我们在云平台我们识别物体之后输出的是全局的二维码坐标 x y z
我们接下来要做两件事情 一种是使用云端的服务 （在ROS中的表现形式是云平台提供的action）。
第二种是请求云端的数据（可以以客户端向云平台请求serve服务的形式）。
第一种应该是一种机器人向云平台发送一个action请求，然后不断的将相关图像或者红外的topic进行发送，然后云平台返回检测结果
action_server.cpp
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <ros_tutorials_action/FibonacciAction.h>
class FibonacciAction
{
protected:
ros::NodeHandle nh_;
actionlib::SimpleActionServer<ros_tutorials_action::FibonacciAction> as_;
std::string action_name_;//定义action的名字
ros_tutorials_action::FibonacciFeedback feedback_;
ros_tutorials_action::FibonacciResult result_;
public:
FibonacciAction(std::string name):
as_(nh_,name,boost::bind(&FibonacciAction::executeCB,this,_1),false),
action_name_(name)
{
as_.start();
}
~FibonacciAction(void)
{
}
void executeCB(const ros_tutorials_action::FibonacciGoalConstPtr &goal)
{
ros::Rate r(1); // Loop Rate: 1Hz
bool success = true; // Used as a variable to store the success or failure of an action
// Setting Fibonacci sequence initialization,
// add first (0) and second message (1) of feedback.
feedback_.sequence.clear();
feedback_.sequence.push_back(0);
feedback_.sequence.push_back(1);
// Notify the user of action name, goal, initial two values of Fibonacci sequence
ROS_INFO("%s: Executing, creating fibonacci sequence of order %i with seeds %i, %i", action_name_.c_str(), goal->order, feedback_.sequence[0], feedback_.sequence[1]);
// Action contents
for(int i=1; i<=goal->order; i++)
{
// Confirm action cancellation from action client
if (as_.isPreemptRequested() || !ros::ok())
{
// Notify action cancellation
ROS_INFO("%s: Preempted", action_name_.c_str());
// Action cancellation and consider action as failure and save to variable
as_.setPreempted();
success = false;
break;
}
// Store the sum of current Fibonacci number and the previous number in the feedback
// while there is no action cancellation or the action target value is reached.
feedback_.sequence.push_back(feedback_.sequence[i] + feedback_.sequence[i-1]);
// publish the feedback
as_.publishFeedback(feedback_);
// this sleep is not necessary, the sequence is computed at 1 Hz for demonstration purposes
r.sleep();
}
// If the action target value is reached,
// transmit current Fibonacci sequence as the result value.
if(success)
{
result_.sequence = feedback_.sequence;
ROS_INFO("%s: Succeeded", action_name_.c_str());
// set the action state to succeeded
as_.setSucceeded(result_);
}
}
};
int main(int argc, char** argv) // Node Main Function
{
ros::init(argc, argv, "action_server"); // Initializes Node Name
FibonacciAction fibonacci("ros_tutorial_action"); // Fibonacci Declaration (Action Name: ros_tutorial_action)
ros::spin(); // Wait to receive action goal
return 0;
}
action_client.cpp
#include <ros/ros.h> // ROS Default Header File
#include <actionlib/client/simple_action_client.h>// action Library Header File
#include <actionlib/client/terminal_state.h> // Action Goal Status Header File
#include <ros_tutorials_action/FibonacciAction.h> // FibonacciAction Action File Header
int main (int argc, char **argv) // Node Main Function
{
ros::init(argc, argv, "action_client"); // Node Name Initialization
// Action Client Declaration (Action Name: ros_tutorial_action)
