#!/usr/bin/env python
coding=utf-8
“增加了特殊任务——仿真任务”
import rospy
import actionlib
import os
import threading
import time
import numpy as np
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
from geometry_msgs.msg import PoseStamped, Twist
from my_control.msg import simulation
from std_msgs.msg import String, Bool
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from actionlib_msgs.msg import GoalStatus
from pyzbar import pyzbar
import cv2
from playsound import playsound
from darknet_ros_msgs.msg import BoundingBoxes, BoundingBox
class AutomationNode:
状态定义 - 添加新状态
STATE_IDLE = “IDLE” # 空闲状态
STATE_NAVIGATING = “NAVIGATING” # 导航状态
STATE_ARRIVED = “ARRIVED” # 抵达目标点
STATE_SCANNING = “SCANNING” # 搜索二维码
STATE_PLAYING = “PLAYING” # 播放音频
STATE_SEARCHING = “SEARCHING” # 搜索目标物品
STATE_FOUND_TARGET = “FOUND_TARGET” # 找到目标物品
STATE_WAITING_FOR_TASK3 = “WAITING_FOR_TASK3” # 等待任务3指令
STATE_TRAFFIC_LIGHT_DETECTION = “TRAFFIC_LIGHT_DETECTION” # 交通灯识别状态
STATE_TASK3_NAVIGATING = “TASK3_NAVIGATING” # 任务3导航状态
STATE_WAITING_FOR_SIMULATION_RESULT = “WAITING_FOR_SIMULATION_RESULT” # 新增状态：等待模拟结果
def init(self): rospy.init_node(‘automation_node’, anonymous=True) # 状态变量 self.current_state = self.STATE_IDLE self.target_waypoint = None self.qr_detected = False self.waypoint_index = 0 self.task3_started = False # 任务3是否已启动 # ROS通信设置 self.bridge = CvBridge() self.speech_sub = rospy.Subscriber(‘/mic/recognise_result’, String, self.speech_callback) self.arrival_sub = rospy.Subscriber(‘/arrival_status’, Bool, self.arrival_callback) self.image_sub = None self.status_pub = rospy.Publisher(‘/task_status’, String, queue_size=10) self.qr_result_pub = rospy.Publisher(‘/qrcode_result’, String, queue_size=10) self.cmd_vel_pub = rospy.Publisher(‘/cmd_vel’, Twist, queue_size=10) self.yolo_sub = rospy.Subscriber(‘/darknet_ros/bounding_boxes’, BoundingBoxes, self.yolo_callback) # 新增发布器和订阅器 self.simulation_start_pub = rospy.Publisher(‘/simulation_start’, simulation, queue_size=10) self.simulation_result_sub = rospy.Subscriber(‘/simulation_result’, simulation, self.simulation_result_callback) # 二维码参数配置 self.display = rospy.get_param(‘~display’, False) self.min_size = rospy.get_param(‘~min_size’, 100) self.process_counter = 0 self.process_every_n = 5 # MoveBase动作客户端 - 等待服务器启动 self.move_base_client = actionlib.SimpleActionClient(‘move_base’, MoveBaseAction) rospy.loginfo(“等待move_base服务器…”) self.move_base_client.wait_for_server() # 无限期等待直到服务器可用 rospy.loginfo(“move_base服务器已连接”) # 预定义航点(根据实际环境配置) self.waypoints = [ # 任务1相关航点 self.create_pose(0.86228, 0.643816, 0.0, 0.0, 0.0, 0.999994, -0.00352223), # 点1: 扫描点,识别二维码 self.create_pose(0.239314, 1.17115, 0.0, 0.0, 0.0, -0.00275711, 0.999996), # 点1.1: 点1到点2的过渡点 self.create_pose(1.91489, 1.73335, 0.0, 0.0, 