From 060cf2b07841729f910d0732c72ef043a727f0d5 Mon Sep 17 00:00:00 2001 From: liuhaoyan Date: Sun, 4 Oct 2026 14:40:53 +0800 Subject: [PATCH] Local control algorithm test only --- Readme.md | 2 +- path_generate_json.py | 217 + path_visualizer.log | 37893 ++++++++++++++++ pp_stanley_plot_path_tracking_error.py | 71 +- .../sweet_webots_robot/PathVisualizer.hpp | 13 +- src/webots_simulation/src/PathVisualizer.cpp | 132 +- test_path.json | 164 + 7 files changed, 38477 insertions(+), 15 deletions(-) create mode 100644 path_generate_json.py create mode 100644 path_visualizer.log create mode 100644 test_path.json diff --git a/Readme.md b/Readme.md index 0391cc3..b8180f8 100644 --- a/Readme.md +++ b/Readme.md @@ -1,5 +1,5 @@ # auto drive misson center webots simulation: -该分支修复了原LQR算法中矩阵错误问题，并对参数进行调教，增加stanley前轮转向控制算法，并适配webots仿真环境。后续实车测试优先使用该分支 +lhy本地控制测试分支，无本地控制测试需求请勿使用 ## 1, `ubuntu20.04`, `ubuntu22.04` ## 2, 安装 `webots` `https://github.com/cyberbotics/webots/tags`， 版本： `ubuntu20.04： R2023a， ubuntu22.04：R2025a` diff --git a/path_generate_json.py b/path_generate_json.py new file mode 100644 index 0000000..286bc6b --- /dev/null +++ b/path_generate_json.py @@ -0,0 +1,217 @@ +import json +import math +import matplotlib.pyplot as plt + +# ============================================================ +# 参数配置 +# ============================================================ + +# 起点：采用你提供的第一个路径点 +START_LAT = 30.80062100422322 +START_LON = 121.21541599992909 + +TURN_RADIUS = 1.5 +MISSION_SPEED = 0.32 +ARC_SPACING = 0.3 + +# 地球半径（m） +EARTH_RADIUS = 6378137.0 + + +# +first_line_length = 6.0 +first_arc_rad = math.pi # 180° 半圆 + +second_line_length = 8.0 +second_arc_rad = math.pi / 2 # 90° 四分之一圆 + +third_line_length = 5.0 + + + +# ============================================================ +# 工具函数 +# ============================================================ + +def normalize_yaw(yaw): + """将 yaw 归一化到 [-pi, pi]。""" + return math.atan2(math.sin(yaw), math.cos(yaw)) + + +def local_to_latlon(x, y): + """ + 局部 ENU 坐标转经纬度。 + x: East，向东为正，单位 m + y: North，向北为正，单位 m + """ + lat0 = math.radians(START_LAT) + + lat = START_LAT + math.degrees(y / EARTH_RADIUS) + lon = START_LON + math.degrees( + x / (EARTH_RADIUS * math.cos(lat0)) + ) + + return lat, lon + + +def add_point(points, x, y, yaw): + """添加一个 [latitude, longitude, yaw] 路径点。""" + lat, lon = local_to_latlon(x, y) + + points.append([ + round(lat, 12), + round(lon, 12), + round(normalize_yaw(yaw), 9) + ]) + + +def add_arc(points, cx, cy, radius, + start_angle, sweep_angle, spacing): + """ + 添加圆弧采样点，不重复添加圆弧起点。 + yaw 为圆弧的切线方向，单位 rad。 + """ + arc_length = abs(radius * sweep_angle) + num_segments = max(1, math.ceil(arc_length / spacing)) + + for i in range(1, num_segments + 1): + ratio = i / num_segments + angle = start_angle + sweep_angle * ratio + + x = cx + radius * math.cos(angle) + y = cy + radius * math.sin(angle) + + # CCW 左转时，切线方向 = 圆心角 + pi/2 + yaw = angle + ( + math.pi / 2 if sweep_angle > 0 + else -math.pi / 2 + ) + + add_point(points, x, y, yaw) + + + +coordinates = [] + +# 1. 第一段直线：长度 6 m +# 起点 (0, 0)，终点 (6, 0) +add_point(coordinates, 0, 0, 0.0) +add_point(coordinates, first_line_length, 0, 0.0) + +# 第一段圆弧起始索引 +first_turn_index = len(coordinates) - 1 + +# 2. 第一段半圆：R=1，逆时针 180° +# 圆心 (6, 1)，从 -90° 转到 90° +add_arc( + coordinates, + cx=first_line_length, + cy=TURN_RADIUS, + radius=TURN_RADIUS, + start_angle=-math.pi / 2, + sweep_angle= first_arc_rad, + spacing=ARC_SPACING +) + +# 3. 