HiveCoreRD/hivecore_robot_brain
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0.5m version

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NuoDaJia02
2025-11-09 00:44:04 +08:00
parent a96384e8f3
commit 212e652d72
13 changed files with 154 additions and 22 deletions
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104
src/brain/config/bt_carry_boxes_sch1.params.yaml
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@@ -71,6 +71,48 @@
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
'
- name: s3_snapshot_top_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -55, 50, 35, -40, 95, -60]
'
- name: s3_snapshot_top_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -55, 70, 35, -40, 75, -60]
'
- name: s3_snapshot_top_action3
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -55, 50, 35, -40, 95, -60]
'
- name: s4_arm_prepare_grasp_box
params: 'body_id: 0
@@ -97,7 +139,7 @@
frame_time_stamp: 0
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
data_array: [-80, -81.8, 0, 0, -100, -80, -100, 81.8, 0, 0, 100, -100]
'
- name: s5_arm_pickup_box
@@ -111,7 +153,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -80, -70, 82, 0, 0, 100, -100]
data_array: [-110, -81.8, 0, 0, -100, -80, -70, 81.8, 0, 0, 100, -100]
'
- name: s6_wheel_move_back_to_second_position
@@ -127,7 +169,7 @@
'
- name: s8_waist_bend_down
params: 'move_pitch_degree: 38.0
params: 'move_pitch_degree: 37.0
move_yaw_degree: 0
@@ -143,7 +185,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
data_array: [-110, -81.8, 0, 0, -100, -65, -70, 81.8, 0, 0, 100, -115]
'
- name: s10_arm_release
@@ -175,7 +217,7 @@
'
- name: s11_waist_bend_up
params: 'move_pitch_degree: -38.0
params: 'move_pitch_degree: -37.0
move_yaw_degree: 0.0
@@ -247,6 +289,48 @@
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
'
- name: s15_snapshot_top_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -55, 50, 35, -40, 95, -60]
'
- name: s15_snapshot_top_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -55, 70, 35, -40, 75, -60]
'
- name: s15_snapshot_top_action3
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -55, 50, 35, -40, 95, -60]
'
- name: s16_arm_prepare_grasp_box
params: 'body_id: 0
@@ -273,7 +357,7 @@
frame_time_stamp: 0
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
data_array: [-80, -81.8, 0, 0, -100, -80, -100, 81.8, 0, 0, 100, -100]
'
- name: s17_arm_pickup_box
@@ -287,7 +371,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -80, -70, 82, 0, 0, 100, -100]
data_array: [-110, -81.8, 0, 0, -100, -80, -70, 81.8, 0, 0, 100, -100]
'
- name: s18_wheel_move_back_to_origin
@@ -303,7 +387,7 @@
'
- name: s20_waist_bend_down
params: 'move_pitch_degree: 38.0
params: 'move_pitch_degree: 37.0
move_yaw_degree: 0
@@ -319,7 +403,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
data_array: [-110, -81.8, 0, 0, -100, -65, -70, 81.8, 0, 0, 100, -115]
'
- name: s22_arm_release
@@ -351,7 +435,7 @@
'
- name: s23_waist_bend_up
params: 'move_pitch_degree: -38.0
params: 'move_pitch_degree: -37.0
move_yaw_degree: 0.0

6
src/brain/config/bt_carry_boxes_sch1.xml
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@@ -12,6 +12,9 @@
</Parallel>
<Arm_H name="s3_snapshot_action1" />
<Arm_H name="s3_snapshot_action2" />
<Arm_H name="s3_snapshot_top_action1" />
<Arm_H name="s3_snapshot_top_action2" />
<Arm_H name="s3_snapshot_top_action3" />
<Arm_H name="s4_arm_prepare_grasp_box" />
<Arm_H name="s4_arm_grasp_box" />
<Arm_H name="s5_arm_pickup_box" />
@@ -36,6 +39,9 @@
</Parallel>
<Arm_H name="s15_snapshot_action1" />
<Arm_H name="s15_snapshot_action2" />
<Arm_H name="s15_snapshot_top_action1" />
<Arm_H name="s15_snapshot_top_action2" />
<Arm_H name="s15_snapshot_top_action3" />
<Arm_H name="s16_arm_prepare_grasp_box" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />

58
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -63,7 +63,7 @@
frame_time_stamp: 0
data_array: [-105, -55, -35, 0, -100, -160, -75, 55, 35, 0, 100, -20]
data_array: [-105, -55, -35, 0, -110, -160, -75, 55, 35, 0, 110, -20]
'
- name: s4_snapshot_action2
@@ -79,6 +79,48 @@
data_array: [-112, -70, 0, 0, -80, -160, -68, 70, 0, 0, 80, -20]
'
- name: s4_snapshot_top_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -30, 60, 35, -40, 85, -60]
'
- name: s4_snapshot_top_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -30, 80, 35, -40, 65, -55]
'
- name: s4_snapshot_top_action3
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -30, 60, 35, -40, 85, -60]
'
- name: s5_arm_prepare_to_grasp
params: 'body_id: 0
@@ -105,7 +147,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
data_array: [-110, -81.8, 0, 0, -100, -65, -70, 81.8, 0, 0, 100, -115]
'
- name: s7_arm_pickup_box
@@ -119,7 +161,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
data_array: [-110, -81.8, 0, 0, -100, -65, -70, 81.8, 0, 0, 100, -115]
'
- name: s8_waist_bend_up
@@ -151,7 +193,7 @@
frame_time_stamp: 0
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
data_array: [-80, -81.8, 0, 0, -100, -80, -100, 81.8, 0, 0, 100, -100]
'
- name: s12_arm_release_box
@@ -231,7 +273,7 @@
frame_time_stamp: 0
data_array: [-105, -55, -35, 0, -100, -160, -75, 55, 35, 0, 100, -20]
data_array: [-105, -55, -35, 0, -110, -160, -75, 55, 35, 0, 110, -20]
'
- name: s15_snapshot_action2
@@ -315,7 +357,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
data_array: [-110, -81.8, 0, 0, -100, -65, -70, 81.8, 0, 0, 100, -115]
'
- name: s18_arm_pickup_box
@@ -329,7 +371,7 @@
frame_time_stamp: 0
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
data_array: [-110, -81.8, 0, 0, -100, -65, -70, 81.8, 0, 0, 100, -115]
'
- name: s19_waist_bend_up
@@ -361,7 +403,7 @@
frame_time_stamp: 0
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
data_array: [-80, -81.8, 0, 0, -100, -80, -100, 81.8, 0, 0, 100, -100]
'
- name: s23_arm_release_box

4
src/brain/config/bt_carry_boxes_sch2.xml
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@@ -15,9 +15,9 @@
</Parallel>
<Arm_H name="s4_snapshot_action1" />
<Arm_H name="s4_snapshot_action2" />
<!-- <Arm_H name="s4_snapshot_top_action1" />
<Arm_H name="s4_snapshot_top_action1" />
<Arm_H name="s4_snapshot_top_action2" />
<Arm_H name="s4_snapshot_top_action3" /> -->
<Arm_H name="s4_snapshot_top_action3" />
<Arm_H name="s5_arm_prepare_to_grasp" />
<Arm_H name="s6_arm_grasp_box" />
<Parallel name="parallel_action_3">

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src/brain/config/voice/inStart.mp3 Normal file
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src/brain/config/voice/outFinished.mp3 Normal file
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src/brain/config/voice/outScan.mp3 Normal file
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src/brain/config/voice/outStart.mp3 Normal file
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src/brain/config/voice/scaning.mp3 Normal file
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4
src/brain/src/cerebellum_node.cpp
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@@ -173,8 +173,8 @@ void CerebellumNode::ConfigureArmHooks()
}
(void)feedback;
//TODO :
RCLCPP_INFO(this->get_logger(), "[%s] command_id: %ld, current progress: %d",
skill_name.c_str(), feedback->command_id, feedback->int_lenth);
// RCLCPP_INFO(this->get_logger(), "[%s] command_id: %ld, current progress: %d",
// skill_name.c_str(), feedback->command_id, feedback->int_lenth);
};
hooks.on_result = [this](