机器人工程专业实践镜像2021版-功能扩展-coppeliasim+webots

镜像虽然提供了大部分课程所需功能，但同样支持扩展。这里以两款仿真软件为例

coppeliasim

webots

其实就是在官网下载，解压到硬盘就可以使用的。

分别解压就行。

启动V-Rep（新版为coppeliasim） ：

./vrep.sh

启动webots：

./webots

等待启动完成，即可愉快玩耍。忽略更新。

缺少的功能包依据上学期课程讲解，或者依据提示补充安装即可。

现在打开一个cpp案例：

尝试一下编译：

完全可以正常使用。

void Driver::displayHelp() {

string s("Commands:\n"

" 这只是一个测试^_^\n"

" I for displaying the commands\n"

" A for avoid obstacles\n"

" F for move forward\n"

" S for stop\n"

" T for turn\n"

" R for positioning ROBOT1 at (0.1,0.3)\n"

" G for knowing the (x,z) position of ROBOT1");

cout << s << endl;

}

webots中C++的案例都可以直接编译后使用，非常方便。

更多案例自主学习即可。

// Copyright 1996-2020 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// http://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

/*

* Description: This controller gives to its node the following behavior:

* Listen the keyboard. According to the pressed key, send a

* message through an emitter or handle the position of Robot1

*/

#include

#include

#include

#include

#include

#include

#include

#include

#include

using namespace std;

using namespace webots;

class Driver : public Supervisor {

public:

Driver();

void run();

private:

static void displayHelp();

int timeStep;

Emitter *emitter;

Field *translationField;

Keyboard *keyboard;

double x;

double z;

double translation[3];

};

Driver::Driver() {

timeStep = 128;

x = 0.1f;

z = 0.3f;

translation[0] = x;

translation[1] = 0;

translation[2] = z;

emitter = getEmitter("emitter");

Node *robot = getFromDef("ROBOT1");

if (!robot)

// robot might be NULL if the controller is about to quit

exit(1);

translationField = robot->getField("translation");

keyboard = getKeyboard();

keyboard->enable(timeStep);

}

void Driver::run() {

string previous_message("");

string message("");

displayHelp();

// main loop

while (step(timeStep) != -1) {

// Read sensors; update message according to the pressed keyboard key

int k = keyboard->getKey();

switch (k) {

case 'A':

message.assign("avoid obstacles");

break;

case 'F':

message.assign("move forward");

break;

case 'S':

message.assign("stop");

break;

case 'T':

message.assign("turn");

break;

case 'I':

displayHelp();

break;

case 'G': {

const double *translationValues = translationField->getSFVec3f();

cout << "ROBOT1 is located at (" << translationValues[0] << "," << translationValues[2] << ")" << endl;

break;

}

case 'R':

cout << "Teleport ROBOT1 at (" << x << "," << z << ")" << endl;

translationField->setSFVec3f(translation);

break;

default:

message.clear();

}

// send actuators commands; send a new message through the emitter device

if (!message.empty() && message.compare(previous_message)) {

previous_message.assign(message);

cout << "Please, " << message.c_str() << endl;

emitter->send(message.c_str(), (int)strlen(message.c_str()) + 1);

}

}

}

void Driver::displayHelp() {

string s("Commands:\n"

" 这只是一个测试^_^\n"

" I for displaying the commands\n"

" A for avoid obstacles\n"

" F for move forward\n"

" S for stop\n"

" T for turn\n"

" R for positioning ROBOT1 at (0.1,0.3)\n"

" G for knowing the (x,z) position of ROBOT1");

cout << s << endl;

}

int main() {

Driver *controller = new Driver();

controller->run();

delete controller;

return 0;

}

// Copyright 1996-2020 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// http://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

/*

* Description: This controller gives to its robot the following behavior:

* According to the messages it receives, the robot change its

* behavior.

*/

#include

#include

#include

#include

#include

#include

#include

#include

#include

#include

using namespace std;

using namespace webots;

static const double maxSpeed = 10.0;

class Slave : public Robot {

public:

Slave();

void run();

private:

enum Mode { STOP, MOVE_FORWARD, AVOID_OBSTACLES, TURN };

static double boundSpeed(double speed);

int timeStep;

Mode mode;

Receiver *receiver;

Camera *camera;

DistanceSensor *distanceSensors[2];

Motor *motors[2];

};

Slave::Slave() {

timeStep = 32;

mode = AVOID_OBSTACLES;

camera = getCamera("camera");

camera->enable(4 * timeStep);

receiver = getReceiver("receiver");

receiver->enable(timeStep);

motors[0] = getMotor("left wheel motor");

motors[1] = getMotor("right wheel motor");

motors[0]->setPosition(std::numeric_limits::infinity());

motors[1]->setPosition(std::numeric_limits::infinity());

motors[0]->setVelocity(0.0);

motors[1]->setVelocity(0.0);

string distanceSensorNames("ds0");

for (int i = 0; i < 2; i++) {

distanceSensors[i] = getDistanceSensor(distanceSensorNames);

distanceSensors[i]->enable(timeStep);

distanceSensorNames[2]++; // for getting "ds1","ds2",...

}

}

double Slave::boundSpeed(double speed) {

return std::min(maxSpeed, std::max(-maxSpeed, speed));

}

void Slave::run() {

// main loop

while (step(timeStep) != -1) {

// Read sensors, particularly the order of the supervisor

if (receiver->getQueueLength() > 0) {

string message((const char *)receiver->getData());

receiver->nextPacket();

cout << "I should " << AnsiCodes::RED_FOREGROUND << message << AnsiCodes::RESET << "!" << endl;

if (message.compare("avoid obstacles") == 0)

mode = AVOID_OBSTACLES;

else if (message.compare("move forward") == 0)

mode = MOVE_FORWARD;

else if (message.compare("stop") == 0)

mode = STOP;

else if (message.compare("turn") == 0)

mode = TURN;

}

double delta = distanceSensors[0]->getValue() - distanceSensors[1]->getValue();

double speeds[2] = {0.0, 0.0};

// send actuators commands according to the mode

switch (mode) {

case AVOID_OBSTACLES:

speeds[0] = boundSpeed(maxSpeed / 2.0 + 0.1 * delta);

speeds[1] = boundSpeed(maxSpeed / 2.0 - 0.1 * delta);

break;

case MOVE_FORWARD:

speeds[0] = maxSpeed;

speeds[1] = maxSpeed;

break;

case TURN:

speeds[0] = maxSpeed / 2.0;

speeds[1] = -maxSpeed / 2.0;

break;

default:

break;

}

motors[0]->setVelocity(speeds[0]);

motors[1]->setVelocity(speeds[1]);

}

}

int main() {

Slave *controller = new Slave();

controller->run();

delete controller;

return 0;

}

-End-

机器人 镜像服务

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