第二段直线：长度 8 m +# 半圆终点 (6, 2)，直线终点 (-2, 2) +second_line_end_x = first_line_length - second_line_length +second_line_end_y = 2 * TURN_RADIUS + +add_point( + coordinates, + second_line_end_x, + second_line_end_y, + math.pi +) +# 第二段圆弧起始索引 +second_turn_index = len(coordinates) - 1 + +# 4. 第二段四分之一圆：顺时针 90° +# 与第一段圆弧方向相反 +second_arc_cx = second_line_end_x +second_arc_cy = second_line_end_y + TURN_RADIUS + +add_arc( + coordinates, + cx=second_arc_cx, + cy=second_arc_cy, + radius=TURN_RADIUS, + start_angle=-math.pi / 2, + sweep_angle=-second_arc_rad, + spacing=ARC_SPACING +) + +# 5. 最后一段直线：长度 5 m + +third_line_start_x = second_arc_cx +third_line_start_y = second_arc_cy + +add_point( + coordinates, + third_line_start_x - TURN_RADIUS, + third_line_start_y + third_line_length, + math.pi / 2 +) + + +# ============================================================ +# 构造符合现有项目的 GeoJSON +# ============================================================ + +path_json = { + "type": "FeatureCollection", + "properties": { + "turnRadius": TURN_RADIUS, + "misionSpeed": MISSION_SPEED + }, + "features": [ + { + "type": "Feature", + "properties": { + "turnInds": [ + first_turn_index, + second_turn_index + ], + "mission": [] + }, + "geometry": { + "type": "LineString", + "coordinates": coordinates + } + } + ] +} + + +# ============================================================ +# 保存文件 +# ============================================================ + +output_file = "test_path.json" + +with open(output_file, "w", encoding="utf-8") as f: + json.dump( + path_json, + f, + ensure_ascii=False, + indent=2 + ) + +print(f"JSON 文件已生成: {output_file}") +print(f"路径点数量: {len(coordinates)}") +print(f"turnInds: {path_json['features'][0]['properties']['turnInds']}") +print(f"起点: {coordinates[0]}") +print(f"终点: {coordinates[-1]}") + + +fig, ax = plt.subplots(figsize=(10, 6)) +ax.plot([p[0] for p in coordinates], [p[1] for p in coordinates], "-o", markersize=3, label="Path") + +ax.set_xlabel("X (m)") +ax.set_ylabel("Y (m)") +ax.axis("equal") +ax.grid(True) +ax.legend() +plt.tight_layout() +plt.show() \ No newline at end of file diff --git a/path_visualizer.log b/path_visualizer.log new file mode 100644 index 0000000..40d34fd --- /dev/null +++ b/path_visualizer.log @@ -0,0 +1,37893 @@ +[2026-10-04 17:33:08.970] [path_visualizer] [info] PathVisualizer started +[2026-10-04 17:33:18.119] [path_visualizer] [debug] current_pose_x:0.0, current_pose_y:0.0,current_pose_yaw:-7.77364220994059e-06 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current_pose_y:7.999878595239476,current_pose_yaw:1.5867397785186768 +[2026-10-04 18:08:00.837] [path_visualizer] [debug] current_path_x:-3.503072997162163, current_path_y:8.465340042017889,current_path_yaw:1.570796327 +[2026-10-04 18:08:00.837] [path_visualizer] [debug] current_cmd_angular_z:-0.022211924586449085 +[2026-10-04 18:08:00.886] [path_visualizer] [debug] current_pose_x:-3.504025113316061, current_pose_y:8.025186611461589,current_pose_yaw:1.5859735012054443 +[2026-10-04 18:08:00.887] [path_visualizer] [debug] current_path_x:-3.503072997162163, current_path_y:8.465340042017889,current_path_yaw:1.570796327 +[2026-10-04 18:08:00.887] [path_visualizer] [debug] current_cmd_angular_z:-0.021802737589364594 +[2026-10-04 