diff --git a/.gitignore b/.gitignore index ae6c78e..a99e2ca 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ build/ install/ log/ -*.png \ No newline at end of file +*.png +openarm_joint_record.yaml diff --git a/openarm_joint_trajectory.yaml b/openarm_joint_trajectory.yaml new file mode 100644 index 0000000..8ada9b6 --- /dev/null +++ b/openarm_joint_trajectory.yaml @@ -0,0 +1,21252 @@ +version: 1 +points: +- t: 0.0 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - -0.0020981155107957505 + - -0.0024795910582131597 + - 0.015449759670405072 + - -0.0001907377737087046 + - 0.051308461127641536 + - 0.023460746166170665 + - 0.047493705653467444 +- t: 0.03039240837097168 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + 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0.04024567025253667 +- t: 35.617408990859985 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.64492845535278 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.672831773757935 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.70360255241394 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.73309874534607 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028419928282596985 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.75951671600342 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.002861066605630569 + - 0.04024567025253667 +- t: 35.787617921829224 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028419928282596985 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.81350255012512 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.84298658370972 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028419928282596985 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.87750840187073 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028419928282596985 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.901787996292114 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.92697858810425 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 +- t: 35.95682716369629 + name: + - openarm_left_joint1 + - openarm_left_joint2 + - openarm_left_joint3 + - openarm_left_joint4 + - openarm_left_joint5 + - openarm_left_joint6 + - openarm_left_joint7 + position: + - 0.028038452735179575 + - -0.10013733119706991 + - -0.1958876935988414 + - 0.03833829251544962 + - 0.09594110017547841 + - -0.003242542153047978 + - 0.04024567025253667 diff --git a/src/openarm_camera/config/camera_pub.params.yaml b/src/openarm_camera/config/camera_pub.params.yaml new file mode 100644 index 0000000..bc731c4 --- /dev/null +++ b/src/openarm_camera/config/camera_pub.params.yaml @@ -0,0 +1,20 @@ +camera_node: + ros__parameters: + # 输入源: usb 或 rtsp + source_type: "rtsp" + + # USB 参数 + usb_index: 0 + usb_use_mjpg: true + + # RTSP 参数（source_type=rtsp 时生效） + rtsp_url: "rtsp://192.168.3.130:8554/test" + rtsp_transport: "udp" + + # 通用采集参数 + camera_width: 2304 + camera_height: 1296 + target_fps: 30 + + # 是否将原始图像按左右半幅拆分发布 + split_stereo: false diff --git a/src/openarm_camera/launch/launch_camera.launch.py b/src/openarm_camera/launch/launch_camera.launch.py index ba491ba..e908cbf 100644 --- a/src/openarm_camera/launch/launch_camera.launch.py +++ b/src/openarm_camera/launch/launch_camera.launch.py @@ -1,17 +1,20 @@ import os from launch import LaunchDescription -from launch.actions import ExecuteProcess, TimerAction, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import PathJoinSubstitution +from launch.actions import TimerAction from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare from ament_index_python.packages import get_package_share_directory -import xacro def generate_launch_description(): + params_file = os.path.join( + get_package_share_directory('openarm_camera'), + 'config', + 'camera_pub.params.yaml' + ) + camera_init = Node( package='openarm_camera', executable='camera_pub_node', + parameters=[params_file], output='screen' ) camera_cal_init = Node( @@ -43,8 +46,8 @@ def generate_launch_description(): # period=4.0, # actions=[camera_cal_init] # ), - TimerAction( - period=4.0, - actions=[stereo_hand_depth] - ), + # TimerAction( + # period=4.0, + # actions=[stereo_hand_depth] + # ), ]) diff --git a/src/openarm_camera/openarm_camera/camera_pub.py b/src/openarm_camera/openarm_camera/camera_pub.py index 349a4b1..b08be82 100644 --- a/src/openarm_camera/openarm_camera/camera_pub.py +++ b/src/openarm_camera/openarm_camera/camera_pub.py @@ -3,21 +3,17 @@ from rclpy.node import Node from sensor_msgs.msg import Image from cv_bridge import CvBridge import cv2 -import numpy as np +import os import time +from rcl_interfaces.msg import SetParametersResult from camera_info_manager import CameraInfoManager from sensor_msgs.msg import CameraInfo -CAMERA_WIDTH = 1280 -CAMERA_HEIGHT = 480 -TARGET_FPS = 30 - -FRAME_WIDTH = int(CAMERA_WIDTH / 2) -FRAME_HEIGHT = int(CAMERA_HEIGHT / 2) +DEFAULT_CAMERA_WIDTH = 1280 +DEFAULT_CAMERA_HEIGHT = 480 +DEFAULT_TARGET_FPS = 30 DIAG_INTERVAL_SEC = 1.0 - -print(FRAME_WIDTH, FRAME_HEIGHT) class CameraNode(Node): def __init__(self): @@ -52,6 +48,137 @@ class CameraNode(Node): self.publisher_right = self.create_publisher(Image, '/camera/right/image_raw', 10) self.publisher_raw = self.create_publisher(Image, '/image_1', 10) + # 输入源参数：支持 usb/rtsp 两种来源，并支持运行时切换。 + self.declare_parameter('source_type', 'usb') + self.declare_parameter('usb_index', 0) + self.declare_parameter('rtsp_url', '') + self.declare_parameter('rtsp_transport', 'tcp') + self.declare_parameter('camera_width', DEFAULT_CAMERA_WIDTH) + self.declare_parameter('camera_height', DEFAULT_CAMERA_HEIGHT) + self.declare_parameter('target_fps', DEFAULT_TARGET_FPS) + self.declare_parameter('usb_use_mjpg', True) + self.declare_parameter('split_stereo', False) + + self.add_on_set_parameters_callback(self._on_set_parameters) + + self.source_type = self.get_parameter('source_type').value + self.usb_index = int(self.get_parameter('usb_index').value) + self.rtsp_url = self.get_parameter('rtsp_url').value + self.rtsp_transport = self.get_parameter('rtsp_transport').value + self.camera_width = int(self.get_parameter('camera_width').value) + self.camera_height = int(self.get_parameter('camera_height').value) + self.target_fps = int(self.get_parameter('target_fps').value) + self.usb_use_mjpg = bool(self.get_parameter('usb_use_mjpg').value) + self.split_stereo = bool(self.get_parameter('split_stereo').value) + + self.diag_last_time = time.perf_counter() + self.capture_ok_count = 0 + self.publish_count = 0 + self.read_cost_sum = 0.0 + self.convert_cost_sum = 0.0 + self.publish_cost_sum = 0.0 + self.total_cost_sum = 0.0 + self.failed_read_count = 0 + self.reopen_requested = False + self.reopen_reason = '' + self.last_reopen_try = 0.0 + + self.get_logger().info('正在初始化摄像头...') + + self.cap = None + self._open_capture() + + timer_period = max(1.0 / max(self.target_fps, 1), 0.001) + self.timer = self.create_timer(timer_period, self.timer_callback) + self.get_logger().info('摄像头节点已启动') + + def _on_set_parameters(self, params): + changed = False + for p in params: + if p.name == 'source_type' and p.value not in ('usb', 'rtsp'): + return SetParametersResult(successful=False, reason='source_type 必须是 usb 或 rtsp') + if p.name == 'target_fps' and int(p.value) <= 0: + return SetParametersResult(successful=False, reason='target_fps 必须 > 0') + if p.name == 'camera_width' and int(p.value) <= 0: + return SetParametersResult(successful=False, reason='camera_width 必须 > 0') + if p.name == 'camera_height' and int(p.value) <= 0: + return SetParametersResult(successful=False, reason='camera_height 必须 > 0') + if p.name