机器人工程专业实践镜像2021版-功能扩展-coppeliasim+webots
【摘要】
镜像虽然提供了大部分课程所需功能，但同样支持扩展。这里以两款仿真软件为例
coppeliasimwebots
其实就是在官网下载，解压到硬盘就可以使用的。
分别解压就行。
启动V-Rep（新版为coppeliasim） ：
./vrep.sh
启动webots：
./webots
等待启动完成，即...
镜像虽然提供了大部分课程所需功能，但同样支持扩展。这里以两款仿真软件为例
- coppeliasim
- webots
其实就是在官网下载，解压到硬盘就可以使用的。
分别解压就行。
启动V-Rep（新版为coppeliasim） ：
- ./vrep.sh
启动webots：
- ./webots
等待启动完成，即可愉快玩耍。忽略更新。
缺少的功能包依据上学期课程讲解，或者依据提示补充安装即可。
现在打开一个cpp案例：
尝试一下编译：
完全可以正常使用。
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void Driver::displayHelp() {
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string s("Commands:\n"
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" 这只是一个测试^_^\n"
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" I for displaying the commands\n"
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" A for avoid obstacles\n"
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" F for move forward\n"
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" S for stop\n"
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" T for turn\n"
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" R for positioning ROBOT1 at (0.1,0.3)\n"
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" G for knowing the (x,z) position of ROBOT1");
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cout << s << endl;
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}
webots中C++的案例都可以直接编译后使用，非常方便。
更多案例自主学习即可。
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// Copyright 1996-2020 Cyberbotics Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*
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* Description: This controller gives to its node the following behavior:
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* Listen the keyboard. According to the pressed key, send a
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* message through an emitter or handle the position of Robot1
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*/
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#include <webots/Emitter.hpp>
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#include <webots/Field.hpp>
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#include <webots/Keyboard.hpp>
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#include <webots/Node.hpp>
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#include <webots/Supervisor.hpp>
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#include <stdlib.h>
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#include <cstring>
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#include <iostream>
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#include <string>
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using namespace std;
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using namespace webots;
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class Driver : public Supervisor {
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public:
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Driver();
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void run();
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private:
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static void displayHelp();
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int timeStep;
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Emitter *emitter;
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Field *translationField;
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Keyboard *keyboard;
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double x;
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double z;
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double translation[3];
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};
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Driver::Driver() {
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timeStep = 128;
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x = 0.1f;
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z = 0.3f;
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translation[0] = x;
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translation[1] = 0;
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translation[2] = z;
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emitter = getEmitter("emitter");
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Node *robot = getFromDef("ROBOT1");
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if (!robot)
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// robot might be NULL if the controller is about to quit
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exit(1);
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translationField = robot->getField("translation");
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keyboard = getKeyboard();
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keyboard->enable(timeStep);
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}
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void Driver::run() {
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string previous_message("");
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string message("");
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displayHelp();
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// main loop
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while (step(timeStep) != -1) {
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// Read sensors; update message according to the pressed keyboard key
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int k = keyboard->getKey();
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switch (k) {
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case 'A':
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message.assign("avoid obstacles");
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break;
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case 'F':
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message.assign("move forward");
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break;
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case 'S':
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message.assign("stop");
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break;
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case 'T':
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message.assign("turn");
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break;
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case 'I':
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displayHelp();
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break;
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case 'G': {
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const double *translationValues = translationField->getSFVec3f();
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cout << "ROBOT1 is located at (" << translationValues[0] << "," << translationValues[2] << ")" << endl;
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break;
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}
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case 'R':
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cout << "Teleport ROBOT1 at (" << x << "," << z << ")" << endl;
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translationField->setSFVec3f(translation);
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break;
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default:
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message.clear();
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}
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// send actuators commands; send a new message through the emitter device
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if (!message.empty() && message.compare(previous_message)) {
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previous_message.assign(message);
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cout << "Please, " << message.c_str() << endl;
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emitter->send(message.c_str(), (int)strlen(message.c_str()) + 1);
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}
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}
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}
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void Driver::displayHelp() {
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string s("Commands:\n"
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" 这只是一个测试^_^\n"
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" I for displaying the commands\n"
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" A for avoid obstacles\n"
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" F for move forward\n"
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" S for stop\n"
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" T for turn\n"
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" R for positioning ROBOT1 at (0.1,0.3)\n"
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" G for knowing the (x,z) position of ROBOT1");
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cout << s << endl;
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}
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int main() {
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Driver *controller = new Driver();
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controller->run();
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delete controller;
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return 0;
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}
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// Copyright 1996-2020 Cyberbotics Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
-
// You may obtain a copy of the License at
-
//
-
// http://www.apache.org/licenses/LICENSE-2.0
-
//
-
// Unless required by applicable law or agreed to in writing, software
-
// distributed under the License is distributed on an "AS IS" BASIS,
-
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-
// See the License for the specific language governing permissions and
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// limitations under the License.