18:08:00.936] [path_visualizer] [debug] current_pose_x:-3.504025113316061, current_pose_y:8.025186611461589,current_pose_yaw:1.5859735012054443 +[2026-10-04 18:08:00.936] [path_visualizer] [debug] current_path_x:-3.503072997162163, current_path_y:8.465340042017889,current_path_yaw:1.570796327 +[2026-10-04 18:08:00.937] [path_visualizer] [debug] current_cmd_angular_z:-0.021802737589364594 +[2026-10-04 18:08:00.987] [path_visualizer] [debug] current_pose_x:-3.504025113316061, current_pose_y:8.025186611461589,current_pose_yaw:1.5859735012054443 +[2026-10-04 18:08:00.987] [path_visualizer] [debug] current_path_x:-3.503072997162163, current_path_y:8.465340042017889,current_path_yaw:1.570796327 +[2026-10-04 18:08:00.987] [path_visualizer] [debug] current_cmd_angular_z:-0.021802737589364594 +[2026-10-04 18:08:01.036] [path_visualizer] [debug] current_pose_x:-3.5040579241977756, current_pose_y:8.050493886738877,current_pose_yaw:1.5852224826812744 +[2026-10-04 18:08:01.037] [path_visualizer] [debug] current_path_x:-3.503072997162163, current_path_y:8.465340042017889,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.037] [path_visualizer] [debug] current_cmd_angular_z:-0.02141656980261533 +[2026-10-04 18:08:01.087] [path_visualizer] [debug] current_pose_x:-3.5040579241977756, current_pose_y:8.050493886738877,current_pose_yaw:1.5852224826812744 +[2026-10-04 18:08:01.087] [path_visualizer] [debug] current_path_x:-3.503072997162163, current_path_y:8.465340042017889,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.087] [path_visualizer] [debug] current_cmd_angular_z:-0.02141656980261533 +[2026-10-04 18:08:01.136] [path_visualizer] [debug] current_pose_x:-3.504087959994518, current_pose_y:8.075800454172583,current_pose_yaw:1.5844857692718506 +[2026-10-04 18:08:01.136] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.136] [path_visualizer] [debug] current_cmd_angular_z:-0.02017056729981027 +[2026-10-04 18:08:01.186] [path_visualizer] [debug] current_pose_x:-3.504087959994518, current_pose_y:8.075800454172583,current_pose_yaw:1.5844857692718506 +[2026-10-04 18:08:01.186] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.187] [path_visualizer] [debug] current_cmd_angular_z:-0.02017056729981027 +[2026-10-04 18:08:01.237] [path_visualizer] [debug] current_pose_x:-3.504087959994518, current_pose_y:8.075800454172583,current_pose_yaw:1.5844857692718506 +[2026-10-04 18:08:01.237] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.237] [path_visualizer] [debug] current_cmd_angular_z:-0.02017056729981027 +[2026-10-04 18:08:01.287] [path_visualizer] [debug] current_pose_x:-3.504120809827498, current_pose_y:8.10110615826385,current_pose_yaw:1.5837681293487549 +[2026-10-04 18:08:01.287] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.287] [path_visualizer] [debug] current_cmd_angular_z:-0.01974265134538214 +[2026-10-04 18:08:01.337] [path_visualizer] [debug] current_pose_x:-3.504120809827498, current_pose_y:8.10110615826385,current_pose_yaw:1.5837681293487549 +[2026-10-04 18:08:01.337] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.337] [path_visualizer] [debug] current_cmd_angular_z:-0.01974265134538214 +[2026-10-04 18:08:01.386] [path_visualizer] [debug] current_pose_x:-3.504120809827498, current_pose_y:8.10110615826385,current_pose_yaw:1.5837681293487549 +[2026-10-04 