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5.Patrol game
5.Patrol game
5.Patrol game5.1 How to use 5.1.1 Start 5.1.2 parameter modification 5.1.3 Patrol function 5.2 Source code analysis
5.1 How to use
Note: [R2] of the remote controller has the function of [pause/on] for this gameplay. This section takes the X3 Wheat Wheel as an example.
Different environments have different parameters; this function needs to be debugged patiently to get good results.
5.1.1 Start
One-click start(robot side)
#You need to enter docker first, perform this step more#If running the script to enter docker fails, please refer to 07.Docker-orin/05, Enter the robot's docker container~/run_docker.shroslaunch yahboomcar_bringup patrol.launch Start successfully, print log
xxxxxxxxxx# The log of the successful start of the patrol function Bring up rqt_reconfigure to control the Robot. # The log of the successful startup of the underlying driver First IMU message received. # Lidar startup successful log RPLIDAR S/N : 6 A97EDF9C7E29BD1A7E39EF2FA44431B [ INFO ] [ 1631677752.206795121 ]: Firmware Ver : 1.29 [ INFO ] [ 1631677752.208026726 ]: Hardware Rev : 7 [ INFO ] [ 1631677752.210976099 ]: RPLidar health status : 0 [ INFO ] [ 1631677752.808115075 ]: current scan mode : Sensitivity, max_distance : 12.0 m, Point number : 7.9 K , angle_compensate : 2 At this point, after the above three parts are successfully started, the dynamic parameter debugging tool is started on the virtual machine side.
xxxxxxxxxxrosrun rqt_reconfigure rqt_reconfigure
Parameter parsing:
| parameter | scope | Parse |
|---|---|---|
| 【SetLoop】 | 【False,True】 | Loop patrol, default False. |
| 【Linear】 | 【0.0, 1.0】 | The running speed of the trolley |
| 【Angular】 | 【0.0, 5.0】 | The running angular velocity of the trolley |
| 【Length】 | 【0.0, 2.0】 | The straight-line running distance of the trolley |
| 【Angle】 | 【0.0, 360.0】 | Rotation angle of the cart |
| 【LineScaling】 | 【0.0, 2.0】 | Straight line distance scaling, default 0.9 |
| 【RotationScaling】 | 【0.0, 2.0】 | Rotation angle scaling, default 1.0 |
| 【LineTolerance】 | 【0.0, 1.0】 | Allowable straight-line distance error |
| 【RotationTolerance】 | 【0.0, 5.0】 | Permissible rotation angle error |
| 【ResponseDist】 | 【0.0, 8.0】 | If there is an obstacle within the response distance, the car stops moving; Remove the obstacles, and the car continues to complete the patrol mission. |
| 【LaserAngle】 | 【10, 180】 | Lidar detection angle(left and right side angle) |
| 【Command】 | Default【Square】 | Patrol mode: [LengthTest, AngleTest,Triangle, Square, Parallelogram, Circle] |
| 【Switch】 | 【False,True】 | Patrol function [Start/Pause] |
When debugging parameters, mainly debug [RotationScaling], which can be debugged as [1.0, 1.1, 1.2, 1.3, 1.4], etc. according to the actual situation, and observe the effect, the circle is generally 0.9.
1) [LengthTest]: straight test command, adjust the parameters of [LineScaling] and [LineTolerance], so that the actual running distance of the car is close to the value [Length].
【LineScaling】The smaller the parameter, the larger the straight distance. 【LineTolerance】The smaller the parameter, the greater the front and rear vibration. After debugging many times, you can go to the best data, and the error always exists.
2) [AngleTest]: rotate the test command, adjust the parameters of [RotationScaling] and [RotationTolerance], so that the actual rotation distance of the car is close to the value [Angle].
【RotationScaling】The smaller the parameter, the larger the rotation angle. 【RotationTolerance】The smaller the parameter, the greater the left and right vibration. After debugging many times, you can go to the best data, and the error always exists.
