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对齐控制方法

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cyy_mac
2026-06-20 21:50:17 +08:00
parent 228efaa361
commit 61e1be28c0
2 changed files with 17 additions and 29 deletions
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21
README.md
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@@ -147,23 +147,14 @@ curl -X POST http://{IP}:8765/cmd \
-d '{"speed": 1.0, "steer": 0.3}' -d '{"speed": 1.0, "steer": 0.3}'
``` ```
**Ackermann 模式**： 匹配串口协议（11 字节帧），对接 `cmd_vel/Twist`：
| 字段 | 类型 | 说明 | | 字段 | 类型 | 说明 |
|------|------|------| |------|------|------|
| `speed` | float | 目标速度 m/s，正=前进，负=后退 | | `vx` | float | 线速度 m/s（对应 `X_speed`） |
| `steer` | float | 目标转向角 rad，正=左转，负=右转 | | `wz` | float | 角速度 rad/s（对应 `Z_speed`，固件内用 bicycle model 转阿克曼转向角） |
**差速模式**（兼容 `cmd_vel/Twist`）：
| 字段 | 类型 | 说明 |
|------|------|------|
| `vx` | float | 线速度 m/s |
| `vy` | float | 横向速度 m/s（忽略） |
| `wz` | float | 角速度 rad/s，自动转为转向角 |
```bash ```bash
# 差速模式
curl -X POST http://{IP}:8765/cmd \ curl -X POST http://{IP}:8765/cmd \
-H "Content-Type: application/json" \ -H "Content-Type: application/json" \
-d '{"vx": 1.0, "wz": 0.5}' -d '{"vx": 1.0, "wz": 0.5}'
@@ -186,10 +177,10 @@ with open("frame.jpg", "wb") as f:
state = requests.get(f"http://{IP}:8765/state").json() state = requests.get(f"http://{IP}:8765/state").json()
print(f"位置: ({state['x']}, {state['y']}), 速度: {state['speed_actual']} m/s") print(f"位置: ({state['x']}, {state['y']}), 速度: {state['speed_actual']} m/s")
# 发送控制指令 # 发送控制指令（串口协议格式：vx + wz）
requests.post(f"http://{IP}:8765/cmd", json={"speed": 1.0, "steer": 0.2}) requests.post(f"http://{IP}:8765/cmd", json={"vx": 1.0, "wz": 0.5})
time.sleep(2) time.sleep(2)
requests.post(f"http://{IP}:8765/cmd", json={"speed": 0.0, "steer": 0.0}) requests.post(f"http://{IP}:8765/cmd", json={"vx": 0.0, "wz": 0.0})
``` ```
**ROS2 桥接示例**（仿真机 HTTP → ROS2 局域网）： **ROS2 桥接示例**（仿真机 HTTP → ROS2 局域网）：

25
main.py
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@@ -211,20 +211,17 @@ class HTTPHandler(BaseHTTPRequestHandler):
length = int(self.headers.get("Content-Length", 0)) length = int(self.headers.get("Content-Length", 0))
body = json.loads(self.rfile.read(length)) body = json.loads(self.rfile.read(length))
with shared_lock: with shared_lock:
# Ackermann mode: {"speed": v, "steer": angle} vx = float(body.get("vx", 0))
if "speed" in body or "steer" in body: wz = float(body.get("wz", 0))
shared["cmd_speed"] = float(body.get("speed", 0)) shared["cmd_speed"] = vx
shared["cmd_steer"] = float(body.get("steer", 0)) # Bicycle model Vz→steer (matches firmware Vz_to_Akm_Angle)
# Differential mode: {"vx":, "vy":, "wz":} → mapped to speed/steer # Axle_spacing=0.158, Wheel_spacing=0.162
elif "vx" in body: if abs(vx) > 0.01 and abs(wz) > 1e-6:
vx = float(body.get("vx", 0)) R_turn = vx / wz
wz = float(body.get("wz", 0)) steer = math.atan(0.158 / (R_turn + 0.05 * 0.162))
shared["cmd_speed"] = vx shared["cmd_steer"] = steer if wz >= 0 else -steer
# Convert angular.z to steer via bike model (wheelbase ≈ 0.17m) else:
if abs(vx) > 0.01: shared["cmd_steer"] = 0.0
shared["cmd_steer"] = math.atan(wz * L / vx)
else:
shared["cmd_steer"] = 0.0
self.send_response(200) self.send_response(200)
self.end_headers() self.end_headers()
else: else: