add the spark_test

onekey.sh

@@ -695,16 +695,25 @@ spark_dock(){
 }
 
 
-spark_test(){
+spark_test_mode(){
-
-	echo -e "${Info}" 
-	echo -e "${Info}      SPARK test" 
 	PROJECTPATH=$(cd `dirname $0`; pwd)
 	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：
-	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
+	1.执行5分钟的检测功能；
-	print_command "roslaunch spark_test turn_test.launch"
+        2.执行老化检测功能，直至断电。"
-	roslaunch spark_test turn_test.launch
+        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 "

src/spark/spark_test/CMakeLists.txt

@@ -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
+#  INCLUDE_DIRS include
-  CATKIN_DEPENDS roscpp rospy std_msgs tf
+#  LIBRARIES spark_test
-  DEPENDS system_lib
+#  CATKIN_DEPENDS roscpp rospy std_msgs spark_base
-)
+#  DEPENDS system_lib
-include_directories(include
-  ${catkin_INCLUDE_DIRS}
 )
 
 ###########
@@ -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 ##

src/spark/spark_test/launch/all_run_test.launch

@@ -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>

src/spark/spark_test/launch/all_run_test_st.launch

@@ -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>

src/spark/spark_test/package.xml

@@ -48,8 +48,6 @@
   <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>

src/spark/spark_test/src/spark_test_motion.cpp

@@ -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();
-    }*/
     }
   }
 

src/spark/spark_test/src/spark_turn_left_right.cpp

@@ -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;
+}

src/spark/spark_test/src/spark_turn_left_right_st.cpp

@@ -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;
+}

src/spark_app/spark_voice/scripts/baidu_asr.py

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