update

Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py

@@ -40,6 +40,7 @@ class LineFollowerNode(Node):
         try:
             # Liniensensor-Daten als Liste von 1/0 verarbeiten
             self.line_sensor_data = [int(x) for x in msg.data.split(',')]
+            self.line_sensor_data.reverse()
             self.get_logger().info(f'Line sensor data: {self.line_sensor_data}')
             self.control_robot()
         except ValueError as e:
@@ -69,62 +70,41 @@ class LineFollowerNode(Node):
         # Sensoren: [rechts, mittig-rechts, mittig, mittig-links, links]
                 # Linienverfolgungslogik basierend auf den Liniensensoren
         # Sensoren: [rechts, mittig-rechts, mittig, mittig-links, links]
-        if self.line_sensor_data == [0, 0, 1, 0, 0]:
+        if self.line_sensor_data[2] == 1 and self.line_sensor_data[1] == 1 and self.line_sensor_data[3] == 1:
             # Geradeaus
-            twist.linear.x = 0.2
-            twist.angular.z = 0.0
-        elif self.line_sensor_data == [1, 0, 0, 0, 0]:
-            # Voll nach rechts
-            twist.linear.x = 0.1
-            twist.angular.z = -0.7
-        elif self.line_sensor_data == [0, 0, 0, 0, 1]:
-            # Voll nach links
-            twist.linear.x = 0.1
-            twist.angular.z = 1.0
-            
-        elif self.line_sensor_data == [1, 1, 0, 0, 0]:
-            # Medium rechts
-            twist.linear.x = 0.1
-            twist.angular.z = -1.0
-        elif self.line_sensor_data == [0, 0, 0, 1, 1]:
-            # Medium links
-            twist.linear.x = 0.1
-            twist.angular.z = 1.0
-        elif self.line_sensor_data == [0, 1, 0, 0, 0]:
-            # Linie leicht nach rechts
-            twist.linear.x = 0.1
-            twist.angular.z = -1.0
-        elif self.line_sensor_data == [0, 0, 0, 1, 0]:
-            # Linie leicht nach links
-            twist.linear.x = 0.1
-            twist.angular.z = 1.0
-        elif self.line_sensor_data == [0, 1, 1, 1, 0]:
-            # Linie breit mittig erkannt
             twist.linear.x = 0.1
             twist.angular.z = 0.0
-        elif self.line_sensor_data == [1, 1, 1, 0, 0]:
-            # Breite Linie nach rechts
-            twist.linear.x = 0.1
-            twist.angular.z = -0.2
-        elif self.line_sensor_data == [0, 0, 1, 1, 1]:
-            # Breite Linie nach links
+            self.get_logger().info('Geradeaus')
+        elif self.line_sensor_data[1] == 1:
+            # Nach links
+            twist.linear.x = 0.05
+            twist.angular.z = 0.4
+            self.get_logger().info('Leicht Links')
+        elif self.line_sensor_data[3] == 1:
+            # Nach rechts
+            twist.linear.x = 0.05
+            twist.angular.z = -0.4
+            self.get_logger().info('Leicht Rechts')
+        elif self.line_sensor_data[2] == 1:
+            # Geradeaus
             twist.linear.x = 0.1
-            twist.angular.z = 0.2
-        elif self.line_sensor_data == [1, 1, 1, 1, 1]:
-            # Komplett schwarze Linie, vermutlich Kreuzung
-            twist.linear.x = 0.0
             twist.angular.z = 0.0
+            self.get_logger().info('Geradeaus')
+        elif self.line_sensor_data[0] == 1:
+            # Voll nach links
+            twist.linear.x = 0.05
+            twist.angular.z = 0.8
+            self.get_logger().info('Hart Links')
+        elif self.line_sensor_data[4] == 1:
+            # Voll nach rechts
+            twist.linear.x = 0.05
+            twist.angular.z = -0.8
+            self.get_logger().info('Hart Rechts')
         else:
-            # Langsam weiter
+            # Linie verloren
+            self.get_logger().warn('Line verloren, fahre geradeaus')
             twist.linear.x = 0.05
             twist.angular.z = 0.0
-        # else:
-            # # Linie verloren, leichte Drehung zur Suche
-            # self.get_logger().warn('Line lost, performing search...')
-            # twist.linear.x = 0.0
-            # twist.angular.z = 0.2  # Leicht drehen, um die Linie zu suchen
-            
-
 
