代码一:是等待其他客户端来调用导航的服务器(可以是基于任何平台的tcp客户端调用)
代码二:是到达导航点后客户端去发布TCP到任何TCP的服务器的代码
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <iostream>
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <sstream>
using namespace std;
std_msgs::Bool flag;
ros::Publisher pub;
void socket_server()
{
/*服务端:
1、socket()获得一个sockfd。注意第二个参数必须SOCK_STREAM.
2、准备通信地址(必须服务器的)
3、bind()绑定。(开放了端口,允许客户端连接)
4、监听客户端 listen()函数
5、等待客户端的连接 accept(),返回用于交互的socket描述符
6、使用第5步返回sockt描述符,进行读写通信。
7、关闭sockfd。
*/
//1.socket()获得一个sockfd。注意第二个参数必须SOCK_STREAM.
//第一个参数是地址描述符,常用AF_INET(表示IPV4)
//第三个参数是套接口所用的协议,不想调用就用0
int socket_fd = socket(AF_INET,SOCK_STREAM,0);
if(socket_fd == -1)
{
cout<<"socket faild!"<<endl;
exit(-1);
}
//2.准备通讯地址(必须是服务器的)
//sin_family:协议簇一般用AF_INET(表示IPV4)
//sin_port: 端口,一般用htons(填端口:数字随便要和服务器的一样)将十进制转为网络进制
//sin_addr.s_addr:一般用inet_addr(" "填IP地址)或者htonl(INADDR_ANY)直接设置为本地ip
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(10004);
addr.sin_addr.s_addr = htonl(INADDR_ANY);
//3.bind() 绑定。(开发了端口,允许客服端链接)
//参数一:0的返回值(socket_fd)
//参数二:(struct sockaddr*)&addr 前面结构体,即地址
//参数三: addr结构体的长度
int res = bind(socket_fd, (struct sockaddr*)&addr, sizeof(addr));
if(res == -1)
{
cout<<"binf fiald!"<<endl;
exit(-1);
}
cout<<"bind ok"<<endl;
//4.监听客户端 listen()函数
//参数二:进程上限,一般小于30
listen(socket_fd,30);
//5.等待客户端的连接 accept(),返回用于交互的socket描述符
struct sockaddr_in client;
socklen_t len = sizeof(client);
int fd = accept(socket_fd,(struct sockaddr*)&client, &len);
if(fd == -1)
{
cout<<"aceept fiald!"<<endl;
exit(-1);
}
//6.使用第5步返回sockt描述符,进行读写通信。
char *ip = inet_ntoa(client.sin_addr);
cout<<"client ["<<ip<<"] connect !"<<endl;
char buffer[255] = {};
//第一个参数:accept 返回的文件描述符
//第二个参数:存放读取的内容
//第三个参数:内容的大小
int size = read(fd,buffer,sizeof(buffer));
cout<<"accept bet:"<<size<<endl;
cout<<"cantent:"<<buffer<<endl;
write(fd,"welcome",7);
if(buffer);
{
flag.data = 1;
pub.publish(flag);
}
//7.关闭sockfd。
close(fd);
close(socket_fd);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "star_navigation");
ros::NodeHandle n;
//准备发布器为服务器接收到消息发布开始命令做准备
pub = n.advertise<std_msgs::Bool>("navigation_star",100);
socket_server();
return 0;
}
代码二:
#include <ros/ros.h>
#include "ros/console.h"
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include <string.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <cmath>
#include <unistd.h>
#include <iostream>
#include <sys/types.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <std_msgs/Bool.h>
using namespace std;
void socket_fun(char* flag)
{
cout<<"socket1"<<endl;
int socket_fd = socket(AF_INET,SOCK_STREAM,0);
if(socket_fd == -1)
{
cout<<"socket faild"<<endl;
exit(-1);
}
struct sockaddr_in addr;
addr.sin_family = AF_INET;
addr.sin_port = htons(6125);
addr.sin_addr.s_addr = inet_addr("192.168.31.40");
int res = connect(socket_fd,(struct sockaddr*)&addr, sizeof(addr));
if(res == -1)
{
cout<<"bind faild"<<endl;
exit(-1);
}
cout<<"bind ok"<<endl;
write(socket_fd,flag,sizeof(flag));
cout<<"send message:"<<flag<<endl;
char buff[100] = {};
read(socket_fd,buff,sizeof(buff));
cout<<buff<<endl;
close(socket_fd);
}
void navigation_goal(const std_msgs::Bool::ConstPtr& flag)
{
//订阅move_base操作服务器
actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> ac("move_base",true);
//设置我们要机器人走的几个点。
geometry_msgs::Point point;
geometry_msgs::Quaternion quaternion;
