Python 机器人技术：如何生成用于 Pepper 机器人本地化的应用程序
Python for Robotics: How to generate an app for localization of a Pepper robot
最近我尝试使用来自 Github 项目 Jumpstarter(https://github.com/aldebaran/robot-jumpstarter) 的 pythonapp 模板生成一个应用程序来对 Pepper 进行本地化。我的基本想法是在生成的应用程序“Lokalisierung”（德语本地化）中结合 LandmarkDetector 模块。
您可以在此处阅读 "LandmarkDetector.py"、"main.py" 和 "MainLandmarkDetection.py" 的完整代码：
"LandmarkDetector.py":
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Demonstrates a way to localize the robot with
ALLandMarkDetection"""
import qi
import time
import sys
import argparse
import math
import almath
class LandmarkDetector(object):
"""
We first instantiate a proxy to the ALLandMarkDetection module
Note that this module should be loaded on the robot's naoqi.
The module output its results in ALMemory in a variable
called "LandmarkDetected".
We then read this ALMemory value and check whether we get
interesting things.
After that we get the related position of the landmark compared to robot.
"""
def __init__(self, app):
"""
Initialisation of qi framework and event detection.
"""
super(LandmarkDetector, self).__init__()
app.start()
session = app.session
# Get the service ALMemory.
self.memory = session.service("ALMemory")
# Connect the event callback.
# Get the services ALMotion & ALRobotPosture.
self.motion_service = session.service("ALMotion")
self.posture_service = session.service("ALRobotPosture")
self.subscriber = self.memory.subscriber("LandmarkDetected")
print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
self.subscriber.signal.connect(self.on_landmark_detected)
print "self.subscriber.signal.connect(self.on_landmark_detected)"
# Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
self.tts = session.service("ALTextToSpeech")
self.landmark_detection = session.service("ALLandMarkDetection")
# print "self.landmark_detection" is repr(self.landmark_detection)
self.motion_service = session.service("ALMotion")
self.landmark_detection.subscribe("LandmarkDetector", 500, 0.0 )
print "self.landmark_detection.subscribe(LandmarkDetector, 500, 0.0 )"
self.got_landmark = False
# Set here the size of the landmark in meters.
self.landmarkTheoreticalSize = 0.06 #in meters 0 #.05 or 0.06?
# Set here the current camera ("CameraTop" or "CameraBottom").
self.currentCamera = "CameraTop"
def on_landmark_detected(self, markData):
"""
Callback for event LandmarkDetected.
"""
while markData == [] : # empty value when the landmark disappears
self.got_landmark = False
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
if not self.got_landmark: # only speak the first time a landmark appears
self.got_landmark = True
#stop.motion_service.moveTo
print "Ich sehe eine Landmarke! "
self.tts.say("Ich sehe eine Landmarke! ")
# Retrieve landmark center position in radians.
wzCamera = markData[1][0][0][1]
wyCamera = markData[1][0][0][2]
# Retrieve landmark angular size in radians.
angularSize = markData[1][0][0][3]
# Compute distance to landmark.
distanceFromCameraToLandmark = self.landmarkTheoreticalSize / ( 2 * math.tan( angularSize / 2))
# Get current camera position in NAO space.
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
transformList = almath.vectorFloat(transform)
robotToCamera = almath.Transform(transformList)
# Compute the rotation to point towards the landmark.
cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)
# Compute the translation to reach the landmark.
cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)
# Combine all transformations to get the landmark position in NAO space.
robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform *cameraToLandmarkTranslationTransform
# robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
# print "robotTurnAroundAngle = ", robotTurnAroundAngle
print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
print "z " + str(robotToLandmark.r3_c4) + " (in meters)"
def run(self):
"""
Loop on, wait for events until manual interruption.
