2019-04-02

导航模块架构

航功能模块间调用.png

• 4. TraceNavigate发还给业务模块GTraceList数据结构中，GTraceList/GTraceSeg/finished 标志当前完成的情况; GTraceList/status 标志当前任务完成或者出发停障
• 7. ObstacleNavigate 发还给业务模块GTraceList数据结构中，应当更新GTraceList/GTraceSeg/finished 标示该继续从哪个GTraceSeg走；GTraceList/status标志绕障成功或失败
• 2. & 6. 中，每5s间隔更新GTraceList并发还给业务模块用于任务状态监控，GTraceList/status 等于EXECUTE_STATUS_RUNNING
• 业务模块发送的GTraceList中如果GTraceSeg为空列表，导航模块视为取消所有当前正在执行任务，发布0速度后进入idle状态

数据结构定义

• 导航任务列表

# 路径点、速度
message GTracePoint{
    required double x = 1;
    required double y = 2;
    required double angle =3;
    optional int32 speed = 4;
    optional int32 starter = 5;  # 可选 改点是否可作为起始点
}

# 前后相邻两个点组成的有向段、完成比例
message GTraceSeg {
    required GTracePoint first = 1;
    required GTracePoint second = 2;
    required double finished = 3;
}

# 有向段的列表
message GTraceList {
    enum ExecuteStatus{
        # 1/2/3都是持续性状态 4是瞬时状态
        EXECUTE_STATUS_IDLE = 1;
        EXECUTE_STATUS_RUNNING = 2;
        EXECUTE_STATUS_BLOCKED = 3;
        EXECUTE_STATUS_FINISHED = 4;
    }

    repeated GTraceSeg lists = 1;
    required bytes map = 2;
    # 下发给导航模块可以不带status，导航模块上报必须带status
    optional ExecuteStatus status  = 3;
}

• TraceNavigate模块消息

消息名	消息方向	消息定义
msg_robot_laser_data	激光采集-->TraceNavigate	NODE.subscribe<GLaserScan>("msg_robot_laser_data",CallBackNewScan);
msg_robot_global_pos	定位-->TraceNavigate	NODE.subscribe<RobotPose2D>("msg_robot_global_pos",CallBackNewRobotPos);
msg_trace_navigate_route	业务-->TraceNavigate	NODE.subscribe<GTraceList>("msg_trace_navigate_route",CallBackNavigateRoute);
msg_trace_navigate_status	TraceNavigate-->业务	NODE.advertise<GTraceList>("msg_trace_navigate_status");
msg_robot_speed_control	TraceNavigate-->底盘	NODE.advertise<GRobotSpeedControl>("msg_robot_speed_control");

• ObstacleNavigate模块消息

消息名	消息方向	消息定义
msg_robot_laser_data	激光采集-->ObstacleNavigate	NODE.subscribe<GLaserScan>("msg_robot_laser_data",CallBackNewScan);
msg_robot_global_pos	定位-->ObstacleNavigate	NODE.subscribe<RobotPose2D>("msg_robot_global_pos",CallBackNewRobotPos);
msg_obstacle_navigate_route	业务-->ObstacleNavigate	NODE.subscribe<GTraceList>("msg_obstacle_navigate_route",CallBackNavigateRoute);
msg_obstacle_navigate_status	ObstacleNavigate-->业务	NODE.advertise<GTraceList>("msg_obstacle_navigate_status");
msg_robot_speed_control	ObstacleNavigate-->底盘	NODE.advertise<GRobotSpeedControl>("msg_robot_speed_control");

附

title 导航功能模块间调用
业务节点->TraceNavigate:1.publish message<GTraceList>
note left of 业务节点:调用轨迹跟踪
TraceNavigate->TraceNavigate:2.trace loop
TraceNavigate->TraceNavigate:3.waiting 60\n seconds
note left of 业务节点:停障超时
业务节点<--TraceNavigate:4.publish message<GTraceList>::\nEXECUTE_STATUS_BLOCKED
业务节点->ObstacleNavigate:5.publish message<GTraceList>
note left of 业务节点:调用绕障导航
ObstacleNavigate->ObstacleNavigate:6.navigate Loop
业务节点<--ObstacleNavigate:7.publish message<GTraceList>::\nEXECUTE_STATUS_FINISHED
业务节点->TraceNavigate:8.publish message<GTraceList>
note left of 业务节点:恢复轨迹跟踪
TraceNavigate->TraceNavigate:9.trace loop
业务节点<--TraceNavigate:10.publish message<GTraceList>::\nEXECUTE_STATUS_FINISHED