Pioneer 3多机器人控制ROS）

基于ROS环境，开发针对pioneer 3 先锋多机器人控制的程序。内容包括如何构建ROS、RosAria环境，及针对Pioneer 3的单个、多个机器人控制程序，并附带简单例程。

/**************************************************************************
   Date:      16 Feb. 2014
   File:      android_teleop.cpp
   Function:  use your Android phone to control the robot 
   Description: 
              1） http://wiki.ros.org/ROSARIA/Tutorials/iPhone%20Teleop%20with%20ROSARIA/Android%20teleop%20Pioneer%203at
              2） you need to download ROS Sensor Drive to your phone
**************************************************************************/

   #include 
   #include “geometry_msgs/Twist.h“
   #include “rosaria/BumperState.h“
   #include “sensor_msgs/Imu.h“
   #include 
   #include 
   
   
   using geometry_msgs::Twist;
   using namespace std;
   
   ros::Publisher vel_pub;
   ros::Time t1;
   Twist vel;
   int kfd = 0;
   struct termios cooked raw;
   unsigned int temp=0;
   float x;
   float y;
   float z;
   
   
   void quit（int sig）
   {
       tcsetattr（kfd TCSANOW &cooked）;
       ros::shutdown（）;
       exit（0）;
   }
   

   void anCallback（const sensor_msgs::Imu::ConstPtr& ansmsg）
   {
       x=ansmsg->angular_velocity.x;
       y=ansmsg->angular_velocity.y;
       z=ansmsg->angular_velocity.z; 
   }


   int main（int argc char** argv）
   { 
       int ther=3;
   
       ros::init（argc argv “android_teleop“）;
       ros::NodeHandle n;
       vel_pub = n.advertise（“/RosAria/cmd_vel“ 1）;  
       signal（SIGINTquit）;
       ros::Rate r（5）;

       char c;
       bool dirty=false;   
       t1=ros::Time::now（）;
   
       tcgetattr（kfd &cooked）;
       memcpy（&raw &cooked sizeof（struct termios））;
       raw.c_lflag &=~ （ICANON | ECHO）;
       raw.c_cc[VEOL] = 1;
       raw.c_cc[VEOF] = 2;
       tcsetattr（kfd TCSANOW &raw）;
   
       //subscribe to android imu sensor msgs
       ros::Subscriber imu_pub = n.subscribe（“/android/imu“ 1 anCallback）;
    
   
       while （ros::ok（））
       {     
         if（x > ther）
         {
           vel.linear.x = 0.2;
           vel.linear.y=0;
           vel.linear.z=0;
           vel.angular.x = 0;
           vel.angular.y = 0;
           vel.angular.z = 0;
           ROS_INFO（“forward“）;  
         }

         if（x < -ther）
         {
           vel.linear.x = -0.2;
           vel.linear.y=0;
           vel.linear.z=0;
           vel.angular.x = 0;
           vel.angular.y = 0;
           vel.angular.z = 0;
           ROS_INFO（“Backward“）;
         }
       
         if（z > ther）
         {
           vel.linear.x = 0;
           vel.linear.y=0;
           vel.linear.z=0;
           vel.angular.x = 0;
           vel.angular.y = 0;
           vel.angular.z = 0.5;
           ROS_INFO（“Turnleft“）;
         }
 
         if（z < -ther）
         {
           vel.linear.x = 0;
           vel.linear.y=0;
           vel.linear.z=0;
           vel.angular.x = 0;
           vel.angular.y = 0;
           vel.angular.z = -0.5;
           ROS_INFO（“Turnright“）;
         }
 
         if（y < -ther）
         {
  

 属性            大小     日期    时间   名称
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     文件       3609  2014-08-18 08:28  pioneer3_control_ros-master\android_teleop.cpp

     文件      27591  2014-08-18 08:28  pioneer3_control_ros-master\AriaRobot.h

     文件       1179  2014-08-18 08:28  pioneer3_control_ros-master\cfg\RosAria.cfg

     文件       5055  2014-08-18 08:28  pioneer3_control_ros-master\CMakeLists.txt

    .......        56  2014-08-18 08:28  pioneer3_control_ros-master\msg\BumperState.msg

     文件       2255  2014-08-18 08:28  pioneer3_control_ros-master\p3_kinect.cpp

     文件       4550  2014-08-18 08:28  pioneer3_control_ros-master\p3_sonar.cpp

     文件      11307  2017-10-18 11:35  pioneer3_control_ros-master\p3_sonar_following_moving_object.cpp

     文件       2094  2014-08-18 08:28  pioneer3_control_ros-master\package.xml

     文件     487293  2014-08-18 08:28  pioneer3_control_ros-master\pioneer3_control_ros_18AUG14.pdf

     文件       1295  2014-08-18 08:28  pioneer3_control_ros-master\readme.txt

     文件        738  2014-08-18 08:28  pioneer3_control_ros-master\robotDemo.cpp

     文件        913  2014-08-18 08:28  pioneer3_control_ros-master\robotWander.cpp

     文件       2365  2014-08-18 08:28  pioneer3_control_ros-master\rob_key.cpp

     文件      13451  2014-08-18 08:28  pioneer3_control_ros-master\rob_key_multi_robot_con_separately.cpp

     文件        622  2014-08-18 08:28  pioneer3_control_ros-master\RosAria.cpp

     文件      22962  2014-08-18 08:28  pioneer3_control_ros-master\RosAria_original.cpp

     文件       2642  2014-08-18 08:28  pioneer3_control_ros-master\rosRemoteTest.launch

     文件        972  2014-08-18 08:28  pioneer3_control_ros-master\test_cmd.cpp

     文件       1443  2014-08-18 08:28  pioneer3_control_ros-master\test_record_data.cpp

     目录          0  2014-08-18 08:28  pioneer3_control_ros-master\cfg

     目录          0  2014-08-18 08:28  pioneer3_control_ros-master\msg

     目录          0  2017-03-27 11:17  pioneer3_control_ros-master\pioneer3_control_ros-master

     目录          0  2017-03-27 11:17  pioneer3_control_ros-master

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