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add the spark_test

This commit is contained in:
litian.zhuang 2021-03-27 13:48:27 +08:00
parent 3fed156a87
commit 1c4870007c
9 changed files with 325 additions and 32 deletions
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29
onekey.sh
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@ -695,16 +695,25 @@ spark_dock(){
}
spark_test(){
echo -e "${Info}"
echo -e "${Info} SPARK test"
spark_test_mode(){
PROJECTPATH=$(cd `dirname $0`; pwd)
source ${PROJECTPATH}/devel/setup.bash
echo && stty erase ^? && read -p "按回车键（Enter）开始："
print_command "roslaunch spark_test turn_test.launch"
roslaunch spark_test turn_test.launch
source ${PROJECTPATH}/devel/setup.bash
echo -e "${Info}老化测试程序，请将机器人放在一个50X50CM的方格中间进行测试，请选择：
1.执行5分钟的检测功能；
2.执行老化检测功能，直至断电。"
echo -e "${Info}退出请输入：Ctrl + c "
echo && stty erase ^? && read -p "请选择 1 或 2 ：" chnum
case "$chnum" in
1)
roslaunch spark_test all_run_test_st.launch camera_type_tel:=${CAMERATYPE}
;;
2)
roslaunch spark_test all_run_test.launch camera_type_tel:=${CAMERATYPE}
;;
*)
echo -e "${Error} 退出!"
;;
esac
}
#让SPARK使用深度摄像头绘制地图
@ -1003,7 +1012,7 @@ case "$num" in
spark_dock
;;
98)
spark_test
spark_test_mode
;;
*)
echo -e "${Error} 请输入正确的数字 "

25
src/spark/spark_test/CMakeLists.txt
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@ -9,8 +9,8 @@ find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
pcl_ros
tf
spark_base
spark_carry_object
)
@ -18,12 +18,10 @@ find_package(catkin REQUIRED COMPONENTS
## catkin specific configuration ##
###################################=
catkin_package(
LIBRARIES
CATKIN_DEPENDS roscpp rospy std_msgs tf
DEPENDS system_lib
)
include_directories(include
${catkin_INCLUDE_DIRS}
# INCLUDE_DIRS include
# LIBRARIES spark_test
# CATKIN_DEPENDS roscpp rospy std_msgs spark_base
# DEPENDS system_lib
)
###########
@ -52,6 +50,13 @@ add_dependencies(spark_test_topic_node
target_link_libraries(spark_test_topic_node ${catkin_LIBRARIES})
add_executable(spark_turn_left_right_node src/spark_turn_left_right.cpp)
add_dependencies(spark_turn_left_right_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(spark_turn_left_right_node ${catkin_LIBRARIES})
add_executable(spark_test_motion_node src/spark_test_motion.cpp)
add_dependencies(spark_test_motion_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
@ -60,6 +65,12 @@ add_dependencies(spark_test_motion_node
target_link_libraries(spark_test_motion_node ${catkin_LIBRARIES})
add_executable(spark_turn_left_right_st_node src/spark_turn_left_right_st.cpp)
add_dependencies(spark_turn_left_right_st_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(spark_turn_left_right_st_node ${catkin_LIBRARIES})
#############
## Install ##

28
src/spark/spark_test/launch/all_run_test.launch Executable file
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@ -0,0 +1,28 @@
<!-- object detect -->
<launch>
<!-- camera -->
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<node pkg= "tensorflow_object_detector" name="detect_ros" type="detect_ros.py" output="screen">
<remap from="image" to="/camera/color/image_raw" if="$(eval arg('camera_type_tel')=='d435')"/>
<remap from="image" to="/camera/rgb/image_raw" unless="$(eval arg('camera_type_tel')=='d435')"/>
</node>
<!-- rviz -->
<arg name ="rviz" default="true" />
<arg name ="rviz_file" default="$(find tensorflow_object_detector)/config/display.rviz"/>
<node pkg ="rviz" type="rviz" name="rviz" output="screen" args= "-d $(arg rviz_file)" if="$(arg rviz)"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/>
<arg name="start_base" value="true"/>
</include>
<!--UARM机械臂 -->
<include file="$(find swiftpro)/launch/pro_control_nomoveit.launch"/>
<node pkg="spark_test" type="spark_turn_left_right_node" name="spark_turn_left_right_node" output="screen"/>
</launch>

