前言

本節(jié)教程演示UUV的一些玩法，基于開源項(xiàng)目UUV，官方介紹文檔uuvsimulator??https://uuvsimulator.github.io/packages/uuv_simulator/intro/

仿真環(huán)境

系統(tǒng)：ubuntu16.04
軟件：ROS – kinetic
仿真：gazebo7

安裝仿真軟件

官網(wǎng)介紹目前支持的版本有三個(gè)：kunetic、lunar、melodic

安裝命令：

kinetic版本：sudo apt install ros-kinetic-uuv-simulatorlunar版本：sudo apt install ros-lunar-uuv-simulatormelodic版本：sudo apt install ros-melodic-uuv-simulator

如果希望從源碼安裝的朋友參考這里：

源碼安裝教程 ? https://uuvsimulator.github.io/installation/

這里不推薦源碼安裝，因?yàn)榭戳讼耮ithub項(xiàng)目的issue中很多人顯示安裝報(bào)錯(cuò)，所以emmm省的折騰。

啟動(dòng)AUV海底世界

啟動(dòng)帶海底的世界執(zhí)行命令：

roslaunch uuv_gazebo_worlds auv_underwater_world.launch水世界效果圖如下(還是很帥的天空的云和海水都是在動(dòng)的)：

啟動(dòng)赫爾庫勒斯沉船的世界執(zhí)行命令：roslaunch uuv_gazebo_worlds herkules_ship_wreck.launch啟動(dòng)湖泊

roslaunch uuv_gazebo_worlds lake.launch

其他的一些場景roslaunch uuv_gazebo_worlds mangalia.launchroslaunch uuv_gazebo_worlds munkholmen.launchroslaunch uuv_gazebo_worlds ocean_waves.launch

！注意這里的海浪都只是視覺效果不會(huì)將波浪的載荷加載在水下機(jī)器人上

水下機(jī)器人運(yùn)動(dòng)控制

啟動(dòng)環(huán)境和水下機(jī)器人pid控制

執(zhí)行命令：roslaunch uuv_gazebo start_pid_demo_with_teleop.launch這里機(jī)器人的速度控制還是經(jīng)典的cmd_vel話題，我們可以自己創(chuàng)建速度控制腳本teletop.py：#!/usr/bin/env pythonimport rospyfrom geometry_msgs.msg import Twistimport sys, select, osif os.name == 'nt': import msvcrtelse: import tty, termiosFETCH_MAX_LIN_VEL = 5FETCH_MAX_ANG_VEL = 2.84LIN_VEL_STEP_SIZE = 0.01ANG_VEL_STEP_SIZE = 0.1msg = """Control Your Robot!---------------------------Moving around: w a s d x"""e = """Communications Failed"""def getKey(): if os.name == 'nt': return msvcrt.getch() tty.setraw(sys.stdin.fileno()) rlist, _, _ = select.select([sys.stdin], [], [], 0.1) if rlist: key = sys.stdin.read(1) else: key = '' termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) return keydef vels(target_linear_vel, target_angular_vel): return "currently:\tlinear vel %s\t angular vel %s " % (target_linear_vel,target_angular_vel)def makeSimpleProfile(output, input, slop): if input > output: output = min( input, output + slop ) elif input < output: output = max( input, output - slop ) else: output = input return outputdef constrain(input, low, high): if input < low: input = low elif input > high: input = high else: input = input return inputdef checkLinearLimitVelocity(vel): vel = constrain(vel, -FETCH_MAX_LIN_VEL, FETCH_MAX_LIN_VEL) return veldef checkAngularLimitVelocity(vel): vel = constrain(vel, -FETCH_MAX_ANG_VEL, FETCH_MAX_ANG_VEL) return velif __name__=="__main__": if os.name != 'nt': settings = termios.tcgetattr(sys.stdin) rospy.init_node('fetch_teleop') pub = rospy.Publisher('/rexrov/cmd_vel', Twist, queue_size=10) status = 0 target_linear_vel = 0.0 target_angular_vel = 0.0 control_linear_vel = 0.0 control_angular_vel = 0.0 try: print(msg) while(1): key = getKey() if key == 'w' : target_linear_vel = checkLinearLimitVelocity(target_linear_vel + LIN_VEL_STEP_SIZE) status = status + 1 print(vels(target_linear_vel,target_angular_vel)) elif key == 'x' : target_linear_vel = checkLinearLimitVelocity(target_linear_vel - LIN_VEL_STEP_SIZE) status = status + 1 print(vels(target_linear_vel,target_angular_vel)) elif key == 'a' : target_angular_vel = checkAngularLimitVelocity(target_angular_vel + ANG_VEL_STEP_SIZE) status = status + 1 print(vels(target_linear_vel,target_angular_vel)) elif key == 'd' : target_angular_vel = checkAngularLimitVelocity(target_angular_vel - ANG_VEL_STEP_SIZE) status = status + 1 print(vels(target_linear_vel,target_angular_vel)) elif key == ' ' or key == 's' : target_linear_vel = 0.0 control_linear_vel = 0.0 target_angular_vel = 0.0 control_angular_vel = 0.0 print(vels(target_linear_vel, target_angular_vel)) else: if (key == '\x03'): break if status == 20 : print(msg) status = 0 twist = Twist() control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0)) twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0 control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0)) twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_vel pub.publish(twist) except: print(e) finally: twist = Twist() twist.linear.x = 0.0; twist.linear.y = 0.0; twist.linear.z = 0.0 twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = 0.0 pub.publish(twist) if os.name != 'nt': termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)運(yùn)行腳本就可以控制船運(yùn)動(dòng)了：python teletop.py生成螺旋線控制水下機(jī)器人運(yùn)動(dòng)執(zhí)行命令啟動(dòng)pid控制和環(huán)境：roslaunch uuv_gazebo start_pid_demo_with_teleop.launch生成螺旋線并巡線(這里我生成的是2股螺旋線)：roslaunch uuv_control_utils start_helical_trajectory.launch uuv_name:=rexrov n_turns:=2

發(fā)布一組導(dǎo)航點(diǎn)導(dǎo)航執(zhí)行命令啟動(dòng)pid控制和環(huán)境：roslaunch uuv_gazebo start_pid_demo_with_teleop.launch執(zhí)行命令生成直線路徑：roslaunch uuv_control_utils send_waypoints_file.launch uuv_name:=rexrov interpolator:=linear

機(jī)器人路徑根據(jù)貝塞爾曲線原理生成，可以保證軌跡上的點(diǎn)速度方向是連續(xù)的，并且規(guī)定路徑點(diǎn)生成的整條路徑是必過路徑點(diǎn)的。

小編這里寫了個(gè)二維三階貝賽爾曲線的路徑生成的代碼：https://github.com/xmy0916/bezier大家可以參考參考！

執(zhí)行命令生成三維貝賽爾曲線路徑：

roslaunch uuv_control_utils send_waypoints_file.launch uuv_name:=rexrov interpolator:=cubic更多操作參考：項(xiàng)目官方文檔??https://uuvsimulator.github.io/packages/uuv_simulator/intro/項(xiàng)目github地址https://github.com/uuvsimulator/

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