         # Steuerungsbefehle veröffentlichen
         self.cmd_vel_publisher.publish(twist)

Dokumentation/Navigation.md

@@ -69,7 +69,7 @@ Wir bauen auf dem ersten Szenario auf, erweitern es auf insgesamt fünf Liniense
 
 ## Einhausung Liniensensoren + Ultraschall
 
-<img src="/Bilder/sensoreinhausung.jpg" alt="Sensoreinhausung" width="600">
+<img src="/Bilder/frontal.jpg" alt="Sensoreinhausung" width="600">
 
 Ziel ist es die fünf Liniensensoren und einen Ultraschallsensor mit einem Raspberry Pi Pico auszulesen und über diesen die Messwerte per serieller USB Schnittstelle an den Raspberry Pi 4 weiterzugeben. Hierfür braucht es ein Gehäuse in welchem
 - 1x HC-SR04,
@@ -104,9 +104,13 @@ Platz finden. Dieses wird vorne an den Turtlebot angebracht. Der USB Port des Pi
 
 ## ROS2 Code
 
-<img src="/Bilder/ros_architektur.jpg" alt="Sensoren" width="800">
+<img src="/Bilder/ros_architektur.jpg" alt="ROS2 Architektur" width="800">
+
+<img src="/Bilder/algorithmus.jpg" alt="Algorithmus" width="800">
+
+Die beiden ROS2 Nodes finden sich [hier](/Code/ROS_Nodes_fuer_5_Sensoren). Die Benutzung funktioniert analog zum ersten Beispiel.
+
 
-Die beiden ROS2 Nodes finden sich [hier](/Code/ROS_Nodes_fuer_5_Sensoren).
 
