#!/usr/bin/env?python

“““
????follower.py?-?Version?1.1?2013-12-20
????
????Follow?a?“person“?by?tracking?the?nearest?object?in?x-y-z?space.
????
????based?on?the?follower?application?by?Tony?Pratkanis?at:
????
????http://ros.org/wiki/turtlebot_follower
????
????Created?for?the?Pi?Robot?Project:?http://www.pirobot.org
????Copyright?（c）?2012?Patrick?Goebel.??All?rights?reserved.

????This?program?is?free?software;?you?can?redistribute?it?and/or?modify
????it?under?the?terms?of?the?GNU?General?Public?License?as?published?by
????the?Free?Software?Foundation;?either?version?2?of?the?License?or
????（at?your?option）?any?later?version.
????
????This?program?is?distributed?in?the?hope?that?it?will?be?useful
????but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
????MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the
????GNU?General?Public?License?for?more?details?at:
????
????http://www.gnu.org/licenses/gpl.html
“““

import?rospy
from?roslib?import?message
from?sensor_msgs?import?point_cloud2
from?sensor_msgs.msg?import?PointCloud2
from?geometry_msgs.msg?import?Twist
from?math?import?copysign

class?Follower（）:
????def?__init__（self）:
????????rospy.init_node（“follower“）
????????
????????#?Set?the?shutdown?function?（stop?the?robot）
????????rospy.on_shutdown（self.shutdown）
????????
????????#?The?dimensions?（in?meters）?of?the?box?in?which?we?will?search
????????#?for?the?person?（blob）.?These?are?given?in?camera?coordinates
????????#?where?x?is?left/righty?is?up/down?and?z?is?depth?（forward/backward）
????????self.min_x?=?rospy.get_param（“~min_x“?-0.2）
????????self.max_x?=?rospy.get_param（“~max_x“?0.2）
????????self.min_y?=?rospy.get_param（“~min_y“?-0.3）
????????self.max_y?=?rospy.get_param（“~max_y“?0.5）
????????self.max_z?=?rospy.get_param（“~max_z“?1.2）
????????
????????#?The?goal?distance?（in?meters）?to?keep?between?the?robot?and?the?person
????????self.goal_z?=?rospy.get_param（“~goal_z“?0.6）
????????
????????#?How?far?away?from?the?goal?distance?（in?meters）?before?the?robot?reacts
????????self.z_threshold?=?rospy.get_param（“~z_threshold“?0.05）
????????
????????#?How?far?away?from?being?centered?（x?displacement）?on?the?person
????????#?before?the?robot?reacts
????????self.x_threshold?=?rospy.get_param（“~x_threshold“?0.05）
????????
????????#?How?much?do?we?weight?the?goal?distance?（z）?when?making?a?movement
????????self.z_scale?=?rospy.get_param（“~z_scale“?1.0）

????????#?How?much?do?we?weight?left/right?displacement?of?the?person?when?making?a?movement????????
????????self.x_scale?=?rospy.get_param（“~x_scale“?2.5）
????????
????????#?The?maximum?rotation?speed?in?radians?per?second
????????self.max_angular_speed?=?rospy.get_param（“~max_angular_speed“?2.0）
????????
????????#?The?minimum?rotation?speed?in?radians?per?second
????????self.min_angular_speed?=?rospy.get_param（“~min_angular_speed“?0.0）
????????
????????#?The?max?linear?speed?in?meters?per?second
????????self.max_linear_speed?=?rospy.get_param（“~max_linear_speed“

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????54899979??2019-07-16?11:24??ROS入門實例（中文版）.pdf
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\
?????文件?????????578??2018-02-24?21:57??rbx1-indigo-devel\README.md
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\rbx1\
?????文件?????????103??2018-02-24?21:57??rbx1-indigo-devel\rbx1\CMakeLists.txt
?????文件?????????793??2018-02-24?21:57??rbx1-indigo-devel\rbx1\package.xml
?????文件?????????809??2018-02-24?21:57??rbx1-indigo-devel\rbx1-prereq.sh
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\rbx1_apps\
?????文件?????????108??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\CMakeLists.txt
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\rbx1_apps\launch\
?????文件?????????523??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\launch\follower.launch
?????文件????????1814??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\launch\follower2.launch
?????文件????????1184??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\launch\head_tracker_app.launch
?????文件?????????677??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\launch\object_follower.launch
?????文件?????????329??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\launch\object_tracker.launch
?????文件?????????586??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\mainpage.dox
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\rbx1_apps\nodes\
?????文件????????6663??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\nodes\follower.py
?????文件????????6060??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\nodes\follower2.py
?????文件???????11946??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\nodes\object_follower.py
?????文件????????6452??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\nodes\object_tracker.py
?????文件?????????870??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\package.xml
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\rbx1_apps\src\
?????文件???????????0??2018-02-24?21:57??rbx1-indigo-devel\rbx1_apps\src\__init__.py
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\rbx1_bringup\
?????文件?????????110??2018-02-24?21:57??rbx1-indigo-devel\rbx1_bringup\CMakeLists.txt
?????目錄???????????0??2019-07-16?11:30??rbx1-indigo-devel\rbx1_bringup\config\
?????文件????????1084??2018-02-24?21:57??rbx1-indigo-devel\rbx1_bringup\config\fake_pi_arbotix.yaml
?????文件?????????374??2018-02-24?21:57??rbx1-indigo-devel\rbx1_bringup\config\fake_turtlebot_arbotix.yaml
?????文件?????????759??2018-02-24?21:57??rbx1-indigo-devel\rbx1_bringup\config\fake_turtlebot_with_head_arbotix.yaml
?????文件?????????232??2018-02-24?21:57??rbx1-indigo-devel\rbx1_bringup\config\openni_params.yaml
............此處省略270個文件信息