使用越疆科技的M1-B1机器人进行ROS下移动加机械臂加视觉抓取代码
#include "ros/ros.h"
#include "ar_track_alvar_msgs/AlvarMarkers.h"
#include "iostream"
#include "stdio.h"
#include "cv.h"
#include "opencv2/opencv.hpp"
#include "cv_bridge/cv_bridge.h"
#include <unistd.h>
#include <nav_msgs/Odometry.h>
#include <string.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <cmath>
#include "std_msgs/String.h"
#include "dobot/SetCmdTimeout.h"
#include "dobot/SetQueuedCmdClear.h"
#include "dobot/SetQueuedCmdStartExec.h"
#include "dobot/SetQueuedCmdForceStopExec.h"
#include "dobot/GetDeviceVersion.h"
#include "dobot/SetEndEffectorParams.h"
#include "dobot/SetPTPJointParams.h"
#include "dobot/SetPTPCoordinateParams.h"
#include "dobot/SetPTPJumpParams.h"
#include "dobot/SetPTPCommonParams.h"
#include "dobot/SetPTPCmd.h"
#include "dobot/SetEndEffectorGripper.h"
#include "dobot/SetHOMECmd.h"
#include "dobot/SetHOMEParams.h"
#include "dobot/SetIODO.h"
#include "dobot/GetAlarmsState.h"
#include "dobot/ClearAllAlarmsState.h"
using namespace std;
using namespace cv;
相机区域
//机械臂拍照点位
float picture_x = 237.633
, picture_y = 60.6892
, picture_z = 230.7879
;
//标定像素坐标 3个点
float cam_x1 = 159.387
, cam_y1 = -21.6633
, cam_x2 = 34.927
, cam_y2 = 40.634
, cam_x3 = 165.001
, cam_y3 = 81.35
;
//标定机械包坐标 3个点
float rob_x1 = 327.7778
, rob_y1 = -78.2467
, rob_x2 = 357.0341
, rob_y2 = 43.5529
, rob_x3 = 250.8334
, rob_y3 = -21.1507
;
//标定像素坐标 3个点
Mat A = (Mat_<float>(3,3) <<
cam_x1, cam_y1, 1,
cam_x2, cam_y2, 1,
cam_x3, cam_y3, 1
); //3×3
//标定机械包坐标 3个点
Mat B = (Mat_<float>(3,3) <<
rob_x1, rob_y1, 1,
rob_x2, rob_y2, 1,
rob_x3, rob_y3, 1
); //3×3
//矩阵参数
Mat X;
//相机得到图像的坐标和ID
int ar_ID;
float cam_getX;
float cam_getY;
//机械臂最后执行的点位
float X_pose;
float Y_pose;
float Z_pose = 155.9403;
//服务注册
ros::ServiceClient client;
ros::ServiceClient clientPTP;
ros::ServiceClient clientIO;
//函数声明
void robot_pose(Mat X);
void setIO(uint8_t address, uint8_t level, bool isQueued, ros::ServiceClient client);
void setPTP(uint8_t ptpMode ,float x, float y, float z, float r, ros::ServiceClient client);
int getState(ros::ServiceClient client);
int ClearState(ros::ServiceClient client);
void sub_ar_callback(const ar_track_alvar_msgs::AlvarMarkers::ConstPtr& msg);
//回调函数获取二维码的位置
void sub_ar_callback(const ar_track_alvar_msgs::AlvarMarkers::ConstPtr& msg)
{
ros::ServiceClient client;
cout<<"回调函数获取二维码的位置" <<endl;
//if((msg->markers.size() > 0) && (msg->markers[0].id < 30) )
if(msg->markers.size() > 0 && (msg->markers[0].id < 30) )
{
ar_ID = msg->markers[0].id;
cam_getX = msg->markers[0].pose.pose.position.x*1000;
cam_getY = msg->markers[0].pose.pose.position.y*1000;
cout<<"获取二维码的位置"<<endl<<"二维码ID:"<<ar_ID<<endl;
cout<<"Point position:"<<endl;
cout<<"cam_getX: "<<cam_getX<<endl;
cout<<"cam_getY: "<<cam_getY<<endl;
cout<<"-----------"<<endl;
}
//获取机器人抓取位置
robot_pose(X);
}
//矩阵变换函数(只是开始调用一次,求出矩阵参数X)
Mat solve_equation(Mat A, Mat B)
{
//矩阵转换公式
solve(A, B, X, CV_SVD);
cout<<"矩阵转换完成,参数X:"<<endl<<X<<endl;
return X;
}
//机器人抓取位置函数
void robot_pose(Mat X)
{
cout<<"cam_getX"<<cam_getX<<endl;
cout<<"cam_getY"<<cam_getY<<endl;
//相机得到图像的坐标来计算机械臂点位
Mat cam_pose = (Mat_<float>(1,3) << cam_getX, cam_getY, 1);
//通过矩阵变换得到机器人抓取的物理坐标
Mat rot_pose = cam_pose*X;
//机械臂抓取点位输出
X_pose = rot_pose.at<float>(0);
Y_pose = rot_pose.at<float>(1);
cout<<"抓取点位:"<<endl;
cout<<"X_pose:"<<X_pose<<endl;