"""
# Wake up robot
self.motion_service.wakeUp()
# Send robot to Pose Init
self.posture_service.goToPosture("StandInit", 0.5)
# Example showing how to get a simplified robot position in world.
useSensorValues = False
result = self.motion_service.getRobotPosition(useSensorValues)
print "Robot Position", result
# Example showing how to use this information to know the robot's diplacement.
useSensorValues = False
# initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))
# Make the robot move
for i in range(1, 12, 1):
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"
print "Starting LandmarkDetector"
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, stopping LandmarkDetector"
self.landmark_detection.unsubscribe("LandmarkDetector")
#stop
sys.exit(0)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="10.0.0.10",
help="Robot IP address. On robot or Local Naoqi: use
'10.0.0.10'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
try:
# Initialize qi framework.
connection_url = "tcp://" + args.ip + ":" + str(args.port)
app = qi.Application(["LandmarkDetector", "--qi-url=" + connection_url])
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
landmark_detector = LandmarkDetector(app)
landmark_detector.run()
"main.py":
""" A sample showing how to make a Python script as an app. """
version = "0.0.8"
copyright = "Copyright 2015, Aldebaran Robotics"
author = 'YOURNAME'
email = 'YOUREMAIL@aldebaran.com'
import stk.runner
import stk.events
import stk.services
import stk.logging
class Activity(object):
"A sample standalone app, that demonstrates simple Python usage"
APP_ID = "com.aldebaran.lokalisierung"
def __init__(self, qiapp):
self.qiapp = qiapp
self.events = stk.events.EventHelper(qiapp.session)
self.s = stk.services.ServiceCache(qiapp.session)
self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)
def on_touched(self, *args):
"Callback for tablet touched."
if args:
self.events.disconnect("ALTabletService.onTouchDown")
self.logger.info("Tablet touched: " + str(args))
self.s.ALTextToSpeech.say("Yay!")
self.stop()
def on_start(self):
"Ask to be touched, waits, and exits."
# Two ways of waiting for events
# 1) block until it's called
self.s.ALTextToSpeech.say("Touch my forehead.")
self.logger.warning("Listening for touch...")
while not self.events.wait_for("FrontTactilTouched"):
pass
# 2) explicitly connect a callback
if self.s.ALTabletService:
self.events.connect("ALTabletService.onTouchDown", self.on_touched)
self.s.ALTextToSpeech.say("okay, now touch my tablet.")
# (this allows to simltaneously speak and watch an event)
else:
self.s.ALTextToSpeech.say("touch my tablet ... oh. " + \
"I don't haave one.")
self.stop()
def stop(self):
"Standard way of stopping the application."
self.qiapp.stop()
def on_stop(self):
"Cleanup"
self.logger.info("Application finished.")
self.events.clear()
if __name__ == "__main__":
stk.runner.run_activity(Activity)
"MainLandmarkDetection.py":
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""A sample showing how to make a Python script as an app to localize
the robot with ALLandMarkDetection"""
version = "0.0.8"
copyright = "Copyright 2015, Aldebaran Robotics"
author = 'YOURNAME'
email = 'YOUREMAIL@aldebaran.com'
import stk.runner
import stk.events
import stk.services
import stk.logging
import time
import sys
import math
import almath
class Activity(object):
"A sample standalone app, that demonstrates simple Python usage"
APP_ID = "com.aldebaran.lokalisierung"
def __init__(self, qiapp):
self.qiapp = qiapp
self.events = stk.events.EventHelper(qiapp.session)
self.s = stk.services.ServiceCache(qiapp.session)
self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)
self.qiapp.start()
session = qiapp.session
# Get the service ALMemory.
self.memory = session.service("ALMemory")
# Connect the event callback.
# Get the services ALMotion & ALRobotPosture.
self.motion_service = session.service("ALMotion")
self.posture_service = session.service("ALRobotPosture")
self.subscriber = self.memory.subscriber("LandmarkDetected")
print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
self.subscriber.signal.connect(self.on_landmark_detected)
print "self.subscriber.signal.connect(self.on_landmark_detected)"
# Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
self.tts = session.service("ALTextToSpeech")
self.landmark_detection = session.service("ALLandMarkDetection")
# print "self.landmark_detection" is repr(self.landmark_detection)
self.motion_service = session.service("ALMotion")
self.landmark_detection.subscribe("Activity", 500, 0.0)
print "self.landmark_detection.subscribe(Activity, 500, 0.0 )"
self.got_landmark = False
# Set here the size of the landmark in meters.
self.landmarkTheoreticalSize = 0.06 # in meters 0 #.05 or 0.06?
