Основы программировния морских роботов

sudo apt install ros-jazzy-aruco-opencv-msgs

mik@mik-ubuntu-24:~/ros2$ tree -L 2
.
├── ros-usv-teleop
│   ├── README.md
│   └── usv_ws
├── sim
│   ├── libdecor-0.so.0
│   ├── libdecor-cairo.so
│   ├── UnityPlayer.so
│   ├── waterstriderunityURP_BurstDebugInformation_DoNotShip
│   ├── WS_SIM_UBUNTU
│   └── WS_SIM_UBUNTU_Data
└── ws
    ├── build
    ├── install
    ├── log
    └── src

$ tail ~/.bashrc --line 5

source /opt/ros/jazzy/setup.bash
source ~/ros2/ros-usv-teleop/usv_ws/install/setup.bash
source ~/ros2/ws/install/setup.bash

~/ros2/ros-usv-teleop$ git pull
~/ros2/ros-usv-teleop$ cd usw_ws
~/ros2/ros-usv-teleop/usw_ws$ colcon build

$ cd ~/ros2/ws/src
$ git clone http://sdb.smtu.ru/gitlab/marinerobotics/lesson_05.git
$ git clone http://sdb.smtu.ru/gitlab/robotics/ros_aruco_opencv.git
$ cd ..
$ colcon build --symlink-install

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        Node(
            package='turtlesim',
            namespace='turtlesim',
            executable='turtlesim_node',
        ),
         Node(
            package="mouse_teleop",
            executable='mouse_teleop',
            namespace='turtlesim',
        ),
        Node(
            package="twist_stamper",
            executable='twist_unstamper',
            namespace='turtlesim',
            remappings=[
                ('cmd_vel_in','mouse_vel'),
                ('cmd_vel_out', 'turtle1/cmd_vel')
            ],
        ),
    ])

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
   return LaunchDescription([

   ])

Node(
    package='turtlesim',
    namespace='turtlesim1',
    executable='turtlesim_node',
),

ros2 launch lesson_05 main.launch.py lesson_num:=0

self.pose_subscriber = self.create_subscription(Pose, 'turtle1/pose',
                                                self.pose_callback, 10)

    def pose_callback(self, msg):
        self.get_logger().info('Current heading: "%f"' % msg.theta)

ros2 launch lesson_05 main.launch.py lesson_num:=2

self.main()

# ...
def main(self):
    while True:
        self.publish_twist(0, 90.0)
        self.publish_twist(3.0, 0.0)

# ...

self.get_clock().sleep_for(Duration(seconds=1.0))

self.SIDE_TIME = 2.0
self.timer = self.create_timer(self.SIDE_TIME, self.pub_timer_callback)
self.step = 0

#...
def pub_timer_callback(self):
    if self.step % 2:
        self.publish_twist(0, 90.0)
    else:
        self.publish_twist(3.0, 0.0)
    self.step += 1

def main():
    rclpy.init()
    node = AngleMover()

    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    finally:
        node.destroy_node()
        try:
            rclpy.shutdown()
        except Exception:
            pass

ros2 launch lesson_05 main.launch.py lesson_num:=1

def pub_timer_callback(self):
    self.desired_heading += math.pi / 2
    if self.desired_heading >= math.pi:
        self.desired_heading -= 2 * math.pi
    self.get_logger().info('New angle setpoint: "%f"' % self.desired_heading)

    if msg.theta - self.desired_heading < 0:
        msg_pub.angular.z = math.radians(90.0)
        self.get_logger().info('Turn left')
    else:
        msg_pub.angular.z = math.radians(-90.0)
        self.get_logger().info('Turn right')

ros2 launch lesson_05 main.launch.py lesson_num:=3

def angle_diff(a1, a2):
    a = a1-a2
    return (a+math.pi)%(2*math.pi)-math.pi

ros2 launch lesson_05 main.launch.py lesson_num:=4

from waterstrider_interfaces.msg import WsPose

# ...

self.pose_subscriber = self.create_subscription(WsPose,
                  'unity_pose', self.pose_callback, 10)

# ...

ros2 launch lesson_05 main.launch.py lesson_num:=5