walking机器人仿真教程-应用-多点导航结合拍照功能实现移动摄影

walking机器人仿真教程-应用-多点导航结合拍照功能实现移动摄影

说明:

• 介绍如何结合多点导航和拍照功能实现移动摄影
• 想法：每天可以在各个房间不同点进行拍照
• 实现原理：通过航点编辑器设置航点文件增加操作项，再通过python3导航脚本读取航点文件，获取航点进行导航，根据操作字段operate判断为拍照动作，从而启动拍照程序

步骤:

• 加载gazebo

. /usr/share/gazebo/setup.bash 

• 启动仿真

ros2 launch walking_application house_world_v2.launch.py

• gazebo效果：

• rviz效果：　

• 摄像头效果：　

• 设计航点
• 利用walking_navigation多点导航面板, 参考和目标点设置工具walkingGoal,参考,设定航点并保存航点

• 保存文件到目录并命名:/home/ubuntu/waypoints/house_waypoints_picture.json
• 再利用航点编辑工具,设置航点操作为TakePicture

• 保存文件到目录并命名:/home/ubuntu/waypoints/house_waypoints_picture_ed.json
• 启动导航

ros2 run walking_application run_inspection_v4.py

• 文件已经默认指定航点文件为/home/ubuntu/waypoints/house_waypoints_picture_ed.json
• 执行效果：　

$ ros2 run walking_application run_inspection_v4.py
pygame 2.1.2 (SDL 2.0.16, Python 3.8.10)
Hello from the pygame community. https://www.pygame.org/contribute.html
[INFO] [1653532675.804807687] [basic_navigator]: Publishing Initial Pose
[INFO] [1653532679.841127306] [basic_navigator]: Nav2 is ready for use!
[INFO] [1653532679.842634932] [basic_navigator]: Navigating to goal: -6.65857267 -0.0444915...
Executing current waypoint: 1
Executing current waypoint: 1
Executing current waypoint: 1
Executing current waypoint: 1
Executing current waypoint: 1
waypoint 1 is complete! 
Begin to take picture!
take picture is done!
[INFO] [1653532758.265608384] [basic_navigator]: Navigating to goal: -6.3024497 -2.95511127...
Executing current waypoint: 2
Executing current waypoint: 2
Executing current waypoint: 2
Executing current waypoint: 2
Executing current waypoint: 2
Executing current waypoint: 2
waypoint 2 is complete! 
Begin to take picture!
take picture is done!
[INFO] [1653532823.229803675] [basic_navigator]: Navigating to goal: 0.0 0.0...

• 执行之后，自动在房间内导航，到达一个航点之后，会启动拍照程序
• 图片保存的目录位于/home/ubuntu/Pictures/下，命名类似：pic_202205272005.jpg
• 进入图片目录，可以使用命令eog pic_202205272005.jpg查看图片
• 使用的航点文件位于/home/ubuntu/waypoints/house_waypoints_picture_ed.json

演示视频