把去年的二维码检测、图生文客户端、锥桶检测v8给加了进来，二维码检测新增深度相机检测

keyboard_control.py

@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+"""
+Keyboard control node for robot chassis.
+W/S: forward/backward
+A/D: turn left/right
+I/K: increase/decrease linear speed
+J/L: increase/decrease angular speed
+X: stop
+Q: quit
+"""
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import sys
+import select
+import termios
+import tty
+
+HELP = """
+========================================
+  Keyboard Control
+========================================
+  W/S    : forward / backward
+  A/D    : turn left / turn right
+  I/K    : linear  speed +/- (step 0.05)
+  J/L    : angular speed +/- (step 0.1)
+  X/Space: stop
+  Q      : quit
+========================================
+  Current: lin=%.2f  ang=%.2f
+"""
+
+
+class KeyboardControl(Node):
+    def __init__(self):
+        super().__init__("keyboard_control")
+        self.pub = self.create_publisher(Twist, "/cmd_vel", 10)
+
+        self.lin_speed = 0.2
+        self.ang_speed = 0.5
+        self.lin_step = 0.05
+        self.ang_step = 0.1
+
+        self.print_help()
+        self.create_timer(0.05, self.read_key)
+
+    def print_help(self):
+        print(HELP % (self.lin_speed, self.ang_speed))
+
+    def get_key(self):
+        fd = sys.stdin.fileno()
+        old = termios.tcgetattr(fd)
+        try:
+            tty.setraw(fd)
+            r, _, _ = select.select([sys.stdin], [], [], 0.05)
+            if r:
+                return sys.stdin.read(1)
+            return None
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old)
+
+    def read_key(self):
+        key = self.get_key()
+        if key is None:
+            return
+
+        twist = Twist()
+
+        if key == 'w':
+            twist.linear.x = self.lin_speed
+        elif key == 's':
+            twist.linear.x = -self.lin_speed
+        elif key == 'a':
+            twist.angular.z = self.ang_speed
+        elif key == 'd':
+            twist.angular.z = -self.ang_speed
+        elif key == 'i':
+            self.lin_speed = round(self.lin_speed + self.lin_step, 2)
+            self.print_help()
+            return
+        elif key == 'k':
+            self.lin_speed = round(max(0.0, self.lin_speed - self.lin_step), 2)
+            self.print_help()
+            return
+        elif key == 'j':
+            self.ang_speed = round(self.ang_speed + self.ang_step, 2)
+            self.print_help()
+            return
+        elif key == 'l':
+            self.ang_speed = round(max(0.0, self.ang_speed - self.ang_step), 2)
+            self.print_help()
+            return
+        elif key == 'x' or key == ' ':
+            twist.linear.x = 0.0
+            twist.angular.z = 0.0
+            print("*** STOP ***")
+        elif key == 'q' or ord(key) == 3:
+            twist.linear.x = 0.0
+            twist.angular.z = 0.0
+            self.pub.publish(twist)
+            self.get_logger().info("Quitting...")
+            raise SystemExit
+        else:
+            return
+
+        self.pub.publish(twist)
+
+
+def main():
+    rclpy.init()
+    try:
+        rclpy.spin(KeyboardControl())
+    except SystemExit:
+        pass
+    finally:
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()