cout<<"Y_pose:"<<Y_pose<<endl;
//运行到抓取点位PTP
setPTP(0 ,X_pose ,Y_pose ,Z_pose ,0 , clientPTP);
//开启气泵setIO
setIO(18,0,1,clientIO);
setIO(17,1,1,clientIO);
//运行到拍照点位PTP
setPTP(0 ,picture_x ,picture_y ,picture_z ,0 , clientPTP);
//关闭气泵setIO
//setIO(18,1,1,clientIO);
//setIO(17,1,1,clientIO);
}
相机区域
/机械臂区域
//清除系统所有报警
int ClearState(ros::ServiceClient client)
{
dobot::ClearAllAlarmsState srv;
client.call(srv);
}
//获取系统报警状态
int getState(ros::ServiceClient client)
{
dobot::GetAlarmsState srv;
client.call(srv);
cout<<"State result: "<<srv.response.result<<endl;
cout<<"size_alarmsState:"<<srv.response.alarmsState.size()<<endl;
for(int i = 0; i<srv.response.alarmsState.size(); i++)
{
cout<<srv.response.alarmsState[i];
}
cout<<"end "<<endl;
//cout<<"State alarmsState: "<<srv.response.alarmsState[0]<<endl;
}
//执行 PTP 指令
void setPTP(uint8_t ptpMode ,float x, float y, float z, float r, ros::ServiceClient client)
{
dobot::SetPTPCmd srv;
srv.request.ptpMode = ptpMode;
srv.request.x = x;
srv.request.y = y;
srv.request.z = z;
srv.request.r = r;
client.call(srv);
}
//设置 I/O 输出电平
void setIO(uint8_t address, uint8_t level, bool isQueued, ros::ServiceClient client)
{
dobot::SetIODO IO;
IO.request.address = address;
IO.request.level = level;
IO.request.isQueued = isQueued;
client.call(IO);
ROS_INFO("SetIODO%d ok, %d", IO.request.address , IO.response.queuedCmdIndex);
}
/机械臂区域
//调用拍照和机械臂抓取部分
void cam_pick()
{
ros::Rate loop_rate(0.5);
int i = 1;
while(i >= 0 && ros::ok())
{
ros::spinOnce();
i = i-1;
cout<<"call :"<<i<<endl;
loop_rate.sleep();
}
}
//机械臂放置物料函数
void robot_place()
{
//关闭气泵setIO
setIO(18,1,1,clientIO);
setIO(17,1,1,clientIO);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "cam_robot_sent_pose");
ros::NodeHandle n;
//订阅move_base操作服务器
actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> ac("move_base",true);
//设置我们要机器人走的几个点。
geometry_msgs::Point point;
geometry_msgs::Quaternion quaternion;
geometry_msgs::Pose pose_list1;
geometry_msgs::Pose pose_list2;
point.x = -0.174;
point.y = -0.921;
point.z = 0.000;
quaternion.x = 0.000;
quaternion.y = 0.000;
quaternion.z = -0.728;
quaternion.w = 0.684;
pose_list1.position = point;
pose_list1.orientation = quaternion;
point.x = 1.842;
point.y = 0.893;
point.z = 0.000;
quaternion.x = 0.000;
quaternion.y = 0.000;
quaternion.z = -0.0331;
quaternion.w = 0.999;
pose_list2.position = point;
pose_list2.orientation = quaternion;
// SetCmdTimeout
client = n.serviceClient<dobot::SetCmdTimeout>("/DobotServer/SetCmdTimeout");
dobot::SetCmdTimeout srv1;
srv1.request.timeout = 3000;
if (client.call(srv1) == false) {
ROS_ERROR("Failed to call SetCmdTimeout. Maybe DobotServer isn't started yet!");
return -1;
}
// Clear the command queue
client = n.serviceClient<dobot::SetQueuedCmdClear>("/DobotServer/SetQueuedCmdClear");
dobot::SetQueuedCmdClear srv2;
client.call(srv2);
// Start running the command queue
client = n.serviceClient<dobot::SetQueuedCmdStartExec>("/DobotServer/SetQueuedCmdStartExec");
dobot::SetQueuedCmdStartExec srv3;
client.call(srv3);
// Get device version information
client = n.serviceClient<dobot::GetDeviceVersion>("/DobotServer/GetDeviceVersion");
dobot::GetDeviceVersion srv4;
client.call(srv4);
if (srv4.response.result == 0) {
ROS_INFO("Device version:%d.%d.%d", srv4.response.majorVersion, srv4.response.minorVersion, srv4.response.revision);
