使用Scratch2和ROS进行机器人图形化编程学习
【摘要】 使用Scratch3和ROS进行机器人编程学习（适用于中小学机器人编程Scratch和ROS）
Scratch是一款由麻省理工学院(MIT)设计开发的少儿编程工具，Python是近年来非常流行的机器人和人工智能编程语言，ROS是机器人操作系统。
参考JdeRobot的一篇详细介绍，就可以实现上述的功能，需要安装Scratch2、ROS Kinetic、Gazebo 7、J...
使用Scratch3和ROS进行机器人编程学习（适用于中小学机器人编程Scratch和ROS）
Scratch是一款由麻省理工学院(MIT)设计开发的少儿编程工具，Python是近年来非常流行的机器人和人工智能编程语言，ROS是机器人操作系统。
参考JdeRobot的一篇详细介绍，就可以实现上述的功能，需要安装Scratch2、ROS Kinetic、Gazebo 7、JdeRobot、Python2.7等。
通过将Scratch2图形化编程语言转为Python，然后通过ROS消息机制控制Gazebo或实际机器人。
codelab-adapter-docs.codelab.club + github.com/wwj718 +
~~信息化智能化时代下平等受教育的权利~~
1 先看如下一个简单的示例
1.1 新建hiros.bz2，如下：
1.2 通过下面命令将其转为Python：
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$ python scratch2python.py hiros.sb2
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Stringify:
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when @greenFlag clicked
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repeat 10
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say 'Hello,ROS Kinetic!'
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end
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[WARN] Block <when @greenFlag clicked> not included yet
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-------------------
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import time
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import config
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import sys
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import comm
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import os
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import yaml
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from drone import Drone
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from robot import Robot
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def execute(robot):
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try:
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for i in range(10):
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print('Hello,ROS Kinetic!')
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except KeyboardInterrupt:
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raise
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if __name__ == '__main__':
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if len(sys.argv) == 2:
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path = os.getcwd()
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open_path = path[:path.rfind('src')] + 'cfg/'
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filename = sys.argv[1]
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else:
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sys.exit("ERROR: Example:python my_generated_script.py cfgfile.yml")
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# loading the ICE and ROS parameters
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cfg = config.load(open_path + filename)
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stream = open(open_path + filename, "r")
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yml_file = yaml.load(stream)
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for section in yml_file:
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if section == 'drone':
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#starting comm
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jdrc = comm.init(cfg,'drone')
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# creating the object
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robot = Drone(jdrc)
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break
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elif section == 'robot':
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#starting comm
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jdrc = comm.init(cfg,'robot')
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# creating the object
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robot = Robot(jdrc)
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break
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# executing the scratch program
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execute(robot)
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-
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-------------------
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2 控制机器人示例
是不是比较有趣，在不需购买任何设备的情况下，就可以用Scratch2进行ROS机器人编程。小学用Scratch2学习简单编程，中学用Python学习简单编程，大学用Python和C++学习复杂机器人编程，无缝衔接。
3 scratch2python.py
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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__author__ = "Raul Perula-Martinez"
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__copyright__ = "JdeRobot project"
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__credits__ = ["Raul Perula-Martinez"]
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__license__ = "GPL v3"
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__version__ = "0.0.0"
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__maintainer__ = "Raul Perula-Martinez"
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__email__ = "raules@gmail.com"
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__status__ = "Development"
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import kurt
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import os
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import sys
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from difflib import SequenceMatcher
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from parse import parse, compile
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from termcolor import cprint
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GENERAL = [
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['end', ''],
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['forever', 'while True:'],
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['if {} then', 'if %s:'],
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['else', 'else:'],
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['repeat {}', 'for i in range(%s):'],
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['say {}', 'print(%s)'],
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['set {} to {}', '%s = %s'],
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['wait {} secs', 'time.sleep(%s)'],
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]
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ROBOTICS = [
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['move robot {}', 'robot.move("%s")'],
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['move drone {}', 'robot.move("%s")'],
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['move robot {} speed {}', 'robot.move("%s", %s)'],
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['stop robot-drone', 'robot.stop()'],
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['turn robot-drone {}', 'robot.turn("%s")'],
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['turn robot {} speed {}', 'robot.turn("%s", %s)'],
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['take off drone', 'robot.take_off()'],
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['land drone', 'robot.land()'],
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['frontal laser distance', 'robot.get_laser_distance()'],
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]
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def is_conditional(sentence):
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"""
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Returns if a sentence is conditional or not.
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@param sentence: The sentence to check.
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@return: True if it has a conditional, False otherwise.
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"""
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if "if" in sentence:
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return True
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return False
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def similar(a, b):
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"""
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Returns the ratio value comparing two sentences.
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@param a: First sentence.
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@param b: Second sentence.
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@return: The ratio of the similarity.
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"""
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return SequenceMatcher(None, a, b).ratio()
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def sentence_mapping(sentence, threshold=None):
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"""
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Maps a sentence and returns the original and the mapped.
