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Changes to be committed:
	modified:   .gitignore
	modified:   README.md
	new file:   bashes/auto-wifi-connect.service
	new file:   bashes/auto-wifi-connect.sh
	deleted:    keyboard_control.py
	new file:   my_model/image.png
	new file:   path_follower_demo.py
	new file:   scripts/PIDtracking.py
	new file:   scripts/__pycache__/publish_sine_path.cpython-310.pyc
	new file:   scripts/publish_sine_path.py
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak
	new file:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2
	modified:   src/origincar_base/config/ekf.yaml
	new file:   src/origincar_base/config/ekf.yaml.bak
	modified:   src/origincar_base/launch/base_serial.launch.py
	new file:   src/origincar_base/launch/base_serial.launch.py.bak
	modified:   src/origincar_base/launch/origincar_bringup.launch.py
	new file:   src/past_control/CMakeLists.txt
	new file:   src/past_control/config/past_control.yaml
	new file:   src/past_control/include/past_control/tools.h
	new file:   src/past_control/launch/past_control.launch.py
	new file:   src/past_control/msg/Obstacle.msg
	new file:   src/past_control/msg/ObstacleArray.msg
	new file:   src/past_control/package.xml
	new file:   src/past_control/src/lane_follower_node.cpp
	new file:   src/past_control/src/obstacle_detector_node.cpp
	new file:   src/past_control/src/racing_orchestrator.cpp
	new file:   src/planner/CMakeLists.txt
	new file:   src/planner/config/planner.yaml
	new file:   src/planner/launch/planner.launch.py
	new file:   src/planner/package.xml
	new file:   src/planner/src/planner_version.cpp
	modified:   src/qr_detection/src/qr_dete_depth.cpp
	new file:   src/racing_control/CMakeLists.txt
	new file:   src/racing_control/include/racing_control/racing_control.hpp
	new file:   src/racing_control/package.xml
	new file:   src/racing_control/src/racing_control.cpp
	modified:   src/vlm_detect/setup.py
	new file:   src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/test_publisher.py
	new file:   src/vlm_detect/vlm_detect/tts_node.py
	modified:   src/vlm_detect/vlm_detect/vlm_node.py
	new file:   tools/measure_turning_radius.py
	new file:   tools/set_volume.py
	new file:   tools/udp_to_cmdvel.py
	new file:   tools/windows_keyboard_control.py
	new file:   vlm_server.py
	new file:   "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png"
	renamed:    "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"
This commit is contained in:
Orange
2026-06-22 17:16:45 +08:00
parent a9bfeef59b
commit 779b32362a
51 changed files with 3974 additions and 398 deletions
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67
src/qr_detection/src/qr_dete_depth.cpp
View File

@@ -22,11 +22,13 @@ public:
std::bind(&MinimalHbmemSubscriber::image_callback, this, std::placeholders::_1));
// 创建订阅器，订阅 'sign4return' 话题
subscription_sign_ =
this->create_subscription<std_msgs::msg::Int32>(
"sign4return",
10,
std::bind(&MinimalHbmemSubscriber::sign_callback, this, std::placeholders::_1));
// subscription_sign_ =
// this->create_subscription<std_msgs::msg::Int32>(
// "sign4return",
// 10,
// std::bind(&MinimalHbmemSubscriber::sign_callback, this, std::placeholders::_1));
// 创建发布器，发布 'sign4return' 话题
sign_publisher_ = this->create_publisher<std_msgs::msg::Int32>("sign4return", 10);
// 创建 publisher，topic 为 "qr_results"
publisher_ =
@@ -87,6 +89,23 @@ private:
symbol->get_type_name().c_str(), symbol->get_data().c_str());
}
qr_results_buff_ = qr_results; // 更新缓存
// 检测字符合法性
// if (ResultLegal(qr_results)){
// // 发布sign4return话题
// auto message = std_msgs::msg::Int32();
// message.data = 5; // 5表示检测到二维码
// sign_publisher_->publish(message);
// RCLCPP_INFO(this->get_logger(), "QR Results Legal");
// }
// else{
// RCLCPP_INFO(this->get_logger(), "\033[31m QR Results Illegal \033[00m");
// }
// 发布sign4return话题
auto message = std_msgs::msg::Int32();
message.data = 5; // 5表示检测到二维码
sign_publisher_->publish(message);
} else {
qr_results = "QR Code not detected";
RCLCPP_INFO(this->get_logger(), "QR Code not detected");
@@ -104,24 +123,36 @@ private:
}
// 消息回调函数，处理 sign4return 话题
void sign_callback(const std_msgs::msg::Int32::SharedPtr msg)
{
if (msg->data == 0)
{
detect_qr_code_ = true; // 启动二维码检测
RCLCPP_INFO(this->get_logger(), "QR detection started");
}
else if (msg->data == 5)
{
detect_qr_code_ = false; // 停止二维码检测
RCLCPP_INFO(this->get_logger(), "QR detection stopped");
}
// void sign_callback(const std_msgs::msg::Int32::SharedPtr msg)
// {
// if (msg->data == 0)
// {
// detect_qr_code_ = true; // 启动二维码检测
// RCLCPP_INFO(this->get_logger(), "QR detection started");
// }
// else if (msg->data == 5)
// {
// detect_qr_code_ = false; // 停止二维码检测
// RCLCPP_INFO(this->get_logger(), "QR detection stopped");
// }
// }
// 识别结果合法性检测
bool ResultLegal(std::string& input){
// 合法字符串集合
static const std::unordered_set<std::string> kValidStrings = {
"1", "2", "顺时针", "逆时针", "顺", "逆"
};
return kValidStrings.find(input) != kValidStrings.end();
}
// /aurora/rgb/image_raw 订阅器
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_image_;
// sign4return 订阅器
rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_sign_;
// rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_sign_;
// sign4return 发布器
rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr sign_publisher_;
// QR code results 发布器
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;