167 lines
6.3 KiB
Python
167 lines
6.3 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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import rospy
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import actionlib
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import threading
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from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
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from geometry_msgs.msg import PoseStamped, PointStamped, Twist
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from visualization_msgs.msg import Marker, MarkerArray
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class MissionController:
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def __init__(self):
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rospy.init_node('nav_controller')
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# --- 設定 ---
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self.waypoint_queue = []
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self.current_goal_idx = 0
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self.mission_complete = False
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# --- ROS Publisher ---
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# 1. 速度控制 (強制停車用) - 提高 queue_size 確保指令送達
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self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
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# 2. 視覺化標記
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self.marker_pub = rospy.Publisher('/waypoint_markers', MarkerArray, queue_size=10)
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# --- ROS Subscriber ---
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rospy.Subscriber('/clicked_point', PointStamped, self.click_callback)
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# --- 導航客戶端 ---
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self.client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
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rospy.loginfo("正在連接 Move Base Server...")
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self.client.wait_for_server()
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rospy.loginfo("導航系統已連線！")
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# --- 讀取參數 ---
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self.load_waypoints_from_param()
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# 啟動監控執行緒
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self.monitor_thread = threading.Thread(target=self.mission_loop)
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self.monitor_thread.start()
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def load_waypoints_from_param(self):
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point_list = rospy.get_param('~waypoints', [])
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if point_list:
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rospy.loginfo(f"讀取到 {len(point_list)} 個路徑點。")
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for p in point_list:
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self.add_waypoint(p[0], p[1])
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else:
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rospy.logwarn("無預設路徑點。")
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def add_waypoint(self, x, y):
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target_pose = PoseStamped()
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target_pose.header.frame_id = "map"
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target_pose.header.stamp = rospy.Time.now()
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target_pose.pose.position.x = x
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target_pose.pose.position.y = y
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target_pose.pose.orientation.w = 1.0
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self.waypoint_queue.append(target_pose)
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rospy.loginfo(f"加入點: ({x}, {y})")
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self.publish_markers()
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def click_callback(self, msg):
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# 如果任務已結束，允許手動點擊來重置並開始新任務
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if self.mission_complete:
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rospy.loginfo("檢測到新輸入，重置任務狀態...")
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self.mission_complete = False
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self.current_goal_idx = 0
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self.waypoint_queue = [] # 清空舊的
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self.add_waypoint(msg.point.x, msg.point.y)
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def publish_markers(self):
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marker_array = MarkerArray()
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if self.current_goal_idx >= len(self.waypoint_queue):
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delete_all = Marker()
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delete_all.action = Marker.DELETEALL
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marker_array.markers.append(delete_all)
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self.marker_pub.publish(marker_array)
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return
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line_marker = Marker()
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line_marker.header.frame_id = "map"
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line_marker.type = Marker.LINE_STRIP
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line_marker.action = Marker.ADD
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line_marker.id = 999
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line_marker.scale.x = 0.05
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line_marker.color.r, line_marker.color.g, line_marker.color.b, line_marker.color.a = 0.0, 0.0, 1.0, 0.8
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for i in range(self.current_goal_idx, len(self.waypoint_queue)):
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p = self.waypoint_queue[i].pose.position
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line_marker.points.append(p)
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text_marker = Marker()
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text_marker.header.frame_id = "map"
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text_marker.type = Marker.TEXT_VIEW_FACING
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text_marker.action = Marker.ADD
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text_marker.id = i
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text_marker.pose.position.x, text_marker.pose.position.y, text_marker.pose.position.z = p.x, p.y, 0.5
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text_marker.text = f"P{i+1}"
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text_marker.scale.z = 0.3
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text_marker.color.r, text_marker.color.g, text_marker.color.b, text_marker.color.a = 1.0, 0.0, 0.0, 1.0
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marker_array.markers.append(text_marker)
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marker_array.markers.append(line_marker)
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self.marker_pub.publish(marker_array)
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def stop_robot(self):
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"""持續發送速度 0 的指令"""
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stop_msg = Twist()
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stop_msg.linear.x = 0.0
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stop_msg.linear.y = 0.0
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stop_msg.angular.z = 0.0
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self.cmd_vel_pub.publish(stop_msg)
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def execute_navigation(self, target_pose):
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goal = MoveBaseGoal()
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goal.target_pose = target_pose
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self.client.send_goal(goal)
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self.client.wait_for_result()
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return self.client.get_state() == actionlib.GoalStatus.SUCCEEDED
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def mission_loop(self):
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# 提高頻率到 10Hz，讓煞車指令更密集
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rate = rospy.Rate(10)
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rospy.sleep(1.0)
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while not rospy.is_shutdown():
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if self.current_goal_idx < len(self.waypoint_queue):
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# --- 導航中 ---
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self.publish_markers()
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target = self.waypoint_queue[self.current_goal_idx]
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rospy.loginfo(f"--- 前往 P{self.current_goal_idx + 1} ---")
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success = self.execute_navigation(target)
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if success:
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rospy.loginfo(f"P{self.current_goal_idx + 1} 到達！")
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else:
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rospy.logwarn("導航受阻，跳過此點。")
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self.current_goal_idx += 1
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else:
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# --- 任務結束 ---
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if len(self.waypoint_queue) > 0:
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if not self.mission_complete:
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rospy.loginfo(">>> 任務全部完成，執行強制停車。")
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self.publish_markers() # 清除標記
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# 1. 告訴 Move Base 取消所有目標 (不要再嘗試對齊方向)
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self.client.cancel_all_goals()
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self.mission_complete = True
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# 2. 【關鍵修改】在迴圈內持續呼叫 stop_robot
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# 只要任務結束，每一輪迴圈都會發送速度0
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# 這會強制覆蓋掉任何滑行或旋轉的殘留指令
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self.stop_robot()
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rate.sleep()
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if __name__ == '__main__':
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try:
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MissionController()
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rospy.spin()
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except rospy.ROSInterruptException:
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pass |