效果：背景是京东2017 JRC X机器人挑战赛，比赛要求机器人系统从起始区出发，然后运行到货架位置，取出对应货架格子上的京东JOY，然后送往释放区域，释放完成后再返回起始区，再重新开始任务。
我们最终完成的机器人系统如图所示。由于采样了传统的机械手机械臂+kinect+移动平台的方法，因此复杂度是所有队伍里最高的，也是最接近当下工业系统的解决方案，当然也是成本最高的。
环境：Ubuntu 14.04+ROS indigo+各组件配置环境。
[正文]
参考各个部件的环境配置，本节没有特殊需要的环境即需要EAI移动平台的环境配置，机械臂、机械手的环境配置，kinect V2的环境配置。
该部分和机械手开发部分由于是一个人完成所以在同一个ros包内，文件结构相同。
beginner_tutorials下src中与比赛内容相关的如下：
launch/
bhand_can_axis_control.launch带有6微力传感器配置的节点配置启动文件（最终使用）。
bhand_force_control.launch使用基于bhand_controller控制方式的节点配置启动文件。
src/
bhand_axis_force_limit.cpp基于can总线操作的机械手控制（抓取，释放），6维力传感器驱动，为最终使用的节点文件。
bhand_force_control.cpp基于bhand_controller的机械手控制。
ge_test.cpp所有比赛任务流程控制，包括控制机器人移动到货架某个位置，控制kinect开始目标检测，机械臂开始目标规划与机械手抓取等，该节点应该是在确认其他节点工作正常后启动。
比赛开始时会给出需要拣选的目标joy的行列位置，我们通过txt文档来录入拣选信息。采样了sscanf函数来进行文本内容的读取。
先判断文件打开是否成功。
ifstreamObject_position_file("/home/robot/test_row_column.txt");
string temp;
if(!Object_position_file.is_open())
{
ROS_ERROR("Failed to open JOY position file");
}
然后sscanf函数将数据读入数组，sscanf按格式读入，没有信息行要完全删除，不能仅仅删除数字（即留有空行），否则会出错。
while(getline(Object_position_file,temp))
{
sscanf(temp.c_str(),"%d,%d",&row[obj_num],&column[obj_num]);
obj_num++;
}
实际上主要执行两类内容，一个是给子节点线程发送启动相应功能指令，另一个是检测指令是否完成以及进行特殊状况处理，如给定的格子没有检测到目标物怎么处理。主要用到的函数如下所示，主要实现了函数内对于消息的回调和等待事件标志位。
其参数分别为需要发送的数据*notice_data指针，消息是否收到的标志指针*msg_rec_flag，当前动作是否完成的标志指针*finished_flag，以及话题发布与接受的类指针*notice_test。
intmain_MsgConform_ActFinishedWait(id_data_msgs::ID_Data *notice_data_test,bool*msg_rec_flag,bool *finished_flag,notice_pub_sub* notice_test)
{
id_data_msgs::ID_Data notice_data;
int loop_hz=10;
ros::Rate loop_rate(loop_hz);
//发送填充的数据
notice_data_clear(¬ice_data);
notice_data.id=notice_data_test->id;
for(int i=0;i<8;i++)notice_data.data[i]=notice_data_test->data[i];
notice_test->notice_pub_sub_pulisher(notice_data);
//data receive judge，数据接收判断
int wait_count=0;
while(ros::ok())
{
if(*msg_rec_flag==true)
{
*msg_rec_flag=false;
break;
}
//如果没有收到子节点确认信息，则每10个运行周期发送一次，100个运行周期内仍然没有收到子线程的消息收到确认，则输出错误提示
wait_count++;
if(wait_count==0) //send msg againafter waiting 1s
{
switch (notice_data.id)
{
case 2:ROS_ERROR("Dashgodidn't receive msg,Retrying...");break;
case 3:ROS_ERROR("Kinectdidn't receive msg,Retrying...");break;
case 4:ROS_ERROR("Kinovaarm didn't receive msg,Retrying...");break;
default:break;
}
notice_test->notice_pub_sub_pulisher(notice_data);
}
//100个运行周期为收到消息确认，输出错误提示
if(wait_count>=100)
{
error_no=notice_data.id;
wait_count=0;
goto next;
}
notice_test->notice_sub_spinner(1);//notice话题数据接收的独立回调
loop_rate.sleep();
}
//navigation action finish judge，如果收到信息接收确认，则等待子节点完成特定功能
while(ros::ok())
{
if(*finished_flag==true)
{
*finished_flag=false;
break;
}
notice_test->notice_sub_spinner(1); //notice话题数据接收的独立回调
loop_rate.sleep();
}
next:
return error_no;
}
上面代码段中subscriber的独立回调的技术在博文《基于ros---一个完整的实现topic 发布和监听的类和msg的简单使用（使用c++）》，效果是将类和subscriber的回调函数写在一个类里，并且使用独立的回调队列，而不会相互影响即多进程回调，好处是便于移植且不会影响其他函数回调，需要时单独指定回调就可以实现ros::spin()，并且在不需要时可以关闭某个函数的回调，只需要notice_test->notice_sub_spinner(0)参数为0即可。
如果当前目标货架格kinect没有检测到目标，处理策略是将当前格存入待抓取目标序列数组的后一位，然后发送给移动底盘节点后退命令，然后进入下一个货架格的joy抓取处理。
ROS_INFO("2,informs kinect to scangrid shelves");
notice_data_clear(¬ice_data);
notice_data.id=3;
notice_data.data[0]=1;
notice_data.data[1]=row[loop_sys_cnt];
notice_data.data[2]=column[loop_sys_cnt];
error_no=main_MsgConform_ActFinishedWait(¬ice_data,&kinect_msg_rec_flag,&kinect_scan_finished_flag,¬ice_test);
error_deal(error_no);
if(kinect_reset_flag)//出现Kinect未检测到目标情况
{
id_data_msgs::ID_Databack_move;
notice_data_clear(&back_move);
back_move.id=2;
back_move.data[0]=6;
