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Merge pull request #9 from incomingflyingbrick/main
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‎ROS智能物流 - 姜亚洲/.DS_Store‎

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‎ROS智能物流 - 姜亚洲/1.jpg‎

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‎ROS智能物流 - 姜亚洲/2.jpg‎

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‎ROS智能物流 - 姜亚洲/3.jpg‎

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‎ROS智能物流 - 姜亚洲/README.md‎

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## ROS 智能物流小车
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本车可以用在物流行业，比如在无人监管的情形下自动运输
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它可以帮助人类完成运输任务，减少出错概率，使运输更安全
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我使用了google的tensorflow作为自动驾驶的模型训练工具
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![](1.jpg)
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![](2.jpg)
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![](3.jpg)
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## 团队
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姜亚洲 微信:spacedude888
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## 谷歌技术
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我使用了tensorflow来自动驾驶模型，用车载摄像头读取照片，然后输入到一个CNN网络里面，用油门和转向的值来做label
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## 编译
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可以使用python3编译代码，请装好open CV,tensorflow,cuda-10.2
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训练代码请参考training/training.py
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Data collection 代码请看ai_racer/engine.py
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整体框架是基于ROS2开发，如果对ROS2比较熟悉可以尝试导入整个package

‎ROS智能物流 - 姜亚洲/ai_racer/__init__.py‎

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‎ROS智能物流 - 姜亚洲/ai_racer/controller_node.py‎

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import rclpy
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from rclpy.node import Node
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import keyboard
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from std_msgs.msg import String
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class MinimalPublisher(Node):
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def __init__(self):
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super().__init__('minimal_publisher')
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self.publisher_ = self.create_publisher(String, 'topic', 10)
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timer_period = 0.2 # seconds
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self.timer = self.create_timer(timer_period, self.timer_callback)
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self.i = 0
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def timer_callback(self):
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msg = String()
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if keyboard.is_pressed('w'):
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self.get_logger().info('w')
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msg.data = 'w'
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self.publisher_.publish(msg)
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elif keyboard.is_pressed('s'):
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self.get_logger().info('s')
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msg.data = 's'
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self.publisher_.publish(msg)
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elif keyboard.is_pressed('space'):
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self.get_logger().info('brake')
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msg.data = ' '
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self.publisher_.publish(msg)
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else:
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pass
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if keyboard.is_pressed('a'):
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self.get_logger().info('a')
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msg.data = 'a'
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self.publisher_.publish(msg)
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elif keyboard.is_pressed('d'):
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self.get_logger().info('d')
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msg.data = 'd'
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self.publisher_.publish(msg)
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else:
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self.get_logger().info('going straight')
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msg.data = 'go_straight'
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self.publisher_.publish(msg)
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if keyboard.is_pressed('k'):
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self.get_logger().info('k')
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msg.data = 'k'
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self.publisher_.publish(msg)
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def main(args=None):
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rclpy.init(args=args)
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minimal_publisher = MinimalPublisher()
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rclpy.spin(minimal_publisher)
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# Destroy the node explicitly
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# (optional - otherwise it will be done automatically
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# when the garbage collector destroys the node object)
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minimal_publisher.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()

‎ROS智能物流 - 姜亚洲/ai_racer/engine.py‎

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from multiprocessing.spawn import prepare
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import rclpy
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from rclpy.node import Node
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from adafruit_servokit import ServoKit
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from std_msgs.msg import String
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from time import *
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from sensor_msgs.msg import Joy
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import subprocess
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from jetcam.csi_camera import CSICamera
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import traitlets
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import uuid
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from PIL import Image
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kit = ServoKit(channels=16)
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kit.servo[0].angle = 72
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class MinimalSubscriber(Node):
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def __init__(self):
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super().__init__('minimal_subscriber')
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self.isCollecting = True
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self.prepareDataCollection()
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self.camera = CSICamera(width=328, height=246,capture_fps=60)
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self.camera.running=True
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self.camera.observe(self.cameraCallback,names='value')
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self.turn_value = 0.0
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self.throttle_value = 0.0
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self.subscription = self.create_subscription(
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Joy,
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'joy',
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self.joy_CallBack,
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10)
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self.subscription
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def cameraCallback(self,change):
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#self.get_logger().info(str(change['new']))
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if self.turn_value!=0.0 or self.throttle_value!=0.0:
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self.saveData(self.turn_value,self.throttle_value,change['new'])
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def saveData(self,steering,throttle,image_data):
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if self.isCollecting:
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file_path = 'snapshots/' + str(uuid.uuid1()) +'_'+str(round(steering,5))+'_'+str(round(throttle,5))+ '_.png'
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im = Image.fromarray(image_data)
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im.save(file_path)
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self.get_logger().info('saved data:'+file_path)
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def joy_CallBack(self,msg):
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self.get_logger().info('Button:'+str(msg.buttons))
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self.get_logger().info('Axes:'+str(msg.axes))
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self.turn_value = msg.axes[2]
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self.throttle_value = msg.axes[1]
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if msg.buttons[0]==1:
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self.prepareEsc()
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#turn
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turn = msg.axes[2]*-1.0
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y=turn/(1.0/40.0)
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y=72+y
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kit.servo[0].angle = int(y)
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#throttle
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the = msg.axes[1]
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t= the/(1.0/7.0)
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if the==0.0 or the==-0.0:
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kit.servo[1].angle = 90
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else:
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if the > 0:
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kit.servo[1].angle = 90+t
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else:
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kit.servo[1].angle = 90+t-8
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def prepareEsc(self):
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self.get_logger().info("电调自检验开始")
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for i in range(50):
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kit.servo[1].angle = 90
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sleep(0.1)
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self.get_logger().info("电调自检验完成")
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def prepareDataCollection(self):
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subprocess.call(['rm', '-r','-f', 'snapshots'])
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subprocess.call(['mkdir', '-p', 'snapshots'])
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def main(args=None):
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rclpy.init(args=args)
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minimal_subscriber = MinimalSubscriber()
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rclpy.spin(minimal_subscriber)
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# Destroy the node explicitly
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# (optional - otherwise it will be done automatically
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# when the garbage collector destroys the node object)
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minimal_subscriber.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()