actionlib::SimpleActionClient<ros_tutorials_action::FibonacciAction> ac("ros_tutorial_action", true);
ROS_INFO("Waiting for action server to start.");
ac.waitForServer(); //wait for the action server to start, will wait for infinite time
ROS_INFO("Action server started, sending goal.");
ros_tutorials_action::FibonacciGoal goal; // Declare Action Goal
goal.order = 20; // Set Action Goal (Process the Fibonacci sequence 20 times)
ac.sendGoal(goal); // Transmit Action Goal
// Set action time limit (set to 30 seconds)
bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
// Process when action results are received within the time limit for achieving the action goal
if (finished_before_timeout)
{
// Receive action target status value and display on screen
actionlib::SimpleClientGoalState state = ac.getState();
ROS_INFO("Action finished: %s",state.toString().c_str());
}
else
ROS_INFO("Action did not finish before the time out.");
//exit
return 0;
}
Fibonacci.action
#goal definition
int32 order
---
#result definition
int32[] sequence
---
#feedback
int32[] sequence
Goal应该包括
string ID(表明client的身份或者说表明接下去需要传输信息到云端的时候，topic的namespace前缀)
int32 ServID：请求服务的ID，这里我们可以设定需要识别二维码的服务是1,需要物体识别的服务是2
int32 Time：请求服务的最长时长（如果没有为0的话默认时常最长600,即十分钟）
Result应该包括
int32 DetectNum：检测的数量
Feedback应该包括
Object[] detectObject：检测到的物品信息array
我准备解析好Goal之后直接调用系统命令行roslaunch 不过这时候我的topic输出的是检测到的二维码，没有进行判断是否是之前的
所以我还需要监听roslaunch的输出的物体topic，然后存储在本地，然后每一次出来就和本地的做对比，小于阈值就忽略，大于阈值更新，并且result和feedback都进行添加。
每次检测到二维码我都需要检查是否在数据库中存在，进行一系列的逻辑判断，那么就需要在ROS的pkg中与数据库交互。
这里我选择SQLite，通过这里的教程以及前面WHERE条件筛选就可以大致的写出了
login database:
sqlite3 test.db
check database at this time:
.databases
turn DB into sql format:
sqlite3 test.db .dump > test.sql
ATTACH DATABASE file_name AS database_name:
ATTACH DATABASE 'test.db' as 'TEST';
(default is main)
DETACH DTABASE :
DETACH DATABASE 'Alias-Name';
CREATE TABLE :
CREATE TABLE database_name.table_name(
column1 datatype PRIMARY KEY(one or more columns),
column2 datatype,
column3 datatype,
.....
columnN datatype,
);
DROP TABLE :
DROP TABLE database_name.table_name;
datatype:https://www.runoob.com/sqlite/sqlite-data-types.html
大概的有INT TEXT CHAR(50) REAL 没有时间 时间也是使用TEXT、REAL 或 INTEGER 值
比如
sqlite> CREATE TABLE COMPANY(
ID INT PRIMARY KEY NOT NULL,
NAME TEXT NOT NULL,
AGE INT NOT NULL,
ADDRESS CHAR(50),
SALARY REAL
);
check out table
.tables
格式化输出
您可以使用下列的点命令来格式化输出为本教程下面所列出的格式：
sqlite>.header on
sqlite>.mode column
sqlite>.timer on
sqlite>
首先如何通过CMakeLists.txt对cpp非ROS的工程进行构建呢?
sqlite的地址为 sqlite3: /usr/bin/sqlite3 /usr/include/sqlite3.h
使用g++命令的话是$g++ test.c -l sqlite3
那么如果要使用CMake如何构建呢?
参考:https://www.hahack.com/codes/cmake/
https://www.linuxidc.com/Linux/2019-03/157760.htm
https://www.jianshu.com/p/bbf68f9ddffa
https://zhuanlan.zhihu.com/p/59161370
cmake_minimum_required (VERSION 2.8)
project(test-demo)
# 查找当前目录中的所有源文件，并将结果列表存放在变量DIR_SRCS中
aux_source_directory(. DIR_SRCS)
# 指定可执行文件名称，PROJECT_NAME是前面定义的project名称
add_executable(${PROJECT_NAME} ${DIR_SRCS})
target_link_libraries(${PROJECT_NAME} sqlite3)
ls
build CMakeLists.txt main.cpp
mkdir build && cd build &&cmake …
ls
CMakeCache.txt CMakeFiles cmake_install.cmake Makefile
make之后就会出现
test-demo
完美运行.
