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true_follower.py
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print('loading model')
import rospy
import sys
import _thread
from std_msgs.msg import Bool,String
from roslib import message
from geometry_msgs.msg import Twist
from math import copysign
from visualization_msgs.msg import MarkerArray
import azure.cognitiveservices.speech as speechsdk
from sensor_msgs.msg import Image
from pan_tilt_msgs.msg import PanTiltCmdDeg
from cv_bridge import CvBridge, CvBridgeError
from collections import Counter # 用于统计
import time
#from tool import *
#from yolo_tool import *
#subprocess.call(['python', '-m', 'ensurepip', '--upgrade'])
things = ['Biscuit', 'Bread','Chip','Cola','Cookie','Dishsoap','Handwash','Lays','Orange juice','Shampoo','Sprite','Water']
color_list = [(100, 0, 230), (100, 0, 0), (10,30, 20), (234, 34, 2), (23,4, 244), (24, 0, 23), (200, 100, 0), (250, 0, 0),(100, 0, 230), (100, 0, 0), (10,30, 20), (234, 34, 2), (23,4, 244), (24, 0, 23), (200, 100, 0), (250, 0, 0)]
if len(things) > len(color_list):
print('请补充颜色个数,目前识别物类别过多')
# sys.exit()
#predictor = init()
show_name = 'First_test'
duration = 15 # 总持续时间（秒）
interval = 1 # 发布间隔（秒）
end_time = time.time() + duration
global a
a=False
class Follower():
def __init__(self):
rospy.init_node("follower")
#
self.robotstate= False
self.trigger=False
self.time_count=time.time()
self.bridge = CvBridge()
self.tmp_point_thing = [] # 储存历史指向数据,用于判断是否播放语音
self.play_threshold = 10 # 进过 play_threshold 次判断都是同意指向,才进行播报
self.time_threshold = 10 # 至少间隔 几秒 才可播放一次
self.temp_t = 0
self.feature_dict={
'Biscuit': 'blue with white',
'Orange juice': "orange",
'Cola':"red with black",
'Water':"white with red",
'Lays':"yellow with green",
'Bread':"white",
'Cookie':"black with yellow",
'Chip':"brown",
'Shampoo':"blue",
'Dishsoap':"yellow",
'Handwash':"pink",
'Sprite':"green"
}
# Set the shutdown function (stop the robot)
rospy.on_shutdown(self.shutdown)
# The dimensions (in meters) of the box in which we will search
# for the person (blob). These are given in camera coordinates
# where x is left/right,y is up/down and z is depth (forward/backward)
# The goal distance (in meters) to keep between the robot and the person
self.goal_z = rospy.get_param("~goal_z", 1)
self.time_begin=0
# How far away from the goal distance (in meters) before the robot reacts 0.1
self.z_threshold = rospy.get_param("~z_threshold", 0.1)
# How far away from being centered (x displacement) on the person
# before the robot reacts
self.x_threshold = rospy.get_param("~x_threshold", 0.1)
# How much do we weight the goal distance (z) when making a movement
self.z_scale = rospy.get_param("~z_scale", 1.0)
# How much do we weight left/right displacement of the person when making a movement 2.5
self.x_scale = rospy.get_param("~x_scale", 1)
# The maximum rotation speed in radians per second
self.max_angular_speed = rospy.get_param("~max_angular_speed", 0.5)
# The minimum rotation speed in radians per second
self.min_angular_speed = rospy.get_param("~min_angular_speed", 0.01)
# The max linear speed in meters per second
self.max_linear_speed = rospy.get_param("~max_linear_speed", 0.2)
# The minimum linear speed in meters per second
self.min_linear_speed = rospy.get_param("~min_linear_speed", 0.03)
# Slow down factor when stopping
self.slow_down_factor = rospy.get_param("~slow_down_factor", 0.8)
# Initialize the movement command
self.move_cmd = Twist()
# Publisher to control the robot's movement
self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
self.shutdown_apf_pub = rospy.Publisher('/apf_shutdown', Bool, queue_size=5)
self.pub = rospy.Publisher('/thing_pointed', String, queue_size=10)
self.pub_pts = rospy.Publisher('/thing_pointed_pts', String, queue_size=10)
self.pub_pan_tilt = rospy.Publisher('/pan_tilt_cmd_deg', PanTiltCmdDeg, queue_size=1)
# Subscribe to the point cloud
self.marker_subscriber = rospy.Subscriber('/body_tracking_data', MarkerArray, self.set_cmd_vel, queue_size=1)
self.pan_tilt_down=PanTiltCmdDeg()
self.pan_tilt_down.pitch=40.0
self.pan_tilt_down.speed=20
self.pan_tilt_up=PanTiltCmdDeg()
self.pan_tilt_up.pitch=0
self.pan_tilt_up.speed=20
rospy.loginfo("Ready to follow!")