‎ROS智能物流 - 姜亚洲/backup/backup_car.txt‎

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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 1,
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"id": "35820d08",
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"metadata": {},
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"outputs": [
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{
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"data": {
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"application/vnd.jupyter.widget-view+json": {
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"model_id": "2bae255686c74e8592cdb5d13afad554",
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"version_major": 2,
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"version_minor": 0
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},
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"text/plain": [
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"Image(value=b'', format='jpeg')"
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]
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},
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"metadata": {},
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"output_type": "display_data"
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},
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{
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"data": {
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"application/vnd.jupyter.widget-view+json": {
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"model_id": "32f3a43644eb4c419553fd6eae8c1f5b",
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"version_major": 2,
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"version_minor": 0
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},
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"text/plain": [
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"Controller()"
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]
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},
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"metadata": {},
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"output_type": "display_data"
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}
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],
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"source": [
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"import ipywidgets.widgets as widgets\n",
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"from time import *\n",
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"from adafruit_servokit import ServoKit\n",
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"import traitlets\n",
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"from jetcam.csi_camera import CSICamera\n",
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"import ipywidgets\n",
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"from IPython.display import display\n",
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"from jetcam.utils import bgr8_to_jpeg\n",
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"import uuid\n",
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"import subprocess\n",
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"from jetcam.csi_camera import CSICamera\n",
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"\n",
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"################################ clean folder ################################\n",
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"subprocess.call(['rm', '-r','-f', 'snapshots'])\n",
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"subprocess.call(['mkdir', '-p', 'snapshots'])\n",
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"################################ clean folder done ################################\n",
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"\n",
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"\n",
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"################################ setup camera ################################\n",
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"image_widget = ipywidgets.Image(format='jpeg')\n",
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"\n",
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"display(image_widget)\n",
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"\n",
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"\n",
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"def saveData(steering,throttle):\n",
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" file_path = 'snapshots/' + str(uuid.uuid1()) +'_'+str(round(throttle,2))+'_'+str(round(steering,2))+ '_.jpg'\n",
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" \n",
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" # write snapshot to file (we use image value instead of camera because it's already in JPEG format)\n",
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" with open(file_path, 'wb') as f:\n",
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" f.write(image_widget.value)\n",
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"\n",
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"\n",
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"def cameraCallback(change):\n",
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" image_widget.value = bgr8_to_jpeg(change['new'])\n",
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" if controller.axes[1].value!=0.0 or controller.axes[2].value!=0.0:\n",
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" saveData(controller.axes[2].value,controller.axes[1].value)\n",
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" \n",
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"\n",
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"camera = CSICamera(width=328, height=246,capture_fps=60)\n",
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"camera.running=True\n",
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"################################ setup camera done ################################\n",
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"\n",
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"\n",
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"################################ setup controller and servo ################################\n",
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"kit = ServoKit(channels=16)\n",
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"kit.servo[0].angle = 72\n",
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"controller = widgets.Controller(index=0) # replace with index of your controller\n",
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"display(controller)\n",
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"################################ setup controller and servo done ################################\n",
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"\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"id": "2194934c",
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"metadata": {},
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"outputs": [],
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"source": [
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"camera.observe(cameraCallback,names='value')\n",
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"\n",
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"def prepareEsc(change):\n",
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" print(\"电调自检验开始\")\n",
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" if change['new']:\n",
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" print('press ')\n",
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" for i in range(50):\n",
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" kit.servo[1].angle = 90\n",
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" sleep(0.1)\n",
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" print(\"电调自检验完成\")\n",
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"\n",
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"\n",
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"def throttleControl(change):\n",
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" print('throttle changing')\n",
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" y=change['new']/(1.0/10.0)\n",
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" y=y*-1\n",
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" if y == -0.0:\n",
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" kit.servo[1].angle = 90\n",
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" else:\n",
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" kit.servo[1].angle = int(90+y)\n",
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" \n",
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"def turnControl(change):\n",
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" print('stering changing')\n",
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" y=change['new']/(1.0/25.0)\n",
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" y=72+y\n",
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" kit.servo[0].angle = int(y)\n",
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" \n",
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"def startLog(change):\n",
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" pass\n",
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"\n",
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"def stopLog(change):\n",
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" pass\n",
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" \n",
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"controller.buttons[0].observe(prepareEsc, names='value')\n",
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"controller.axes[1].observe(throttleControl,names='value')\n",
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"controller.axes[2].observe(turnControl,names='value')"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.6.9"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}

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