in { + 'source_type', 'usb_index', 'rtsp_url', 'rtsp_transport', + 'camera_width', 'camera_height', 'target_fps', 'usb_use_mjpg', + 'split_stereo' + }: + changed = True + + if changed: + self.reopen_requested = True + self.reopen_reason = '参数更新触发重连' + return SetParametersResult(successful=True) + + def _refresh_params(self): + self.source_type = self.get_parameter('source_type').value + self.usb_index = int(self.get_parameter('usb_index').value) + self.rtsp_url = self.get_parameter('rtsp_url').value + self.rtsp_transport = self.get_parameter('rtsp_transport').value + self.camera_width = int(self.get_parameter('camera_width').value) + self.camera_height = int(self.get_parameter('camera_height').value) + self.target_fps = int(self.get_parameter('target_fps').value) + self.usb_use_mjpg = bool(self.get_parameter('usb_use_mjpg').value) + self.split_stereo = bool(self.get_parameter('split_stereo').value) + + def _open_capture(self): + self._refresh_params() + + if self.cap is not None: + self.cap.release() + self.cap = None + + if self.source_type == 'usb': + self.get_logger().info(f'正在打开 USB 摄像头 /dev/video{self.usb_index} ...') + cap = cv2.VideoCapture(self.usb_index, cv2.CAP_V4L2) + if not cap.isOpened(): + raise RuntimeError(f'无法打开 USB 摄像头 /dev/video{self.usb_index}') + + if self.usb_use_mjpg: + cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG')) + cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.camera_width) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.camera_height) + cap.set(cv2.CAP_PROP_FPS, self.target_fps) + cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) + self.cap = cap + else: + if not self.rtsp_url: + raise RuntimeError('source_type=rtsp 时必须设置 rtsp_url') + transport = str(self.rtsp_transport).lower() + if transport in ('tcp', 'udp'): + os.environ['OPENCV_FFMPEG_CAPTURE_OPTIONS'] = f'rtsp_transport;{transport}' + self.get_logger().info(f'正在打开 RTSP 流: {self.rtsp_url}') + cap = cv2.VideoCapture(self.rtsp_url, cv2.CAP_FFMPEG) + if not cap.isOpened(): + cap = cv2.VideoCapture(self.rtsp_url) + if not cap.isOpened(): + raise RuntimeError('无法打开 RTSP 流，请检查 url、网络或认证信息') + + cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) + self.cap = cap + + # 预热并读取一帧，确保数据流有效。 + for _ in range(3): + self.cap.read() + ret, frame = self.cap.read() + if not ret or frame is None: + raise RuntimeError('视频源已打开但无法读取图像帧') + + real_w = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)) + real_h = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) + real_fps = self.cap.get(cv2.CAP_PROP_FPS) + fourcc = int(self.cap.get(cv2.CAP_PROP_FOURCC)) + fourcc_str = ''.join([chr((fourcc >> 8 * j) & 0xFF) for j in range(4)]) + self.get_logger().info( + f'视频源打开成功: source={self.source_type}, {real_w}x{real_h}, fps={real_fps:.2f}, fourcc={fourcc_str}' + ) + + self.failed_read_count = 0 self.diag_last_time = time.perf_counter() self.capture_ok_count = 0 self.publish_count = 0 @@ -60,111 +187,114 @@ class CameraNode(Node): self.publish_cost_sum = 0.0 self.total_cost_sum = 0.0 - self.get_logger().info('正在初始化摄像头...') - - - # 尝试打开物理摄像头 - self.cap = None - for i in range(2): # 尝试设备0,1,2 - self.get_logger().info(f'尝试打开摄像头设备 /dev/video{i}...') - self.cap = cv2.VideoCapture(i, cv2.CAP_V4L2) - if self.cap.isOpened(): - # 先申请 MJPG，再设置分辨率/FPS；该设备在 1280x480 下 YUYV 仅支持 5FPS。 - self.cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG')) - # 设置摄像头参数 - self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, CAMERA_WIDTH) - self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, CAMERA_HEIGHT) - self.cap.set(cv2.CAP_PROP_FPS, TARGET_FPS) - self.cap.set(cv2.CAP_PROP_BUFFERSIZE, 1) - - # 让摄像头预热 - for _ in range(5): - self.cap.read() - - # 验证摄像头能正常读取 - ret, frame = self.cap.read() - if ret and frame is not None: - self.get_logger().info(f'成功打开物理摄像头 /dev/video{i}') - self.get_logger().info(f'图像尺寸: {frame.shape}') - real_w = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)) - real_h = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) - real_fps = self.cap.get(cv2.CAP_PROP_FPS) - fourcc = int(self.cap.get(cv2.CAP_PROP_FOURCC)) - fourcc_str = ''.join([chr((fourcc >> 8 * j) & 0xFF) for j in range(4)]) - self.get_logger().info( - f'驱动实际参数: {real_w}x{real_h}, fps={real_fps:.2f}, fourcc={fourcc_str} (target_fps={TARGET_FPS})' - ) - if fourcc_str != 'MJPG': - self.get_logger().warn( - '当前不是MJPG模式,1280x480下可能会被限制到低帧率。' - ) - break + def _try_reopen_if_needed(self): + if not self.reopen_requested: + return - if self.cap is None or not self.cap.isOpened(): - raise RuntimeError('未找到可用摄像头设备，请检查 /dev/video* 和权限') + now = time.perf_counter() + if now - self.last_reopen_try < 1.0: + return - self.timer = self.create_timer(1.0 / TARGET_FPS, self.timer_callback) - self.get_logger().info('摄像头节点已启动') + self.last_reopen_try = now + try: + self.get_logger().warn(f'尝试重连视频源: {self.reopen_reason}') + self._open_capture() + self.reopen_requested = False + self.reopen_reason = '' + self.get_logger().info('重连视频源成功') + except Exception as e: + self.get_logger().error(f'重连失败: {e}') def timer_callback(self): + self._try_reopen_if_needed() + if self.cap is None or not self.cap.isOpened(): + return + t0 = time.perf_counter() ret, frame = self.cap.read() t1 = time.perf_counter() - if ret and frame is not None: - stamp = self.get_clock().now().to_msg() - # msg_left= self.bridge.cv2_to_imgmsg(frame[:, :FRAME_WIDTH], encoding='bgr8') - # msg_right= self.bridge.cv2_to_imgmsg(frame[:, FRAME_WIDTH:], encoding='bgr8') + if not ret or frame is None: + self.failed_read_count += 1 + if self.failed_read_count >= 30: + self.reopen_requested = True + self.reopen_reason = '连续读取失败' + return + + self.failed_read_count = 0 + + stamp = self.get_clock().now().to_msg() + if self.split_stereo: + frame_width = frame.shape[1] + half_width = frame_width // 2 + msg_left = self.bridge.cv2_to_imgmsg(frame[:, :half_width], encoding='bgr8') + msg_right = self.bridge.cv2_to_imgmsg(frame[:, half_width:], encoding='bgr8') msg_raw= self.bridge.cv2_to_imgmsg(frame, encoding='bgr8') - t2 = time.perf_counter() + else: + msg_left = None + msg_right = None + msg_raw = self.bridge.cv2_to_imgmsg(frame, encoding='bgr8') + t2 = time.perf_counter() - # msg_left.header.stamp = stamp - # msg_right.header.stamp = stamp + if msg_left is not None and msg_right is not None: + msg_left.header.stamp = stamp + msg_right.header.stamp = stamp + msg_left.header.frame_id = 'camera_frame_left' + msg_right.header.frame_id = 'camera_frame_right' + + if msg_raw is not None: msg_raw.header.stamp = stamp - # msg_left.header.frame_id = 'camera_frame_left' - # msg_right.header.frame_id = 'camera_frame_right' msg_raw.header.frame_id = 'camera_frame_raw' - # self.publisher_left.publish(msg_left) - # self.publisher_right.publish(msg_right) + + if msg_left is not None and msg_right is not None: + self.publisher_left.publish(msg_left) + self.publisher_right.publish(msg_right) + if msg_raw is not None: self.publisher_raw.publish(msg_raw) - t3 = time.perf_counter() + t3 = time.perf_counter() - # 发布相机信息 - self.left_camera_info_pub.publish(self.left_camera_info) - self.right_camera_info_pub.publish(self.right_camera_info) - t4 = time.perf_counter() + # 发布相机信息 + self.left_camera_info_pub.publish(self.left_camera_info) + self.right_camera_info_pub.publish(self.right_camera_info) + t4 = time.perf_counter() - self.capture_ok_count += 1 - self.publish_count += 1 - self.read_cost_sum += (t1 - t0) - self.convert_cost_sum += (t2 - t1) - self.publish_cost_sum += (t3 - t2) - self.total_cost_sum += (t4 - t0) + self.capture_ok_count += 1 + self.publish_count += 1 + self.read_cost_sum += (t1 - t0) + self.convert_cost_sum += (t2 - t1) + self.publish_cost_sum += (t3 - t2) + self.total_cost_sum += (t4 - t0) - now = t4 - elapsed = now - self.diag_last_time - if elapsed >= DIAG_INTERVAL_SEC: - cap_fps = self.capture_ok_count / elapsed - pub_fps = self.publish_count / elapsed - avg_read_ms = (self.read_cost_sum / max(self.capture_ok_count, 1)) * 1000.0 - avg_convert_ms = (self.convert_cost_sum / max(self.publish_count, 1)) * 1000.0 - avg_publish_ms = (self.publish_cost_sum / max(self.publish_count, 1)) * 1000.0 - avg_total_ms = (self.total_cost_sum / max(self.publish_count, 1)) * 1000.0 + now = t4 + elapsed = now - self.diag_last_time + if elapsed >= DIAG_INTERVAL_SEC: + cap_fps = self.capture_ok_count / elapsed + pub_fps = self.publish_count / elapsed + avg_read_ms = (self.read_cost_sum / max(self.capture_ok_count, 1)) * 1000.0 + avg_convert_ms = (self.convert_cost_sum / max(self.publish_count, 1)) * 1000.0 + avg_publish_ms = (self.publish_cost_sum / max(self.publish_count, 1)) * 1000.0 + avg_total_ms = (self.total_cost_sum / max(self.publish_count, 1)) * 1000.0 - self.get_logger().info( - f'[diag] cap_fps={cap_fps:.2f}, pub_fps={pub_fps:.2f}, ' - f'read={avg_read_ms:.2f}ms, convert={avg_convert_ms:.2f}ms, ' - f'publish={avg_publish_ms:.2f}ms, total={avg_total_ms:.2f}ms' - ) + self.get_logger().info( + f'[diag] source={self.source_type}, cap_fps={cap_fps:.2f}, pub_fps={pub_fps:.2f}, ' + f'read={avg_read_ms:.2f}ms, convert={avg_convert_ms:.2f}ms, ' + f'publish={avg_publish_ms:.2f}ms, total={avg_total_ms:.2f}ms' + ) + + self.diag_last_time = now + self.capture_ok_count = 0 + self.publish_count = 0 + self.read_cost_sum = 0.0 + self.convert_cost_sum = 0.0 + self.publish_cost_sum = 0.0 + self.total_cost_sum = 0.0 + + def destroy_node(self): + if self.cap is not None: + self.cap.release() + self.cap = None + super().destroy_node() - self.diag_last_time = now - self.capture_ok_count = 0 - self.publish_count = 0 - self.read_cost_sum = 0.0 - self.convert_cost_sum = 0.0 - self.publish_cost_sum = 0.0 - self.total_cost_sum = 0.0 - diff --git a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py index 004a3d5..8679f50 100644 --- a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py +++ b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py @@ -280,7 +280,7 @@ class StereoHandDepthNode(Node): # msg_out.pose.position.z = -float(Y) # self.get_logger().info(f"X:{X:.3f}, Y:{Y:.3f}, Z:{Z:.3f}") # 对位置和姿态做简单平滑（滑动平均） - alpha = 0.2 # 平滑系数，0.0-1.0，越小越平滑 + alpha = 0.15 # 平滑系数，0.0-1.0，越小越平滑 if not hasattr(self, 'smoothed_pos'): self.smoothed_pos = self.target_pos.copy() self.smoothed_quat = self.target_quat.copy() diff --git a/src/openarm_camera/setup.py b/src/openarm_camera/setup.py index 0fe476d..b5ba95b 100644 --- a/src/openarm_camera/setup.py +++ b/src/openarm_camera/setup.py @@ -15,6 +15,9 @@ setup( # launch 文件 (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + # 参数文件 + (os.path.join('share', package_name, 'config'), + glob('config/*.yaml')), ], install_requires=['setuptools'], zip_safe=True, diff --git a/src/openarm_joint_recorder/README.md b/src/openarm_joint_recorder/README.md new file mode 100644 index 0000000..4500c44 --- /dev/null +++ b/src/openarm_joint_recorder/README.md @@ -0,0 +1,48 @@ +# openarm_joint_recorder + +用于录制关节位置轨迹并按记录时间回放。 + +## 功能 + +- 订阅控制器状态话题（JointTrajectoryControllerState）并录制每个采样点的时间与位置 +- 通过 ROS2 service 启停录制与回放 +- 轨迹保存到 YAML 文件，支持加载后回放 + +## 参数 + +- `input_topic`：录制输入话题，默认 `/left_joint_trajectory_controller/controller_state` +- `output_topic`：回放输出话题，默认 `/left_joint_trajectory_controller/joint_trajectory` +- `play_speed`：回放速度倍率，默认 `1.0` +- `loop_playback`：是否循环回放，默认 `false` +- `storage_path`：保存/加载文件路径，默认 `/tmp/openarm_joint_trajectory.yaml` + +## 启动 + +```bash +ros2 launch openarm_joint_recorder joint_trajectory_recorder.launch.py +``` + +## 服务接口 + +- `~/set_recording` (`std_srvs/srv/SetBool`): `true` 开始录制，`false` 停止录制 +- `~/play` (`std_srvs/srv/Trigger`): 开始回放 +- `~/stop_playback` (`std_srvs/srv/Trigger`): 停止回放 +- `~/save` (`std_srvs/srv/Trigger`): 保存轨迹到 `storage_path` +- `~/load` (`std_srvs/srv/Trigger`): 从 `storage_path` 加载轨迹 +- `~/clear` (`std_srvs/srv/Trigger`): 清空内存轨迹 + +## 示例命令 + +```bash +# 开始录制 +ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: true}" + +# 停止录制 +ros2 service call /joint_trajectory_recorder/set_recording std_srvs/srv/SetBool "{data: false}" + +# 保存 +ros2 service call /joint_trajectory_recorder/save std_srvs/srv/Trigger "{}" + +# 回放 +ros2 service call /joint_trajectory_recorder/play std_srvs/srv/Trigger "{}" +``` diff --git a/src/openarm_joint_recorder/launch/joint_trajectory_recorder.launch.py b/src/openarm_joint_recorder/launch/joint_trajectory_recorder.launch.py new file mode 100644 index 0000000..254d4a8 --- /dev/null +++ b/src/openarm_joint_recorder/launch/joint_trajectory_recorder.launch.py @@ -0,0 +1,20 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='openarm_joint_recorder', + executable='joint_trajectory_recorder', + name='joint_trajectory_recorder', + output='screen', + parameters=[{ + 'input_topic': '/left_joint_trajectory_controller/controller_state', + 'output_topic': '/left_joint_trajectory_controller/joint_trajectory', + 'play_speed': 1.0, + 'loop_playback': False, + 'storage_path': '/home/shen/openarm_test/openarm_joint_record.yaml', + }], + ), + ]) diff --git a/src/openarm_joint_recorder/openarm_joint_recorder/__init__.py b/src/openarm_joint_recorder/openarm_joint_recorder/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/openarm_joint_recorder/openarm_joint_recorder/joint_trajectory_recorder.py b/src/openarm_joint_recorder/openarm_joint_recorder/joint_trajectory_recorder.py new file mode 100644 index 0000000..32a14b9 --- /dev/null +++ b/src/openarm_joint_recorder/openarm_joint_recorder/joint_trajectory_recorder.py @@ -0,0 +1,282 @@ +import threading +import time +from typing import Dict, List + +import rclpy +from rclpy.node import Node +from control_msgs.msg import JointTrajectoryControllerState +from std_srvs.srv import SetBool, Trigger +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +import yaml + + +class JointTrajectoryRecorder(Node): + def __init__(self): + super().__init__('joint_trajectory_recorder') + + self.declare_parameter('input_topic', '/left_joint_trajectory_controller/controller_state') + self.declare_parameter('output_topic', '/left_joint_trajectory_controller/joint_trajectory') + self.declare_parameter('play_speed', 1.0) + self.declare_parameter('loop_playback', False) + self.declare_parameter('storage_path', '/tmp/openarm_joint_record.yaml') + + self.input_topic = self.get_parameter('input_topic').value + self.output_topic = self.get_parameter('output_topic').value + + self.record_lock = threading.Lock() + self.play_lock = threading.Lock() + + self.is_recording = False + self.is_playing = False + self.stop_playback_event = threading.Event() + + self._record_start_time = None + self.recorded_points: List[Dict] = [] + self.get_logger().info(f"input_topic: {self.input_topic}, output_topic: {self.output_topic}") + + self.sub = self.create_subscription( + JointTrajectoryControllerState, + self.input_topic, + self.controller_state_callback, + 50, + ) + self.pub = self.create_publisher(JointTrajectory, self.output_topic, 50) + + self.set_recording_srv = self.create_service( + SetBool, + '~/set_recording', + self.handle_set_recording, + ) + self.play_srv = self.create_service( + Trigger, + '~/play', + self.handle_play, + ) + self.stop_play_srv = self.create_service( + Trigger, + '~/stop_playback', + self.handle_stop_playback, + ) + self.save_srv = self.create_service( + Trigger, + '~/save', + self.handle_save, + ) + self.load_srv = self.create_service( + Trigger, + '~/load', + self.handle_load, + ) + self.clear_srv = self.create_service( + Trigger, + '~/clear', + self.handle_clear, + ) + + # self.get_logger().info( + # 'joint_trajectory_recorder started. Use services: ' + # '~/set_recording, ~/play, ~/stop_playback, ~/save, ~/load, ~/clear' + # ) + + def controller_state_callback(self, msg: JointTrajectoryControllerState): + if not self.is_recording: + return + + names = list(msg.joint_names) + positions = [float(v) for v in msg.actual.positions] + if len(names) == 0 or len(positions) == 0: + return + + now_s = time.time() + with self.record_lock: + if self._record_start_time is None: + self._record_start_time = now_s + rel_time = now_s - self._record_start_time + self.recorded_points.append({ + 't': rel_time, + 'name': names, + 'position': positions, + }) + + def handle_set_recording(self, request, response): + if request.data: + with self.record_lock: + self.recorded_points = [] + self._record_start_time = None + self.is_recording = True + response.success = True + response.message = 'Recording started. Existing trajectory cleared.' + self.get_logger().info(response.message) + return response + + self.is_recording = False + with self.record_lock: + count = len(self.recorded_points) + response.success = True + response.message = f'Recording stopped. Collected {count} points.' + self.get_logger().info(response.message) + return response + + def handle_play(self, _request, response): + with self.play_lock: + if self.is_playing: + response.success = False + response.message = 'Playback is already running.' + return response + + with self.record_lock: + if len(self.recorded_points) < 1: + response.success = False + response.message = 'No recorded points. Record or load trajectory first.' + return response + + self.stop_playback_event.clear() + self.is_playing = True + thread = threading.Thread(target=self._playback_worker, daemon=True) + thread.start() + + response.success = True + response.message = 'Playback started.' + self.get_logger().info(response.message) + return response + + def handle_stop_playback(self, _request, response): + self.stop_playback_event.set() + response.success = True + response.message = 'Stop playback signal sent.' + self.get_logger().info(response.message) + return response + + def handle_clear(self, _request, response): + self.is_recording = False + self.stop_playback_event.set() + with self.record_lock: + self.recorded_points = [] + self._record_start_time = None + response.success = True + response.message = 'Recorded trajectory cleared.' + self.get_logger().info(response.message) + return response + + def handle_save(self, _request, response): + storage_path = self.get_parameter('storage_path').value + with self.record_lock: + data = { + 'version': 1, + 'points': self.recorded_points, + } + + try: + with open(storage_path, 'w', encoding='utf-8') as f: + yaml.safe_dump(data, f, sort_keys=False) + except Exception as exc: + response.success = False + response.message = f'Save failed: {exc}' + self.get_logger().error(response.message) + return response + + response.success = True + response.message = f'Trajectory saved to {storage_path}' + self.get_logger().info(response.message) + return response + + def handle_load(self, _request, response): + storage_path = self.get_parameter('storage_path').value + try: + with open(storage_path, 'r', encoding='utf-8') as f: + data = yaml.safe_load(f) + except Exception as exc: + response.success = False + response.message = f'Load failed: {exc}' + self.get_logger().error(response.message) + return response + + points = data.get('points', []) if