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import rospy
import actionlib
from actionlib_msgs.msg import *
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
from nav_msgs.msg import Path
from geometry_msgs.msg import PoseWithCovarianceStamped
from tf_conversions import transformations
from math import pi
from std_msgs.msg import String
from geometry_msgs.msg import Twist
from ar_track_alvar_msgs.msg import AlvarMarkers
from ar_track_alvar_msgs.msg import AlvarMarker
from geometry_msgs.msg import Point
import sys
reload(sys)
sys.setdefaultencoding('utf-8')
import os
music_path1= "~/abot_ws/'target1.mp3'"
music_path2= "~/abot_ws/'target2.mp3'"
music_path3= "/home/abot/abot_ws/'target3.mp3'"
music_path4 = "/home/abot/abot_ws/'target4.mp3'"
music_path5 = "/home/abot/abot_ws/'target5.mp3'"
music_path6 = "/home/abot/abot_ws/'target6.mp3'"
music_path7 = "/home/abot/abot_ws/'target7.mp3'"
music_path8 = "/home/abot/abot_ws/'target8.mp3'"
mubiao2 = "/home/abot/abot_ws/'mubiao2.mp3'"
mubiao4 = "/home/abot/abot_ws/'mubiao4.mp3'"
mubiao6 = "/home/abot/abot_ws/'mubiao6.mp3'"
mubiao8 = "/home/abot/abot_ws/'mubiao8.mp3'"
mubiao1 = "/home/abot/abot_ws/'mubiao1.mp3'"
mubiao3 = "/home/abot/abot_ws/'mubiao3.mp3'"
mubiao5 = "/home/abot/abot_ws/'mubiao5.mp3'"
mubiao7 = "/home/abot/abot_ws/'mubiao7.mp3'"
music_path_start = "/home/abot/abot_ws/'start_dl.mp3'"
music_path_end = "/home/abot/abot_ws/'end.mp3'"
id = 0
find_id = 0
flog0=255
flog1=255
flog2=255
flog3=255
flog4=255
flog5=255
flog6=255
flog7=255
count = 0
move_flog = 0
class navigation_demo:
def __init__(self):
self.set_pose_pub = rospy.Publisher('/initialpose', PoseWithCovarianceStamped, queue_size=1)
self.arrive_pub = rospy.Publisher('/voiceWords',String,queue_size=10)
self.ar_sub=rospy.Subscriber('/object_position',Point,self.find_cb)
self.ar_sub=rospy.Subscriber('/ar_pose_marker',AlvarMarkers,self.ar_cb)
self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
self.move_base.wait_for_server(rospy.Duration(60))
self.cmd=rospy.Publisher('/cmd_vel',Twist,queue_size=5)
def move_forward(self):
cmd=Twist()
cmd.linear.x=0.107
cmd.linear.y=0.11
cmd.angular.z=0.0
self.cmd.publish(cmd)
def ar_cb(self,data):
global id
for marker in data.markers:
id= marker.id
print(id)
def find_cb(self,data):
global find_id
point_msg =data
if(point_msg.z>=1 and point_msg.z<=8):
find_id=1
if(point_msg.z>=9 and point_msg.z<=16):
find_id=2
if(point_msg.z>=17 and point_msg.z<=24):
find_id=3
if(point_msg.z>=25 and point_msg.z<=32):
find_id=4
if(point_msg.z>=33 and point_msg.z<=40):
find_id=5
if(point_msg.z>=41 and point_msg.z<=48):
find_id=6
if(point_msg.z>=49 and point_msg.z<=56):
find_id=7
if(point_msg.z>=57 and point_msg.z<=64):
find_id=8
def set_pose(self, p):
if self.move_base is None:
return False
x, y, th = p
pose = PoseWithCovarianceStamped()
pose.header.stamp = rospy.Time.now()
pose.header.frame_id = 'map'
pose.pose.pose.position.x = x
pose.pose.pose.position.y = y
q = transformations.quaternion_from_euler(0.0, 0.0, th/180.0*pi)
pose.pose.pose.orientation.x = q[0]
pose.pose.pose.orientation.y = q[1]
pose.pose.pose.orientation.z = q[2]
pose.pose.pose.orientation.w = q[3]
self.set_pose_pub.publish(pose)
return True
def _done_cb(self, status, result):
