二维码检测：添加了判断顺逆时针的规则和发布内容；临时修改发布话题到了vlm中

src/qr_detection/launch/qr_detect.launch.py

@@ -9,12 +9,9 @@ from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    image_topic = LaunchConfiguration("image_topic", default="/image_raw")
+    image_topic = LaunchConfiguration("image_topic", default="/image")
 
     return LaunchDescription([
-        DeclareLaunchArgument("image_topic",
-            default_value="/image_raw",
-            description="相机图像话题 (bgr8 / rgb8 / nv12 / mono8)"),
 
         Node(
             package="qr_detection",

src/qr_detection/launch/qr_usb_camera.launch.py

@@ -16,17 +16,17 @@ def generate_launch_description():
     use_buffer     = LaunchConfiguration("use_buffer",     default="true")
 
     # USB 相机驱动 (v4l2)
-    v4l2_camera = Node(
+    # camera = Node(
-        package="v4l2_camera",
+    #     package="hobot_usb_cam",
-        executable="v4l2_camera_node",
+    #     executable="hobot_usb_cam",
-        name="usb_camera",
+    #     name="hobot_usb_cam",
-        parameters=[{
+    #     parameters=[{
-            "video_device": camera_device,
+    #         "video_device": camera_device,
-            "image_size": [640, 480],
+    #         "image_size": [640, 480],
-            "pixel_format": "YUYV",
+    #         "pixel_format": "YUYV",
-        }],
+    #     }],
-        remappings=[("image_raw", image_topic)],
+    #     remappings=[("image_raw", image_topic)],
-    )
+    # )
 
     # QR 识别
     qr_detector = Node(
@@ -60,6 +60,6 @@ def generate_launch_description():
         DeclareLaunchArgument("use_buffer",
             default_value="true",
             description="信号消失后保持最近结果"),
-        v4l2_camera,
+        # v4l2_camera,
         qr_detector,
     ])

src/qr_detection/src/qr_detect.cpp

@@ -34,8 +34,9 @@ public:
         std::bind(&QrDetectNode::sign_cb, this, std::placeholders::_1));
 
     pub_ = create_publisher<std_msgs::msg::String>("qr_results", 10);
+    pub_tts_ = create_publisher<std_msgs::msg::String>("/vlm_result", 10);
 
-    RCLCPP_INFO(get_logger(), "QR Detect ready, topic=%s", image_topic_.c_str());
+    RCLCPP_INFO(get_logger(), "QR Detect ready, topic=%s, tts topic=/vlm_result", image_topic_.c_str());
   }
 
 private:
@@ -84,13 +85,18 @@ private:
 
     auto out = std_msgs::msg::String();
     if (n > 0) {
-      out.data = zimg.symbol_begin()->get_data();
+      const std::string qr_data = zimg.symbol_begin()->get_data();
-      if (out.data != last_) {
+      if (qr_data != last_) {
-        RCLCPP_INFO(get_logger(), "QR: %s", out.data.c_str());
+        RCLCPP_INFO(get_logger(), "QR: %s", qr_data.c_str());
-        last_ = out.data;
+        last_ = qr_data;
-      }
       }
+
+      if (!qr_data.empty() && qr_data.find_first_not_of("0123456789") == std::string::npos) {
+        out.data = qr_data + " " + (((qr_data.back() - '0') % 2 == 1) ? "顺时针" : "逆时针");
         pub_->publish(out);
+        pub_tts_->publish(out);  // 同时发给TTS播报
+      }
+    }
   }
 
   void sign_cb(const std_msgs::msg::Int32::SharedPtr msg)
@@ -102,6 +108,7 @@ private:
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr  sub_;
   rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr     sign_sub_;
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr        pub_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr        pub_tts_;  // 发给TTS语音播报
 
   bool        enabled_;
   std::string image_topic_;

src/racing_control/include/racing_control/racing_control.hpp

@@ -6,6 +6,7 @@
         3 - 到达任务二起始阶段，执行顺/逆时针绕圈（可集成图生文）
         4 - 减速拍照，图像传入图生文节点，随后回到3（备用）
         5 - 完整走完一圈，执行任务三
+        6 - 到达终点，停止
     2. 全部流程
         启动小车->slamtoolbox开始建图，并开始发布导航命令（这时候小车还不能动）->打开电机开关，小车开始行动->走到一半扫到二维码，发布在/qr_results上->停掉二维码节点（sign=5）和导航1，同时开始导航2到任务二入口并顺逆时针转圈->到达指定位置触发一次vlm请求->开始语音播报同时完成任务二、三
 */
@@ -17,16 +18,13 @@ static int ENTRY = 2;
 static int CIRCLE = 3;
 static int VLM = 4;
 static int TASK3 = 5;
+static int END = 6;
 
 
 class RacingControl : public rclcpp::Node
 {
 public:
-    RacingControl() : Node("racing_control")
+    RacingControl();
-    {
-        // 初始化状态指令
-        state_command_ = QR_SEARCHING;
-    }  
 private:
     // 状态指令变量
     int state_command_;

src/racing_control/src/racing_control.cpp

@@ -0,0 +1,7 @@
+#include "racing_control/racing_control.hpp"
+
+RacingControl : Node("racing_control")
+    {
+        // 初始化状态指令
+        state_command_ = QR_SEARCHING;
+    }