28
src/spark/spark_test/launch/all_run_test_st.launch Executable file
View File

@ -0,0 +1,28 @@
<!-- object detect -->
<launch>
<!-- camera -->
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<node pkg= "tensorflow_object_detector" name="detect_ros" type="detect_ros.py" output="screen">
<remap from="image" to="/camera/color/image_raw" if="$(eval arg('camera_type_tel')=='d435')"/>
<remap from="image" to="/camera/rgb/image_raw" unless="$(eval arg('camera_type_tel')=='d435')"/>
</node>
<!-- rviz -->
<arg name ="rviz" default="true" />
<arg name ="rviz_file" default="$(find tensorflow_object_detector)/config/display.rviz"/>
<node pkg ="rviz" type="rviz" name="rviz" output="screen" args= "-d $(arg rviz_file)" if="$(arg rviz)"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch">
<arg name="camera_types" value="$(arg camera_type_tel)"/>
<arg name="start_base" value="true"/>
</include>
<!--UARM机械臂 -->
<include file="$(find swiftpro)/launch/pro_control_nomoveit.launch"/>
<node pkg="spark_test" type="spark_turn_left_right_st_node" name="spark_turn_left_right_st_node" output="screen"/>
</launch>

4
src/spark/spark_test/package.xml
View File

@ -48,9 +48,7 @@
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>spark_base</run_depend>
<build_depend>tf</build_depend>
<run_depend>tf</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->

15
src/spark/spark_test/src/spark_test_motion.cpp
View File

@ -1,11 +1,11 @@
#include "ros/ros.h"
#include <boost/function.hpp>
#include <boost/thread/thread.hpp>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/Image.h>
#include <geometry_msgs/Twist.h>
#include <boost/function.hpp>
#include <boost/thread/thread.hpp>
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
class MotionTest
@ -33,11 +33,9 @@ public:
bool testMotion()
{
ros::Rate rate(10);
while(ros::ok)
{
double prev_sec = ros::Time().now().toSec();
int sec = 10;
while (ros::ok)
while (1)
{
//逆时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
@ -47,7 +45,7 @@ public:
rate.sleep();
}
prev_sec = ros::Time().now().toSec();
while (ros::ok)
while (1)
{
//顺时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
@ -57,7 +55,7 @@ public:
rate.sleep();
}
prev_sec = ros::Time().now().toSec();
/* while (1)
while (1)
{
//逆时针同心圆旋转
if (ros::Time().now().toSec() - prev_sec > sec)
@ -76,7 +74,6 @@ public:
ROS_INFO("shunshizhen tongxinyuan");
testTurnBody(0.2, -1, 10);
rate.sleep();
}*/
}
}

106
src/spark/spark_test/src/spark_turn_left_right.cpp Normal file
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@ -0,0 +1,106 @@
#include "ros/ros.h"
#include <boost/function.hpp>
#include <boost/thread/thread.hpp>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/Image.h>
#include <geometry_msgs/Twist.h>
#include "spark_carry_object/status.h"
#include "spark_carry_object/position.h"
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
class MotionTest
{
public:
ros::NodeHandle nhandle;
boost::thread* test_motion_thread_;
ros::Publisher cmd_pub;
ros::Publisher pump_pub;
ros::Publisher pos_pub;
MotionTest(ros::NodeHandle in_nh)
{
nhandle = in_nh;
cmd_pub = nhandle.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
pump_pub = nhandle.advertise<spark_carry_object::status>("pump_topic", 1);
pos_pub = nhandle.advertise<spark_carry_object::position>("position_write_topic", 1);
test_motion_thread_ = new boost::thread(boost::bind(&MotionTest::testMotion, this));
}
~MotionTest()
{
spark_carry_object::status onoff;
onoff.status = 0;
pump_pub.publish(onoff);
if (test_motion_thread_ != NULL)
{
delete test_motion_thread_;
}
}
bool testMotion()
{
spark_carry_object::status onoff;
spark_carry_object::position pos;
ros::Rate rate(10);
onoff.status = 1;
pump_pub.publish(onoff);
pos.x = 120;
pos.y = 0;
pos.z = 35;
sleep(5);
pos_pub.publish(pos);
while(ros::ok)
{
pump_pub.publish(onoff);
double prev_sec = ros::Time().now().toSec();
int sec = 10;
ROS_INFO("ni shi zhen");
while (ros::ok)
{
//逆时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
break;
testTurnBody(0, 2, 10);
rate.sleep();
}
ROS_INFO("shen shi zhen");
prev_sec = ros::Time().now().toSec();
while (ros::ok)
{
//顺时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
break;
testTurnBody(0, -2, 10);
rate.sleep();
}
}
onoff.status = 0;
pump_pub.publish(onoff);
}
void testTurnBody(float linearx, float angularz, float sec)
{
geometry_msgs::Twist vel;
vel.linear.x = linearx;
vel.angular.z = angularz;
cmd_pub.publish(vel);
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "spark_test_node");
ROS_INFO("Spark test bring up");
ros::NodeHandle n;
MotionTest test(n);
// start to test the spark
// test.testTopicStatus();
ROS_INFO("Spark test stop");
ros::spin();
return 0;
}