18:08:01.387] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.387] [path_visualizer] [debug] current_cmd_angular_z:-0.01974265134538214 +[2026-10-04 18:08:01.437] [path_visualizer] [debug] current_pose_x:-3.504175635193016, current_pose_y:8.126410431081364,current_pose_yaw:1.5830857753753662 +[2026-10-04 18:08:01.437] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.437] [path_visualizer] [debug] current_cmd_angular_z:-0.019506629833020747 +[2026-10-04 18:08:01.486] [path_visualizer] [debug] current_pose_x:-3.504175635193016, current_pose_y:8.126410431081364,current_pose_yaw:1.5830857753753662 +[2026-10-04 18:08:01.487] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.487] [path_visualizer] [debug] current_cmd_angular_z:-0.019506629833020747 +[2026-10-04 18:08:01.536] [path_visualizer] [debug] current_pose_x:-3.504226228934109, current_pose_y:8.151714118155558,current_pose_yaw:1.5824148654937744 +[2026-10-04 18:08:01.536] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.536] [path_visualizer] [debug] current_cmd_angular_z:-0.01927264796126237 +[2026-10-04 18:08:01.587] [path_visualizer] [debug] current_pose_x:-3.504226228934109, current_pose_y:8.151714118155558,current_pose_yaw:1.5824148654937744 +[2026-10-04 18:08:01.587] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.587] [path_visualizer] [debug] current_cmd_angular_z:-0.01927264796126237 +[2026-10-04 18:08:01.637] [path_visualizer] [debug] current_pose_x:-3.504226228934109, current_pose_y:8.151714118155558,current_pose_yaw:1.5824148654937744 +[2026-10-04 18:08:01.637] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.637] [path_visualizer] [debug] current_cmd_angular_z:-0.01927264796126237 +[2026-10-04 18:08:01.687] [path_visualizer] [debug] current_pose_x:-3.5042654295823885, current_pose_y:8.177015515968742,current_pose_yaw:1.5817563533782961 +[2026-10-04 18:08:01.687] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.687] [path_visualizer] [debug] current_cmd_angular_z:-0.01899532127073799 +[2026-10-04 18:08:01.737] [path_visualizer] [debug] current_pose_x:-3.5042654295823885, current_pose_y:8.177015515968742,current_pose_yaw:1.5817563533782961 +[2026-10-04 18:08:01.737] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.737] [path_visualizer] [debug] current_cmd_angular_z:-0.01899532127073799 +[2026-10-04 18:08:01.786] [path_visualizer] [debug] current_pose_x:-3.5042923881113133, current_pose_y:8.202314758026832,current_pose_yaw:1.5811091661453247 +[2026-10-04 18:08:01.787] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.787] [path_visualizer] [debug] current_cmd_angular_z:-0.01866671290256795 +[2026-10-04 18:08:01.837] [path_visualizer] [debug] current_pose_x:-3.5042923881113133, current_pose_y:8.202314758026832,current_pose_yaw:1.5811091661453247 +[2026-10-04 18:08:01.837] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.837] [path_visualizer] [debug] current_cmd_angular_z:-0.01866671290256795 +[2026-10-04 18:08:01.886] [path_visualizer] [debug] current_pose_x:-3.5042923881113133, current_pose_y:8.202314758026832,current_pose_yaw:1.5811091661453247 +[2026-10-04 18:08:01.886] [path_visualizer] [debug] current_path_x:-3.503072932005645, current_path_y:8.664524499589952,current_path_yaw:1.570796327 +[2026-10-04 18:08:01.887] [path_visualizer] [debug] current_cmd_angular_z:-0.01866671290256795 diff --git a/pp_stanley_plot_path_tracking_error.py