forked from zbw/yiliao2026
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with '#' will be ignored, and an empty message aborts the commit. On branch master Your branch is ahead of 'origin/master' by 2 commits. (use "git push" to publish your local commits) 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"
59 lines
1.4 KiB
Python
Executable File
59 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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UDP → /cmd_vel bridge for keyboard control.
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Receives (float64 lin_x, float64 ang_z) from Windows client.
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Deploy on RDKx5: /home/sunrise/yiliao_ws/udp_to_cmdvel.py
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Run: python3 udp_to_cmdvel.py
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"""
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import rclpy
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from rclpy.node import Node
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from geometry_msgs.msg import Twist
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import socket
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import struct
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import sys
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class UDPToCmdVel(Node):
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def __init__(self, port=9999):
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super().__init__("udp_to_cmdvel")
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self.pub = self.create_publisher(Twist, "/cmd_vel", 10)
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.sock.bind(("0.0.0.0", port))
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self.sock.settimeout(0.1)
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self.get_logger().info("Listening on UDP port %d → /cmd_vel" % port)
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self.create_timer(0.05, self.loop)
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def loop(self):
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try:
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data, addr = self.sock.recvfrom(16)
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lin, ang = struct.unpack('dd', data)
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msg = Twist()
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msg.linear.x = lin
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msg.angular.z = ang
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self.pub.publish(msg)
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except socket.timeout:
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pass
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def destroy_node(self):
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self.sock.close()
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super().destroy_node()
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def main():
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rclpy.init()
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port = int(sys.argv[1]) if len(sys.argv) > 1 else 9999
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node = UDPToCmdVel(port=port)
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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