} else {
ROS_ERROR("Failed to get device version information!");
}
// Set PTP joint parameters
do {
client = n.serviceClient<dobot::SetPTPJointParams>("/DobotServer/SetPTPJointParams");
dobot::SetPTPJointParams srv;
for (int i = 0; i < 4; i++) {
srv.request.velocity.push_back(100);
}
for (int i = 0; i < 4; i++) {
srv.request.acceleration.push_back(100);
}
client.call(srv);
} while (0);
// Set PTP coordinate parameters
do {
client = n.serviceClient<dobot::SetPTPCoordinateParams>("/DobotServer/SetPTPCoordinateParams");
dobot::SetPTPCoordinateParams srv;
srv.request.xyzVelocity = 100;
srv.request.xyzAcceleration = 100;
srv.request.rVelocity = 100;
srv.request.rAcceleration = 100;
client.call(srv);
} while (0);
// Set PTP jump parameters
do {
client = n.serviceClient<dobot::SetPTPJumpParams>("/DobotServer/SetPTPJumpParams");
dobot::SetPTPJumpParams srv;
srv.request.jumpHeight = 20;
srv.request.zLimit = 200;
client.call(srv);
} while (0);
// Set PTP common parameters
do {
client = n.serviceClient<dobot::SetPTPCommonParams>("/DobotServer/SetPTPCommonParams");
dobot::SetPTPCommonParams srv;
srv.request.velocityRatio = 50;
srv.request.accelerationRatio = 50;
client.call(srv);
} while (0);
//运行到拍照点位PTP
client = n.serviceClient<dobot::SetPTPCmd>("/DobotServer/SetPTPCmd");
setPTP(0 ,picture_x ,picture_y ,picture_z ,0 , client);
//运行到抓取点位PTP
clientPTP = n.serviceClient<dobot::SetPTPCmd>("/DobotServer/SetPTPCmd");
//开启气泵setIO
clientIO = n.serviceClient<dobot::SetIODO>("/DobotServer/SetIODO");
cout<<"机械臂准备完成请按下空格键开始检测"<<endl;
getchar();
//矩阵变换函数
solve_equation(A, B);
cout<<"sub"<<endl;
///导航开始部分
ROS_INFO("Waiting for move_base action server...");
//等待60秒以使操作服务器可用
if(!ac.waitForServer(ros::Duration(60)))
{
ROS_INFO("Can't connected to move base server");
exit(-1);
}
ROS_INFO("Connected to move base server");
ROS_INFO("Starting navigation test");
//初始化航点目标 去抓取点
move_base_msgs::MoveBaseGoal goal1;
//使用地图框定义目标姿势
goal1.target_pose.header.frame_id = "map";
//将时间戳设置为“now”
goal1.target_pose.header.stamp = ros::Time::now();
//将目标姿势设置为第i个航点
goal1.target_pose.pose = pose_list1;
//让机器人向目标移动
//将目标姿势发送到MoveBaseAction服务器
ac.sendGoal(goal1);
//等3分钟到达那里
bool finished_within_time1 = ac.waitForResult(ros::Duration(180));
//如果我们没有及时赶到那里,就会中止目标
if(!finished_within_time1)
{
ac.cancelGoal();
ROS_INFO("Timed out achieving goal");
}
else
{
//We made it!
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Goal A succeeded!");
ROS_INFO("send socket succeeded!");
sleep(3);
//订阅相机获取二维码的位置
ros::Subscriber sub = n.subscribe("/ar_pose_marker", 1, sub_ar_callback);
//调用拍照和机械臂抓取部分
cam_pick();
}
else
{
ROS_INFO("The base failed for some reason");
}
}
//初始化航点目标 去放置点
move_base_msgs::MoveBaseGoal goal2;
//使用地图框定义目标姿势
goal2.target_pose.header.frame_id = "map";
//将时间戳设置为“now”
goal2.target_pose.header.stamp = ros::Time::now();
//将目标姿势设置为第i个航点
goal2.target_pose.pose = pose_list2;
//让机器人向目标移动
//将目标姿势发送到MoveBaseAction服务器
ac.sendGoal(goal2);
//等3分钟到达那里
bool finished_within_time2 = ac.waitForResult(ros::Duration(180));
//如果我们没有及时赶到那里,就会中止目标
if(!finished_within_time2)
{
ac.cancelGoal();
ROS_INFO("Timed out achieving goal");
}
else
{
//We made it!
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Goal B succeeded!");
robot_place();
sleep(3);
}
else
{
ROS_INFO("The base failed for some reason");
}
}
return 0;
}