mirror of
https://github.com/6-robot/wpb_home.git
synced 2025-09-15 12:58:59 +08:00
new demo
This commit is contained in:
ZhangWanjie
parent
4cc6d5952e
commit
e6ebbdc384
@ -333,3 +333,27 @@ add_dependencies(wpb_home_grab_object ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catk
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target_link_libraries(wpb_home_grab_object
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${catkin_LIBRARIES}
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)
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add_executable(wpb_home_image_node
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src/wpb_home_image_node.cpp
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)
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add_dependencies(wpb_home_image_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_image_node
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${catkin_LIBRARIES}
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)
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add_executable(wpb_home_pointcloud_node
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src/wpb_home_pointcloud_node.cpp
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)
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add_dependencies(wpb_home_pointcloud_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_pointcloud_node
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${catkin_LIBRARIES}
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)
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add_executable(wpb_home_behavior_node
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src/wpb_home_behavior_node.cpp
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)
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add_dependencies(wpb_home_behavior_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_behavior_node
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${catkin_LIBRARIES}
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)
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76
wpb_home_tutorials/src/wpb_home_behavior_node.cpp
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76
wpb_home_tutorials/src/wpb_home_behavior_node.cpp
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@ -0,0 +1,76 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017-2020, Waterplus http://www.6-robot.com
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the WaterPlus nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* FOOTPRINTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/*!******************************************************************
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@author ZhangWanjie
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********************************************************************/
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#include <ros/ros.h>
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#include <std_msgs/String.h>
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#include <sensor_msgs/LaserScan.h>
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#include <geometry_msgs/Twist.h>
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ros::Publisher vel_pub;
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void lidarCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
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{
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int nNum = scan->ranges.size();
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int nMid = nNum/2;
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float fMidDist = scan->ranges[nMid];
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ROS_INFO("Point[%d] = %f", nMid, fMidDist);
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geometry_msgs::Twist vel_cmd;
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if(fMidDist > 1.0f)
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{
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vel_cmd.linear.x = 0.05;
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}
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else
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{
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vel_cmd.angular.z = 0.1;
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}
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vel_pub.publish(vel_cmd);
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}
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int main(int argc, char** argv)
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{
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ros::init(argc,argv,"wpb_home_behavior_node");
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ROS_INFO("wpb_home_behavior_node start!");
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ros::NodeHandle nh;
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ros::Subscriber lidar_sub = nh.subscribe("/scan", 10, &lidarCallback);
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vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel",10);
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ros::spin();
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}
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70
wpb_home_tutorials/src/wpb_home_image_node.cpp
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70
wpb_home_tutorials/src/wpb_home_image_node.cpp
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@ -0,0 +1,70 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017-2020, Waterplus http://www.6-robot.com
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the WaterPlus nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* FOOTPRINTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/*!******************************************************************
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@author ZhangWanjie
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********************************************************************/
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#include <ros/ros.h>
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#include <cv_bridge/cv_bridge.h>
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#include <sensor_msgs/image_encodings.h>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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bool bCaptrueOneFrame = true;
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void callbackRGB(const sensor_msgs::ImageConstPtr& msg)
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{
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if(bCaptrueOneFrame == true)
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{
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cv_bridge::CvImagePtr cv_ptr;
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cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
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imwrite("/home/robot/1.jpg",cv_ptr->image);
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ROS_WARN("captrue image");
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bCaptrueOneFrame = false;
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}
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}
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "wpb_home_image_node");
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ROS_WARN("wpb_home_image_node start");
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ros::NodeHandle nh;
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ros::Subscriber rgb_sub = nh.subscribe("/kinect2/hd/image_color", 1 , callbackRGB);
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ros::spin();
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return 0;
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}
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67
wpb_home_tutorials/src/wpb_home_pointcloud_node.cpp
Normal file
67
wpb_home_tutorials/src/wpb_home_pointcloud_node.cpp
Normal file
@ -0,0 +1,67 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017-2020, Waterplus http://www.6-robot.com
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
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* are met:
|
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*
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* * Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
|
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* * Neither the name of the WaterPlus nor the names of its
|
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* contributors may be used to endorse or promote products derived
|
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* from this software without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* FOOTPRINTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/*!******************************************************************
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@author ZhangWanjie
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********************************************************************/
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#include <ros/ros.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl_ros/point_cloud.h>
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void callbackPC(const sensor_msgs::PointCloud2ConstPtr& msg)
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{
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pcl::PointCloud<pcl::PointXYZ> pointCloudIn;
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pcl::fromROSMsg(*msg , pointCloudIn);
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int cloudSize = pointCloudIn.points.size();
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int pcIndex = cloudSize/2;
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ROS_INFO("[pcIndex= %d] ( %.2f , %.2f , %.2f)",
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pcIndex ,
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pointCloudIn.points[pcIndex].x,
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pointCloudIn.points[pcIndex].y,
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pointCloudIn.points[pcIndex].z);
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}
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "wpb_home_pointcloud_node");
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ROS_WARN("wpb_home_pointcloud_node start");
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ros::NodeHandle nh;
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ros::Subscriber pc_sub = nh.subscribe("/kinect2/sd/points", 1 , callbackPC);
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ros::spin();
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return 0;
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}
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