rosbridge_udp.launch

roslaunch px4 mavros_posix_sitl.launch 执行这个报错pckage px4 not found

连接主机 ws://192.168.31.42:9090. Traceback (most recent call last): File "C:\Users\Z\Desktop\20smart car\number environment\src\bridge_client.py", line 435, in <module> rosbridge2OriginCar = RosBridge2OriginCar( ^^^^^^^^^^^^^^^^^^^^ File "C:\Users\Z\Desktop\20smart car\number environment\src\bridge_client.py", line 37, in __init__ self.init() File "C:\Users\Z\Desktop\20smart car\number environment\src\bridge_client.py", line 46, in init self.check_host() File "C:\Users\Z\Desktop\20smart car\number environment\src\bridge_client.py", line 140, in check_host self.ros = Ros(host=self.host, port=self.port) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\yolo\Anaconda\Lib\site-packages\roslibpy\ros.py", line 39, in __init__ url = RosBridgeClientFactory.create_url(host, port, is_secure) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\yolo\Anaconda\Lib\site-packages\roslibpy\comm\comm_autobahn.py", line 122, in create_url url = host if port is None else create_url(host, port, is_secure) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\yolo\Anaconda\Lib\site-packages\autobahn\websocket\util.py", line 84, in create_url assert port is None or (type(port) == int and port in range(0, 65535)) ^^^^^^^^^^^^^^^^^^^^^^^ AssertionError

#!/usr/bin/env python3 # -*- coding: utf-8 -*- import rospy import actionlib import cv2 import pytesseract from std_msgs.msg import String from geometry_msgs.msg import PoseStamped from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal from sensor_msgs.msg import Image from cv_bridge import CvBridge from my_control.msg import simulation,simulation_result # 自定义消息 class SimulationNode: def __init__(self): rospy.init_node('simulation_node') # 初始化参数 self.target_class = None self.current_room = None self.room_results = {} # 存储房间检测结果 # 房间坐标映射 (根据实际仿真环境配置) self.room_coordinates = { 'A': (1.0, 2.0, 0.0, 1.0), 'B': (3.0, 4.0, 0.0, 1.0), 'C': (5.0, 6.0, 0.0, 1.0) } # ROS通信设置 self.qr_sub = rospy.Subscriber('/qr_result', String, self.qr_callback) self.image_sub = rospy.Subscriber('/camera/image_raw', Image, self.image_callback) self.result_pub = rospy.Publisher('/simulation_result', SimulationResult, queue_size=10) # 导航客户端 self.move_base_client = actionlib.SimpleActionClient('move_base', MoveBaseAction) rospy.loginfo("等待move_base服务器...") self.move_base_client.wait_for_server() rospy.loginfo("已连接move_base服务器") # 图像处理工具 self.bridge = CvBridge() rospy.loginfo("仿真节点已启动，等待二维码识别结果...") def qr_callback(self, msg): """处理二维码识别结果""" rospy.loginfo(f"收到二维码结果: {msg.data}") # 验证并存储目标类别 valid_classes = ['fruit', 'vegetable', 'dessert'] if msg.data.lower() in valid_classes: self.target_class = msg.data.lower() rospy.loginfo(f"开始搜索: {self.target_class}") self.search_rooms() else: rospy.logwarn(f"无效的类别: {msg.data}") def search_rooms(self): """按顺序搜索房间""" rooms = ['A', 'B', 'C'] for room in rooms: rospy.loginfo(f"导航到房间 {room}") self.current_room = room self.navigate_to_room(room) # 等待到达并检测 rospy.sleep(2) # 实际应用中应使用导航状态回调 rospy.loginfo(f"在房间 {room} 检测标定板...") rospy.sleep(3) # 给检测留出时间 # 所有房间检测完成后发布结果 self.publish_final_result() def navigate_to_room(self, room_id): """导航到指定房间""" if room_id not in self.room_coordinates: rospy.logerr(f"无效的房间ID: {room_id}") return x, y, z, w = self.room_coordinates[room_id] goal = MoveBaseGoal() goal.target_pose.header.frame_id = "map" goal.target_pose.header.stamp = rospy.Time.now() goal.target_pose.pose.position.x = x goal.target_pose.pose.position.y = y goal.target_pose.pose.orientation.w = w self.move_base_client.send_goal(goal) self.move_base_client.wait_for_result() def image_callback(self, msg): """处理摄像头图像""" if not self.target_class or not self.current_room: return try: cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8") detected_class = self.detect_calibration_board(cv_image) if detected_class == self.target_class: rospy.loginfo(f"在房间 {self.current_room} 检测到目标: {detected_class}") self.room_results[self.current_room] = detected_class except Exception as e: rospy.logerr(f"图像处理错误: {str(e)}") def detect_calibration_board(self, image): """检测标定板上的文字类别""" # 图像预处理 gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY) _, thresh = cv2.threshold(gray, 150, 255, cv2.THRESH_BINARY) # 使用OCR识别文字 text = pytesseract.image_to_string(thresh).strip().lower() # 返回识别到的类别 valid_classes = ['fruit', 'vegetable', 'dessert'] for cls in valid_classes: if cls in text: return cls return "unknown" def publish_final_result(self): """发布最终检测结果""" result_msg = SimulationResult() # 查找包含目标的房间 target_room = "N/A" for room, cls in self.room_results.items(): if cls == self.target_class: target_room = room break result_msg.room = target_room result_msg.myclass = self.target_class self.result_pub.publish(result_msg) rospy.loginfo(f"发布结果: 房间 {target_room}, 类别 {self.target_class}") # 重置状态 self.target_class = None self.current_room = None self.room_results = {} if __name__ == '__main__': try: node = SimulationNode() rospy.spin() except rospy.ROSInterruptException: pass 根据rosbridge通信要求，再写一遍这个代码