0.0, 0.999987, 0.00516634), # 点1.2: 点1到点2的过渡点 self.create_pose(0.239635, 2.22449, 0.0, 0.0, 0.0, 0.625221, 0.780448), # 点2: 到达任务1的出口 # 任务2搜索航点 self.create_pose(1.63196, 2.63176, 0.0, 0.0, 0.0, -0.350634, 0.936513), # 点3: 搜索点1 self.create_pose(1.353, 4.08081, 0.0, 0.0, 0.0, 0.35119, 0.936304), # 点4: 搜索点2 self.create_pose(0.445499, 3.68565, 0.0, 0.0, 0.0, 0.900844, 0.434142), # 点5: 搜索点3 # 任务2终点 self.create_pose(1.1181, 3.55528, 0.0, 0.0, 0.0, 0.0148318, 0.99989), # 点6: 任务2的终点 # 任务3相关航点 #self.create_pose(2.28661, 4.04943, 0.0, 0.0, 0.0, 0.0, 1), # 点7: 门 self.create_pose(2.69836, 3.77956, 0.0, 0.0, 0.0, 0.745125, 0.666924), # 点8: 路灯1 self.create_pose(2.56047, 3.24088, 0.0, 0.0, 0.0, -0.60105, 0.799212), # 点9: 路口1 self.create_pose(4.36605, 2.0, 0.0, 0.0, 0.0, 0.0, 1.0), # 点10: 路灯2 self.create_pose(3.0, 3.90711, 0.0, 0.0, 0.0, 0.698666, 0.715448) # 点11: 路口2 ] # 航点索引常量(提高可读性) self.WAYPOINT_SCAN = 0 self.WAYPOINT_TASK1_EXIT = 1 self.WAYPOINT_SEARCH1 = 2 self.WAYPOINT_SEARCH2 = 3 self.WAYPOINT_SEARCH3 = 4 self.WAYPOINT_TASK2_END = 5 self.WAYPOINT_DOOR = 6 self.WAYPOINT_LIGHT1 = 7 self.WAYPOINT_CROSS1 = 8 self.WAYPOINT_LIGHT2 = 9 self.WAYPOINT_CROSS2 = 10 # 音频文件映射 - 添加新音频 self.audio_files = { “Fruit”: “/home/ucar/ucar_ws/src/mp3/Fruit.mp3”, “Vegetable”: “/home/ucar/ucar_ws/src/mp3/Vegetable.mp3”, “Dessert”: “/home/ucar/ucar_ws/src/mp3/Dessert.mp3”, “apple”: “/home/ucar/ucar_ws/src/mp3/apple.mp3”, “watermelon”: “/home/ucar/ucar_ws/src/mp3/watermelon.mp3”, “banana”: “/home/ucar/ucar_ws/src/mp3/banana.mp3”, “potato”: “/home/ucar/ucar_ws/src/mp3/potato.mp3”, “tomato”: “/home/ucar/ucar_ws/src/mp3/tomato.mp3”, “chili”: “/home/ucar/ucar_ws/src/mp3/chili.mp3”, “cake”: “/home/ucar/ucar_ws/src/mp3/cake.mp3”, “coco”: “/home/ucar/ucar_ws/src/mp3/coco.mp3”, “milk”: “/home/ucar/ucar_ws/src/mp3/milk.mp3”, “load_1”: “/home/ucar/ucar_ws/src/mp3/load_1.mp3”, “load_2”: “/home/ucar/ucar_ws/src/mp3/load_2.mp3”, # 新增三种结果的音频 “A”: “/home/ucar/ucar_ws/src/mp3/result_A.mp3”, “B”: “/home/ucar/ucar_ws/src/mp3/result_B.mp3”, “C”: “/home/ucar/ucar_ws/src/mp3/result_C.mp3” } # 目标搜索相关变量 self.qr_result = 0 self.target_object = None self.search_timeout = 15.0 # 每个搜索点的超时时间(秒) self.search_start_time = None self.search_timer = None # 目标类别映射 self.test1_categories = { 1: [‘apple’, ‘watermelon’, ‘banana’], 2: [‘potato’, ‘tomato’, ‘chili’], 3: [‘cake’, ‘coco’, ‘milk’] } # 任务3相关变量 self.traffic_light_detected = False self.traffic_light_result = None # ‘red’ 或 ‘green’ # 新增变量 self.simulation_result_received = False self.simulation_result = None self.simulation_timeout_timer = None # 特殊任务超时定时器 rospy.loginfo(“自动化节点已启动,等待语音指令…”) rospy.on_shutdown(self.shutdown) def create_pose(self, x, y, z, qx, qy, qz, qw): “”“创建导航目标位姿”“” pose = PoseStamped() pose.header.frame_id = “map” pose.header.stamp = rospy.Time.now() pose.pose.position.x = x pose.pose.position.y = y pose.pose.position.z = z pose.pose.orientation.x = qx pose.pose.orientation.y = qy pose.pose.orientation.z = qz pose.pose.orientation.w = qw return pose def navigate_to_waypoint(self, waypoint_index): “”“导航到指定航点”“” if waypoint_index >= len(self.waypoints): rospy.logwarn(“无效的航点索引: %d”, waypoint_index) return self.waypoint_index = waypoint_index waypoint = self.waypoints[waypoint_index] rospy.loginfo(“导航到航点 %d”, waypoint_index + 1) # 根据任务设置状态 if self.task3_started: self.current_state = self.STATE_TASK3_NAVIGATING else: self.current_state = self.STATE_NAVIGATING self.status_pub.publish(“NAVIGATING_TO_TARGET”) # 使用move_base动作客户端发送目标 goal = MoveBaseGoal() goal.target_pose = waypoint self.move_base_client.send_goal(goal) # 设置定时器检查导航状态 rospy.Timer(rospy.Duration(1), self.check_navigation_status, oneshot=False) def check_navigation_status(self, event): “”“检查导航状态(使用move_base动作)”“” state = self.move_base_client.get_state() if state == GoalStatus.SUCCEEDED: rospy.loginfo(“成功到达航点 %d”, self.waypoint_index + 1) self.handle_arrival() # 停止定时器 event.new_message = None # 停止定时器 elif state in [GoalStatus.ABORTED, GoalStatus.PREEMPTED]: rospy.logwarn(“导航失败,尝试重新规划…”) self.navigate_to_waypoint(self.waypoint_index) # 停止当前定时器 event.new_message = None def handle_arrival(self): “”“处理到达航点后的逻辑”“” self.current_state = self.STATE_ARRIVED self.status_pub.publish(“ARRIVED_AT_TARGET”) # 发布到达状态 arrival_pub = rospy.Publisher(‘/arrival_status’, Bool, queue_size=10) arrival_pub.publish(True) def speech_callback(self, msg): “”“处理语音识别结果”“” rospy.loginfo(f"收到语音指令: {msg.data}“) # 处理初始指令 if “ok” in msg.data.lower() and self.current_state == self.STATE_IDLE: rospy.loginfo(“收到语音指令,开始导航到航点1”) self.navigate_to_waypoint(self.WAYPOINT_SCAN) # 处理任务3启动指令 elif “start task3” in msg.data.lower() and self.current_state == self.STATE_WAITING_FOR_TASK3: rospy.loginfo(“收到任务3启动指令,开始导航到门(点7)”) self.task3_started = True self.navigate_to_waypoint(self.WAYPOINT_DOOR) def arrival_callback(self, msg): “”“处理到达状态””" if not msg.data or self.current_state != self.STATE_ARRIVED: return rospy.loginfo(f"处理航点 {self.waypoint_index+1} 的到达逻辑") # 任务1: 二维码扫描点 if self.waypoint_index == self.WAYPOINT_SCAN: rospy.loginfo(“启动二维码识别…”) self.current_state = self.STATE_SCANNING self.status_pub.publish(“SCANNING”) self.image_sub = rospy.Subscriber(‘/usb_cam/image_raw’, Image, self.image_callback) # 任务1出口 elif self.waypoint_index == self.WAYPOINT_TASK1_EXIT: rospy.loginfo(“到达任务1出口,开始任务2”) self.start_searching() # 任务2搜索点 elif self.waypoint_index in [self.WAYPOINT_SEARCH1, self.WAYPOINT_SEARCH2, self.WAYPOINT_SEARCH3]: rospy.loginfo(f"在航点 {self.waypoint_index+1} 开始搜索目标…“) self.start_searching() # 