 
 ![Turtlebot fährt eine Acht](/Bilder/acht.mp4)
\ No newline at end of file

Komponenten/spacer.stp

+ISO-10303-21;
+HEADER;
+/* Generated by software containing ST-Developer
+ * from STEP Tools, Inc. (www.steptools.com) 
+ */
+
+FILE_DESCRIPTION(
+/* description */ (''),
+/* implementation_level */ '2;1');
+
+FILE_NAME(
+/* name */ 'spacer.stp',
+/* time_stamp */ '2025-01-13T19:50:38+01:00',
+/* author */ ('seb'),
+/* organization */ (''),
+/* preprocessor_version */ 'ST-DEVELOPER v20',
+/* originating_system */ 'Autodesk Inventor 2025',
+/* authorisation */ '');
+
+FILE_SCHEMA (('AUTOMOTIVE_DESIGN { 1 0 10303 214 3 1 1 }'));
+ENDSEC;
+
+DATA;
+#10=MECHANICAL_DESIGN_GEOMETRIC_PRESENTATION_REPRESENTATION('',(#13),#134);
+#11=SHAPE_REPRESENTATION_RELATIONSHIP('SRR','None',#141,#12);
+#12=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#14),#133);
+#13=STYLED_ITEM('',(#150),#14);
+#14=MANIFOLD_SOLID_BREP('Volumenk\X\F6rper1',#65);
+#15=FACE_BOUND('',#26,.T.);
+#16=FACE_BOUND('',#28,.T.);
+#17=PLANE('',#94);
+#18=PLANE('',#95);
+#19=FACE_OUTER_BOUND('',#23,.T.);
+#20=FACE_OUTER_BOUND('',#24,.T.);
+#21=FACE_OUTER_BOUND('',#25,.T.);
+#22=FACE_OUTER_BOUND('',#27,.T.);
+#23=EDGE_LOOP('',(#47,#48,#49,#50));
+#24=EDGE_LOOP('',(#51,#52,#53,#54));
+#25=EDGE_LOOP('',(#55));
+#26=EDGE_LOOP('',(#56));
+#27=EDGE_LOOP('',(#57));
+#28=EDGE_LOOP('',(#58));
+#29=LINE('',#121,#31);
+#30=LINE('',#127,#32);
+#31=VECTOR('',#102,2.25);
+#32=VECTOR('',#109,3.75);
+#33=CIRCLE('',#89,2.25);
+#34=CIRCLE('',#90,2.25);
+#35=CIRCLE('',#92,3.75);
+#36=CIRCLE('',#93,3.75);
+#37=VERTEX_POINT('',#118);
+#38=VERTEX_POINT('',#120);
+#39=VERTEX_POINT('',#124);
+#40=VERTEX_POINT('',#126);
+#41=EDGE_CURVE('',#37,#37,#33,.T.);
+#42=EDGE_CURVE('',#37,#38,#29,.T.);
+#43=EDGE_CURVE('',#38,#38,#34,.T.);
+#44=EDGE_CURVE('',#39,#39,#35,.T.);
+#45=EDGE_CURVE('',#39,#40,#30,.T.);
+#46=EDGE_CURVE('',#40,#40,#36,.T.);
+#47=ORIENTED_EDGE('',*,*,#41,.F.);
+#48=ORIENTED_EDGE('',*,*,#42,.T.);
+#49=ORIENTED_EDGE('',*,*,#43,.T.);
+#50=ORIENTED_EDGE('',*,*,#42,.F.);
+#51=ORIENTED_EDGE('',*,*,#44,.F.);
+#52=ORIENTED_EDGE('',*,*,#45,.T.);
+#53=ORIENTED_EDGE('',*,*,#46,.T.);
+#54=ORIENTED_EDGE('',*,*,#45,.F.);
+#55=ORIENTED_EDGE('',*,*,#44,.T.);
+#56=ORIENTED_EDGE('',*,*,#41,.T.);
+#57=ORIENTED_EDGE('',*,*,#46,.F.);
+#58=ORIENTED_EDGE('',*,*,#43,.F.);
+#59=CYLINDRICAL_SURFACE('',#88,2.25);
+#60=CYLINDRICAL_SURFACE('',#91,3.75);
+#61=ADVANCED_FACE('',(#19),#59,.F.);
+#62=ADVANCED_FACE('',(#20),#60,.T.);
+#63=ADVANCED_FACE('',(#21,#15),#17,.T.);
+#64=ADVANCED_FACE('',(#22,#16),#18,.F.);
+#65=CLOSED_SHELL('',(#61,#62,#63,#64));
+#66=DERIVED_UNIT_ELEMENT(#69,1.);
+#67=DERIVED_UNIT_ELEMENT(#136,-3.);