一开始我一直以为需要怎么怎么样,比如https://stackoverflow.com/questions/60064778/how-to-build-a-ros-node-that-uses-sqlite3(按照这样不行)
通过https://www.jianshu.com/p/75fa7b1f3938认为
find_package（catkin REQUIRED COMPONENTS nodelet）
catkin执行到这个语句时，就会导出的nodelet的include路径，库等也添加到catkin前缀的变量中。例如，catkin_INCLUDE_DIRS不仅包含catkin的include路径，还包含了nodelet，这在后面会用到。
当然，我们可以只选择找nodelet的：
find_package（nodelet）
很可惜这样的做法会令nodelet路径，库等不会被添加到catkin变量中，从而生成了例如nodelet_INCLUDE_DIRS，nodelet_LIBRARIES这样的变量等。
所以我将CMakeLists.txt相关部分改为
find_package(sqlite3)
include_directories(
include ${catkin_INCLUDE_DIRS}
${nodelet_INCLUDE_DIRS}
)
add_dependencies(sqlite_demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(sqlite_demo
${catkin_LIBRARIES}
${nodelet_LIBRARIES}
)
然后我发现#include <sqlite3.h>没写的时候是这样
/home/asber/catkin_ws/src/arcodelistener/src/sqlite_demo.cpp:6:4: error: ‘sqlite3’ was not declared in this scope
sqlite3 *db;
^
/home/asber/catkin_ws/src/arcodelistener/src/sqlite_demo.cpp:6:13: error: ‘db’ was not declared in this scope
sqlite3 *db;
^
/home/asber/catkin_ws/src/arcodelistener/src/sqlite_demo.cpp:10:56: error: ‘sqlite3_open’ was not declared in this scope
rc = sqlite3_open("/home/asber/sqlite3/test.db", &db);
^
/home/asber/catkin_ws/src/arcodelistener/src/sqlite_demo.cpp:13:69: error: ‘sqlite3_errmsg’ was not declared in this scope
fprintf(stderr, "Can't open database: %s\n", sqlite3_errmsg(db));
^
/home/asber/catkin_ws/src/arcodelistener/src/sqlite_demo.cpp:18:20: error: ‘sqlite3_close’ was not declared in this scope
sqlite3_close(db);
写的时候是这样
CMakeFiles/sqlite_demo.dir/src/sqlite_demo.cpp.o: In function `main':
sqlite_demo.cpp:(.text.startup+0x1d): undefined reference to `sqlite3_open'
sqlite_demo.cpp:(.text.startup+0x45): undefined reference to `sqlite3_close'
sqlite_demo.cpp:(.text.startup+0x65): undefined reference to `sqlite3_errmsg'
所以头文件找到了,但是还是没找到库文件
我看这里https://www.cnblogs.com/sgdd123/p/8419964.html或者https://blog.csdn.net/qq_28306361/article/details/85142192使用opencv的时候也使用到了
#include<opencv2/opencv.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
FIND_PACKAGE( OpenCV REQUIRED )
AUX_SOURCE_DIRECTORY(src/. DIR_SRCS)
ADD_EXECUTABLE(cylinder ${DIR_SRCS} )
target_link_libraries(cylinder ${catkin_LIBRARIES})
target_link_libraries(cylinder ${OpenCV_LIBRARIES} )
所以我依葫芦画瓢
find_package(SQLite3 REQUIRED)
include_directories(
include ${catkin_INCLUDE_DIRS}
${nodelet_INCLUDE_DIRS}
)
add_executable(sqlite_demo
src/sqlite_demo.cpp
)
add_dependencies(sqlite_demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(sqlite_demo
${catkin_LIBRARIES}
${nodelet_LIBRARIES}
)
但是catkin_make的时候还是
Could not find a package configuration file provided by "SQLite3" with any
of the following names:
SQLite3Config.cmake
sqlite3-config.cmake
后来想一想,直接按照上面非ROS的CMakeLists.tst后面写
target_link_libraries(sqlite_demo
${catkin_LIBRARIES}
sqlite3
)
发现,Oh ye, 可以.