After debugging [1)] and [2)], [LineScaling] and [LineTolerance], [RotationScaling] and [RotationTolerance] generally do not need to be adjusted.
5.1.2 parameter modification
When the parameters are adjusted to the optimal state, modify the corresponding parameters to the file, and there is no need to adjust them when using them again.
According to the optimal parameters of the [rqt_reconfigure] debugging tool, enter the [scripts] folder of the [yahboomcar_bringup] function package, and modify the parameters corresponding to the [patrol.py] file, as shown below
xxxxxxxxxxclass YahboomCarPatrol(): def __init__(self): self.SetLoop = False self.Linear = 0.5 self.Angular = 1.0 self.Length = 1.0 self.Angle = 360.0 self.LineScaling = 1.1 self.RotationScaling = 0.75 self.LineTolerance = 0.1 self.RotationTolerance = 0.3 self.ResponseDist = 0.6 self.LaserAngle = 20 self.Command = "finish" self.circle_adjust = rospy.get_param('~circle_adjust', 2.0) [rqt_reconfigure] Modify the initial value of the debugging tool
xxxxxxxxxxgen.add("SetLoop", bool_t, 0, "SetLoop", False) gen.add("Linear", double_t, 0, "Linear in robot", 0.5, 0, 1.0) gen.add("Angular", double_t, 0, "Angular in robot", 1.0, 0, 5.0) gen.add("Length", double_t, 0, "Length in limit", 1.0, 0, 2.0) gen.add("Angle", double_t, 0, "Angle in limit", 360.0, 0, 360.0) gen.add("LineScaling", double_t, 0, "Line Scaling", 1.1, 0, 2.0) gen.add("RotationScaling", double_t, 0, "Rotation Scaling", 0.75, 0, 2.0) gen.add("LineTolerance", double_t, 0, "Line Tolerance", 0.1, 0, 3.0) gen.add("RotationTolerance", double_t, 0, "Rotation Tolerance", 0.3, 0, 5.0) gen.add("ResponseDist", double_t, 0, "ResponseDist in limit", 0.6, 0.0, 8.0) gen.add("LaserAngle", int_t, 0, "LaserAngle in limit", 30, 10, 180) Enter the [cfg] folder of the [yahboomcar_bringup] function package, and modify the initial values of the parameters corresponding to the [PatrolParam.cfg] file.
xxxxxxxxxxgen.add("Linear", double_t, 0, "Linear in robot", 0.5, 0, 1.0) Analysis of the above one as an example
| parameter | Parse | Corresponding parameters |
|---|---|---|
| name | the name of the parameter | "Linear" |
| type | parameter data type | double_t |
| level | a bitmask passed to the callback | 0 |
| description | a description parameter | "Linear in robot" |
| default | Initial value for node startup | 0.5 |
| min | parameter minimum | 0 |
| max | parameter maximum | 1.0 |
Note: After modification, the update environment must be recompiled to be effective.
xxxxxxxxxxcd ~/yahboomcar_wscatkin_makesource devel/setup.bash
5.1.3 Patrol function
- After the startup is successful, select the trajectory to be executed in the [Command] [Triangle, Square, Parallelogram, Circle].
- The parameter [Length] can be adjusted according to requirements. For example, the default value is 1.0, the command is Square, and the trajectory of the car is a square with a side length of 1.0.
- When adjusting the parameter [Linear], it should be noted that the greater the speed, the greater the inertia and the smaller the precision.
- Parameter [LaserAngle]: For example: the angle is 30°, at this time, the system only analyzes 30° on the left and right sides of the car(the front is 0°)
- Parameter [Switch]: After setting, click the box behind [Switch] to start patrol. It is executed once by default. After the execution is completed, the check mark in the box will disappear automatically.
- If cyclic patrol is required, click the box behind [SetLoop] to continuously patrol, and the error will accumulate more and more.
Node view