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Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 16th National College Student’s Intelligent Car Competition Code 第十六届智能汽车竞赛讯飞智慧餐厅代码 |
| Checkout URI | https://github.com/ht-hlf/car_competition.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-01-27 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The ucar_controller package
Additional Links
No additional links.
Maintainers
- iflytek
Authors
No additional authors.
[TOC]
1. 全部功能
1.1 里程计与底盘的坐标变换是否发布由参数实时配置
参数名称：publish_odom_tf
- 设置为true: 发布 odom -> base_link的坐标变换
- 设置为false: 不发布 odom -> base_link的坐标变换
注，以下运动相关服务优先度大于实时运动控制（cmd_vel）当服务完成后才会继续执行实时控制。（手柄的优先级更高，不过不涉及web接口，此处不详细描述。手柄 > 运动服务 > cmd_vel）
1.2 停止运动服务
服务名：stop_move （基于速度、距离、角度的运动）
用途：调用后立即终止正在运行的time_move或vel_dist_move。
并回到cmd控制模式
服务数据类型：std_srvs/Trigger.srv
---
bool success #运动结束时返回true，异常返回false
string message #返回的字符串信息
返回枚举：
- 成功停止
res.success = true;
res.message = "Move stopped ";
- 不在move模式，不需要停止
res.success = false;
res.message = "Not in MOTOR_MODE_MOVE.";
1.3 实时控制
方式：发布话题。
话题名：cmd_vel
msg类型：geometry_msgs/Twist.msg
geometry_msgs/Vector3 linear
float64 x # x方向线速度
float64 y # y方向线速度
float64 z # 无效
geometry_msgs/Vector3 angular
float64 x # 无效
float64 y # 无效
float64 z # z轴角速度
1.4 设置灯光效果
服务名：get_battery_state
服务数据类型：aicar_controller/GetBatteryInfo.srv
uint8 MODE_NORMAL = 0 # 常亮
uint8 MODE_BLINK = 1 # 闪烁
uint8 MODE_BREATH = 2 # 呼吸
uint8 mode_type # 灯光模式
float64 frequency # 模式频率（常亮模式自动忽略）
uint8 red_value # 红色光亮度范围（0-255）
uint8 green_value # 绿色光亮度范围（0-255）
uint8 blue_value # 蓝色光亮度范围（0-255）
---
bool success # 设置是否成功
string message # 异常log信息
response枚举： 1、设置失败（可能与MUC通信异常） res.success = false; res.message = “Can’t connect base’s MCU.”; 2、设置成功 res.success = true; res.message = “Set LED success.”;
1.5 底盘电池信息发布（仅电池剩余电量百分比有效，即：percentage）
话题名：battery_state
sensor_msgs/BatteryState.msg
POWER_SUPPLY_STATUS_UNKNOWN = 0 # 未知
POWER_SUPPLY_STATUS_CHARGING = 1 # 充电
POWER_SUPPLY_STATUS_DISCHARGING = 2 # 放电中
POWER_SUPPLY_STATUS_NOT_CHARGING = 3 # 未充电
POWER_SUPPLY_STATUS_FULL = 4 # 满电
POWER_SUPPLY_HEALTH_UNKNOWN = 0 # 未知
POWER_SUPPLY_HEALTH_GOOD = 1 # 良好
POWER_SUPPLY_HEALTH_OVERHEAT = 2 # 过热
POWER_SUPPLY_HEALTH_DEAD = 3 # 没电
POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4 # 过电压
POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5 # 未知错误
POWER_SUPPLY_HEALTH_COLD = 6 # 过冷
POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7 #
POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8 #
POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0 # 未知
POWER_SUPPLY_TECHNOLOGY_NIMH = 1 # Ni-MH battery 镍氢电池
POWER_SUPPLY_TECHNOLOGY_LION = 2 # Li-ion battery 锂离子电池
POWER_SUPPLY_TECHNOLOGY_LIPO = 3 # Li-Po battery 锂聚合物电池
POWER_SUPPLY_TECHNOLOGY_LIFE = 4 # li-Fe battery 锂铁电池
POWER_SUPPLY_TECHNOLOGY_NICD = 5 # NiCd battery 镍镉电池
POWER_SUPPLY_TECHNOLOGY_LIMN = 6 # LiMn battery 锂锰电池
std_msgs/Header header
uint32 seq
time stamp
string frame_id
float32 voltage # Voltage in Volts (Mandatory)
float32 current # Negative when discharging (A) (If unmeasured NaN)
float32 charge # Current charge in Ah (If unmeasured NaN)
float32 capacity # Capacity in Ah (last full capacity) (If unmeasured NaN)
float32 design_capacity # Capacity in Ah (design capacity) (If unmeasured NaN)
float32 percentage # Charge percentage on 0 to 1 range (If unmeasured NaN)
uint8 power_supply_status # The charging status as reported. Values defined above
uint8 power_supply_health # The battery health metric. Values defined above
uint8 power_supply_technology # The battery chemistry. Values defined above
bool present # True if the battery is present
float32[] cell_voltage # An array of individual cell voltages for each cell in the pack
# If individual voltages unknown but number of cells known set each to NaN
string location # The location into which the battery is inserted. (slot number or plug)
