ros_robot.navigation package

Submodules

ros_robot.navigation.base_motion_kit module

class ros_robot.navigation.base_motion_kit.BaseMotionKit(robotics)

基类：object

基础运动驱动器套件

cancel()

取消导航

参数:

None

返回:

None

get_feedback()

获取反馈

参数:

None

返回:

反馈

返回类型:

PTPFeedback

is_moving()

获取导航状态

参数:

None

返回:

True:正在导航 False:导航结束

返回类型:

bool

set_diff_follow_param(points: list[Pose2D] = [], final_heading=0.0, back=False, param=DiffFollowParam(linear_vel=0.5, angular_vel=3.0, rotate_acc=3.0, rotate_decel=3.0))

设置差速跟随驱动器参数

参数:

  • points (list[Pose2D]) -- 轨迹点

  • final_heading (float) -- 最终朝向

  • back (bool) -- 是否倒退

  • param (DiffFollowParam) -- 参数

返回:

None

set_line_driver_param(distance=0.0, vel=0.5, acc=1.2, decel=0.75)

设置直线运动参数

参数:

  • distance (float) -- 距离

  • vel (float) -- 线速度

  • acc (float) -- 加速度

  • decel (float) -- 减速度

返回:

None

set_omni_wheel_param(points: list[Pose2D] = [], param: OmniWheelParam = OmniWheelParam(velocity_x=0.6, velocity_y=0.58, velocity_w=3.0, start_tacc=0.3, middle_tacc=0.3, end_tacc=0.3, start_tacc_w=0.5, end_tacc_w=0.5, sync_rotate=True))

设置OmniWheel驱动器参数

参数:
返回:

None

set_ptp_driver_param(points: list[Pose2D] = [], final_heading=0.0, back=False, param=PTPParam(linear_vel=0.5, angular_vel=3.0, linear_acc=10.0, linear_decel=10.0, rotate_acc=3.0, rotate_decel=3.0))

设置点至点驱动器参数

参数:

  • points (list[Pose2D]) -- 轨迹点

  • final_heading (float) -- 终点朝向

  • back (bool) -- 是否倒退

  • param (PTPParam) -- 参数

返回:

None

set_rotate_driver_param(angle=0.0, vel=120.0, acc=600.0, decel=300.0)

设置旋转运动参数

参数:

  • angle (float) -- 旋转角度

  • vel (float) -- 旋转速度

  • acc (float) -- 加速度

  • decel (float) -- 减速度

返回:

None

start()

启动

参数:

None

返回:

True:启动成功 False:启动失败

返回类型:

bool

wait_finished()

等待导航结束

参数:

None

返回:

None

class ros_robot.navigation.base_motion_kit.DiffFollowFeedback(distance: float = 0.0, point_idx: int = 0, curr_ld: float = 0.0)

基类：object

curr_ld: float
distance: float
classmethod from_json(json_str: str) → DiffFollowFeedback
point_idx: int
class ros_robot.navigation.base_motion_kit.DiffFollowParam(linear_vel: float = 0.5, angular_vel: float = 3.0, rotate_acc: float = 3.0, rotate_decel: float = 3.0)

基类：object

angular_vel: float = 3.0
linear_vel: float = 0.5
rotate_acc: float = 3.0
rotate_decel: float = 3.0
class ros_robot.navigation.base_motion_kit.DriverType

基类：object

BASIC_LINEAR_MOTION = 0
BASIC_ROTATIONAL_MOTION = 1
DIFFERENTIAL_FOLLOW_MOTION = 2
DIFFERENTIAL_PTP = 3
OMNI_WHEEL_DRIVER = 4
class ros_robot.navigation.base_motion_kit.OmniWheelFeedback(pointX: float = 0.0, pointY: float = 0.0, pointW: float = 0.0, pointIndex: int = 0, segIndex: int = 0, timeEnd: bool = False, pathTime: float = 0.0, currTime: float = 0.0)

基类：object

currTime: float
classmethod from_json(json_str: str) → OmniWheelFeedback
pathTime: float
pointIndex: int
pointW: float
pointX: float
pointY: float
segIndex: int
timeEnd: bool
class ros_robot.navigation.base_motion_kit.OmniWheelParam(velocity_x: float = 0.6, velocity_y: float = 0.58, velocity_w: float = 3.0, start_tacc: float = 0.3, middle_tacc: float = 0.3, end_tacc: float = 0.3, start_tacc_w: float = 0.5, end_tacc_w: float = 0.5, sync_rotate: bool = True)

基类：object

end_tacc: float = 0.3
end_tacc_w: float = 0.5
middle_tacc: float = 0.3
start_tacc: float = 0.3
start_tacc_w: float = 0.5
sync_rotate: bool = True
velocity_w: float = 3.0
velocity_x: float = 0.6
velocity_y: float = 0.58
class ros_robot.navigation.base_motion_kit.PTPFeedback(curr_point_index: int = 0, curr_time: float = 0.0, curr_total_time: float = 0.0, goal_rotate_final: bool = False, point_size: int = 0, state: int = 0)

基类：object

curr_point_index: int
curr_time: float
curr_total_time: float
classmethod from_json(json_str: str) → PTPFeedback
goal_rotate_final: bool
point_size: int
state: int
class ros_robot.navigation.base_motion_kit.PTPParam(linear_vel: float = 0.5, angular_vel: float = 3.0, linear_acc: float = 10.0, linear_decel: float = 10.0, rotate_acc: float = 3.0, rotate_decel: float = 3.0)

基类：object

angular_vel: float = 3.0
linear_acc: float = 10.0
linear_decel: float = 10.0
linear_vel: float = 0.5
rotate_acc: float = 3.0
rotate_decel: float = 3.0

Module contents