116
src/spark/spark_test/src/spark_turn_left_right_st.cpp Normal file
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@ -0,0 +1,116 @@
#include "ros/ros.h"
#include <boost/function.hpp>
#include <boost/thread/thread.hpp>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <sensor_msgs/Image.h>
#include <geometry_msgs/Twist.h>
#include "spark_carry_object/status.h"
#include "spark_carry_object/position.h"
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
class MotionTest
{
public:
ros::NodeHandle nhandle;
boost::thread* test_motion_thread_;
ros::Publisher cmd_pub;
ros::Publisher pump_pub;
ros::Publisher pos_pub;
MotionTest(ros::NodeHandle in_nh)
{
nhandle = in_nh;
cmd_pub = nhandle.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
pump_pub = nhandle.advertise<spark_carry_object::status>("pump_topic", 1);
pos_pub = nhandle.advertise<spark_carry_object::position>("position_write_topic", 1);
test_motion_thread_ = new boost::thread(boost::bind(&MotionTest::testMotion, this));
}
~MotionTest()
{
spark_carry_object::status onoff;
onoff.status = 0;
pump_pub.publish(onoff);
if (test_motion_thread_ != NULL)
{
delete test_motion_thread_;
}
}
bool testMotion()
{
spark_carry_object::status onoff;
spark_carry_object::position pos;
ros::Rate rate(10);
onoff.status = 1;
pump_pub.publish(onoff);
pos.x = 120;
pos.y = 0;
pos.z = 35;
sleep(5);
pos_pub.publish(pos);
double start_sec = ros::Time().now().toSec();
int keep_sec = 300;
ROS_INFO("time is start! start turning.");
while(ros::ok)
{
pump_pub.publish(onoff);
double prev_sec = ros::Time().now().toSec();
int sec = 10;
ROS_INFO("ni shi zhen");
while (ros::ok)
{
//逆时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
break;
testTurnBody(0, 2, 10);
rate.sleep();
}
ROS_INFO("shen shi zhen");
prev_sec = ros::Time().now().toSec();
while (ros::ok)
{
//顺时针旋转
if (ros::Time().now().toSec() - prev_sec > sec)
break;
testTurnBody(0, -2, 10);
rate.sleep();
}
if (ros::Time().now().toSec() - start_sec > keep_sec)
{
onoff.status = 0;
pump_pub.publish(onoff);
ROS_WARN("time is over! stop turning.");
break;
}
}
}
void testTurnBody(float linearx, float angularz, float sec)
{
geometry_msgs::Twist vel;
vel.linear.x = linearx;
vel.angular.z = angularz;
cmd_pub.publish(vel);
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "spark_test_node");
ROS_INFO("Spark test bring up");
ros::NodeHandle n;
MotionTest test(n);
// start to test the spark
// test.testTopicStatus();
//ROS_INFO("Spark test stop");
ros::spin();
return 0;
}

6
src/spark_app/spark_voice/scripts/baidu_asr.py
View File

@ -8,9 +8,9 @@ from threading import Thread, Event
from lib import Microphone,AipSpeech
""" 你的 APPID AK SK """
APP_ID = '10475584'
API_KEY = 'm2zeD2S8ft8z6Y0oUblsIZhy'
SECRET_KEY = 'Y226Y4YCRzpYXy3E3MTG0xxyqRGZYG50'
APP_ID = '23797700'
API_KEY = 'dK8rz5DG9pPi90cgQVtx1ddn'
SECRET_KEY = 'X1lzayj5RQwfkoLHXHd5DALRvFZpjhBP'
def main():
#logging.basicConfig(level=logging.DEBUG)