ROS2+Gazebo11+Car+OpenCV录制视觉数据和控制学习

录制视觉数据如下：

控制效果如下：

如上控制案例参考：

2019年的一篇旧文，大概三年前了。

不变的配方，熟悉的味道。 

居中

注意前轮夹角和方向盘

左转

注意前轮夹角和方向盘

右转

注意前轮夹角和方向盘

部分记录：

  

   

    

     

    
    

     

      [INFO] [launch]: All log files can be found below /home/zhangrelay/.ros/log/2022-06-06-21-44-07-338514-LAPTOP-5REQ7K1L-231
     
    
   

    

     

    
    

     

      [INFO] [launch]: Default logging verbosity is set to INFO
     
    
   

    

     

    
    

     

      [INFO] [gazebo-1]: process started with pid [232]
     
    
   

    

     

    
    

     

      [gazebo-1] Gazebo multi-robot simulator, version 11.10.2
     
    
   

    

     

    
    

     

      [gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
     
    
   

    

     

    
    

     

      [gazebo-1] Released under the Apache 2 License.
     
    
   

    

     

    
    

     

      [gazebo-1] http://gazebosim.org
     
    
   

    

     

    
    

     

      [gazebo-1]
     
    
   

    

     

    
    

     

      [gazebo-1] Gazebo multi-robot simulator, version 11.10.2
     
    
   

    

     

    
    

     

      [gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
     
    
   

    

     

    
    

     

      [gazebo-1] Released under the Apache 2 License.
     
    
   

    

     

    
    

     

      [gazebo-1] http://gazebosim.org
     
    
   

    

     

    
    

     

      [gazebo-1]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523050.454070500] [gazebo_ros_node]: ROS was initialized without arguments.
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523050.942191900] [camera_driver]: Publishing camera info to [/camera/camera_info]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523050.996281100] [ackermann_drive]: Subscribed to [/cmd_vel]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.001757000] [ackermann_drive]: Advertise odometry on [/odom]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.003020500] [ackermann_drive]: Advertise distance on [/distance]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010715300] [ackermann_drive]: Publishing odom transforms between [odom_demo] and [chassis]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010808800] [ackermann_drive]: Publishing wheel transforms between [chassis], [front_right_combined_joint] and [front_right_combined_joint]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010835300] [ackermann_drive]: Publishing wheel transforms between [chassis], [front_left_combined_joint] and [front_left_combined_joint]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010851200] [ackermann_drive]: Publishing wheel transforms between [chassis], [rear_right_wheel_joint] and [rear_right_wheel_joint]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010867400] [ackermann_drive]: Publishing wheel transforms between [chassis], [rear_left_wheel_joint] and [rear_left_wheel_joint]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010882500] [ackermann_drive]: Publishing wheel transforms between [chassis], [front_right_combined_joint] and [front_right_combined_joint]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010898800] [ackermann_drive]: Publishing wheel transforms between [chassis], [front_left_combined_joint] and [front_left_combined_joint]
     
    
   

    

     

    
    

     

      [gazebo-1] [INFO] [1654523051.010914600] [ackermann_drive]: Publishing wheel transforms between [chassis], [steering_joint] and [steering_joint]
     
    
   

    

     

    
    

     

      [gazebo-1] [Msg] Waiting for master.
     
    
   

    

     

    
    

     

      [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
     
    
   

    

     

    
    

     

      [gazebo-1] [Msg] Publicized address: 172.29.155.116
     
    
   

    

     

    
    

     

      [gazebo-1] [Msg] Loading world file [/home/zhangrelay/ros_ws/ROS2-Ultimate-Mobile-Robotics-Course-for-Beginners-OpenCV-main/prius_line_following/src/world/prius_on_track.world]
     
    
   

    

     

    
    

     

      [gazebo-1] [Wrn] [OBJLoader.cc:79] Both `d` and `Tr` parameters defined for "Hybrid". Use the value of `d` for dissolve (line 8 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1] Both `d` and `Tr` parameters defined for "Wheels3". Use the value of `d` for dissolve (line 22 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1] Both `d` and `Tr` parameters defined for "Hybrid_Interior". Use the value of `d` for dissolve (line 36 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1] Both `d` and `Tr` parameters defined for "Windows". Use the value of `d` for dissolve (line 50 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1]
     
    
   

    

     

    
    

     

      [gazebo-1] [Msg] Waiting for master.
     