back_move.data[1]=50;
notice_test.notice_pub_sub_pulisher(back_move);//发送命令到移动底盘，回退50cm
command_move_finished_flag=false;
while(ros::ok())
{
notice_test.notice_sub_spinner(1);
if(command_move_finished_flag)//等待移动底盘回退完成
{
command_move_finished_flag=false;
ROS_INFO("Dashgo achieved move command!");
break;
}
}
kinect_reset_flag=false;
continue;
}
1）需要修改读取的文件的地址，填入需要抓取的目标行列。
2）确认其他节点工作正常。
3）启动ge_test节点进行抓取任务
给几张广为流传的机器人比赛中的图
下附完整代码
#include <iostream> #include <iomanip> #include <fstream> #include <ros/ros.h> #include "ros/callback_queue.h" #include <id_data_msgs/ID_Data.h> using namespace std; //globals int error_no=0; int row[20]={0},column[20]={0}; int obj_num=0; int loop_sys_cnt=0; int obj_cnt=0; //1,navigation section,id=2 bool nav_msg_rec_flag; //data[0]=14 bool nav_start_pos_flag; //data[0]=0 bool nav_column1_pos_flag; //data[0]=1 bool nav_column2_pos_flag; //data[0]=2 bool nav_column3_pos_flag; //data[0]=3 bool nav_release_pos_flag; //data[0]=4 bool nav_finished_flag; //data[0]=15 bool command_move_finished_flag=false; //2,kinect scan section,id=3 bool kinect_scan_start_flag; //data[0]=1 bool kinect_scan_stop_flag; //data[0]=0 bool kinect_scan_fail_flag; //data[0]=13 bool kinect_msg_rec_flag; //data[0]=14 bool kinect_reset_flag=false; bool kinect_scan_finished_flag; //data[0]=15 //3,arm control section,id=4 bool arm_start_fetch_flag; //data[0]=1 bool arm_stop_fetch_flag; //data[0]=0 bool arm_keep_fetch_flag; //data[0]=2 bool arm_release_obj_flag; //data[0]=3 bool arm_msg_rec_flag; //data[0]=14 bool arm_act_finished_flag; //data[0]=15 //derfine int set_ontime=0; void notice_data_clear(id_data_msgs::ID_Data *test); class notice_pub_sub { public: boost::function<void (const id_data_msgs::ID_Data::ConstPtr&)> notice_pub_sub_msgCallbackFun; notice_pub_sub(); void notice_pub_sub_pulisher(id_data_msgs::ID_Data id_data); void notice_display(id_data_msgs::ID_Data notice_msg,bool set); void notice_sub_spinner(char set); private: ros::NodeHandle notice_handle; ros::Subscriber notice_subscriber; ros::Publisher notice_publisher; ros::SubscribeOptions notice_ops; ros::AsyncSpinner *notice_spinner; ros::CallbackQueue notice_callbackqueue; void notice_msgCallback(const id_data_msgs::ID_Data::ConstPtr ¬ice_msg); }; notice_pub_sub::notice_pub_sub() { notice_pub_sub_msgCallbackFun=boost::bind(¬ice_pub_sub::notice_msgCallback,this,_1); notice_ops=ros::SubscribeOptions::create<id_data_msgs::ID_Data>( "/notice", 50, notice_pub_sub_msgCallbackFun, ros::VoidPtr(), ¬ice_callbackqueue ); notice_subscriber=notice_handle.subscribe(notice_ops); notice_spinner=new ros::AsyncSpinner(1,¬ice_callbackqueue); notice_publisher=notice_handle.advertise<id_data_msgs::ID_Data>("/notice",50); } void notice_pub_sub::notice_pub_sub_pulisher(id_data_msgs::ID_Data id_data) { notice_publisher.publish(id_data); } void notice_pub_sub::notice_display(id_data_msgs::ID_Data notice_msg,bool set) { if(set) { printf("REC Notice message,ID: %d,Data: ",notice_msg.id); for(char i=0;i<8;i++) { printf("%d ",notice_msg.data[i]); if(i==7) printf("\n"); } } } void notice_pub_sub::notice_msgCallback(const id_data_msgs::ID_Data::ConstPtr ¬ice_msg) { id_data_msgs::ID_Data notice_message; notice_message.id=0; for(char i=0;i<8;i++)notice_message.data[i]=0; notice_message.id=notice_msg->id; for(char i=0;i<8;i++)notice_message.data[i]=notice_msg->data[i]; notice_pub_sub::notice_display(notice_message,true); //1,navigation section if(notice_message.id==2 && notice_message.data[0]==14)//msg received flag { nav_msg_rec_flag=true; } if(notice_message.id==2 && notice_message.data[0]==15)//nav finished flag { nav_finished_flag=true; } if(notice_message.id==2 && notice_message.data[0]==16)//nav finished flag { set_ontime++; ROS_WARN("ON TIME No.