# Set here the current camera ("CameraTop" or "CameraBottom").
self.currentCamera = "CameraTop"
def on_landmark_detected(self, markData):
"""
Callback for event LandmarkDetected.
"""
while markData == []: # empty value when the landmark disappears
self.got_landmark = False
# self.motion_service.moveTo(0, 0, 0.1 * math.pi)
if not self.got_landmark: # only speak the first time a landmark appears
self.got_landmark = True
# stop.motion_service.moveTo
print "Ich sehe eine Landmarke! "
# self.tts.say("Ich sehe eine Landmarke! ")
# Retrieve landmark center position in radians.
wzCamera = markData[1][0][0][1]
wyCamera = markData[1][0][0][2]
# Retrieve landmark angular size in radians.
angularSize = markData[1][0][0][3]
# Compute distance to landmark.
distanceFromCameraToLandmark = self.landmarkTheoreticalSize / (2 * math.tan(angularSize / 2))
# Get current camera position in NAO space.
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
transformList = almath.vectorFloat(transform)
robotToCamera = almath.Transform(transformList)
# Compute the rotation to point towards the landmark.
cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)
# Compute the translation to reach the landmark.
cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)
# Combine all transformations to get the landmark position in NAO space.
robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform * cameraToLandmarkTranslationTransform
# robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
# print "robotTurnAroundAngle = ", robotTurnAroundAngle
print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
print "z " + str(robotToLandmark.r3_c4) + " (in meters)"
def run(self):
"""
Loop on, wait for events until manual interruption.
"""
# Wake up robot
self.motion_service.wakeUp()
# Send robot to Pose Init
self.posture_service.goToPosture("StandInit", 0.5)
# Example showing how to get a simplified robot position in world.
useSensorValues = False
result = self.motion_service.getRobotPosition(useSensorValues)
print "Robot Position", result
# Example showing how to use this information to know the robot's diplacement.
useSensorValues = False
# initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))
# Make the robot move
for i in range(1, 20, 1):
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"
print "Starting Activity"
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, stopping Activity"
self.landmark_detection.unsubscribe("Activity")
# stop
sys.exit(0)
def stop(self):
"Standard way of stopping the application."
self.qiapp.stop()
def on_stop(self):
"Cleanup"
self.logger.info("Application finished.")
self.events.clear()
if __name__ == "__main__":
stk.runner.run_activity(Activity)
landmark_detector = Activity()
landmark_detector.run()
在cmd.exe中是这样的：
由于图像中的错误，我在程序快结束时的第 157 行中对参数“landmark_detector = Activity()”提出了一个问题，我应该通过。在 Whosebug 上阅读了类似问题的答案后，我仍然感到困惑。我认为它应该是给"qiapp"的一个值，但是什么值呢？
此致，
弗雷德里克
其实，当你打电话的时候
stk.runner.run_activity(Activity)
...它将为您实例化 activity 对象，使用正确的参数，您不需要 landmark_detector = Activity() 等 MainLandmarkDetector.py
并且如果这个对象有一个名为 on_start 的方法，一旦一切准备就绪就会调用该方法（因此您可能只需要将 运行() 方法重命名为 on_start()
另请注意，您可以调用 self.stop() 或 self.qiapp.stop() 而不是调用 sys.stop() on_stop 中的代码被调用，如果你需要取消订阅等）
有关 stk.runner 的一些文档，请参阅 here。
另请注意，而不是做
self.motion_service = session.service("ALMotion")
(...)
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
你可以直接做
transform = self.s.ALMotion.getTransform(self.currentCamera, 2, True)
...（在我看来）这使得更容易准确地看到正在做什么（并减少变量的数量）。
最近我尝试使用来自 Github 项目 Jumpstarter(https://github.com/aldebaran/robot-jumpstarter) 的 pythonapp 模板生成一个应用程序来对 Pepper 进行本地化。我的基本想法是在生成的应用程序“Lokalisierung”（德语本地化）中结合 LandmarkDetector 模块。
您可以在此处阅读 "LandmarkDetector.py"、"main.py" 和 "MainLandmarkDetection.py" 的完整代码：
"LandmarkDetector.py":
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""Example: Demonstrates a way to localize the robot with ALLandMarkDetection"""
import qi
import time
import sys
import argparse
import math
import almath
class LandmarkDetector(object):
""" We first instantiate a proxy to the ALLandMarkDetection module Note that this module should be loaded on the robot's naoqi. The module output its results in ALMemory in a variable called "LandmarkDetected". We then read this ALMemory value and check whether we get interesting things. After that we get the related position of the landmark compared to robot. """
def __init__(self, app):
"""
Initialisation of qi framework and event detection.
