第10章-智能網(wǎng)聯(lián)汽車ROS實踐

智能網(wǎng)聯(lián)汽車基礎(chǔ)人工智能總體技術(shù)和應(yīng)用要與世界先進水平同步，人工智能產(chǎn)業(yè)成為我國新的重要經(jīng)濟增長點人工智能基礎(chǔ)理論實現(xiàn)重大突破、技術(shù)與應(yīng)用部分達到世界領(lǐng)先水平，智能社會建設(shè)要取得積極進展我國要成為世界主要人工智能創(chuàng)新中心2017年國務(wù)院印發(fā)《新一代人工智能發(fā)展規(guī)劃》2018年政府工作報告提出，加強新一代人工智能研發(fā)應(yīng)用，發(fā)展智能產(chǎn)業(yè)，拓展智能生活

啟動小海龜仿真器啟動海龜控制節(jié)點’

????

add_executable(talker

src/talker.cpp)target_link_libraries(talker

${catkin_LIBRARIES})#add_dependencies(talker

${PROJECT_NAME}_generate_messages_cpp)add_executable(listener

src/listener.cpp)target_link_libraries(listener

${catkin_LIBRARIES})#add_dependencies(talker

${PROJECT_NAME}_generate_messages_cpp)

<build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend>

?

find_package(

……

message_generation)?

catkin_package(CATKIN_DEPENDS

geometry_msgs

roscpprospy

std_msgsmessage_runtime)?

add_message_files(FILES

Person.msg)generate_messages(DEPENDENCIES

std_msgs)

<build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend>int64

aint64

b---

?

find_package(

……

message_generation)int64

sum?

catkin_package(CATKIN_DEPENDS

geometry_msgs

roscpprospy

std_msgsmessage_runtime)AddTwoInts.srv?

add_service_files(FILES

AddTwoInts.srv)

add_executable(server

src/server.cpp)target_link_libraries(server

${catkin_LIBRARIES})add_dependencies(server

${PROJECT_NAME}_gencpp)add_executable(client

src/client.cpp)target_link_libraries(client

${catkin_LIBRARIES})add_dependencies(client

${PROJECT_NAME}_gencpp)?????????

#

定義目標(biāo)信息<build_depend>actionlib</build_depend><build_depend>actionlib_msgs</build_depend><exec_depend>actionlib</exec_depend><exec_depend>actionlib_msgs</exec_depend>uint32

dishwasher_id#

Specify

which

dishwasher

we

want

to

use---#

定義結(jié)果信息uint32

total_dishes_cleaned---

#

定義周期反饋的消息float32

percent_completefind_package(catkin

REQUIRED

actionlib_msgs

actionlib)add_action_files(DIRECTORY

actionFILESDoDishes.action)generate_messages(DEPENDENCIES

actionlib_msgs)

add_executable(DoDishes_client

src/DoDishes_client.cpp)target_link_libraries(

DoDishes_client

${catkin_LIBRARIES})add_dependencies(DoDishes_client

${${PROJECT_NAME}_EXPORTED_TARGETS})add_executable(DoDishes_server

src/DoDishes_server.cpp)target_link_libraries(

DoDishes_server${catkin_LIBRARIES})add_dependencies(DoDishes_server

${${PROJECT_NAME}_EXPORTED_TARGETS})$exportROS_MASTER_URI=http://hcx-pc:11311

（當(dāng)前終端有效）或$echo“export

ROS_MASTER_URI=http://hcx-pc:11311”

>>~/.bzshrc

（所有終端有效）???????????

?=??????1_??????2??

??????_??????2??????1_?????

0：3D視圖區(qū)

1：工具欄

2：顯示項列表

3：視角設(shè)置區(qū)

4：時間顯示區(qū)???????