+#68=DIMENSIONAL_EXPONENTS(0.,1.,0.,0.,0.,0.,0.);
+#69=(
+CONVERSION_BASED_UNIT('gram',#71)
+MASS_UNIT()
+NAMED_UNIT(#68)
+);
+#70=(
+MASS_UNIT()
+NAMED_UNIT(*)
+SI_UNIT(.KILO.,.GRAM.)
+);
+#71=MASS_MEASURE_WITH_UNIT(MASS_MEASURE(0.001),#70);
+#72=DERIVED_UNIT((#66,#67));
+#73=MEASURE_REPRESENTATION_ITEM('density measure',
+POSITIVE_RATIO_MEASURE(1.),#72);
+#74=PROPERTY_DEFINITION_REPRESENTATION(#79,#76);
+#75=PROPERTY_DEFINITION_REPRESENTATION(#80,#77);
+#76=REPRESENTATION('material name',(#78),#133);
+#77=REPRESENTATION('density',(#73),#133);
+#78=DESCRIPTIVE_REPRESENTATION_ITEM('Generisch','Generisch');
+#79=PROPERTY_DEFINITION('material property','material name',#143);
+#80=PROPERTY_DEFINITION('material property','density of part',#143);
+#81=DATE_TIME_ROLE('creation_date');
+#82=APPLIED_DATE_AND_TIME_ASSIGNMENT(#83,#81,(#143));
+#83=DATE_AND_TIME(#84,#85);
+#84=CALENDAR_DATE(2025,7,1);
+#85=LOCAL_TIME(0,0,0.,#86);
+#86=COORDINATED_UNIVERSAL_TIME_OFFSET(0,0,.BEHIND.);
+#87=AXIS2_PLACEMENT_3D('',#116,#96,#97);
+#88=AXIS2_PLACEMENT_3D('',#117,#98,#99);
+#89=AXIS2_PLACEMENT_3D('',#119,#100,#101);
+#90=AXIS2_PLACEMENT_3D('',#122,#103,#104);
+#91=AXIS2_PLACEMENT_3D('',#123,#105,#106);
+#92=AXIS2_PLACEMENT_3D('',#125,#107,#108);
+#93=AXIS2_PLACEMENT_3D('',#128,#110,#111);
+#94=AXIS2_PLACEMENT_3D('',#129,#112,#113);
+#95=AXIS2_PLACEMENT_3D('',#130,#114,#115);
+#96=DIRECTION('axis',(0.,0.,1.));
+#97=DIRECTION('refdir',(1.,0.,0.));
+#98=DIRECTION('center_axis',(0.,0.,1.));
+#99=DIRECTION('ref_axis',(-1.,0.,0.));
+#100=DIRECTION('center_axis',(0.,0.,-1.));
+#101=DIRECTION('ref_axis',(-1.,0.,0.));
+#102=DIRECTION('',(0.,0.,-1.));
+#103=DIRECTION('center_axis',(0.,0.,-1.));
+#104=DIRECTION('ref_axis',(-1.,0.,0.));
+#105=DIRECTION('center_axis',(0.,0.,1.));
+#106=DIRECTION('ref_axis',(1.,0.,0.));
+#107=DIRECTION('center_axis',(0.,0.,1.));
+#108=DIRECTION('ref_axis',(1.,0.,0.));
+#109=DIRECTION('',(0.,0.,-1.));
+#110=DIRECTION('center_axis',(0.,0.,1.));
+#111=DIRECTION('ref_axis',(1.,0.,0.));
+#112=DIRECTION('center_axis',(0.,0.,1.));
+#113=DIRECTION('ref_axis',(1.,0.,0.));
+#114=DIRECTION('center_axis',(0.,0.,1.));
+#115=DIRECTION('ref_axis',(1.,0.,0.));
+#116=CARTESIAN_POINT('',(0.,0.,0.));
+#117=CARTESIAN_POINT('Origin',(0.,0.,0.));
+#118=CARTESIAN_POINT('',(2.25,2.75545529808154E-16,10.));
+#119=CARTESIAN_POINT('Origin',(0.,0.,10.));
+#120=CARTESIAN_POINT('',(2.25,2.75545529808154E-16,0.));
+#121=CARTESIAN_POINT('',(2.25,2.75545529808154E-16,0.));
+#122=CARTESIAN_POINT('Origin',(0.,0.,0.));
+#123=CARTESIAN_POINT('Origin',(0.,0.,0.));
+#124=CARTESIAN_POINT('',(-3.75,-4.59242549680257E-16,10.));
+#125=CARTESIAN_POINT('Origin',(0.,0.,10.));
+#126=CARTESIAN_POINT('',(-3.75,-4.59242549680257E-16,0.));