任务2终点 elif self.waypoint_index == self.WAYPOINT_TASK2_END: rospy.loginfo(“到达任务2终点,执行特殊任务…”) self.execute_special_task() # 任务3: 门 elif self.waypoint_index == self.WAYPOINT_DOOR: rospy.loginfo(“到达门,前往路灯1(点8)”) self.navigate_to_waypoint(self.WAYPOINT_LIGHT1) # 任务3: 路灯1 elif self.waypoint_index == self.WAYPOINT_LIGHT1: rospy.loginfo(“到达路灯1,开始识别交通灯…”) self.current_state = self.STATE_TRAFFIC_LIGHT_DETECTION self.status_pub.publish(“DETECTING_TRAFFIC_LIGHT”) self.traffic_light_detected = False self.traffic_light_result = None # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_traffic_light_timeout, oneshot=True) # 订阅图像用于目标检测 if not self.image_sub: self.image_sub = rospy.Subscriber(‘/usb_cam/image_raw’, Image, self.yolo_image_callback) # 任务3: 路灯2 elif self.waypoint_index == self.WAYPOINT_LIGHT2: rospy.loginfo(“到达路灯2,开始识别交通灯…”) self.current_state = self.STATE_TRAFFIC_LIGHT_DETECTION self.status_pub.publish(“DETECTING_TRAFFIC_LIGHT”) self.traffic_light_detected = False self.traffic_light_result = None # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_traffic_light_timeout, oneshot=True) # 任务3: 路口1或路口2 elif self.waypoint_index in [self.WAYPOINT_CROSS1, self.WAYPOINT_CROSS2]: rospy.loginfo(f"到达路口{self.waypoint_index-7},准备进行下一步任务…”) self.status_pub.publish(“TASK3_COMPLETED”) self.current_state = self.STATE_IDLE self.task3_started = False # 根据到达的路口播放不同的音频 if self.waypoint_index == self.WAYPOINT_CROSS1: rospy.loginfo(“在路口1播放load_1音频”) audio_file = self.audio_files.get(“load_1”) else: rospy.loginfo(“在路口2播放load_2音频”) audio_file = self.audio_files.get(“load_2”) if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() rospy.loginfo(“任务3完成,等待新指令…”) def start_searching(self): “”“启动目标搜索”“” rospy.loginfo(“开始搜索目标…”) self.current_state = self.STATE_SEARCHING self.status_pub.publish(“SEARCHING_TARGET”) self.search_start_time = rospy.Time.now() # 设置超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = rospy.Timer(rospy.Duration(self.search_timeout), self.handle_search_timeout, oneshot=True) # 订阅图像用于目标检测 if not self.image_sub: self.image_sub = rospy.Subscriber(‘/usb_cam/image_raw’, Image, self.yolo_image_callback) def handle_search_timeout(self, event): “”“处理搜索超时”“” if self.current_state == self.STATE_SEARCHING: rospy.logwarn(“在航点 %d 未找到目标,前往下一个航点”, self.waypoint_index + 1) # 计算下一个航点索引 next_index = self.waypoint_index + 1 # 如果还有搜索航点,前往下一个 if next_index <= self.WAYPOINT_SEARCH3: # 航点索引2-4是搜索点 self.navigate_to_waypoint(next_index) else: # 没有更多搜索点,前往任务2终点 rospy.logwarn(“所有搜索点均未找到目标,前往任务2终点”) self.navigate_to_waypoint(self.WAYPOINT_TASK2_END) def handle_traffic_light_timeout(self, event): “”“处理交通灯识别超时”“” if self.current_state == self.STATE_TRAFFIC_LIGHT_DETECTION: rospy.logwarn(“交通灯识别超时,执行默认操作”) # 如果在路灯1,默认前往路口1 