%d",set_ontime); } if(notice_message.id==2 && notice_message.data[0]==8) { command_move_finished_flag=true; ROS_INFO("Received dashgo command move finished flag"); } //2,kinect scan section if(notice_message.id==3 && notice_message.data[0]==14)//kinect msg received flag { kinect_msg_rec_flag=true; } if(notice_message.id==3 && notice_message.data[0]==15)//kinect scan finished flag { kinect_scan_finished_flag=true; } if(notice_message.id==3 && notice_message.data[0]==13)//kinect scan failed { // id_data_msgs::ID_Data id_data; // id_data.id=3; // for(int count=0;count<8;count++) id_data.data[count]=0; // id_data.data[0]=1; // notice_publisher.publish(id_data); row[obj_num]=row[obj_cnt-1]; column[obj_num]=column[obj_cnt-1]; obj_num++; kinect_reset_flag=true; ROS_WARN("Received missing current column flag.Save data No.%d,Row:%d,Col%d",obj_cnt,row[obj_cnt-1],column[obj_cnt-1]); kinect_scan_finished_flag=true; } //3,arm control section if(notice_message.id==4 && notice_message.data[0]==14)//arm control msg received flag { arm_msg_rec_flag=true; } if(notice_message.id==4 && notice_message.data[0]==15)//arm fetch finished flag { arm_act_finished_flag=true; } } void notice_pub_sub::notice_sub_spinner(char set) { if(set==1) notice_spinner->start(); if(set==0) notice_spinner->stop(); } //function declaration int main_MsgConform_ActFinishedWait(id_data_msgs::ID_Data *notice_data_test,bool *msg_rec_flag,bool *finished_flag,notice_pub_sub* notice_test); void error_deal(int error_nu); int main(int argc,char **argv) { ros::init(argc,argv,"main_loop"); //read the position of JOY from the txt file ifstream Object_position_file("/home/robot/test_row_column.txt"); string temp; if(!Object_position_file.is_open()) { ROS_ERROR("Failed to open JOY position file"); } while(getline(Object_position_file,temp)) { sscanf(temp.c_str(),"%d,%d",&row[obj_num],&column[obj_num]); obj_num++; } cout<<"Object JOY number:"<<obj_num<<"\t"<<"JOY Object position:"<<endl; for(int i=0;i<obj_num;i++) cout<<"Column:"<<column[i]<<" "<<"Row:"<<row[i]<<endl; Object_position_file.close(); //ROS Topic publish and event deal... notice_pub_sub notice_test; int loop_hz=10; ros::Rate loop_rate(loop_hz); id_data_msgs::ID_Data notice_data; notice_data.id=0; for(char i=0;i<8;i++) notice_data.data[i]=0; int system_count=0; while(ros::ok()) { for(loop_sys_cnt=0;loop_sys_cnt<obj_num;loop_sys_cnt++) { printf("System run No.%d.\n",system_count++); obj_cnt++; //1,inform dashgo move to the column of object JOY position. ROS_INFO("1,inform dashgo move to the column of object JOY position."); notice_data_clear(¬ice_data); notice_data.id=2; notice_data.data[0]=column[loop_sys_cnt]; notice_data.data[1]=row[loop_sys_cnt]; error_no=main_MsgConform_ActFinishedWait(¬ice_data,&nav_msg_rec_flag,&nav_finished_flag,¬ice_test); error_deal(error_no); //2,informs kinect to scan grid shelves //sleep(3); ROS_INFO("2,informs kinect to scan grid shelves"); notice_data_clear(¬ice_data); notice_data.id=3; notice_data.data[0]=1; notice_data.data[1]=row[loop_sys_cnt]; notice_data.data[2]=column[loop_sys_cnt]; error_no=main_MsgConform_ActFinishedWait(¬ice_data,&kinect_msg_rec_flag,&kinect_scan_finished_flag,¬ice_test); error_deal(error_no); if(kinect_reset_flag) { id_data_msgs::ID_Data