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@param sentence: The sentence to map.
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@return: The original sentence and the mapped sentence.
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"""
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found = False
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options = []
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original = None
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translation = None
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# first look for general blocks
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for elem in GENERAL:
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if elem[0][:3] == sentence.replace(' ', '')[:3]:
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options.append(elem)
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found = True
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# then look for robotics blocks
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for elem in ROBOTICS:
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if elem[0][:3] == sentence.replace(' ', '').replace('(', '')[:3]:
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options.append(elem)
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found = True
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if found:
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# select the option that better fits
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l = [(m[0], m[1], similar(sentence, m[0])) for m in options]
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original, translation, score = max(l, key=lambda item: item[2])
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if threshold and score < threshold:
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return None, None
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# extract arguments
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p = compile(original)
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args = p.parse(sentence.replace(' ', ''))
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if args:
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args_aux = list(args)
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# look for more blocks
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for idx in range(len(args_aux)):
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new_ori, new_trans = sentence_mapping(args_aux[idx]) #sentence_mapping(args_aux[idx],0.8) --old
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if new_trans != None:
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args_aux[idx] = args_aux[idx].replace(new_ori, new_trans) #replace(args_aux[idx], new_trans)
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translation = translation % tuple(args_aux)
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return original, translation
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if __name__ == "__main__":
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# get current working directory
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path = os.getcwd()
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open_path = path[:path.rfind('scripts')] + 'data/'
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save_path = path[:path.rfind('scripts')] + 'src/scratch2jderobot/'
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if len(sys.argv) == 2:
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# template creation
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template = "\
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#!/usr/bin/env python\n\
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# -*- coding: utf-8 -*-\n\n\
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import time\n\
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import config\n\
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import sys\n\
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import comm\n\
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import os\n\
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import yaml\n\n\
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from drone import Drone\n\
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from robot import Robot\n\n\
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def execute(robot):\n\
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\ttry:\n\
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\t%s\
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except KeyboardInterrupt:\n\
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\t\traise\n\n\
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if __name__ == '__main__':\n\
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\tif len(sys.argv) == 2:\n\
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\t\tpath = os.getcwd()\n\
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\t\topen_path = path[:path.rfind('src')] + 'cfg/'\n\
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\t\tfilename = sys.argv[1]\n\n\
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\telse:\n\
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\t\tsys.exit(\"ERROR: Example:python my_generated_script.py cfgfile.yml\")\n\n\
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\t# loading the ICE and ROS parameters\n\
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\tcfg = config.load(open_path + filename)\n\
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\tstream = open(open_path + filename, \"r\")\n\
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\tyml_file = yaml.load(stream)\n\n\
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\tfor section in yml_file:\n\
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\t\tif section == 'drone':\n\
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\t\t\t#starting comm\n\
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\t\t\tjdrc = comm.init(cfg,'drone')\n\n\
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\t\t\t# creating the object\n\
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\t\t\trobot = Drone(jdrc)\n\n\
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\t\t\tbreak\n\
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\t\telif section == 'robot':\n\
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\t\t\t#starting comm\n\
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\t\t\tjdrc = comm.init(cfg,'robot')\n\n\
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\t\t\t# creating the object\n\
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\t\t\trobot = Robot(jdrc)\n\n\
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\t\t\tbreak\n\
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\t# executing the scratch program\n\
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\texecute(robot)\n\n\
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"
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# load the scratch project
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p = kurt.Project.load(open_path + sys.argv[1])
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# show the blocks included
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for scriptable in p.sprites + [p.stage]:
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for script in scriptable.scripts:
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# exclude definition scripts
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if "define" not in script.blocks[0].stringify():
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s = script
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print("Stringify:")
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sentences = []
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for b in s.blocks:
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print(b.stringify())
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sentences += b.stringify().split('\n')
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tab_seq = "\t"
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python_program = ""
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for s in sentences:
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# count number of tabs
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num_tabs = s.replace(' ', tab_seq).count(tab_seq)
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python_program += tab_seq * (num_tabs + 1)
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# pre-processing if there is a condition (operators and types)
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if is_conditional(s):
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s = s.replace("'", "").replace("=", "==")
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# mapping
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original, translation = sentence_mapping(s)
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# set the code
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if translation != None:
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python_program += translation
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else:
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cprint("[WARN] Block <%s> not included yet" % s, 'yellow')
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python_program += "\n" + tab_seq
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# join the template with the code and replace the tabs
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file_text = template % python_program
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file_text = file_text.replace(tab_seq, ' ' * 4)
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print("\n-------------------")
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cprint(file_text, 'green')
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print("-------------------\n")
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# save the code in a python file with the same name as sb2 file
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file_name = sys.argv[1].replace('.sb2','.py')
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f = open(save_path + file_name, "w")
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f.write(file_text)
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f.close()
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else:
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print(
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"ERROR: Number of parameters incorrect. Example:\n\tpython scratch2python.py hello_world.sb2")
----
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/78857311
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