新增全向感知

README.md

@@ -13,3 +13,12 @@ RMUA2021战队技术答辩视频链接：[RoboMaster 2021高校人工智能挑
 |robot_sentry|哨岗识别模块|
 |robot_decision|决策模块|
 |robot_detection|装甲识别模块|
+|robot_omni|车端全向感知模块|
+|robot_msgs|自定义的ros消息类型|
+
+## 编译及运行
+哨岗识别模块自成一体，不与其他模块一起编译。
+
+决策模块、装甲识别模块和全向感知模块均依赖`robot_msgs`，编译时务必包含在内。
+
+具体编译步骤参考各个模块的README。

robot_detection/README.md

@@ -189,9 +189,11 @@ robot_detection
 单独运行测试：进入工作空间，运行节点，播放rosbag
 
 ```bash
-source devel/setup.bash
 catkin_make
+source devel/setup.bash
 roslaunch robot_detection robot_detection.launch
 rosbag play test.bag
 ```
 
+## 4、网盘链接
+网盘中提供了用于演示功能的rosbag。链接：[https://pan.baidu.com/s/1EDhP30KD0Ao7wxOlbpj_VQ](https://pan.baidu.com/s/1EDhP30KD0Ao7wxOlbpj_VQ?pwd=ft9k)，提取码：ft9k。

robot_msgs/CMakeLists.txt

@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.1)
+project(robot_msgs)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR})
+
+find_package(catkin REQUIRED COMPONENTS
+  std_msgs
+  nav_msgs
+  geometry_msgs
+  actionlib
+  message_generation
+)
+
+add_action_files(
+  DIRECTORY action
+  FILES
+)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+  IMUParam.msg
+  TOFdata.msg
+)
+
+add_message_files(
+  DIRECTORY msg/net
+  FILES
+
+  ZMQdata.msg
+)
+
+add_message_files(
+  DIRECTORY msg/robot
+  FILES
+  ArmorDetection.msg
+  ChassisParam.msg
+  CornerDetection.msg
+  GimbalAngle.msg
+  OdomGoalMsg.msg
+  RobotFlag.msg
+  RobotPose.msg
+  TwistAccel.msg
+  RobotLocation.msg
+  GlobalMap.msg
+)
+
+add_message_files(
+  DIRECTORY msg/referee
+  FILES
+  GameZone.msg
+  GameBuff.msg
+  GameResult.msg
+  GameRobotHP.msg
+  GameStatus.msg
+  RobotDamage.msg
+  RobotStatus.msg
+)
+
+add_message_files(
+  DIRECTORY msg/wireless
+  FILES
+  SentryData.msg
+  SharePath.msg
+  TeamInfo.msg
+  WirelessParam.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+  nav_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+  message_runtime
+)

robot_msgs/msg/IMUParam.msg

@@ -0,0 +1,5 @@
+# imu param
+float32 temperature
+float32 gyro_bias_x
+float32 gyro_bias_y
+float32 gyro_bias_z

robot_msgs/msg/TOFdata.msg

@@ -0,0 +1,6 @@
+uint8 id1
+uint8 id2
+uint8 status1
+uint8 status2
+float64 distance1
+float64 distance2

robot_msgs/msg/net/ZMQdata.msg

@@ -0,0 +1,4 @@
+# ZMQ data
+int16[8] robot_pose_x
+int16[8] robot_pose_y
+

robot_msgs/msg/referee/GameBuff.msg

@@ -0,0 +1,12 @@
+# game zone array
+GameZone[6] zone
+
+# game robot bullet
+uint16 red1
+uint16 red2
+uint16 blue1
+uint16 blue2
+
+# lurk_mode
+uint8 lurl_mode
+uint8 res

robot_msgs/msg/referee/GameResult.msg

@@ -0,0 +1,5 @@
+#game result
+uint8  DRAW=0
+uint8  RED_WIN=1
+uint8  BLUE_WIN=2
+uint8  result

robot_msgs/msg/referee/GameRobotHP.msg

@@ -0,0 +1,5 @@
+#game robot hp
+uint16 red1
+uint16 red2
+uint16 blue1
+uint16 blue2

robot_msgs/msg/referee/GameStatus.msg

@@ -0,0 +1,12 @@
+#game status
+uint8 PRE_MATCH = 0
+uint8 SETUP = 1
+uint8 INIT = 2
+uint8 FIVE_SEC_CD = 3
+uint8 ROUND = 4
+uint8 CALCULATION = 5
+uint8 game_status
+uint16 remaining_time
+
+
+

robot_msgs/msg/referee/GameZone.msg

@@ -0,0 +1,10 @@
+#game zone
+uint8 RED_HP_RECOVERY=1
+uint8 RED_BULLET_SUPPLY=2
+uint8 BLUE_HP_RECOVERY=3
+uint8 BLUE_BULLET_SUPPLY=4
+uint8 DISABLE_SHOOTING=5
+uint8 DISABLE_MOVEMENT=6
+
+uint8 type
+bool active

robot_msgs/msg/referee/RobotDamage.msg

@@ -0,0 +1,14 @@
+#robot damage
+uint8 ARMOR = 0
+uint8 OFFLINE = 1
+uint8 EXCEED_SHOOT_SPEED = 2
+uint8 EXCEED_SHOOT_HEAT = 3
+uint8 EXCEED_CHASSIS_POWER = 4
+uint8 OBSTACLE_COLLISION = 5
+uint8 damage_type
+
+uint8 FORWARD = 0
+uint8 LEFT = 1
+uint8 BACKWARD = 2
+uint8 RIGHT = 3
+uint8 damage_source

