169 lines
6.0 KiB
Python
169 lines
6.0 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, Point
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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)
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self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
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# 2. [新增] 視覺化標記 (用來畫點跟線)
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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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# --- 讀取參數並啟動 ---
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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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# 每次加點都更新 RViz 畫面
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self.publish_markers()
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def click_callback(self, msg):
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if self.mission_complete:
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self.mission_complete = False # 重置狀態允許新任務
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self.current_goal_idx = 0
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self.waypoint_queue = []
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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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"""在 RViz 畫出剩下的路徑點與連線"""
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marker_array = MarkerArray()
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# 如果沒有點，清空畫面並返回
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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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# 1. 設定連線 (LINE_STRIP) - 顯示點到點的路徑
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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 # 線條粗細
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line_marker.color.r = 0.0
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line_marker.color.g = 0.0
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line_marker.color.b = 1.0 # 藍色線
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line_marker.color.a = 0.8
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# 只畫出「還沒到達」的點
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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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# 2. 設定文字編號 (TEXT_VIEW_FACING)
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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 = p.x
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text_marker.pose.position.y = p.y
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text_marker.pose.position.z = 0.5 # 字浮在半空中
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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 = 1.0
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text_marker.color.g = 0.0
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text_marker.color.b = 0.0 # 紅色字
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text_marker.color.a = 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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stop_msg = Twist()
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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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rate = rospy.Rate(5)
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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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# 更新 RViz 顯示 (讓已到達的點消失)
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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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self.current_goal_idx += 1
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else:
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if not self.mission_complete and len(self.waypoint_queue) > 0:
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rospy.loginfo(">>> 任務全部完成，停止。")
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self.publish_markers() # 清除所有標記
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self.client.cancel_all_goals()
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for _ in range(5):
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self.stop_robot()
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rospy.sleep(0.1)
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self.mission_complete = True
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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 |