b/pp_stanley_plot_path_tracking_error.py index e6275c4..268b6e3 100644 --- a/pp_stanley_plot_path_tracking_error.py +++ b/pp_stanley_plot_path_tracking_error.py @@ -10,12 +10,12 @@ import matplotlib.pyplot as plt # 参数 # ============================================================ -LOG_PATTERN = "logs/mission_center_logger*.txt" +LOG_PATTERN = "path_visualizer.log" # 每 5 个完整数据取 1 个 -SAMPLE_STEP = 40 +SAMPLE_STEP = 1 -CSV_FILE = "recalculated_tracking_error.csv" +CSV_FILE = "tracking_error.csv" # ============================================================ @@ -74,6 +74,9 @@ current_path_pattern = re.compile( r"current_path_yaw:([-+0-9.eE]+)" ) +yaw_command_pattern = re.compile( + r"current_cmd_angular_z:([-+0-9.eE]+)" +) # ============================================================ # 3. 函数：角度归一化 @@ -178,6 +181,7 @@ def calculate_errors( # ============================================================ all_data = [] +yaw_command_data = [] total_raw_count = 0 @@ -202,6 +206,7 @@ for file in files: # -------------------------------------------------------- pending_pose = None + pending_yaw = None with file.open( @@ -222,7 +227,13 @@ for file in files: line ) - + m_yaw = yaw_command_pattern.search(line) + if m_yaw: + pending_yaw = float(m_yaw.group(1)) + if file_data_count % SAMPLE_STEP == 0: + if abs(pending_yaw) >= 2.0: + pending_yaw = 0 # 避免添加接近零的值 + yaw_command_data.append(pending_yaw) if m_pose: pending_pose = { @@ -351,6 +362,7 @@ for file in files: pending_pose = None + print( f"原始完整数据：{file_data_count}" ) @@ -447,6 +459,12 @@ alpha_deg = np.array([ for d in all_data ]) +yaw_command = yaw_command_data# 确保长度一致 + +print( + f"yaw size: {len(yaw_command)}" +) + # ============================================================ # 8. 计算车辆累计行驶距离 @@ -524,13 +542,18 @@ with open( "heading_error_deg", + "yaw_command", + ]) for i in range( len(all_data) ): - + if yaw_command[i] is None: + print(f"yaw_command[{i}] is None") + print(f"i = {i}") + print(f"yaw_command length = {len(yaw_command)}") writer.writerow([ f"{distance_m[i]:.8f}", @@ -545,6 +568,8 @@ with open( f"{alpha_deg[i]:.8f}", + f"{yaw_command[i]:.8f}" + ]) @@ -630,7 +655,43 @@ plt.grid(True) plt.tight_layout() plt.show() +# ============================================================ +# 14. yaw command rad +# ============================================================ +plt.figure( + figsize=(12, 5) +) + +plt.plot( + distance_m, + yaw_command, + linewidth=1.2 +) + +plt.axhline( + 0.0, + linestyle="--", + linewidth=0.8 +) + +plt.xlabel( + "Distance (m)" +) + +plt.ylabel( + "Yaw Command (rad)" +) + +plt.title( + "Recalculated Yaw Command" +) + +plt.grid(True) + +plt.tight_layout() + +plt.show() # ============================================================ # 15. 车辆轨迹 + 路径点 diff --git a/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp b/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp index d60a864..bca17dc 100644 --- a/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp +++ b/src/webots_simulation/include/sweet_webots_robot/PathVisualizer.hpp @@ -23,6 +23,10 @@ #include #include +#include +#include +#include + class PathVisualizer : public rclcpp::Node { public: @@ -38,6 +42,8 @@ private: double w); double normalize_angle(double angle); bool downloadPathJson(const std::string &url,std::string &json_data); + bool downloadPathJson(const std::string &file_path,std::string &json_data, + bool is_local_file); bool loadPathFromJson(const std::string &json_data); double gps_to_x(double lat,double lon); @@ -101,7 +107,7 @@ private: // contorl paramss double max_speed_ = 0.8; double max_yaw_rate_ = 2.0; - double lookahead_distance_ =0.6; + double lookahead_distance_ =0.4; double max_interval_distance_ = 0.2; double origin_lat_; double origin_lon_; @@ -113,10 +119,15 @@ private: bool origin_set_= false; bool path_transed = false; + std::string file_path_; std::string file_name_; std::string path_url_ ; std::string json_data_; std::unique_ptr geodetic_converter_; + + // logger + std::shared_ptr logger_; + }; #endif diff --git a/src/webots_simulation/src/PathVisualizer.cpp b/src/webots_simulation/src/PathVisualizer.cpp index d5e5615..291c21b 100644 --- a/src/webots_simulation/src/PathVisualizer.cpp +++ b/src/webots_simulation/src/PathVisualizer.cpp @@ -1,5 +1,7 @@ #include "sweet_webots_robot/PathVisualizer.hpp" + + PathVisualizer::PathVisualizer(const std::string& file_name): Node("path_visualizer"), target_index_(0), @@ -7,6 +9,7 @@ has_pose_(false) { file_name_ = file_name; path_url_ = "https://test.sweetai.cn:4433/load/locationCmdPath/" + file_name_; + file_path_ = "/home/sweetai/auto_drive_misson_center_webots_simulation/test_path.json"; RCLCPP_INFO(this->get_logger(),"PathVisualizer started"); // pub cmd_pub_ = this->create_publisher("/twist_cmd_vel",10); @@ -39,9 +42,35 @@ has_pose_(false) // urdf pose tf_broadcaster_ = std::make_unique(*this); // path get - downloadPathJson(path_url_,json_data_); + downloadPathJson(file_path_,json_data_,true); loadPathFromJson(json_data_); + // logger初始化 + auto console_sink = + std::make_shared(); + + auto file_sink = + std::make_shared( + "./path_visualizer.log", + 10 * 1024 * 1024, // 10 MB + 5 // 保留5个文件 + ); + + std::vector sinks{ + console_sink, + file_sink + }; + + logger_ = std::make_shared( + "path_visualizer", + sinks.begin(), + sinks.end() + ); + + logger_->set_level(spdlog::level::debug); + + logger_->info("PathVisualizer started"); + } using json = nlohmann::json; @@ -122,6 +151,60 @@ void PathVisualizer::transformPathToVehicleStart(double vehicle_initial_yaw) } } + +#include +#include +#include + +bool PathVisualizer::downloadPathJson(const std::string &file_path, + std::string &json_data, + bool is_local_file) +{ + json_data.clear(); + + // 打开本地 JSON 文件 + std::ifstream file(file_path); + if (!file.is_open()) + { + RCLCPP_ERROR( + this->get_logger(), + "Failed to open JSON file: %s", + file_path.c_str()); + return false; + } + + // 读取文件全部内容 + std::stringstream buffer; + buffer << file.rdbuf(); + + if (file.bad()) + { + RCLCPP_ERROR( + this->get_logger(), + "Failed to read JSON file: %s", + file_path.c_str()); + return false; + } + + json_data = buffer.str(); + + if (json_data.empty()) + { + RCLCPP_ERROR( + this->get_logger(), + "JSON file is empty: %s", + file_path.c_str()); + return false; + } + + RCLCPP_INFO( + this->get_logger(), + "Path JSON loaded successfully, size = %zu, path = %s", + json_data.size(), + file_path.c_str()); + + return true; +} bool PathVisualizer::downloadPathJson(const std::string &url, std::string &json_data) { @@ -171,6 +254,14 @@ bool PathVisualizer::loadPathFromJson( { // 解析 JSON json data =json::parse(json_data); + // 检查 properties + if (!data.contains("properties") || + !data["properties"].is_object()) + { + RCLCPP_ERROR(this->get_logger(),"JSON