ROS 扫地机器人路径覆盖及控制源码

基于turtlesim小乌龟实现的ROS 扫地机器人路径覆盖算法，及差速控制。 使用方法： 1、下载源码 cd catkin_ws/src catkin_create_pkg turtlesim_cleaner cd catkin_ws catkin_make 2、运行 roscore //ROS Master rosrun turtlesim turtlesim_node //turtlesim rosrun turtlesim_cleaner robot_cleaner_node

#include “ros/ros.h“
#include “geometry_msgs/Twist.h“
#include “turtlesim/Pose.h“
#include 

using namespace std;

ros::Publisher velocity_publisher;
ros::Subscriber pose_subscriber;	// to determine the position for turning the robot in an absolute orientation --> in the setDesiredOrientation fn
turtlesim::Pose turtlesim_pose;

const double PI = 3.14159265359;

void move（double speed double distance bool isForward）;
void rotate（double angular_speed double angle bool cloclwise）;	//this will rotate the turtle at specified angle from its current angle
double degrees2radians（double angle_in_degrees）;		
double setDesiredOrientation（double desired_angle_radians）;	//this will rotate the turtle at an absolute angle whatever its current angle is
void poseCallback（const turtlesim::Pose::ConstPtr & pose_message）;	//Callback fn everytime the turtle pose msg is published over the /turtle1/pose topic.

int main（int argc char **argv）
{
	// Initiate new ROS node named “talker“
	ros::init（argc argv “turtlesim_cleaner“）;
	ros::NodeHandle n;
	double speed angular_speed;
	double distance angle;
	bool isForward clockwise;

	velocity_publisher = n.advertise（“/turtle1/cmd_vel“ 1000）;
	pose_subscriber = n.subscribe（“/turtle1/pose“ 10 poseCallback）;	//call poseCallback everytime the turtle pose msg is published over the /turtle1/pose topic.
	//ros::Rate loop_rate（10）;

	//	/turtle1/cmd_vel is the Topic name
	//	/geometry_msgs::Twist is the msg type 
	ROS_INFO（“\n\n\n ********START TESTING*********\n“）;
	/*
	cout<<“enter speed: “;
	cin>>speed;
	cout<<“enter distance: “;
	cin>>distance;
	cout<<“forward?: “;
	cin>>isForward;
	move（speed distance isForward）;
						//this is to move and rotate the robot as the user.
	cout<<“enter angular velocity: “;
	cin>>angular_speed;
	cout<<“enter angle: “;
	cin>>angle;
	cout<<“Clockwise?: “;
	cin>>clockwise;
	rotate（degrees2radians（angular_speed） degrees2radians（angle） clockwise）;
	*/

	setDesiredOrientation（degrees2radians（120））;
	ros::Rate loop_rate（0.5）;
	loop_rate.sleep（）;
	setDesiredOrientation（degrees2radians（-60））;
	loop_rate.sleep（）;
	setDesiredOrientation（degrees2radians（0））;

	ros::spin（）;

	return 0;
}

void move（double speed double distance bool isForward）{
	geometry_msgs::Twist vel_msg;
   //set a random linear velocity in the x-axis
   if （isForward）
	   vel_msg.linear.x =abs（speed）;
   else
	   vel_msg.linear.x =-abs（speed）;
   vel_msg.linear.y =0;
   vel_msg.linear.z =0;
   //set a random angular velocity in the y-axis
   vel_msg.angular.x = 0;
   vel_msg.angular.y = 0;
   vel_msg.angular.z =0;

   double t0 = ros::Time::now（）.toSec（）;
   double current_distance = 0.0;
   ros::Rate loop_rate（100）;
   do{
	   velocity_publisher.publish（vel_msg）;
	   double t1 = ros::Time::now（）.toSec（）;
	   current_distance = speed * （t1-t0）;
	   ros::spinOnce（）;
	   loop_rate.sleep（）;
	   //cout<<（t1-t0）<<“ “<   }while（current_distance


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     文件        268  2020-01-31 17:51  turtlesim_cleaner\.git\config

     文件         73  2020-01-31 17:51  turtlesim_cleaner\.git\description

     文件         23  2020-01-31 17:51  turtlesim_cleaner\.git\HEAD

     文件        452  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\applypatch-msg.sample

     文件        896  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\commit-msg.sample

     文件        189  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\post-update.sample

     文件        398  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\pre-applypatch.sample

     文件       1642  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\pre-commit.sample

     文件       1352  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\pre-push.sample

     文件       4898  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\pre-rebase.sample

     文件       1239  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\prepare-commit-msg.sample

     文件       3611  2020-01-31 17:51  turtlesim_cleaner\.git\hooks\update.sample

     文件        784  2020-01-31 17:51  turtlesim_cleaner\.git\index

     文件        240  2020-01-31 17:51  turtlesim_cleaner\.git\info\exclude

     文件        186  2020-01-31 17:51  turtlesim_cleaner\.git\logs\HEAD

     文件        186  2020-01-31 17:51  turtlesim_cleaner\.git\logs\refs\heads\master

     文件        186  2020-01-31 17:51  turtlesim_cleaner\.git\logs\refs\remotes\origin\HEAD

     文件        121  2020-01-31 17:51  turtlesim_cleaner\.git\objects\07\8de8c0f587a07d9969e2daaee5bca38a3321cd

     文件        156  2020-01-31 17:51  turtlesim_cleaner\.git\objects\12\cbbf615b43ff748f4e283b21da3568bf77760d

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     文件        203  2020-01-31 17:51  turtlesim_cleaner\.git\objects\2a\c7271b53fccfee607d870b7f0182804b1ca8cc

     文件        156  2020-01-31 17:51  turtlesim_cleaner\.git\objects\2e\1cacf93903d0ba0f98716a61531cddb629661a

     文件       2191  2020-01-31 17:51  turtlesim_cleaner\.git\objects\30\bfe5abd3c387474b7005453045de1f67327b0c

     文件       2469  2020-01-31 17:51  turtlesim_cleaner\.git\objects\36\331d2bd43f315bda48280275fb625ad66e2c1c

     文件        804  2020-01-31 17:51  turtlesim_cleaner\.git\objects\38\a26368cb368cde4a803fc66811fa7f0d8fcccd

     文件        199  2020-01-31 17:51  turtlesim_cleaner\.git\objects\39\992afd6773521f8ef2e5340e8b4b1dbe4e10df

     文件        836  2020-01-31 17:51  turtlesim_cleaner\.git\objects\3b\e8cc572bed2f503945f88c905a7c86b4cf258d

     文件        122  2020-01-31 17:51  turtlesim_cleaner\.git\objects\3d\bef0656ccdeff6447ad3251556c1f29ba2c526

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