"""
super(LandmarkDetector, self).__init__()
app.start()
session = app.session
# Get the service ALMemory.
self.memory = session.service("ALMemory")
# Connect the event callback.
# Get the services ALMotion & ALRobotPosture.
self.motion_service = session.service("ALMotion")
self.posture_service = session.service("ALRobotPosture")
self.subscriber = self.memory.subscriber("LandmarkDetected")
print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
self.subscriber.signal.connect(self.on_landmark_detected)
print "self.subscriber.signal.connect(self.on_landmark_detected)"
# Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
self.tts = session.service("ALTextToSpeech")
self.landmark_detection = session.service("ALLandMarkDetection")
# print "self.landmark_detection" is repr(self.landmark_detection)
self.motion_service = session.service("ALMotion")
self.landmark_detection.subscribe("LandmarkDetector", 500, 0.0 )
print "self.landmark_detection.subscribe(LandmarkDetector, 500, 0.0 )"
self.got_landmark = False
# Set here the size of the landmark in meters.
self.landmarkTheoreticalSize = 0.06 #in meters 0 #.05 or 0.06?
# Set here the current camera ("CameraTop" or "CameraBottom").
self.currentCamera = "CameraTop"
def on_landmark_detected(self, markData):
"""
Callback for event LandmarkDetected.
"""
while markData == [] : # empty value when the landmark disappears
self.got_landmark = False
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
if not self.got_landmark: # only speak the first time a landmark appears
self.got_landmark = True
#stop.motion_service.moveTo
print "Ich sehe eine Landmarke! "
self.tts.say("Ich sehe eine Landmarke! ")
# Retrieve landmark center position in radians.
wzCamera = markData[1][0][0][1]
wyCamera = markData[1][0][0][2]
# Retrieve landmark angular size in radians.
angularSize = markData[1][0][0][3]
# Compute distance to landmark.
distanceFromCameraToLandmark = self.landmarkTheoreticalSize / ( 2 * math.tan( angularSize / 2))
# Get current camera position in NAO space.
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
transformList = almath.vectorFloat(transform)
robotToCamera = almath.Transform(transformList)
# Compute the rotation to point towards the landmark.
cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)
# Compute the translation to reach the landmark.
cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)
# Combine all transformations to get the landmark position in NAO space.
robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform *cameraToLandmarkTranslationTransform
# robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
# print "robotTurnAroundAngle = ", robotTurnAroundAngle
print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
print "z " + str(robotToLandmark.r3_c4) + " (in meters)"
def run(self):
"""
Loop on, wait for events until manual interruption.
"""
# Wake up robot
self.motion_service.wakeUp()
# Send robot to Pose Init
self.posture_service.goToPosture("StandInit", 0.5)
# Example showing how to get a simplified robot position in world.
useSensorValues = False
result = self.motion_service.getRobotPosition(useSensorValues)
print "Robot Position", result
# Example showing how to use this information to know the robot's diplacement.
useSensorValues = False
# initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))
# Make the robot move
for i in range(1, 12, 1):
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"
print "Starting LandmarkDetector"
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, stopping LandmarkDetector"
self.landmark_detection.unsubscribe("LandmarkDetector")
#stop
sys.exit(0)
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--ip", type=str, default="10.0.0.10",
help="Robot IP address. On robot or Local Naoqi: use
'10.0.0.10'.")
parser.add_argument("--port", type=int, default=9559,
help="Naoqi port number")
args = parser.parse_args()
try:
# Initialize qi framework.
connection_url = "tcp://" + args.ip + ":" + str(args.port)
app = qi.Application(["LandmarkDetector", "--qi-url=" + connection_url])
except RuntimeError:
print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
"Please check your script arguments. Run with -h option for help.")