geometry_msgs::Pose pose_list1;
geometry_msgs::Pose pose_list2;
geometry_msgs::Pose pose_list3;
point.x = 1.46311354637;
point.y = -0.00640559289604;
point.z = 0.000;
quaternion.x = 0.000;
quaternion.y = 0.000;
quaternion.z = -0.700764941719;
quaternion.w = 0.713392245863;
pose_list1.position = point;
pose_list1.orientation = quaternion;
point.x = 1.64680922031;
point.y = 0.411043381691;
point.z = 0.000;
quaternion.x = 0.000;
quaternion.y = 0.000;
quaternion.z = 0.709273408676;
quaternion.w = 0.704933494555;
pose_list2.position = point;
pose_list2.orientation = quaternion;
point.x = 0.50;
point.y = 0.10;
point.z = 0.000;
quaternion.x = 0.000;
quaternion.y = 0.000;
quaternion.z = 0.709273408676;
quaternion.w = 0.704933494555;
pose_list3.position = point;
pose_list3.orientation = quaternion;
ROS_INFO("Waiting for move_base action server...");
//等待60秒以使操作服务器可用
if(!ac.waitForServer(ros::Duration(60)))
{
ROS_INFO("Can't connected to move base server");
exit(-1);
}
ROS_INFO("Connected to move base server");
ROS_INFO("Starting navigation test");
//初始化航点目标
move_base_msgs::MoveBaseGoal goal1;
//使用地图框定义目标姿势
goal1.target_pose.header.frame_id = "map";
//将时间戳设置为“now”
goal1.target_pose.header.stamp = ros::Time::now();
//将目标姿势设置为第i个航点
goal1.target_pose.pose = pose_list1;
//让机器人向目标移动
//将目标姿势发送到MoveBaseAction服务器
ac.sendGoal(goal1);
//等3分钟到达那里
bool finished_within_time1 = ac.waitForResult(ros::Duration(180));
//如果我们没有及时赶到那里,就会中止目标
if(!finished_within_time1)
{
ac.cancelGoal();
ROS_INFO("Timed out achieving goal");
}
else
{
//We made it!
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Goal A succeeded!");
char* A = "ONE";
socket_fun(A);
ROS_INFO("send socket succeeded!");
sleep(5);
}
else
{
ROS_INFO("The base failed for some reason");
}
}
//初始化航点目标
move_base_msgs::MoveBaseGoal goal2;
//使用地图框定义目标姿势
goal2.target_pose.header.frame_id = "map";
//将时间戳设置为“now”
goal2.target_pose.header.stamp = ros::Time::now();
//将目标姿势设置为第i个航点
goal2.target_pose.pose = pose_list2;
//让机器人向目标移动
//将目标姿势发送到MoveBaseAction服务器
ac.sendGoal(goal2);
//等3分钟到达那里
bool finished_within_time2 = ac.waitForResult(ros::Duration(180));
//如果我们没有及时赶到那里,就会中止目标
if(!finished_within_time2)
{
ac.cancelGoal();
ROS_INFO("Timed out achieving goal");
}
else
{
//We made it!
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Goal B succeeded!");
char* B = "TWO";
//到底B点后调用socket函数链接视觉
socket_fun(B);
sleep(15);
}
else
{
ROS_INFO("The base failed for some reason");
}
}
//初始化航点目标
move_base_msgs::MoveBaseGoal goal3;
//使用地图框定义目标姿势
goal3.target_pose.header.frame_id = "map";
//将时间戳设置为“now”
goal3.target_pose.header.stamp = ros::Time::now();
//将目标姿势设置为第i个航点
goal3.target_pose.pose = pose_list3;
//让机器人向目标移动
//将目标姿势发送到MoveBaseAction服务器
ac.sendGoal(goal3);
//等3分钟到达那里
bool finished_within_time3 = ac.waitForResult(ros::Duration(180));
//如果我们没有及时赶到那里,就会中止目标
if(!finished_within_time3)
{
ac.cancelGoal();
ROS_INFO("Timed out achieving goal");
}
else
{
//We made it!
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("end!");
}
else
{
ROS_INFO("The base failed for some reason");
}
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "send_goal");
ros::NodeHandle n;
//订阅star的信息,得到开始命令就执行导航函数
ros::Subscriber sub = n.subscribe("navigation_star",1000,navigation_goal);
ros::spin();
return 0;
}
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