feat: add all code

chapt8/chapt8_ws/src/fishbot_application/fishbot_application/get_robot_pose.py

@@ -0,0 +1,40 @@
+import rclpy
+from rclpy.node import Node
+from tf2_ros import TransformListener, Buffer
+from tf_transformations import euler_from_quaternion
+
+
+class TFListener(Node):
+
+    def __init__(self):
+        super().__init__('tf2_listener')
+        self.buffer = Buffer()
+        self.listener = TransformListener(self.buffer, self)
+        self.timer = self.create_timer(1, self.get_transform)
+
+    def get_transform(self):
+        try:
+            tf = self.buffer.lookup_transform(
+                'map', 'base_footprint', rclpy.time.Time(seconds=0), rclpy.time.Duration(seconds=1))
+            transform = tf.transform
+            rotation_euler = euler_from_quaternion([
+                transform.rotation.x,
+                transform.rotation.y,
+                transform.rotation.z,
+                transform.rotation.w
+            ])
+            self.get_logger().info(
+                f'平移:{transform.translation},旋转四元数:{transform.rotation}:旋转欧拉角:{rotation_euler}')
+        except Exception as e:
+            self.get_logger().warn(f'不能够获取坐标变换，原因: {str(e)}')
+
+
+def main():
+    rclpy.init()
+    node = TFListener()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

chapt8/chapt8_ws/src/fishbot_application/fishbot_application/init_robot_pose.py

@@ -0,0 +1,21 @@
+from geometry_msgs.msg import PoseStamped
+from nav2_simple_commander.robot_navigator import BasicNavigator
+import rclpy
+
+
+def main():
+    rclpy.init()
+    navigator = BasicNavigator()
+    initial_pose = PoseStamped()
+    initial_pose.header.frame_id = 'map'
+    initial_pose.header.stamp = navigator.get_clock().now().to_msg()
+    initial_pose.pose.position.x = 0.0
+    initial_pose.pose.position.y = 0.0
+    initial_pose.pose.orientation.w = 1.0
+    navigator.setInitialPose(initial_pose)
+    navigator.waitUntilNav2Active()
+    rclpy.spin(navigator)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

chapt8/chapt8_ws/src/fishbot_application/fishbot_application/nav_to_pose.py

@@ -0,0 +1,40 @@
+from geometry_msgs.msg import PoseStamped
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+import rclpy
+from rclpy.duration import Duration
+
+
+def main():
+    rclpy.init()
+    navigator = BasicNavigator()
+    # 等待导航启动完成
+    navigator.waitUntilNav2Active()
+    # 设置目标点坐标
+    goal_pose = PoseStamped()
+    goal_pose.header.frame_id = 'map'
+    goal_pose.header.stamp = navigator.get_clock().now().to_msg()
+    goal_pose.pose.position.x = 1.0
+    goal_pose.pose.position.y = 1.0
+    goal_pose.pose.orientation.w = 1.0
+    # 发送目标接收反馈结果
+    navigator.goToPose(goal_pose)
+    while not navigator.isTaskComplete():
+        feedback = navigator.getFeedback()
+        navigator.get_logger().info(
+            f'预计: {Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9} s 后到达')
+        # 超时自动取消
+        if Duration.from_msg(feedback.navigation_time) > Duration(seconds=600.0):
+            navigator.cancelTask()
+    # 最终结果判断
+    result = navigator.getResult()
+    if result == TaskResult.SUCCEEDED:
+        navigator.get_logger().info('导航结果：成功')
+    elif result == TaskResult.CANCELED:
+        navigator.get_logger().warn('导航结果：被取消')
+    elif result == TaskResult.FAILED:
+        navigator.get_logger().error('导航结果：失败')
+    else:
+        navigator.get_logger().error('导航结果：返回状态无效')
+
+if __name__ == '__main__':
+    main()

chapt8/chapt8_ws/src/fishbot_application/fishbot_application/waypoint_follower.py

@@ -0,0 +1,52 @@
+from geometry_msgs.msg import PoseStamped
+from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+import rclpy
+from rclpy.duration import Duration
+
+def main():
+    rclpy.init()
+    navigator = BasicNavigator()
+    navigator.waitUntilNav2Active()
+    # 创建点集
+    goal_poses = []
+    goal_pose1 = PoseStamped()
+    goal_pose1.header.frame_id = 'map'
+    goal_pose1.header.stamp = navigator.get_clock().now().to_msg()
+    goal_pose1.pose.position.x = 0.0
+    goal_pose1.pose.position.y = 0.0
+    goal_pose1.pose.orientation.w = 1.0
+    goal_poses.append(goal_pose1)
+    goal_pose2 = PoseStamped()
+    goal_pose2.header.frame_id = 'map'
+    goal_pose2.header.stamp = navigator.get_clock().now().to_msg()
+    goal_pose2.pose.position.x = 2.0
+    goal_pose2.pose.position.y = 0.0
+    goal_pose2.pose.orientation.w = 1.0
+    goal_poses.append(goal_pose2)
+    goal_pose3 = PoseStamped()
+    goal_pose3.header.frame_id = 'map'
+    goal_pose3.header.stamp = navigator.get_clock().now().to_msg()
+    goal_pose3.pose.position.x = 2.0
+    goal_pose3.pose.position.y = 2.0
+    goal_pose3.pose.orientation.w = 1.0
+    goal_poses.append(goal_pose3)
+    # 调用路点导航服务
+    navigator.followWaypoints(goal_poses)
+    # 判断结束及获取反馈
+    while not navigator.isTaskComplete():
+        feedback = navigator.getFeedback()
+        navigator.get_logger().info(
+            f'当前目标编号：{feedback.current_waypoint}')
+    # 最终结果判断
+    result = navigator.getResult()
+    if result == TaskResult.SUCCEEDED:
+        navigator.get_logger().info('导航结果：成功')
+    elif result == TaskResult.CANCELED:
+        navigator.get_logger().warn('导航结果：被取消')
+    elif result == TaskResult.FAILED:
+        navigator.get_logger().error('导航结果：失败')
+    else:
+        navigator.get_logger().error('导航结果：返回状态无效')
+
+if __name__ == '__main__':
+    main()

chapt8/chapt8_ws/src/fishbot_application/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>fishbot_application</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

chapt8/chapt8_ws/src/fishbot_application/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/fishbot_application
+[install]
+install_scripts=$base/lib/fishbot_application

chapt8/chapt8_ws/src/fishbot_application/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'fishbot_application'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='fishros',
+    maintainer_email='87068644+fishros@users.noreply.github.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'init_robot_pose=fishbot_application.init_robot_pose:main',
+        ],
+    },
+)

chapt8/chapt8_ws/src/fishbot_application/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

chapt8/chapt8_ws/src/fishbot_application/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

chapt8/chapt8_ws/src/fishbot_application/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'