if self.waypoint_index == self.WAYPOINT_LIGHT1: rospy.loginfo(“默认前往路口1(点9)”) self.navigate_to_waypoint(self.WAYPOINT_CROSS1) # 如果在路灯2,默认前往路口2 elif self.waypoint_index == self.WAYPOINT_LIGHT2: rospy.loginfo(“默认前往路口2(点11)”) self.navigate_to_waypoint(self.WAYPOINT_CROSS2) def image_callback(self, data): “”“处理二维码扫描图像”“” if self.current_state != self.STATE_SCANNING: return try: cv_image = self.bridge.imgmsg_to_cv2(data, “bgr8”) except CvBridgeError as e: rospy.logerr(“图像转换错误: %s”, e) return # 翻转图像,否则难以识别(亲测) cv_image = cv2.flip(cv_image, 1) # 检测二维码 decoded_objects = pyzbar.decode(cv_image) results = [] for obj in decoded_objects: data = obj.data.decode(‘utf-8’) results.append(data) if results: result_msg = “, “.join(results) rospy.loginfo(“识别到二维码: %s”, result_msg) self.qr_result_pub.publish(result_msg) self.qr_detected = True self.current_state = self.STATE_PLAYING self.status_pub.publish(“PLAYING_AUDIO”) # 取消图像订阅 if self.image_sub: self.image_sub.unregister() self.image_sub = None # 播放音频 self.play_audio(result_msg) # 导航到任务1出口 self.navigate_to_waypoint(self.WAYPOINT_TASK1_EXIT) def play_audio(self, qr_code): “”“播放音频文件””” rospy.loginfo(“播放音频: %s”, qr_code) # 查找对应的音频文件 audio_file = None for key in self.audio_files: if key in qr_code: audio_file = self.audio_files[key] break if audio_file and os.path.exists(audio_file): # 播放音频(异步) threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() # 设置二维码结果 if “Fruit” in qr_code: self.qr_result = 1 elif “Vegetable” in qr_code: self.qr_result = 2 elif “Dessert” in qr_code: self.qr_result = 3 else: rospy.logwarn(“未找到匹配的音频文件: %s”, qr_code) def play_audio_thread(self, audio_file): “”“线程中播放音频”“” try: playsound(audio_file) rospy.loginfo(“音频播放完成”) except Exception as e: rospy.logerr(“音频播放错误: %s”, str(e)) def yolo_callback(self, msg): “”“处理YOLO检测结果”“” # 目标搜索状态 if self.current_state == self.STATE_SEARCHING: # 检查当前类别的有效目标 test1_targets = self.test1_categories.get(self.qr_result, []) for bbox in msg.bounding_boxes: if bbox.Class in test1_targets: rospy.loginfo(“发现目标: %s”, bbox.Class) self.target_object = bbox.Class self.xmin = bbox.xmin self.ymin = bbox.ymin self.xmax = bbox.xmax self.ymax = bbox.ymax # 更新状态 self.current_state = self.STATE_FOUND_TARGET self.status_pub.publish(“TARGET_FOUND”) # 取消超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = None # 如果尚未订阅图像,则订阅 if not self.image_sub: self.image_sub = rospy.Subscriber(‘/usb_cam/image_raw’, Image, self.yolo_image_callback) break # 交通灯识别状态 elif self.current_state == self.STATE_TRAFFIC_LIGHT_DETECTION: # 检查交通灯类别 for bbox in msg.bounding_boxes: if bbox.Class in [‘red’, ‘green’]: rospy.loginfo(“识别到交通灯: %s”, bbox.Class) self.traffic_light_result = bbox.Class self.traffic_light_detected = True # 取消超时定时器 if self.search_timer: self.search_timer.shutdown() self.search_timer = None # 根据识别结果决定下一步 self.handle_traffic_light_result() break def handle_traffic_light_result(self): “”“根据交通灯识别结果决定导航路径并播放音频”“” if self.waypoint_index == self.WAYPOINT_LIGHT1: # 路灯1 if self.traffic_light_result == ‘green’: rospy.loginfo(“路灯1为绿灯,播放load_1音频并前往路口1(点9)”) # 播放音频 audio_file = self.audio_files.get(“load_1”) if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn(“load_1音频文件不存在！”) # 导航到路口1 self.navigate_to_waypoint(self.WAYPOINT_CROSS1) else: # 红灯 rospy.loginfo(“路灯1为红灯,前往路灯2(点10)”) self.navigate_to_waypoint(self.WAYPOINT_LIGHT2) elif self.waypoint_index == self.WAYPOINT_LIGHT2: # 路灯2 if self.traffic_light_result == ‘green’: rospy.loginfo(“路灯2为绿灯,播放load_2音频并前往路口2(点11)”) # 播放音频 audio_file = self.audio_files.get(“load_2”) if audio_file and os.path.exists(audio_file): threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn(“load_2音频文件不存在！”) # 导航到路口2 self.navigate_to_waypoint(self.WAYPOINT_CROSS2) else: # 红灯 rospy.loginfo(“路灯2为红灯,默认前往路口2(点11)”) self.navigate_to_waypoint(self.WAYPOINT_CROSS2) def yolo_image_callback(self, msg): “”“处理目标跟踪图像”“” # 目标跟踪状态 if self.target_object and self.current_state == self.STATE_FOUND_TARGET: try: cv_image = self.bridge.imgmsg_to_cv2(msg, “bgr8”) except CvBridgeError as e: rospy.logerr(“图像转换错误: %s”, e) return # 翻转图像,否则难以识别(亲测) cv_image = cv2.flip(cv_image, 1) # 计算目标位置 target_center_x = (self.xmin + self.xmax) // 2 target_width = self.xmax - self.xmin frame_center_x = cv_image.shape[1] // 2 # 视觉控制逻辑 twist = Twist() # 横向控制(转向) lateral_error = target_center_x - frame_center_x if abs(lateral_error) > 50: twist.angular.z = 0.0006 * lateral_error else: twist.angular.z = 0.0 # 纵向控制(前进/停止) if target_width < 200: twist.linear.x = 0.3 else: # 到达目标面前 twist.linear.x = 0.0 twist.angular.z = 0.0 rospy.loginfo(“已到达目标 %s 面前！”, self.target_object) self.status_pub.publish(“ARRIVED_AT_TARGET”) # 播放目标音频 audio_file = self.audio_files.get(self.target_object) if audio_file and os.path.exists(audio_file): threading.Thread(target=playsound, args=(audio_file,)).start() # 停止当前运动 self.cmd_vel_pub.publish(twist) # 导航到任务2终点 rospy.loginfo(“前往任务2终点…”) self.navigate_to_waypoint(self.WAYPOINT_TASK2_END) # 重置目标状态 self.target_object = None # 取消图像订阅 if self.image_sub: self.image_sub.unregister() self.image_sub = None # 发布控制命令 self.cmd_vel_pub.publish(twist) def execute_special_task(self): “”“执行任务二终点的特殊任务”“” rospy.loginfo(“执行特殊任务: 发布simulation_start话题”) # 创建并发布simulation_start消息 sim_msg = simulation() sim_msg.str1 = “start” sim_msg.str2 = str(self.qr_result) # 使用二维码结果作为str2 self.simulation_start_pub.publish(sim_msg) # 进入等待结果状态 self.current_state = self.STATE_WAITING_FOR_SIMULATION_RESULT self.status_pub.publish(“WAITING_FOR_SIMULATION_RESULT”) # 