所以得出结论1.CMake的知识还是要多看 2.ROS对CMake进行上层封装,所以可以直接像CMake里面一下在target_link_libraries里面加入需要的系统库就好了
写一个存入并且判断的pkg,
https://www.runoob.com/sqlite/sqlite-c-cpp.html
sqlite> CREATE TABLE ARCODE(
…> ID INT PRIMARY KEY NOT NULL,
…> NAME TEXT NOT NULL,
…> X REAL NOT NULL,
…> Y REAL NOT NULL,
…> Z REAL NOT NULL,
…> TIME REAL
…> );
https://www.cnblogs.com/kanego/archive/2012/07/06/2578748.html
回调函数中如何调用类中的非静态成员变量或非静态成员函数
C语言中void*详解及应用
ARCODE的主函数
#include "ros/ros.h"
#include "turtlesim/Pose.h"
#include "ar_track_alvar_msgs/AlvarMarkers.h"
#include "ar_track_alvar_msgs/AlvarMarker.h"
#include "geometry_msgs/PoseStamped.h"
#include <tf/transform_listener.h>
#include <signal.h>
#include <stdio.h>
#include <sqlite3.h>
#include <cstdlib>
#include <arcodelistener/detect_object.h>
sqlite3 *db;
void mySigintHandler(int sig)
{
// Do some custom action.
// For example, publish a stop message to some other nodes.
// All the default sigint handler does is call shutdown()
sqlite3_close(db);
ROS_INFO("mySigintHandler is called! DB closed~");
ros::shutdown();
}
// 接收到订阅的消息后，会进入消息回调函数
void chatterCallback(const ar_track_alvar_msgs::AlvarMarkers::ConstPtr msg,const tf::TransformListener &listener)
{
// 将接收到的消息打印出来
std::vector<ar_track_alvar_msgs::AlvarMarker> MKS = msg->markers;
if(MKS.size()!=0)
{
for(int i=0;i<MKS.size();i++){
geometry_msgs::PointStamped origin_point;
origin_point.point.x=MKS[i].pose.pose.position.x;
origin_point.point.y=MKS[i].pose.pose.position.y;
origin_point.point.z=MKS[i].pose.pose.position.y;
origin_point.header.frame_id=MKS[i].header.frame_id;
origin_point.header.stamp=ros::Time();
string name ;
stringstream ss;
ss<<MKS[i].id;
ss>>name;
cout<< name<<endl;
try
{
geometry_msgs::PointStamped base_point;
listener.transformPoint("world", origin_point, base_point);
DetectObject obj = DetectObject(name,ArCode,base_point.point.x,base_point.point.y,
base_point.point.z,base_point.header.stamp.toSec(),db);
ROS_INFO("x:%f,y:%f,z:%f,time:%f",obj.x,obj.y,obj.z,obj.time);
if(!obj.FindIfHadOne())
{
ROS_INFO("New Recong!");
if(obj.InsertOne())ROS_INFO("InSert Successfully");
else ROS_INFO("InSert Faultly");
}
else
{
ROS_INFO("Already Recored..");
}
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(0.5).sleep();
}
}
}
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "listener", ros::init_options::NoSigintHandler);
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber，订阅名为chatter的topic，注册回调函数chatterCallback
tf::TransformListener listener(ros::Duration(10));
signal(SIGINT, mySigintHandler);
ROS_INFO("connecting detebase!");
char *zErrMsg = 0;
int rc;
rc = sqlite3_open("/home/asber/sqlite3/test.db", &db);
if( rc ){
fprintf(stderr, "Can't open database: %s\n", sqlite3_errmsg(db));
exit(0);
}else{
fprintf(stderr, "Opened database successfully\n");
}
ROS_INFO("subscribe Topic ar_pose_marker");
ros::Subscriber sub = n.subscribe<ar_track_alvar_msgs::AlvarMarkers>("/ar_pose_marker", 10, boost::bind(&chatterCallback,_1,boost::ref(listener)));
// 循环等待回调函数
ros::spin();
return 0;
}
和物品识别相关的文件
#include "ros/ros.h"
#include "turtlesim/Pose.h"
#include "object_recognition_msgs/RecognizedObjectArray.h"
#include "object_recognition_msgs/RecognizedObject.h"
#include "geometry_msgs/PoseStamped.h"
#include <tf/transform_listener.h>
#include <signal.h>
#include <stdio.h>
#include <sqlite3.h>
#include <cstdlib>
#include <arcodelistener/detect_object.h>
sqlite3 *DB;
void mySigintHandler(int sig)
{
// Do some custom action.