isinstance(data, dict) else [] + if not isinstance(points, list): + response.success = False + response.message = 'Load failed: invalid file format.' + self.get_logger().error(response.message) + return response + + normalized: List[Dict] = [] + for pt in points: + try: + normalized.append({ + 't': float(pt['t']), + 'name': list(pt['name']), + 'position': [float(v) for v in pt['position']], + }) + except Exception: + continue + + with self.record_lock: + self.recorded_points = normalized + self._record_start_time = None + + response.success = True + response.message = f'Loaded {len(normalized)} points from {storage_path}' + self.get_logger().info(response.message) + return response + + def _playback_worker(self): + play_speed = float(self.get_parameter('play_speed').value) + loop_playback = bool(self.get_parameter('loop_playback').value) + + if play_speed <= 0.0: + self.get_logger().warning('play_speed <= 0.0, force to 1.0') + play_speed = 1.0 + + try: + while rclpy.ok(): + with self.record_lock: + points = list(self.recorded_points) + + if not points: + break + + prev_t = points[0]['t'] + for idx, pt in enumerate(points): + if self.stop_playback_event.is_set() or not rclpy.ok(): + return + + if idx > 0: + dt = max(0.0, (pt['t'] - prev_t) / play_speed) + if dt > 0.0: + time.sleep(dt) + prev_t = pt['t'] + + traj = JointTrajectory() + # traj.header.stamp = self.get_clock().now().to_msg() + traj.joint_names = pt['name'] + + point = JointTrajectoryPoint() + point.positions = pt['position'] + # point.time_from_start.sec = 0 + # point.time_from_start.nanosec = 100000000 + traj.points.append(point) + + self.pub.publish(traj) + # time.sleep(0.02) + + if not loop_playback: + break + finally: + with self.play_lock: + self.is_playing = False + self.stop_playback_event.clear() + self.get_logger().info('Playback finished.') + + +def main(args=None): + rclpy.init(args=args) + node = JointTrajectoryRecorder() + try: + rclpy.spin(node) + finally: + node.stop_playback_event.set() + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/src/openarm_joint_recorder/package.xml b/src/openarm_joint_recorder/package.xml new file mode 100644 index 0000000..9966609 --- /dev/null +++ b/src/openarm_joint_recorder/package.xml @@ -0,0 +1,22 @@ + + + + openarm_joint_recorder + 0.0.0 + Record and playback joint positions for OpenArm. + shen + TODO: License declaration + + rclpy + control_msgs + trajectory_msgs + std_srvs + + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/src/openarm_joint_recorder/resource/openarm_joint_recorder b/src/openarm_joint_recorder/resource/openarm_joint_recorder new file mode 100644 index 0000000..11e4eef --- /dev/null +++ b/src/openarm_joint_recorder/resource/openarm_joint_recorder @@ -0,0 +1 @@ +openarm_joint_recorder diff --git a/src/openarm_joint_recorder/setup.cfg b/src/openarm_joint_recorder/setup.cfg new file mode 100644 index 0000000..27d0b66 --- /dev/null +++ b/src/openarm_joint_recorder/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/openarm_joint_recorder +[install] +install_scripts=$base/lib/openarm_joint_recorder diff --git a/src/openarm_joint_recorder/setup.py b/src/openarm_joint_recorder/setup.py new file mode 100644 index 0000000..5647dec --- /dev/null +++ b/src/openarm_joint_recorder/setup.py @@ -0,0 +1,30 @@ +from setuptools import find_packages, setup +import os +from glob import glob + +package_name = 'openarm_joint_recorder' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='shen', + maintainer_email='664376944@qq.com', + description='Record and playback joint positions for OpenArm.', + license='TODO: License declaration', + extras_require={ + 'test': ['pytest'], + }, + entry_points={ + 'console_scripts': [ + 'joint_trajectory_recorder = openarm_joint_recorder.joint_trajectory_recorder:main', + ], + }, +)