    
   

    

     

    
    

     

      [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
     
    
   

    

     

    
    

     

      [gazebo-1] [Msg] Publicized address: 172.29.155.116
     
    
   

    

     

    
    

     

      [gazebo-1] [Wrn] [OBJLoader.cc:79] Both `d` and `Tr` parameters defined for "Hybrid". Use the value of `d` for dissolve (line 8 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1] Both `d` and `Tr` parameters defined for "Wheels3". Use the value of `d` for dissolve (line 22 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1] Both `d` and `Tr` parameters defined for "Hybrid_Interior". Use the value of `d` for dissolve (line 36 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1] Both `d` and `Tr` parameters defined for "Windows". Use the value of `d` for dissolve (line 50 in .mtl.)
     
    
   

    

     

    
    

     

      [gazebo-1]
     
    
   

    

     

    
    

     

      [gazebo-1] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.
     
    
   

    

     

    
    

     

      [gazebo-1] [Wrn] [ModelDatabase.cc:212] Unable to connect to model database using [http://models.gazebosim.org//database.config]. Only locally installed models will be available.
     
    
   

    

     

    
    

     

      [gazebo-1]
     
    
   

    

     

    
    

     

      [gazebo-1] libcurl: (6) Could not resolve host: fuel.ignitionrobotics.org
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
  
 

录制视觉参考代码如下：

  

   

    

     

    
    

     

      import rclpy 
     
    
   

    

     

    
    

     

      import cv2 
     
    
   

    

     

    
    

     

      from rclpy.node import Node 
     
    
   

    

     

    
    

     

      from cv_bridge import CvBridge 
     
    
   

    

     

    
    

     

      from sensor_msgs.msg import Image 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      class Video_get(Node):
     
    
   

    

     

    
    

     
  def __init__(self):
     
    
   

    

     

    
    

     
    super().__init__('video_subscriber')# node name
     
    
   

    

     

    
    

     
    ## Created a subscriber 
     
    
   

    

     

    
    

     

          self.subscriber = self.create_subscription(Image,'/camera/image_raw',self.process_data,10)
     
    
   

    

     

    
    

     
    ## setting for writing the frames into a video
     
    
   

    

     

    
    

     

          self.out = cv2.VideoWriter('/home/zhangrelay/ros_ws/cardemo.avi',cv2.VideoWriter_fourcc('M','J','P','G'), 10, (640,480))
     
    
   

    

     

    
    

     

          self.bridge = CvBridge() # converting ros images to opencv data
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  ## Subscriber callback function 
     
    
   

    

     

    
    

     
  def process_data(self, data): 
     
    
   

    

     

    
    

     
    # performing conversion
     
    
   

    

     

    
    

     

          frame = self.bridge.imgmsg_to_cv2(data) 
     
    
   

    

     

    
    

     
    # write the frames to a video
     
    
   

    

     

    
    

     

          self.out.write(frame)
     
    
   

    

     

    
    

     
    # displaying what is being recorded 
     
    
   

    

     

    
    

     

          cv2.imshow("output", frame) 
     
    
   

    

     

    
    

     
    # will save video until it is interrupted
     
    
   

    

     

    
    

     

          cv2.waitKey(1) 
     
    
   

    

     

    
    

     
  
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
  
     
    
   

    

     

    
    

     

      def main(args=None):
     
    
   

    

     

    
    

     

        rclpy.init(args=args)
     
    
   

    

     

    
    

     

        image_subscriber = Video_get()
     
    
   

    

     

    
    

     

        rclpy.spin(image_subscriber)
     
    
   

    

     

    
    

     

        rclpy.shutdown()
     
    
   

    

     

    
    

     
  
     
    
   

    

     

    
    

     

      if __name__ == '__main__':
     
    
   

    

     

    
    

     

        main()
     
    
  
 

• source install/setup.sh
• ros2 run prius_line_following video_saver
• pip3 install opencv-python
• pip3 install opencv-python -i https://pypi.tuna.tsinghua.edu.cn/simple
• ros2 run prius_line_following video_saver
• colcon build
• ros2 run prius_line_following video_saver
• ros2 launch prius_line_following car_on_track.launch.py
• ros2 topic list 

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/125155310