// For example, publish a stop message to some other nodes.
// All the default sigint handler does is call shutdown()
sqlite3_close(DB);
ROS_INFO("mySigintHandler is called! DB closed~");
ros::shutdown();
}
// 接收到订阅的消息后，会进入消息回调函数
void chatterCallback(const object_recognition_msgs::RecognizedObjectArray::ConstPtr msg,const tf::TransformListener &listener)
{
// 将接收到的消息打印出来
std::vector<object_recognition_msgs::RecognizedObject> OBJ = msg->objects;
if(OBJ.size()!=0)
{
for(int i=0;i<OBJ.size();i++){
geometry_msgs::PointStamped origin_point;
// string key =OBJ[i].type.key;
// string db =OBJ[i].type.db;
origin_point.point.x=OBJ[i].pose.pose.pose.position.x;
origin_point.point.y=OBJ[i].pose.pose.pose.position.y;
origin_point.point.z=OBJ[i].pose.pose.pose.position.z;
origin_point.header.frame_id=OBJ[i].header.frame_id;
origin_point.header.stamp=ros::Time();
try
{
geometry_msgs::PointStamped base_point;
listener.transformPoint("/map", origin_point, base_point);
DetectObject obj = DetectObject(OBJ[i].type.key,RegnizedObj,base_point.point.x,base_point.point.y,
base_point.point.z,base_point.header.stamp.toSec(),DB);
ROS_INFO("OBJ:x:%f,y:%f,z:%f,time:%f",obj.x,obj.y,obj.z,obj.time);
if(!obj.FindIfHadOne())
{
ROS_INFO("New Recong!");
if(obj.InsertOne())ROS_INFO("InSert Successfully");
else ROS_INFO("InSert Faultly");
}
else
{
ROS_INFO("Already Recored.. OR FindIfExistFaled");
}
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(0.5).sleep();
}
}
}
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "listener", ros::init_options::NoSigintHandler);
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber，订阅名为chatter的topic，注册回调函数chatterCallback
tf::TransformListener listener(ros::Duration(10));
signal(SIGINT, mySigintHandler);
ROS_INFO("connecting detebase!");
char *zErrMsg = 0;
int rc;
rc = sqlite3_open("/home/asber/sqlite3/test.db", &DB);
if( rc ){
fprintf(stderr, "Can't open database: %s\n", sqlite3_errmsg(DB));
exit(0);
}else{
fprintf(stderr, "Opened database successfully\n");
}
ROS_INFO("subscribe Topic ar_pose_marker");
ros::Subscriber sub = n.subscribe<object_recognition_msgs::RecognizedObjectArray>("/recognized_object_array", 10, boost::bind(&chatterCallback,_1,boost::ref(listener)));
// 循环等待回调函数
ros::spin();
return 0;
}
与数据库交互的类的头文件
#include <string>
#include <stdio.h>
#include <stdlib.h>
#include <sqlite3.h>
#include <cstdlib>
#include <cstring>
#include <map>
#include <iostream>
#include <boost/format.hpp>
//写一个类来存储检测到的物体并且判断是否在数据库中出现过
//目前已经完成了创建表,检查是否在一定范围内存在相同物体,和插入表,但是现在插入的数据
/*大体如这样
TYPE NAME X Y Z TIME
---------- ---------- ----------- ----------- ---------- ------------
0 TEMP -0.00286071 -0.00277253 0.610729 1583410000.0
0 TEMP 0.163541 0.163846 0.883642 1583410000.0
TYPE 0 都是ARCODE还好 主要的是NAME 我现在的ID都是INT 无法识别toilet还是啥的
可能需要根据ID赋值NAME,之后到院里再看看能不能提取ARCODE的信息
然后我手动设定键值对 be4814630fa4e7a722eecd7f1c000ae3 可乐
*/
using std::string;
using namespace std;
enum objectType { ArCode = 0 , RegnizedObj = 1, Other = 2};
