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虚拟墙使用介绍

基于costmap_prohibition_layer git clone https://github.com/sukai33/costmap_prohibition_layer.git git clone https://gitee.com/yongwangzhiqiankai/costmap_prohibition_layer.git 开源代码，魔改的支持数据库动态虚拟墙，支持虚拟墙动态刷新，支持代码中操作虚拟墙。

软件架构

开发者 苏凯 欢迎交流： csdn博客：https://blog.csdn.net/qq_15204179?type=blog B站 再遇咖啡： https://b23.tv/Yvt8noQ 日期：2022-04-21 系统：ubuntu20.04 ros平台：noetic 开发工具 clion 项目路径：~/workspace/xuniqiang 数据库文件路径： ~/workspace/xuniqiang/db/TABLE_OR_ROOM_POSE.db

安装教程

  1. 直接下载到你的工作空间上编译 1.0 把此工程与movebase项目放一起 1.1 按顺序编译 catkin_make --pkg disinfect_msg catkin_make --pkg disinfect_srvs catkin_make 1.2 或者一条命令直接编译 source catkit_make_source.sh

  2. 设置你的mve_base.launch文件

    <launch>

  3. 分别在global_costmap 和local_costmap 的文件中 plugins 下添加 global_costmap_params.yaml 中： plugins:

    • {name: costmap_prohibition_layer, type: "costmap_prohibition_layer_namespace::CostmapProhibitionLayer"} local_costmap_params.yaml 中： plugins:
    • {name: costmap_prohibition_layer, type: "costmap_prohibition_layer_namespace::CostmapProhibitionLayer"}

测试启动使用介绍：

0. roscore

1.创建数据库 [数据库只需要创建一次就可以了]
  rosrun slamproject currencyChassis_CreateSqlDatabaseMain_node
  
2.数据库调用 [启动导航前优先启动]
  rosrun slamproject currencyChassis_sqlDatabaseMain_node
  
3.虚拟墙qt界面编辑 [qt界面增加虚拟墙数据只支持 line，具体使用看图片]
  rosrun slamproject currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node 

4.刷新虚拟墙 【当数据库更改虚拟墙数据后需要发送topic重新加载虚拟墙】
    4.1 引入头文件
    #include <std_msgs/String.h>
    4.2创建 Publisher
    ros::Publisher   costmapProhibitionControl_pub = node.advertise<std_msgs::String>("/costmapProhibitionControl", 10);
    4.3发送数据
     std_msgs::String data;
     data.data="refreshCostMapPlayer";
     costmapProhibitionControl_pub.publish(data);

代码中使用介绍：

   1.查询虚拟墙数据
        1.1 引入头文件
           #include <disinfect_srvs/testInfo_srvs.h>
           
        1.2 数据库操作
          ros::ServiceClient  SqlQueryClient = nh.serviceClient<disinfect_srvs::testInfo_srvs>("/QSqlQuery");
            
            
        1.3【默认条件查询 MerchantNumber=EMPTY MerchantName=EMPTY RobotNumber=EMPTY MapName=EMPTY Robotfloor=EMPTY，
              需要改条件的话自己去数据库节点src/currencyChassis/currencyChassis_sqlDatabaseMain.cpp改源码，类中搜索 queryAllFromTable_CostMapPlayer 】
	disinfect_srvs::testInfo_srvs table_CostMapLayerService;
	table_CostMapLayerService.request.request_type="queryAllFromTable_CostMapPlayer";
	SqlQueryClient.call(table_CostMapLayerService);

	for (int i = 0; i <table_CostMapLayerService.response.result_Table_CostMapLayers.size() ; ++i) {

	 if(table_CostMapLayerService.response.result_Table_CostMapLayers[i].FigureType=="line"){//线
	      
	      string ax= table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_A_X;
	      string ay= table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_A_Y;
  
	      string bx=  table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_B_X;
	      string by= table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_B_Y;
	      

	   }
            }
  
  2.通过id查询数据
        disinfect_srvs::testInfo_srvs service;
        service.request.request_type = "queryByIdFromTable_CostMapPlayer";//虚拟墙所有数据
        service.request.request_Table_CostMapLayer.Id=id.toInt();
        SqlQueryClient.call(service);
  
   3.通过id删除数据

            disinfect_srvs::testInfo_srvs service;
            service.request.request_type="deleteTaskPOSEFromTABLE_CostMapPlayer";//删除数据 ById
            service.request.request_Table_CostMapLayer.Id=id.toInt();
            SqlQueryClient.call(service);
   4.通过名字删除数据
            disinfect_srvs::testInfo_srvs service;
            service.request.request_type="deleteTaskPOSEFromTABLE_CostMapPlayerByFigureName";//删除数据 ByFigureName
            service.request.request_Table_CostMapLayer.FigureName=figureName.toStdString();
            SqlQueryClient.call(service);
            