-
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/*
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* Description: This controller gives to its robot the following behavior:
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* According to the messages it receives, the robot change its
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* behavior.
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*/
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#include <webots/Camera.hpp>
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#include <webots/DistanceSensor.hpp>
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#include <webots/Motor.hpp>
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#include <webots/Receiver.hpp>
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#include <webots/Robot.hpp>
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#include <webots/utils/AnsiCodes.hpp>
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#include <algorithm>
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#include <iostream>
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#include <limits>
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#include <string>
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using namespace std;
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using namespace webots;
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static const double maxSpeed = 10.0;
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class Slave : public Robot {
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public:
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Slave();
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void run();
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private:
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enum Mode { STOP, MOVE_FORWARD, AVOID_OBSTACLES, TURN };
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static double boundSpeed(double speed);
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int timeStep;
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Mode mode;
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Receiver *receiver;
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Camera *camera;
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DistanceSensor *distanceSensors[2];
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Motor *motors[2];
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};
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Slave::Slave() {
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timeStep = 32;
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mode = AVOID_OBSTACLES;
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camera = getCamera("camera");
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camera->enable(4 * timeStep);
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receiver = getReceiver("receiver");
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receiver->enable(timeStep);
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motors[0] = getMotor("left wheel motor");
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motors[1] = getMotor("right wheel motor");
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motors[0]->setPosition(std::numeric_limits<double>::infinity());
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motors[1]->setPosition(std::numeric_limits<double>::infinity());
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motors[0]->setVelocity(0.0);
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motors[1]->setVelocity(0.0);
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string distanceSensorNames("ds0");
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for (int i = 0; i < 2; i++) {
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distanceSensors[i] = getDistanceSensor(distanceSensorNames);
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distanceSensors[i]->enable(timeStep);
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distanceSensorNames[2]++; // for getting "ds1","ds2",...
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}
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}
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double Slave::boundSpeed(double speed) {
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return std::min(maxSpeed, std::max(-maxSpeed, speed));
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}
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void Slave::run() {
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// main loop
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while (step(timeStep) != -1) {
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// Read sensors, particularly the order of the supervisor
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if (receiver->getQueueLength() > 0) {
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string message((const char *)receiver->getData());
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receiver->nextPacket();
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cout << "I should " << AnsiCodes::RED_FOREGROUND << message << AnsiCodes::RESET << "!" << endl;
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if (message.compare("avoid obstacles") == 0)
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mode = AVOID_OBSTACLES;
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else if (message.compare("move forward") == 0)
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mode = MOVE_FORWARD;
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else if (message.compare("stop") == 0)
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mode = STOP;
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else if (message.compare("turn") == 0)
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mode = TURN;
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}
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double delta = distanceSensors[0]->getValue() - distanceSensors[1]->getValue();
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double speeds[2] = {0.0, 0.0};
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// send actuators commands according to the mode
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switch (mode) {
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case AVOID_OBSTACLES:
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speeds[0] = boundSpeed(maxSpeed / 2.0 + 0.1 * delta);
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speeds[1] = boundSpeed(maxSpeed / 2.0 - 0.1 * delta);
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break;
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case MOVE_FORWARD:
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speeds[0] = maxSpeed;
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speeds[1] = maxSpeed;
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break;
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case TURN:
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speeds[0] = maxSpeed / 2.0;
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speeds[1] = -maxSpeed / 2.0;
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break;
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default:
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break;
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}
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motors[0]->setVelocity(speeds[0]);
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motors[1]->setVelocity(speeds[1]);
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}
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}
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int main() {
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Slave *controller = new Slave();
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controller->run();
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delete controller;
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return 0;
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}
-End-
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/120812159
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