#define threshold 0.2
class DetectObject
{
private:
sqlite3 *db;
public:
string name;
objectType type;
float x;
float y;
float z;
float time;
DetectObject();
DetectObject(string id,objectType type,float x,float y,float z,float time,sqlite3 *db);
~DetectObject();
bool FindIfHadOne();
bool InsertOne();
bool CreateTable();
bool DelectTable();
// const char* to_string();
};
与数据库交互的类的cpp文件
#include "arcodelistener/detect_object.h"
DetectObject::DetectObject()
{
}
DetectObject::DetectObject(string id,objectType type,float x,float y,float z,float time,sqlite3 *db)
{
this->type = type;
this->x = x;
this->y = y;
this->z = z;
this->time = time;
this->db = db;
map<string,string> LocationMap;
map<string,string> ObjectMap;
ObjectMap.insert(pair<string,string> ("be4814630fa4e7a722eecd7f1c000ae3","可乐"));
LocationMap.insert(pair<string,string>("0","厕所"));
LocationMap.insert(pair<string,string>("1","办公室"));
if(this->type==ArCode)
{
this->name=LocationMap[id];
}
else if(this->type==RegnizedObj)
{
this->name=ObjectMap[id];
}
else
{
this->name="Other Type";
}
cout<<"name is :"<<this->name<<endl;
}
static int callback(void *NotUsed, int argc, char **argv, char **azColName){
int i;
for(i=0; i<argc; i++){
printf("%s = %s\n", azColName[i], argv[i] ? argv[i] : "NULL");
}
printf("\n");
return 0;
}
bool DetectObject::CreateTable()
{
char *zErrMsg = 0;
char *sql;
int rc;
/* Create SQL statement */
sql = "CREATE TABLE MYLIB( "\
"TYPE INT NOT NULL,"\
"NAME TEXT NOT NULL,"\
"X REAL NOT NULL,"\
"Y REAL NOT NULL,"\
"Z REAL NOT NULL,"\
"TIME REAL );";
rc = sqlite3_exec(db, sql, callback, 0, &zErrMsg);
if( rc != SQLITE_OK ){
fprintf(stderr, "SQL error: %s\n", zErrMsg);
sqlite3_free(zErrMsg);
return false;
}else{
fprintf(stdout, "Table created successfully\n");
return true;
}
}
bool DetectObject::DelectTable()
{
char *zErrMsg = 0;
char *sql;
int rc;
/* Create SQL statement */
sql = "DROP TABLE MYLIB;";
rc = sqlite3_exec(db, sql, callback, 0, &zErrMsg);
if( rc != SQLITE_OK ){
fprintf(stderr, "SQL error: %s\n", zErrMsg);
sqlite3_free(zErrMsg);
return false;
}else{
fprintf(stdout, "Delect Table successfully\n");
return true;
}
}
using namespace std;
using namespace boost;
bool DetectObject::InsertOne()
{
char *zErrMsg = 0;
int rc;
format fmt( "INSERT INTO MYLIB (TYPE,NAME,X,Y,Z,TIME) VALUES (%1%,'%2%',%3%,%4%,%5%,%6%);" );
fmt % type;fmt % name;fmt % x ;fmt % y ;fmt % z ;fmt % time ;
string str = fmt.str();
cout<<"Insert Command is :"<<str<<endl;
const char *mysql = str.c_str();
rc = sqlite3_exec(db, mysql, callback, 0, &zErrMsg);
if( rc != SQLITE_OK ){
fprintf(stderr, "InsertOne SQL error: %s\n", zErrMsg);
sqlite3_free(zErrMsg);
return false;
}else{
fprintf(stdout, "Insert data successfully\n");
return true;
}
}
static int Findcallback(void *exist, int argc, char **argv, char **azColName){
int i;
for(i=0; i<argc; i++){
printf("%s = %s\n", azColName[i], argv[i] ? argv[i] : "NULL");
}
printf("\n");
*(bool*)exist = true;//NB
return 0;
}
bool DetectObject::FindIfHadOne()