sys.exit(1)
landmark_detector = LandmarkDetector(app)
landmark_detector.run()
"main.py":
""" A sample showing how to make a Python script as an app. """
version = "0.0.8"
copyright = "Copyright 2015, Aldebaran Robotics" author = 'YOURNAME' email = 'YOUREMAIL@aldebaran.com'
import stk.runner
import stk.events
import stk.services
import stk.logging
class Activity(object):
"A sample standalone app, that demonstrates simple Python usage" APP_ID = "com.aldebaran.lokalisierung"
def __init__(self, qiapp):
self.qiapp = qiapp
self.events = stk.events.EventHelper(qiapp.session)
self.s = stk.services.ServiceCache(qiapp.session)
self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)
def on_touched(self, *args):
"Callback for tablet touched."
if args:
self.events.disconnect("ALTabletService.onTouchDown")
self.logger.info("Tablet touched: " + str(args))
self.s.ALTextToSpeech.say("Yay!")
self.stop()
def on_start(self):
"Ask to be touched, waits, and exits."
# Two ways of waiting for events
# 1) block until it's called
self.s.ALTextToSpeech.say("Touch my forehead.")
self.logger.warning("Listening for touch...")
while not self.events.wait_for("FrontTactilTouched"):
pass
# 2) explicitly connect a callback
if self.s.ALTabletService:
self.events.connect("ALTabletService.onTouchDown", self.on_touched)
self.s.ALTextToSpeech.say("okay, now touch my tablet.")
# (this allows to simltaneously speak and watch an event)
else:
self.s.ALTextToSpeech.say("touch my tablet ... oh. " + \
"I don't haave one.")
self.stop()
def stop(self):
"Standard way of stopping the application."
self.qiapp.stop()
def on_stop(self):
"Cleanup"
self.logger.info("Application finished.")
self.events.clear()
if __name__ == "__main__":
stk.runner.run_activity(Activity)
"MainLandmarkDetection.py":
#! /usr/bin/env python
# -*- encoding: UTF-8 -*-
"""A sample showing how to make a Python script as an app to localize the robot with ALLandMarkDetection"""
version = "0.0.8"
copyright = "Copyright 2015, Aldebaran Robotics"
author = 'YOURNAME'
email = 'YOUREMAIL@aldebaran.com'
import stk.runner
import stk.events
import stk.services
import stk.logging
import time
import sys
import math
import almath
class Activity(object):
"A sample standalone app, that demonstrates simple Python usage" APP_ID = "com.aldebaran.lokalisierung"
def __init__(self, qiapp):
self.qiapp = qiapp
self.events = stk.events.EventHelper(qiapp.session)
self.s = stk.services.ServiceCache(qiapp.session)
self.logger = stk.logging.get_logger(qiapp.session, self.APP_ID)
self.qiapp.start()
session = qiapp.session
# Get the service ALMemory.
self.memory = session.service("ALMemory")
# Connect the event callback.
# Get the services ALMotion & ALRobotPosture.
self.motion_service = session.service("ALMotion")
self.posture_service = session.service("ALRobotPosture")
self.subscriber = self.memory.subscriber("LandmarkDetected")
print "self.subscriber = self.memory.subscriber(LandmarkDetected)"
self.subscriber.signal.connect(self.on_landmark_detected)
print "self.subscriber.signal.connect(self.on_landmark_detected)"
# Get the services ALTextToSpeech, ALLandMarkDetection and ALMotion.
self.tts = session.service("ALTextToSpeech")
self.landmark_detection = session.service("ALLandMarkDetection")
# print "self.landmark_detection" is repr(self.landmark_detection)
self.motion_service = session.service("ALMotion")
self.landmark_detection.subscribe("Activity", 500, 0.0)
print "self.landmark_detection.subscribe(Activity, 500, 0.0 )"
self.got_landmark = False
# Set here the size of the landmark in meters.
self.landmarkTheoreticalSize = 0.06 # in meters 0 #.05 or 0.06?
# Set here the current camera ("CameraTop" or "CameraBottom").
self.currentCamera = "CameraTop"
def on_landmark_detected(self, markData):
"""
Callback for event LandmarkDetected.