string serial_number # The best approximation of the battery serial number
当前版本使用到的status数据：
battery_msg.power_supply_status = 2; // 放电中 即正在运行
battery_msg.power_supply_health = 1; // 良好
battery_msg.power_supply_technology = 0; // UNKNOWN
battery_msg.present = true; // 存在电池
battery_msg.percentage = current_battery_percent_; // 电池电量百分比
1.6 获取底盘电量（仅电池剩余电量百分比有效，即：percentage）
服务名：get_battery_state
用途： 调用主动获取电池状态。
服务数据类型：aicar_controller/GetBatteryInfo.srv
---
sensor_msgs/BatteryState battery_state
即，服务的request为空，response为上面话题发布的电池状态。
response枚举： 1、获取异常(可能是串口未与MCU通讯)：
response.battery_state.percentage = -1 # 表示异常
response.battery_state.power_supply_status = 0 # 未知
response.battery_state.power_supply_health = 0 # 未知
response.battery_state.power_supply_technology = 0 # 未知
2、正常获取：
response.battery_state.percentage = <current_percent> # 电池剩余电量百分比(0-100)。
response.battery_state.power_supply_status = 2 # 放电中
response.battery_state.power_supply_health = 1 # 良好
response.battery_state.power_supply_technology = 0 # 未知
1.7.获取当前最大速度
服务名：get_max_vel
服务数据类型：GetMaxVel.srv
---
float64 max_linear_velocity # 底盘最大线速度 (m)
float64 max_angular_velocity # 底盘最大角速度 (rad/s)
1.8 设置底盘最大速度
服务名：set_max_vel
服务数据类型：SetMaxVel.srv
float64 max_linear_velocity # 底盘最大线速度 (m)
float64 max_angular_velocity # 底盘最大角速度 (rad/s)
---
bool success
string message
注：调用后同时会更新参数服务器中参数/base_driver/linear_speed_max、/base_driver/angular_speed_max.
也可以通过这两个参数获取当前最大速度。
以下两个是 tf_server提供的
1.9 获取底盘运行总里程
方式：获取参数（get_param）
参数名：Mileage_sum
单位：米。（即记录了该底盘自出厂的运行里程）
1.10 设置camera、lidar、imu的位姿 （tf_server）
方式：call server
服务名：set_camera_tf、set_lidar_tf、set_imu_tf
服务数据类型：SetSensorTF.srv
float64 pose_x
float64 pose_y
float64 pose_z
float64 euler_r
float64 euler_p
float64 euler_y
---
bool success
string message
1.11 获取camera、lidar、imu的位姿（tf_server）
方式：call server
服务名：get_camera_tf、get_lidar_tf、get_imu_tf
服务数据类型：GetSensorTF.srv
---
float64 pose_x
float64 pose_y
float64 pose_z
float64 euler_r
float64 euler_p
float64 euler_y
CHANGELOG
串口通讯协议(20200416)：
1. 帧定义
1.1 STM32 Write数据帧
| 起始位 | 指令版本 | 数据长度 | 里程脉冲 | 电池百分比 | 校验和 | |
|---|---|---|---|---|---|---|
| 字节数 | 2 | 1 | 1 | 8 | 1 | 1 |
| 数值 | A | B | C | D | E | F |
A: 起始位: 0x63(l) 0x76(h)
B: 指令版本: 待定=============================
C: 数据长度: 里程脉冲 + 电池百分比 的数据长度。
D: 里程脉冲:4个轮式里程计的脉冲数据。数值代表每个通讯周期内编码器累计的脉冲读数（正负区分正反转）。
int16_t pluse_w1;
int16_t pluse_w2;
int16_t pluse_w3;
int16_t pluse_w4;
注：该版本电机编码率为270（一圈输出270个脉冲）
E: 电池百分比：剩余电量百分比（估计值）。
F: 校验和:起始位+指令版本+数据长度+里程脉冲+电池百分比
1.2 STM32 READ数据帧
| 起始位 | 指令版本 | 数据长度 | 里程脉冲 | LED控制 | 校验和 | |
|---|---|---|---|---|---|---|
| 字节数 | 2 | 1 | 1 | 8 | 3 | 1 |
| 数值 | A | B | C | D | E | F |
A: 起始位: 0x63(l) 0x75(h)
B: 指令版本: 待定=============================
C: 数据长度: 里程脉冲 + LED控制的数据长度。
D: 里程脉冲:4个轮式里程计的脉冲数据。数值代表每个通讯周期内编码器累计的脉冲读数（正负区分正反转）。
int16_t pluse_w1;
int16_t pluse_w2;
int16_t pluse_w3;
int16_t pluse_w4;
E: LED的rgb控制
uint8_t green_value;
uint8_t red_value;
uint8_t blue_value;
F: 校验和:起始位+指令版本+数据长度+里程脉冲+LED控制
1.3 校验和函数
bool checkCS(int len){
uint8_t cs = 0;
for (size_t i = 0; i < len - 1; i++)
{
cs += pack_read_[i];
}
return pack_read_[len - 1] == cs;
}
void setCS(int len)
{
uint8_t cs = 0x00;
for (size_t i = 0; i < len - 1; i++)
{
cs += pack_write_[i];
}
pack_write_[len - 1] = cs;
}
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| geometry_msgs | |
| roscpp | |
| rospy | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf | |
| message_generation | |
| catkin | |
| genmsg | |
| message_runtime |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/tf_server.launch
- launch/base_driver.launch
-
- package_path [default: $(find xf_mic_tts_offline)]
Messages
No message files found.
Services
Plugins
No plugins found.
Recent questions tagged ucar_controller at Robotics Stack Exchange
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