   
   2.增加数据

            disinfect_srvs::testInfo_srvs service;
            service.request.request_type="saveTASKFromTABLE_CostMapPlayer";//读取数据库最大的一个id号
            service.request.request_Table_CostMapLayer.FigureType=figureType.toStdString();//
            service.request.request_Table_CostMapLayer.FigureName=figureName.toStdString();//
            service.request.request_Table_CostMapLayer.MerchantNumber=merchantNumber.toStdString(); //用EMPTY代替
            service.request.request_Table_CostMapLayer.MerchantName=merchantName.toStdString();//用EMPTY代替
            service.request.request_Table_CostMapLayer.RobotNumber=robotNumber.toStdString();//用EMPTY代替
            service.request.request_Table_CostMapLayer.MapName=mapName.toStdString(); //用EMPTY代替
            service.request.request_Table_CostMapLayer.Robotfloor=robotfloor.toStdString(); //用EMPTY代替
            service.request.request_Table_CostMapLayer.POINT_A_X=point_A_X.toStdString();//
            service.request.request_Table_CostMapLayer.POINT_A_Y=point_A_Y.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_B_X=point_B_X.toStdString();//
            service.request.request_Table_CostMapLayer.POINT_B_Y=point_B_Y.toStdString();//
            service.request.request_Table_CostMapLayer.POINT_C_X=point_C_X.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_C_Y=point_C_Y.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_D_X=point_D_X.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_D_Y=point_D_Y.toStdString(); //
            SqlQueryClient.call(service);
   
   3.更新数据

            disinfect_srvs::testInfo_srvs service;
            service.request.request_type="updateAllByIdFromTable_CostMapPlayer";
            service.request.request_Table_CostMapLayer.Id=id.toInt();
            service.request.request_Table_CostMapLayer.FigureType=figureType.toStdString();//
            service.request.request_Table_CostMapLayer.FigureName=figureName.toStdString();//
            service.request.request_Table_CostMapLayer.MerchantNumber=merchantNumber.toStdString(); //用EMPTY代替
            service.request.request_Table_CostMapLayer.MerchantName=merchantName.toStdString();//用EMPTY代替
            service.request.request_Table_CostMapLayer.RobotNumber=robotNumber.toStdString();//用EMPTY代替
            service.request.request_Table_CostMapLayer.MapName=mapName.toStdString(); // 用EMPTY代替
            service.request.request_Table_CostMapLayer.Robotfloor=robotfloor.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_A_X=point_A_X.toStdString();//
            service.request.request_Table_CostMapLayer.POINT_A_Y=point_A_Y.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_B_X=point_B_X.toStdString();//
            service.request.request_Table_CostMapLayer.POINT_B_Y=point_B_Y.toStdString();//
            service.request.request_Table_CostMapLayer.POINT_C_X=point_C_X.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_C_Y=point_C_Y.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_D_X=point_D_X.toStdString(); //
            service.request.request_Table_CostMapLayer.POINT_D_Y=point_D_Y.toStdString(); //

            SqlQueryClient.call(service);
   
   
   4.其它接口看 currencyChassis/currencyChassis_sqlDatabaseMain.cpp 源码
   
   
   
   5.刷新虚拟墙 【当数据库更改虚拟墙数据后需要发送topic重新加载虚拟墙】
    5.1 引入头文件
    #include <std_msgs/String.h>
    5.2创建 Publisher
    ros::Publisher   costmapProhibitionControl_pub = node.advertise<std_msgs::String>("/costmapProhibitionControl", 10);
    5.3发送数据
     std_msgs::String data;
     data.data="refreshCostMapPlayer";
     costmapProhibitionControl_pub.publish(data);

项目实战通过 turtlebot3 仿真运行

1.首先确定数据库是否存在，不存在就创建
  1.1 roscore
  1.2 创建数据库 [数据库只需要创建一次就可以了]
     rosrun slamproject currencyChassis_CreateSqlDatabaseMain_node
2.启动数据库 [启动导航前优先启动]
  rosrun slamproject currencyChassis_sqlDatabaseMain_node

3.启动turtlebot3
  roslaunch turtlebot3_gazebo turtlebot3_house.launch
  roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/iimt/map.yaml
4.启动虚拟墙编辑器，取2点，录入数据 [qt界面增加虚拟墙数据只支持 line，具体使用看图片]
  rosrun slamproject currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node 
5.启动rqt_publisher , 选择topic名字 /costmapProhibitionControl 发送 "refreshCostMapPlayer" 重新加载数据
   rosrun rqt_publisher rqt_publisher