0：3D視圖區(qū)

1：工具欄

2：模型列表

3：模型屬性項

4：時間顯示區(qū)

gazebo_ros

-

主要用于gazebo接口封裝、gazebo服務(wù)端和客戶端的啟動、URDF模型生成等。

gazebo_msgs

-

是gazebo的Msg和Srv數(shù)據(jù)結(jié)構(gòu)。

gazebo_plugins

-

用于gazebo的通用傳感器插件。

gazebo_ros_api_plugin和gazebo_ros_path_plugin

這

兩個Gazebo的插件實現(xiàn)接口封裝。創(chuàng)建仿真環(huán)境配置機器人模型開始仿真??????????????

機

器人…關(guān)節(jié)控制人機交互系統(tǒng)監(jiān)督處理器算法計算控制系統(tǒng)驅(qū)動系統(tǒng)執(zhí)行機構(gòu)內(nèi)部外部電驅(qū)動液壓驅(qū)動里程計陀螺儀攝像頭氣壓驅(qū)動…傳感系統(tǒng)紅外電機伺服加速度計麥克風(fēng)……傳動機構(gòu)…

外部傳感（環(huán)境檢測）控制驅(qū)動執(zhí)行工作對象

內(nèi)部傳感（位姿檢測）????

???控制系統(tǒng)人機交互PCSLAM導(dǎo)航圖像識別語音識別…無線網(wǎng)絡(luò)…機器本地系統(tǒng)外部傳感器數(shù)據(jù)采集與驅(qū)動系統(tǒng)通信其他外設(shè)連接名稱~<camera_name>/image類型描述Topic發(fā)布sensor_msgs/Image

發(fā)布圖像數(shù)據(jù)參數(shù)類型默認值描述"/dev/video0"~video_devicestring攝像頭設(shè)備號~image_width~image_height~pixel_format~io_methodint640圖像橫向分辨率int480圖像縱向分辨率stringstring"mjpeg"像素編碼，可選值：mjpeg，yuyv，

uyvyIO通道，可選值：mmap，read，userptr"mmap"~camera_frame_id"head_camera"string攝像頭坐標(biāo)系~framerate~brightness~saturation~contrastint3032323222false51-幀率int亮度，0~255int飽和度，0~255對比度，0~255清晰度，0~255自動對焦int~sharpness~autofocus~focusintboolint焦點（非自動對焦?fàn)顟B(tài)下有效）攝像頭校準(zhǔn)文件路徑~camera_info_urlstring"head_camera"~camera_namestring攝像頭名稱名稱類型描述sensor_msgs/Camer

RGB相機校準(zhǔn)信rgb/camera_infoaInfo息RGB相機圖像數(shù)rgb/image_rawsensor_msgs/Image據(jù)sensor_msgs/CameraInfosensor_msgs/Image深度相機校準(zhǔn)信息depth/camera_infodepth/image_raw深度相機數(shù)據(jù)depth_registered/ca

sensor_msgs/Camer配準(zhǔn)后的深度相機校準(zhǔn)信息mera_infoaInfoTopic發(fā)布depth_registered/image_raw配準(zhǔn)后的深度相機數(shù)據(jù)sensor_msgs/Imagesensor_msgs/CameraInfosensor_msgs/Image紅外相機校準(zhǔn)信息ir/camera_infoir/image_raw紅外相機數(shù)據(jù)projector/camera_in

sensor_msgs/Camer深度相機校準(zhǔn)信息foaInfodiagnostic_msgs/DiagnosticArray/diagnostics傳感器診斷信息sensor_msgs/SetCameraInfo設(shè)置RGB相機的校準(zhǔn)信息rgb/set_camera_infoir/set_camera_infoServicessensor_msgs/SetCameraInfo設(shè)置紅外相機的校準(zhǔn)信息名稱類型sensor_msgs/LaserScan描述Topic發(fā)布scan發(fā)布激光雷達數(shù)據(jù)stop_motorstart_motorstd_srvs/Emptystd_srvs/Empty停止旋轉(zhuǎn)電機開始旋轉(zhuǎn)電機Services參數(shù)類型

默認值描述stringserial_portserial_baudrateframe_id"/dev/ttyUSB0"激光雷達串口名稱int115200"laser"串口波特率string激光雷達坐標(biāo)系invertedboolfalsetrue是否倒置安裝角度補償angle_compensatebool

???

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