does not contain valid properties"); + return false; + } + max_speed_ = data["properties"]["misionSpeed"].get(); // 检查 features if (!data.contains("features") || !data["features"].is_array() || @@ -601,10 +692,11 @@ void PathVisualizer::control(){ "control has not pose."); return; } - + double speed=max_speed_; publishVehicleInfoRviz(); publishLocalPose(); target_index_= findClosestPoint(forward_index_limit_); + int current_index = target_index_; int target =findLookAheadPoint(); double target_x =path_x_[target]; @@ -617,15 +709,38 @@ void PathVisualizer::control(){ double local_x =cos(yaw_)*dx+sin(yaw_)*dy; double local_y =-sin(yaw_)*dx+cos(yaw_)*dy; + double target_angle = std::atan2(dy, dx); + double alpha = target_angle - yaw_; + while (alpha > M_PI) alpha -= 2 * M_PI; + while (alpha < -M_PI) alpha += 2 * M_PI; + /*Pure Pursuit*/ - double Ld =sqrt(local_x*local_x+local_y*local_y); - double curvature =2.0*local_y/(Ld*Ld); + // double Ld =sqrt(local_x*local_x+local_y*local_y); + // double w_cmd =2.0*speed*sin(alpha)/(Ld); + + /*Stanley*/ + double curent_path_x = path_x_[current_index]; + double curent_path_y = path_y_[current_index]; + double current_path_yaw =path_yaw_[current_index]; + + double dx_path = x_ - curent_path_x; + double dy_path = y_ - curent_path_y; + double error_lat = -dx_path * sin(current_path_yaw) + dy_path * cos(current_path_yaw); + double w_cmd =1.0 * alpha - 1.5 * std::atan2(error_lat,speed); geometry_msgs::msg::Twist cmd; - double speed=max_speed_; - cmd.linear.x =speed; - cmd.angular.z =speed*curvature; + logger_->debug("current_pose_x:{}, current_pose_y:{},current_pose_yaw:{}", + x_, y_,yaw_ + ); + logger_->debug("current_path_x:{}, current_path_y:{},current_path_yaw:{}", + target_x, + target_y, + target_yaw + ); + cmd.linear.x = speed; + cmd.angular.z = w_cmd; + if(cmd.angular.z >max_yaw_rate_) { @@ -637,7 +752,8 @@ void PathVisualizer::control(){ cmd.angular.z=-max_yaw_rate_; } - //cmd_pub_->publish(cmd); + cmd_pub_->publish(cmd); + logger_->debug("current_cmd_angular_z:{}",cmd.angular.z); // RCLCPP_INFO_THROTTLE( // this->get_logger(), diff --git a/test_path.json b/test_path.json new file mode 100644 index 0000000..3078534 --- /dev/null +++ b/test_path.json @@ -0,0 +1,164 @@ +{ + "type": "FeatureCollection", + "properties": { + "turnRadius": 1.5, + "misionSpeed": 0.32 + }, + "features": [ + { + "type": "Feature", + "properties": { + "turnInds": [ + 1, + 18 + ], + "mission": [] + }, + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 30.800621004223, + 121.215415999929, + 0.0 + ], + [ + 30.800621004223, + 121.215478749384, + 0.0 + ], + [ + 30.800621263136, + 121.215481809837, + 0.196349541 + ], + [ + 30.800622029926, + 121.215484752678, + 0.392699082 + ], + [ + 30.800623275125, + 121.215487464816, + 0.589048623 + ], + [ + 30.80062495088, + 121.215489842025, + 0.785398163 + ], + [ + 30.800626992794, + 121.21549179295, + 0.981747704 + ], + [ + 30.800629322397, + 121.215493242618, + 1.178097245 + ], + [ + 30.800631850163, + 121.215494135319, + 1.374446786 + ], + [ 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30.800658799622, + 121.215379697509, + 1.767145868 + ], + [ + 30.800661428411, + 121.21537939608, + 1.570796327 + ], + [ + 30.800706344175, + 121.21537939608, + 1.570796327 + ] + ] + } + } + ] +} \ No newline at end of file