rospy.loginfo("navigation done! status:%d result:%s"%(status, result))
arrive_str = "arrived to traget point"
self.arrive_pub.publish(arrive_str)
def _active_cb(self):
rospy.loginfo("[Navi] navigation has be actived")
def _feedback_cb(self, feedback):
msg = feedback
def goto(self, p):
rospy.loginfo("[Navi] goto %s"%p)
goal = MoveBaseGoal()
goal.target_pose.header.frame_id = 'map'
goal.target_pose.header.stamp = rospy.Time.now()
goal.target_pose.pose.position.x = p[0]
goal.target_pose.pose.position.y = p[1]
q = transformations.quaternion_from_euler(0.0, 0.0, p[2]/180.0*pi)
goal.target_pose.pose.orientation.x = q[0]
goal.target_pose.pose.orientation.y = q[1]
goal.target_pose.pose.orientation.z = q[2]
goal.target_pose.pose.orientation.w = q[3]
self.move_base.send_goal(goal, self._done_cb, self._active_cb, self._feedback_cb)
result = self.move_base.wait_for_result(rospy.Duration(60))
if not result:
self.move_base.cancel_goal()
rospy.loginfo("Timed out achieving goal")
else:
state = self.move_base.get_state()
if state == GoalStatus.SUCCEEDED:
rospy.loginfo("reach goal %s succeeded!"%p)
return True
def cancel(self):
self.move_base.cancel_all_goals()
return True
if __name__ == "__main__":
rospy.init_node('navigation_move',anonymous=True)
goalListX = rospy.get_param('~goalListX', '2.0, 2.0')
goalListY = rospy.get_param('~goalListY', '2.0, 4.0')
goalListYaw = rospy.get_param('~goalListYaw', '0, 90.0')
goals = [[float(x), float(y), float(yaw)] for (x, y, yaw) in zip(goalListX.split(","),goalListY.split(","),goalListYaw.split(","))]
print ('Please call DingLiang666 to continue: ')
input = raw_input()
r = rospy.Rate(1)
r.sleep()
navi = navigation_demo()
if (input == '1'):
print('1')
navi.goto(goals[0])
rospy.sleep(5)
if (id==1 or find_id==1):
os.system('mplayer %s' % music_path1)
navi.goto(goals[1])
os.system('mplayer %s' % mubiao1)
rospy.sleep(3)
elif(id==2 or find_id==2):
os.system('mplayer %s' % music_path2)
navi.goto(goals[2])
os.system('mplayer %s' % mubiao2)
rospy.sleep(3)
print('2')
navi.goto(goals[13])
navi.goto(goals[3])
rospy.sleep(5)
if (id==3 or find_id==3):
os.system('mplayer %s' % music_path3)
navi.goto(goals[4])
os.system('mplayer %s' % mubiao3)
rospy.sleep(3)
elif(id==4 or find_id==4):
os.system('mplayer %s' % music_path4)
navi.goto(goals[5])
os.system('mplayer %s' % mubiao4)
rospy.sleep(3)
print('3')
navi.goto(goals[14])
navi.goto(goals[6])
rospy.sleep(5)
if (id==5 or find_id==5):
os.system('mplayer %s' % music_path5)
navi.goto(goals[7])
os.system('mplayer %s' % mubiao5)
rospy.sleep(3)
elif(id==6 or find_id==6):
os.system('mplayer %s' % music_path6)
navi.goto(goals[8])
os.system('mplayer %s' % mubiao6)
rospy.sleep(3)
print('4')
navi.goto(goals[15])
navi.goto(goals[9])
rospy.sleep(5)
if (id==7 or find_id==7):
os.system('mplayer %s' % music_path7)
navi.goto(goals[10])
os.system('mplayer %s' % mubiao7)
rospy.sleep(3)
elif(id==8 or find_id==8):
os.system('mplayer %s' % music_path8)
navi.goto(goals[11])
os.system('mplayer %s' % mubiao8)
rospy.sleep(3)
navi.goto(goals[12])
start_time=rospy.Time.now()
while rospy.Time.now()-start_time<rospy.Duration(5):
navi.move_forward()
os.system('mplayer %s' % music_path_end)
while not rospy.is_shutdown():
r.sleep()
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