back_move; notice_data_clear(&back_move); back_move.id=2; back_move.data[0]=6; back_move.data[1]=50; notice_test.notice_pub_sub_pulisher(back_move); command_move_finished_flag=false; while(ros::ok()) { notice_test.notice_sub_spinner(1); if(command_move_finished_flag) { command_move_finished_flag=false; ROS_INFO("Dashgo achieved move command!"); break; } } kinect_reset_flag=false; continue; } //3,informs kinova arm to fetch object ROS_INFO("3.1,informs kinova arm to fetch object"); notice_data_clear(¬ice_data); notice_data.id=4; notice_data.data[0]=1; error_no=main_MsgConform_ActFinishedWait(¬ice_data,&arm_msg_rec_flag,&arm_act_finished_flag,¬ice_test); error_deal(error_no); //arm keep pose ROS_INFO("3.2,Kinova Start being into Keep Pose ... "); notice_data_clear(¬ice_data); notice_data.id=4; notice_data.data[0]=2; error_no=main_MsgConform_ActFinishedWait(¬ice_data,&arm_msg_rec_flag,&arm_act_finished_flag,¬ice_test); error_deal(error_no); //4,inform dashgo move to the object release position. ROS_INFO("4,inform dashgo move to the object release position."); notice_data_clear(¬ice_data); notice_data.id=2; notice_data.data[0]=4; error_no=main_MsgConform_ActFinishedWait(¬ice_data,&nav_msg_rec_flag,&nav_finished_flag,¬ice_test); error_deal(error_no); while(set_ontime<2){}; set_ontime=0; //5,inform kinova arm to release the object. ROS_INFO("5,inform kinova arm to release the object."); notice_data_clear(¬ice_data); notice_data.id=4; notice_data.data[0]=3; error_no=main_MsgConform_ActFinishedWait(¬ice_data,&arm_msg_rec_flag,&arm_act_finished_flag,¬ice_test); error_deal(error_no); //6,inform dashgo move to the task start position. ROS_INFO("6,inform dashgo move to the task start position."); notice_data_clear(¬ice_data); notice_data.id=2; notice_data.data[0]=0; error_no=main_MsgConform_ActFinishedWait(¬ice_data,&nav_msg_rec_flag,&nav_finished_flag,¬ice_test); error_deal(error_no); if(0==column[loop_sys_cnt] && 0==row[loop_sys_cnt]) { ROS_INFO("Grasp tasks FINISHED!\n "); break; } } return 0; } return 0; } void notice_data_clear(id_data_msgs::ID_Data *test) { test->id=0; for(int i=0;i<8;i++) test->data[i]=0; } int main_MsgConform_ActFinishedWait(id_data_msgs::ID_Data *notice_data_test,bool *msg_rec_flag,bool *finished_flag,notice_pub_sub* notice_test) { id_data_msgs::ID_Data notice_data; int loop_hz=10; ros::Rate loop_rate(loop_hz); notice_data_clear(¬ice_data); notice_data.id=notice_data_test->id; for(int i=0;i<8;i++) notice_data.data[i]=notice_data_test->data[i]; notice_test->notice_pub_sub_pulisher(notice_data); //data receive judge int wait_count=0; while(ros::ok()) { if(*msg_rec_flag==true) { *msg_rec_flag=false; break; } wait_count++; if(wait_count==0) //send msg again after waiting 1s { switch (notice_data.id) { case 2:ROS_ERROR("Dashgo didn't receive msg,Retrying...");break; case 3:ROS_ERROR("Kinect didn't receive msg,Retrying...");break; case 4:ROS_ERROR("Kinova arm didn't receive msg,Retrying...");break; default:break; } notice_test->notice_pub_sub_pulisher(notice_data); } if(wait_count>=100) { error_no=notice_data.id; wait_count=0; goto next; } notice_test->notice_sub_spinner(1); loop_rate.sleep(); } //navigation action finish judge while(ros::ok()) { if(*finished_flag==true) { *finished_flag=false; break; } notice_test->notice_sub_spinner(1); loop_rate.sleep(); } next: return error_no; } void error_deal(int error_nu) { switch (error_nu) { case 2: { ROS_ERROR("Dashgo doesn't work normally!"); break; } case 3: { ROS_ERROR("Kinect doesn't work normally!"); break; } case 4: { ROS_ERROR("Kinova Arm doesn't work normally!"); break; } default:break; } }