{
char *zErrMsg = 0;
int rc;
bool exist = false;
format fmt( "SELECT * from MYLIB WHERE X BETWEEN %1% AND %2% AND Y BETWEEN %3% AND %4% AND Z BETWEEN %5% AND %6% AND TYPE = %7%;" );
fmt % (x-threshold) ;fmt % (x+threshold) ;fmt % (y-threshold) ;fmt % (y+threshold) ;fmt % (z-threshold) ;fmt % (z+threshold) ;fmt % type;
string str = fmt.str();
const char *mysql = str.c_str();
rc = sqlite3_exec(db, mysql, Findcallback, (void*)&exist, &zErrMsg);
if( rc != SQLITE_OK ){
fprintf(stderr, "FindIfHadOne SQL error: %s\n", zErrMsg);
sqlite3_free(zErrMsg);
return true;
}else{
fprintf(stdout, "Operation done successfully\n");
return exist;
}
}
DetectObject::~DetectObject()
{
}
AR识别的launch文件
<launch>
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video0" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
<param name="camera_info_url" type="string" value="file://$(find robot_vision)/camera_calibration.yaml" />
</node>
<node pkg="tf" type="static_transform_publisher" name="world_to_cam"
args="0 0 0.5 0 1.57 0 world usb_cam 1 " />
<arg name="marker_size" default="20" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />
<arg name="cam_image_topic" default="/usb_cam/image_raw" />
<arg name="cam_info_topic" default="/usb_cam/camera_info" />
<arg name="output_frame" default="/usb_cam" />
<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
<param name="marker_size" type="double" value="$(arg marker_size)" />
<param name="max_new_marker_error" type="double" value="$(arg max_new_marker_error)" />
<param name="max_track_error" type="double" value="$(arg max_track_error)" />
<param name="output_frame" type="string" value="$(arg output_frame)" />
<remap from="camera_image" to="$(arg cam_image_topic)" />
<remap from="camera_info" to="$(arg cam_info_topic)" />
</node>
<!-- rviz view /-->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find robot_vision)/config/ar_track_camera.rviz"/>
<node pkg="arcodelistener" type="ar_code_listener" name="local2global_tf_transfer" />
</launch>
物品识别的launch文件(里面包括开启仿真节点)
<launch>
<!-- SIMULATION -->
<include file="$(find turtlebot_gazebo)/launch/turtlebot_world.launch"/>
<!--CONTROL -->
<include file="$(find turtlebot_teleop)/launch/keyboard_teleop.launch"/>
<!-- AMCL -->
<arg name="map_file" default="/home/asber/turtlebot_custom_maps/tutorial.yaml"/>
<arg name="amcl_demo" default="$(find turtlebot_gazebo)/launch/amcl_demo.launch"/>
<include file="$(arg amcl_demo)">
<arg name="map_file" value="$(arg map_file)"/>
</include>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find robot_vision)/config/obj.rviz"/>
<node pkg="object_recognition_core" type="detection" name="obj_detection" args="-c /home/asber/ork_ws/src/ork_linemod/conf/detection.ros.ork"/>
<node pkg="arcodelistener" type="ORK_listener" name="OBJ_local2global_tf_transfer" output="screen"/>
</launch>
我编写代码的时候参考的:
ROS节点的初始化及退出详解（ros::init、SIGINT、ros::ok、ros::NodeHandle）
标准C++中的string类的用法总结
enum类型变量的使用和赋值
C语言中值传递、指针传递和引用传递