"""
while markData == []: # empty value when the landmark disappears
self.got_landmark = False
# self.motion_service.moveTo(0, 0, 0.1 * math.pi)
if not self.got_landmark: # only speak the first time a landmark appears
self.got_landmark = True
# stop.motion_service.moveTo
print "Ich sehe eine Landmarke! "
# self.tts.say("Ich sehe eine Landmarke! ")
# Retrieve landmark center position in radians.
wzCamera = markData[1][0][0][1]
wyCamera = markData[1][0][0][2]
# Retrieve landmark angular size in radians.
angularSize = markData[1][0][0][3]
# Compute distance to landmark.
distanceFromCameraToLandmark = self.landmarkTheoreticalSize / (2 * math.tan(angularSize / 2))
# Get current camera position in NAO space.
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
transformList = almath.vectorFloat(transform)
robotToCamera = almath.Transform(transformList)
# Compute the rotation to point towards the landmark.
cameraToLandmarkRotationTransform = almath.Transform_from3DRotation(0, wyCamera, wzCamera)
# Compute the translation to reach the landmark.
cameraToLandmarkTranslationTransform = almath.Transform(distanceFromCameraToLandmark, 0, 0)
# Combine all transformations to get the landmark position in NAO space.
robotToLandmark = robotToCamera * cameraToLandmarkRotationTransform * cameraToLandmarkTranslationTransform
# robotTurnAroundAngle = almath.rotationFromAngleDirection(0, 1, 1, 1)
# print "robotTurnAroundAngle = ", robotTurnAroundAngle
print "x " + str(robotToLandmark.r1_c4) + " (in meters)"
print "y " + str(robotToLandmark.r2_c4) + " (in meters)"
print "z " + str(robotToLandmark.r3_c4) + " (in meters)"
def run(self):
"""
Loop on, wait for events until manual interruption.
"""
# Wake up robot
self.motion_service.wakeUp()
# Send robot to Pose Init
self.posture_service.goToPosture("StandInit", 0.5)
# Example showing how to get a simplified robot position in world.
useSensorValues = False
result = self.motion_service.getRobotPosition(useSensorValues)
print "Robot Position", result
# Example showing how to use this information to know the robot's diplacement.
useSensorValues = False
# initRobotPosition = almath.Pose2D(self.motion_service.getRobotPosition(useSensorValues))
# Make the robot move
for i in range(1, 20, 1):
self.motion_service.moveTo(0, 0, 0.1 * math.pi)
print "self.motion_service.moveTo(0, 0, (0.1)*math.pi)"
print "Starting Activity"
try:
while True:
time.sleep(1)
except KeyboardInterrupt:
print "Interrupted by user, stopping Activity"
self.landmark_detection.unsubscribe("Activity")
# stop
sys.exit(0)
def stop(self):
"Standard way of stopping the application."
self.qiapp.stop()
def on_stop(self):
"Cleanup"
self.logger.info("Application finished.")
self.events.clear()
if __name__ == "__main__":
stk.runner.run_activity(Activity)
landmark_detector = Activity()
landmark_detector.run()
在cmd.exe中是这样的：
landmark_detector = Activity()”提出了一个问题，我应该通过。在 Whosebug
此致， 弗雷德里克
其实，当你打电话的时候
stk.runner.run_activity(Activity)
...它将为您实例化 activity 对象，使用正确的参数，您不需要 landmark_detector = Activity() 等 MainLandmarkDetector.py
并且如果这个对象有一个名为 on_start 的方法，一旦一切准备就绪就会调用该方法（因此您可能只需要将 运行() 方法重命名为 on_start()
另请注意，您可以调用 self.stop() 或 self.qiapp.stop() 而不是调用 sys.stop() on_stop 中的代码被调用，如果你需要取消订阅等）
有关 stk.runner 的一些文档，请参阅 here。
另请注意，而不是做
self.motion_service = session.service("ALMotion")
(...)
transform = self.motion_service.getTransform(self.currentCamera, 2, True)
你可以直接做
transform = self.s.ALMotion.getTransform(self.currentCamera, 2, True)
...（在我看来）这使得更容易准确地看到正在做什么（并减少变量的数量）。