重置结果接收标志 self.simulation_result_received = False self.simulation_result = None # 设置超时定时器(2分50秒 = 170秒) rospy.loginfo(“设置特殊任务超时定时器(170秒)”) if self.simulation_timeout_timer: self.simulation_timeout_timer.shutdown() self.simulation_timeout_timer = rospy.Timer(rospy.Duration(170), self.handle_simulation_timeout, oneshot=True) rospy.loginfo(“已发布simulation_start,等待simulation_result…”) def simulation_result_callback(self, msg): “”“处理simulation_result消息”“” if self.current_state != self.STATE_WAITING_FOR_SIMULATION_RESULT: return rospy.loginfo(f"收到simulation_result: str1={msg.str1}, str2={msg.str2}“) # 检查消息格式 if msg.str1 == “stop”: self.simulation_result = msg.str2 self.simulation_result_received = True # 取消超时定时器 if self.simulation_timeout_timer: self.simulation_timeout_timer.shutdown() self.simulation_timeout_timer = None # 根据str2的内容播放相应的音频 self.handle_simulation_result() def handle_simulation_result(self): “”“处理模拟结果并导航到点7(门)””" if not self.simulation_result_received or not self.simulation_result: return rospy.loginfo(“处理模拟结果: %s”, self.simulation_result) # 检查结果是否有效(A, B, C) if self.simulation_result in [“A”, “B”, “C”]: # 播放相应的音频 audio_file = self.audio_files.get(self.simulation_result) if audio_file and os.path.exists(audio_file): rospy.loginfo(“播放结果音频: %s”, self.simulation_result) threading.Thread(target=self.play_audio_thread, args=(audio_file,)).start() else: rospy.logwarn(“找不到结果音频文件: %s”, self.simulation_result) # 导航到点7(门) rospy.loginfo(“特殊任务完成,导航到点7(门)”) self.task3_started = True # 标记任务3已开始 self.navigate_to_waypoint(self.WAYPOINT_DOOR) else: rospy.logwarn(“无效的模拟结果: %s”, self.simulation_result) # 默认导航到点7(门) self.task3_started = True self.navigate_to_waypoint(self.WAYPOINT_DOOR) def handle_simulation_timeout(self, event): “”“处理特殊任务超时”“” if self.current_state == self.STATE_WAITING_FOR_SIMULATION_RESULT: rospy.logwarn(“特殊任务超时(170秒),未收到simulation_result,将直接前往点7(门)”) # 取消超时定时器 if self.simulation_timeout_timer: self.simulation_timeout_timer.shutdown() self.simulation_timeout_timer = None # 导航到点7(门) rospy.loginfo(“导航到点7(门)”) self.task3_started = True # 标记任务3已开始 self.navigate_to_waypoint(self.WAYPOINT_DOOR) def shutdown(self): “”“节点关闭时的清理工作”“” rospy.loginfo(“关闭节点…”) if self.image_sub: self.image_sub.unregister() if self.search_timer: self.search_timer.shutdown() if self.simulation_timeout_timer: self.simulation_timeout_timer.shutdown() self.cmd_vel_pub.publish(Twist()) # 停止机器人运动
if name == ‘main’:
try:
node = AutomationNode()
rospy.spin()
except rospy.ROSInterruptException:
pass
在点1和点2之间加上两个过渡点，同时去除原本的点7门，在到达任务二的终点接收到特殊任务的结束标志后就直接前往点8路灯1处执行任务3
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这是一款专业音频格式转换器，支持多种格式互转、音频合并、压缩及分割等功能。软件操作简便，支持批量处理，适用于快速高效地处理音频文件。
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