+#127=CARTESIAN_POINT('',(-3.75,-4.59242549680257E-16,0.));
+#128=CARTESIAN_POINT('Origin',(0.,0.,0.));
+#129=CARTESIAN_POINT('Origin',(0.,0.,10.));
+#130=CARTESIAN_POINT('Origin',(0.,0.,0.));
+#131=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#135,
+'DISTANCE_ACCURACY_VALUE',
+'Maximum model space distance between geometric entities at asserted c
+onnectivities');
+#132=UNCERTAINTY_MEASURE_WITH_UNIT(LENGTH_MEASURE(0.01),#135,
+'DISTANCE_ACCURACY_VALUE',
+'Maximum model space distance between geometric entities at asserted c
+onnectivities');
+#133=(
+GEOMETRIC_REPRESENTATION_CONTEXT(3)
+GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#131))
+GLOBAL_UNIT_ASSIGNED_CONTEXT((#135,#137,#138))
+REPRESENTATION_CONTEXT('','3D')
+);
+#134=(
+GEOMETRIC_REPRESENTATION_CONTEXT(3)
+GLOBAL_UNCERTAINTY_ASSIGNED_CONTEXT((#132))
+GLOBAL_UNIT_ASSIGNED_CONTEXT((#135,#137,#138))
+REPRESENTATION_CONTEXT('','3D')
+);
+#135=(
+LENGTH_UNIT()
+NAMED_UNIT(*)
+SI_UNIT(.MILLI.,.METRE.)
+);
+#136=(
+LENGTH_UNIT()
+NAMED_UNIT(*)
+SI_UNIT(.CENTI.,.METRE.)
+);
+#137=(
+NAMED_UNIT(*)
+PLANE_ANGLE_UNIT()
+SI_UNIT($,.RADIAN.)
+);
+#138=(
+NAMED_UNIT(*)
+SI_UNIT($,.STERADIAN.)
+SOLID_ANGLE_UNIT()
+);
+#139=SHAPE_DEFINITION_REPRESENTATION(#140,#141);
+#140=PRODUCT_DEFINITION_SHAPE('',$,#143);
+#141=SHAPE_REPRESENTATION('',(#87),#133);
+#142=PRODUCT_DEFINITION_CONTEXT('part definition',#147,'design');
+#143=PRODUCT_DEFINITION('spacer','spacer',#144,#142);
+#144=PRODUCT_DEFINITION_FORMATION('',$,#149);
+#145=PRODUCT_RELATED_PRODUCT_CATEGORY('spacer','spacer',(#149));
+#146=APPLICATION_PROTOCOL_DEFINITION('international standard',
+'automotive_design',2009,#147);
+#147=APPLICATION_CONTEXT(
+'Core Data for Automotive Mechanical Design Process');
+#148=PRODUCT_CONTEXT('part definition',#147,'mechanical');
+#149=PRODUCT('spacer','spacer',$,(#148));
+#150=PRESENTATION_STYLE_ASSIGNMENT((#151));
+#151=SURFACE_STYLE_USAGE(.BOTH.,#154);
+#152=SURFACE_STYLE_RENDERING_WITH_PROPERTIES($,#158,(#153));
+#153=SURFACE_STYLE_TRANSPARENT(0.);
+#154=SURFACE_SIDE_STYLE('',(#155,#152));
+#155=SURFACE_STYLE_FILL_AREA(#156);
+#156=FILL_AREA_STYLE('',(#157));
+#157=FILL_AREA_STYLE_COLOUR('',#158);
+#158=COLOUR_RGB('',0.749019607843137,0.749019607843137,0.749019607843137);
+ENDSEC;
+END-ISO-10303-21;

README.md

 <img src="/Bilder/igmr.png" alt="IGMR" width="500">
 
 # Navigation mit dem Turtlebot 4
-*Eine Projektarbeit von Julian Kühne und Sebastian Matz betreut durch Sophie Charlotte Keunecke am IGMR der RWTH*
+*Eine Projektarbeit von Julian Kühne und Sebastian Matz betreut von Sophie Charlotte Keunecke am IGMR der RWTH*
 
 <img src="/Bilder/seitlich.jpg" alt="Turtlebot" width="800">