackPointcloud,queue_size=10)
+    rospy.spin()
--- a/wpb_home_python/scripts/pointcloud_field.py
+++ b/wpb_home_python/scripts/pointcloud_field.py
@ -0,0 +1,25 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from sensor_msgs.msg import PointCloud2
+import sensor_msgs.point_cloud2 as pc2
+
+# 三维点云回调函数
+def callbackPointcloud(msg):
+    field_num = len(msg.fields)
+    rospy.logwarn("PointField元素个数 = %d",field_num) 
+    print("--------------------------------")
+    for f in msg.fields:
+        rospy.loginfo("name = %s", f.name)
+        rospy.loginfo("offset = %d", f.offset)
+        rospy.loginfo("datatype = %d", f.datatype)
+        rospy.loginfo("count = %d", f.count)
+        print("--------------------------------")
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("pointcloud_field")
+    # 订阅机器人视觉传感器Kinect2的三维点云话题
+    pc_sub = rospy.Subscriber("/kinect2/sd/points",PointCloud2, callbackPointcloud,queue_size=10)
+    rospy.spin()
--- a/wpb_home_python/scripts/simple_goal.py
+++ b/wpb_home_python/scripts/simple_goal.py
@ -0,0 +1,33 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+import actionlib
+from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
+
+if __name__ == "__main__":
+    rospy.init_node("simple_goal")
+    # 生成一个导航请求客户端
+    ac = actionlib.SimpleActionClient('move_base',MoveBaseAction)
+    # 等待服务器端启动
+    ac.wait_for_server()
+
+    # 构建目标航点消息
+    goal = MoveBaseGoal()
+    # 目标航点的参考坐标系
+    goal.target_pose.header.frame_id="map"
+    # 目标航点在参考坐标系里的三维数值
+    goal.target_pose.pose.position.x = 1.0
+    goal.target_pose.pose.position.y = 0.0
+    goal.target_pose.pose.position.z = 0.0
+    # 目标航点在参考坐标系里的朝向信息
+    goal.target_pose.pose.orientation.x = 0.0
+    goal.target_pose.pose.orientation.y = 0.0
+    goal.target_pose.pose.orientation.z = 0.0
+    goal.target_pose.pose.orientation.w = 1.0
+
+    # 发送目标航点去执行
+    ac.send_goal(goal)
+    rospy.loginfo("开始导航……")
+    ac.wait_for_result()
+    rospy.loginfo("导航结束！")
--- a/wpb_home_python/scripts/speak_node.py
+++ b/wpb_home_python/scripts/speak_node.py
@ -0,0 +1,22 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from sound_play.msg import SoundRequest
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("speak_node")
+    # 发布语音内容话题
+    speak_pub = rospy.Publisher("/robotsound", SoundRequest, queue_size=20)
+
+    rate = rospy.Rate(0.2)
+    while not rospy.is_shutdown():
+        # 发送消息，让语音节点发声
+        msg = SoundRequest()
+        msg.sound = SoundRequest.SAY
+        msg.command = SoundRequest.PLAY_ONCE
+        msg.volume = 1.0
+        msg.arg = "hello world"
+        speak_pub.publish(msg)
+        rate.sleep()
--- a/wpb_home_python/scripts/sr_cn_node.py
+++ b/wpb_home_python/scripts/sr_cn_node.py
@ -0,0 +1,23 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from std_msgs.msg import String
+
+# 语音识别回调函数
+def cbKeyword(msg):
+    rospy.logwarn("语音识别结果 = %s", msg.data)
+    if msg.data == "你叫什么名字":
+        spk_msg = String()
+        spk_msg.data = "我是路西,你呢?"
+        spk_pub.publish(spk_msg)
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("sr_cn_node")
+    # 订阅语音识别结果的话题
+    sr_sub = rospy.Subscriber("/xfyun/iat", String, cbKeyword, queue_size=10)
+    # 发布语音说话内容的话题
+    spk_pub = rospy.Publisher("/xfyun/tts", String, queue_size=10)
+
+    rospy.spin()
--- a/wpb_home_python/scripts/sr_en_node.py
+++ b/wpb_home_python/scripts/sr_en_node.py
@ -0,0 +1,23 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from std_msgs.msg import String
+
+# 语音识别回调函数
+def cbKeyword(msg):
+    rospy.logwarn("语音识别结果 = %s", msg.data)
+    if msg.data == "Hello":
+        spk_msg = String()
+        spk_msg.data = "Hi"
+        spk_pub.publish(spk_msg)
+
+# 主函数
+if __name__ == "__main__":
+    rospy.init_node("sr_en_node")
+    # 订阅语音识别结果的话题
+    sr_sub = rospy.Subscriber("/xfyun/iat", String, cbKeyword, queue_size=10)
+    # 发布语音说话内容的话题
+    spk_pub = rospy.Publisher("/xfyun/tts", String, queue_size=10)
+
+    rospy.spin()
--- a/wpb_home_python/scripts/velocity_command.py
+++ b/wpb_home_python/scripts/velocity_command.py
@ -0,0 +1,20 @@
+#!/usr/bin/env python
+# coding=utf-8
+
+import rospy
+from geometry_msgs.msg import Twist
+
+if __name__ == "__main__":
+    rospy.init_node("velocity_command")
+    # 发布速度控制话题
+    vel_pub = rospy.Publisher("cmd_vel",Twist,queue_size=10)
+    # 构建速度消息包并赋值
+    msg = Twist()
+    msg.linear.x = 0.1
+    # msg.angular.z =0.1
+    # 构建发送频率对象
+    rate = rospy.Rate(10)
+    while not rospy.is_shutdown():
+        rospy.loginfo("发送一个速度消息包")
+        vel_pub.publish(msg)
+        rate.sleep()