robot_msgs/msg/referee/RobotStatus.msg

@@ -0,0 +1,13 @@
+#robot status
+uint8 id
+uint8 level
+uint16 remain_hp
+uint16 max_hp
+
+uint16 heat_cooling_rate
+uint16 heat_cooling_limit
+uint16 heat_speed_limit
+
+bool gimbal_enable
+bool chassis_enable
+bool shooter_enable

robot_msgs/msg/robot/ArmorDetection.msg

@@ -0,0 +1,7 @@
+#armor detected msg
+Header header
+uint8 id
+bool detected_enemy
+float64 enemy_x
+float64 enemy_y
+float64 distance

robot_msgs/msg/robot/ChassisParam.msg

@@ -0,0 +1,3 @@
+uint8 robot_id
+uint16 wheel_pwm
+float32 voltage

robot_msgs/msg/robot/CornerDetection.msg

@@ -0,0 +1,12 @@
+uint8 camera_id    # 相机id号
+uint8 num_find     # 相机找到机器人的数量
+
+uint8 robot_id_1
+float64 position_x_1
+float64 position_y_1
+float64 angular_theta_1
+
+uint8 robot_id_2
+float64 position_x_2
+float64 position_y_2
+float64 angular_theta_2

robot_msgs/msg/robot/GimbalAngle.msg

@@ -0,0 +1,13 @@
+#gimbal feedback angle data
+Header    header
+bool      yaw_mode
+
+float64   yaw_gyro
+float64   yaw_angle
+float64   yaw_ecd_angle
+float64   pitch_angle
+float64   yaw_original
+float64   bullet_speed
+
+uint16    armor_angle
+uint16    distance

robot_msgs/msg/robot/GlobalMap.msg

@@ -0,0 +1,5 @@
+#GlobalMap
+Header    header
+RobotLocation[] robots
+RobotLocation[6] msg2decision #0->red1 1->red2 2->blue1 3->blue2 4->gray1 5->gray2
+bool      is_sentry_on

robot_msgs/msg/robot/OdomGoalMsg.msg

@@ -0,0 +1,4 @@
+float64 x
+float64 y
+float64 yaw
+uint8 mode

robot_msgs/msg/robot/RobotFlag.msg

@@ -0,0 +1 @@
+bool flag

robot_msgs/msg/robot/RobotLocation.msg

@@ -0,0 +1,5 @@
+#Robot_location
+uint8     id
+float32   x   #单位m
+float32   y
+float64   yaw #单位弧度 ==100表示无效

robot_msgs/msg/robot/RobotPose.msg

@@ -0,0 +1,8 @@
+float32 robot0_x
+float32 robot0_y
+float32 robot1_x
+float32 robot1_y
+float32 robot2_x
+float32 robot2_y
+float32 robot3_x
+float32 robot3_y

robot_msgs/msg/robot/TwistAccel.msg

@@ -0,0 +1,3 @@
+uint8 mode
+geometry_msgs/Twist twist
+geometry_msgs/Accel accel

robot_msgs/msg/wireless/SentryData.msg

@@ -0,0 +1,7 @@
+# sentry data
+Header     header
+uint8      id
+uint8[4]   lable   
+uint16[4]  x    # mm
+uint16[4]  y    # mm
+int16[4]   yaw  # rad*100

robot_msgs/msg/wireless/SharePath.msg

@@ -0,0 +1,6 @@
+# 机器人路径规划共享
+Header     header
+uint8      id
+
+uint16[7]  pos_x
+uint16[7]  pos_y

robot_msgs/msg/wireless/TeamInfo.msg

@@ -0,0 +1,14 @@
+Header     header
+uint8      id
+
+uint8 attack_enemy       #正攻击敌方机器人id
+uint8 being_attacked     #受攻击方向
+uint8 to_buff            #要去的buff点
+uint16 pose_x_teammate
+uint16 pose_y_teammate
+uint16 pose_x_enemy
+uint16 pose_y_enemy
+
+bool teammate_retreat    #队友是否撤退
+uint8 team_mode          #主攻还是辅助的标志
+uint8 decision_enemy_id  #决策选择的进攻目标

robot_msgs/msg/wireless/WirelessParam.msg

@@ -0,0 +1,14 @@
+# wireless param
+
+uint8 id
+
+# freq range: 0~127
+uint8 freq_tx 
+uint8 freq_rx1
+uint8 freq_rx2
+
+uint8 SPEED_250K = 0
+uint8 SPEED_1M   = 1
+uint8 SPEED_2M   = 2
+uint8 speed
+

robot_msgs/package.xml

@@ -0,0 +1,32 @@
+<package>
+    <name>robot_msgs</name>
+    <version>1.0.0</version>
+    <description>
+        The robot msgs package provides all the messages for RoboMaster AI Robot
+    </description>
+    <author>RoboMaster</author>
+    <maintainer email="[email protected]">RoboMaster</maintainer>
+    <license>GPL 3.0</license>
+    <url>https://github.com/RoboMaster/RoboRTS</url>
+
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <build_depend>actionlib</build_depend>
+    <build_depend>std_msgs</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>nav_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
+
+
+    <run_depend>actionlib</run_depend>
+    <run_depend>std_msgs</run_depend>
+    <run_depend>geometry_msgs</run_depend>
+    <run_depend>nav_msgs</run_depend>
+    <run_depend>sensor_msgs</run_depend>
+    <run_depend>message_runtime</run_depend>
+
+    <export>
+    </export>
+
+</package>