try:
_thread.start_new_thread( voice, ("Ready to follow! Please put your right hand on your left shoulder or put your left hand on your right shoulder and I will follow you",) )
except:
print("Error: unable to start thread")
def set_cmd_vel(self, msg):
if(msg!= MarkerArray()):
# Check start position
#5: SHOULDER_LEFT 7: WRIST_LEFT 8:HAND_LEFT 12:SHOULDER_RIGHT 14:WRIST_RIGHT 15:HAND_RIGHT 26:HEAD,
go_2y=abs((msg.markers[15].pose.position.y +msg.markers[14].pose.position.y)/2 - msg.markers[5].pose.position.y)
go_1y=abs((msg.markers[8].pose.position.y +msg.markers[7].pose.position.y)/2 - msg.markers[12].pose.position.y)
go_2x=abs((msg.markers[15].pose.position.x +msg.markers[14].pose.position.x)/2 - msg.markers[5].pose.position.x)
go_1x=abs((msg.markers[8].pose.position.x +msg.markers[7].pose.position.x)/2 - msg.markers[12].pose.position.x)
stop_left_arm=(msg.markers[8].pose.position.y - msg.markers[26].pose.position.y)
stop_right_arm=(msg.markers[15].pose.position.y - msg.markers[26].pose.position.y)
# print(right_arm)
# print(left_arm)
#print(stop_1)
#print(stop_2)
#print(msg.markers[1].pose.position.x)r
#print("--------------------------")
if (go_1y<0.07 and go_1x<0.07) or (go_2y<0.07 and go_2x <0.07):
self.robotstate=True
self.trigger=True
now_time=time.time()
if(now_time- self.time_count >4):
self.time_count = time.time()
self.pub_pan_tilt.publish(self.pan_tilt_up)
voice ("Moving.")
if stop_right_arm<-0.25 or stop_left_arm<-0.25:
global a
a=True
self.tmp_point_thing = []
self.robotstate=False
temp = Bool()
temp.data=True
self.shutdown_apf_pub.publish(temp)
now_time=time.time()
if(now_time- self.time_count >4):
self.time_count = time.time()
self.pub_pan_tilt.publish(self.pan_tilt_down)
voice ("Stopping the robot.")
# Initialize the centroid coordinates point count
x = y = z = n = 0
# If we have points, compute the centroid coordinates
if self.robotstate and msg.markers[1].pose.position.z<1.5:
#z distance x leftright y updown
x = msg.markers[1].pose.position.x
z = msg.markers[1].pose.position.z
# Check our movement thresholds
if (abs(z - self.goal_z) > self.z_threshold):
# Compute the angular component of the movement
linear_speed = (z - self.goal_z) * self.z_scale
# Make sure we meet our min/max specifications
self.move_cmd.linear.x = copysign(max(self.min_linear_speed,
min(self.max_linear_speed, abs(linear_speed))), linear_speed)
else:
self.move_cmd.linear.x *= self.slow_down_factor
if (abs(x) > self.x_threshold):
# Compute the linear component of the movement
angular_speed = -x * self.x_scale
# Make sure we meet our min/max specifications
self.move_cmd.angular.z = copysign(max(self.min_angular_speed,
min(self.max_angular_speed, abs(angular_speed))), angular_speed)
else:
# Stop the rotation smoothly
self.move_cmd.angular.z *= self.slow_down_factor
else:
# Stop the robot smoothly
self.move_cmd.linear.x *= self.slow_down_factor
self.move_cmd.angular.z *= self.slow_down_factor
# Publish the movement command
self.cmd_vel_pub.publish(self.move_cmd)
def shutdown(self):
rospy.loginfo("Stopping the robot...")
# Unregister the subscriber to stop cmd_vel publishing
# Send an emtpy Twist message to stop the robot
self.cmd_vel_pub.publish(Twist())
rospy.sleep(1)
def voice (word):
global speech_synthesizer
speech_synthesizer.speak_text_async(word).get()
print("voice finish")
if __name__ == '__main__':
speech_key, service_region = "b756dfeefd0f4947a88b5b0b30826943", "eastus"
speech_config = speechsdk.SpeechConfig(subscription=speech_key, region=service_region)
speech_config.speech_synthesis_voice_name = "en-US-AriaNeural"
speech_synthesizer = speechsdk.SpeechSynthesizer(speech_config=speech_config)
try:
Follower()
rospy.spin()
except rospy.ROSInterruptException:
rospy.loginfo("Follower node terminated.")
# K4ABT_JOINT_PELVIS = 0,
# K4ABT_JOINT_SPINE_NAVEL,
# K4ABT_JOINT_SPINE_CHEST,
# K4ABT_JOINT_NECK,
# K4ABT_JOINT_CLAVICLE_LEFT,
# K4ABT_JOINT_SHOULDER_LEFT,
# K4ABT_JOINT_ELBOW_LEFT,
# K4ABT_JOINT_WRIST_LEFT,
# K4ABT_JOINT_HAND_LEFT,
# K4ABT_JOINT_HANDTIP_LEFT,
# K4ABT_JOINT_THUMB_LEFT,
# K4ABT_JOINT_CLAVICLE_RIGHT,
# K4ABT_JOINT_SHOULDER_RIGHT,
# K4ABT_JOINT_ELBOW_RIGHT,
# K4ABT_JOINT_WRIST_RIGHT,
# K4ABT_JOINT_HAND_RIGHT,
# K4ABT_JOINT_HANDTIP_RIGHT,
# K4ABT_JOINT_THUMB_RIGHT,
# K4ABT_JOINT_HIP_LEFT,
# K4ABT_JOINT_KNEE_LEFT,
# K4ABT_JOINT_ANKLE_LEFT,
# K4ABT_JOINT_FOOT_LEFT,
# K4ABT_JOINT_HIP_RIGHT,
# K4ABT_JOINT_KNEE_RIGHT,
# K4ABT_JOINT_ANKLE_RIGHT,
# K4ABT_JOINT_FOOT_RIGHT,
# K4ABT_JOINT_HEAD,
# K4ABT_JOINT_NOSE,
# K4ABT_JOINT_EYE_LEFT,
# K4ABT_JOINT_EAR_LEFT,
# K4ABT_JOINT_EYE_RIGHT,
# K4ABT_JOINT_EAR_RIGHT,
# K4ABT_JOINT_COUNT