基于ROS和安卓手机的IMU参数的通信软件

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标签（空格分隔）： rosjava android手机 IMU

前提是成功安装好ROS和android studio，并且能够成功运行android_core中实例。

本文采用的是在别人建好的app中新建一个ros android app,简单快速度的一种方法。

1、下载相关的app
注意要和你安装的ROS版本对应，我采用的是indigo版本。
https://github.com/rosjava/android_apps/tree/indigo

2、导入android_apps
在android studio 中导入下载好的android_apps,在弹出的是否更新build.gradle窗口选择【cancle】，选择其中一个moudle进行编译运行，成功后就可以新建自己需要的app

3、新建app
在android_core中新建moudle,最小api设置为10，选择empty Activity 的moudle。
(1) 将MainActivity继承RosActivity,点击RosActivity后使用【alt+enter】添加RosActivity的依赖库，接着导入包import org.ros.android.RosActivity;
(2) 重写init方法和一个结构体。先编写 rosjava发布者ImuPublisher,新建一个ImuPublisher.class类，具体代码如下：

public class ImuPublisher implements NodeMain {    private ImuThread imuThread;    private SensorListener sensorListener;    private SensorManager sensorManager;    private Publisher<Imu> publisher;    public ImuPublisher(SensorManager msensorManager) {        this.sensorManager = msensorManager;    }    @Override    public GraphName getDefaultNodeName() {        return GraphName.of("android_sensors_driver/imuPublisher");    }    public interface NodeMain extends NodeListener {        GraphName getDefaultNodeName();    }    @Override    public void onStart(ConnectedNode connectedNode) {        try        {            //主题为"android/imu"    消息类型为 "sensor_msgs/Imu" ,是标准类型的消息            this.publisher = connectedNode.newPublisher("android/imu","sensor_msgs/Imu");            int i = this.sensorManager.getSensorList(1).size();            boolean hasAccel = false;            if (i > 0)                hasAccel = true;            int j = this.sensorManager.getSensorList(4).size();            boolean hasGyro = false;            if (j > 0)                hasGyro = true;            int k = this.sensorManager.getSensorList(11).size();            boolean hasQuat = false;            if (k > 0)                hasQuat = true;            this.sensorListener = new SensorListener(publisher, hasAccel, hasGyro, hasQuat);            this.imuThread = new ImuThread(this.sensorManager, sensorListener);            this.imuThread.start();        }catch (Exception e){            if(connectedNode != null)            {                connectedNode.getLog().fatal(e);            }else            {                e.printStackTrace();            }        }    }    @Override    public void onShutdown(Node node) {        this.imuThread.shutdown();        try        {            this.imuThread.join();            return;        }        catch (InterruptedException localInterruptedException)        {            localInterruptedException.printStackTrace();        }    }    @Override    public void onShutdownComplete(Node node) {    }    @Override    public void onError(Node node, Throwable throwable) {    }    /**     * run(){}注册传感器监听事件     * shutdown(){}注销传感器监听事件     */    private class ImuThread extends Thread{        private final SensorManager sensorManager;        private ImuPublisher.SensorListener sensorListener;        private Looper threadLooper;        private final Sensor accelSensor;        private final Sensor gyroSensor;        private final Sensor quatSensor;        private ImuThread(SensorManager sensorManager,ImuPublisher.SensorListener sensorListener){            this.sensorManager = sensorManager;            this.sensorListener = sensorListener;            this.accelSensor =this.sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);//加速度(重力)传感器：            this.gyroSensor =this.sensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);            this.quatSensor =this.sensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);        }        @Override        public void run() {            Looper.prepare();            this.threadLooper =Looper.myLooper();            this.sensorManager.registerListener(this.sensorListener,this.accelSensor,SensorManager.SENSOR_DELAY_UI);            this.sensorManager.registerListener(this.sensorListener,this.gyroSensor,SensorManager.SENSOR_DELAY_UI);            this.sensorManager.registerListener(this.sensorListener,this.quatSensor,SensorManager.SENSOR_DELAY_UI);            Looper.loop();        }        public void shutdown()        {            this.sensorManager.unregisterListener(this.sensorListener);            if(this.threadLooper !=null)            {                this.threadLooper.quit();            }        }    }    /**     * 传感器事件监听     * onAccuracyChanged(){}传感器精度发生变化进行监听     * onSensorChanged(){}传感器数据发生变化进行监听     */    static class SensorListener implements SensorEventListener {        private  long count = 0;        private  Publisher<Imu> publisher;        private long accelTime;        private long gyroTime;        private long quatTime;        private boolean hasAccel;        private boolean hasGyro;        private boolean hasQuat;        private Imu imu;        private SensorListener(Publisher<Imu> publisher,boolean hasAccel,boolean hasGyro,boolean hasQuat){            this.publisher = publisher;            this.hasAccel = hasAccel;            this.hasGyro = hasGyro;            this.hasQuat = hasQuat;            this.imu =this.publisher.newMessage();        }        @Override        public void onAccuracyChanged(Sensor sensor, int accuracy) {        }        @Override        public void onSensorChanged(SensorEvent event) {            count ++;            float[] values = event.values;            StringBuilder sb = new StringBuilder();            sb.append("\n传感器取值频率为:\n");            sb.append(1000 / ((System.currentTimeMillis() - MainActivity.start_time) / count));            Bundle b = new Bundle();            b.putString("result", sb.toString());            Message msg = new Message();            msg.setData(b);            MainActivity.handler.sendMessage(msg);            //加速度            this.imu.getLinearAcceleration().setX(event.values[0]);            this.imu.getLinearAcceleration().setY(event.values[1]);            this.imu.getLinearAcceleration().setZ(event.values[2]);            double[] tmpCov1 = { 0.01D, 0.0D, 0.0D, 0.0D, 0.01D, 0.0D, 0.0D, 0.0D, 0.01D };            this.imu.setLinearAccelerationCovariance(tmpCov1);            this.accelTime = event.timestamp;            //角速度            this.imu.getAngularVelocity().setX(event.values[0]);            this.imu.getAngularVelocity().setY(event.values[1]);            this.imu.getAngularVelocity().setZ(event.values[2]);            double[] tmpCov2 ={0.0025,0,0,0,0.0025,0,0,0,0.0025};// TODO Make Parameter            this.imu.setAngularVelocityCovariance(tmpCov2);            this.gyroTime = event.timestamp;            //方向            float[] quaternion = new float[4];            SensorManager.getQuaternionFromVector(quaternion, event.values);            this.imu.getOrientation().setW(quaternion[0]);            this.imu.getOrientation().setX(quaternion[1]);            this.imu.getOrientation().setY(quaternion[2]);            this.imu.getOrientation().setZ(quaternion[3]);            double[] tmpCov3 ={0.001,0,0,0,0.001,0,0,0,0.001};// TODO Make Parameter            this.imu.setOrientationCovariance(tmpCov3);            this.quatTime = event.timestamp;            //求取获取传感器参数的频率            long time_delta_millis =System.currentTimeMillis()- SystemClock.uptimeMillis();            this.imu.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));            this.imu.getHeader().setFrameId("/imu");// TODO Make parameter            //前面组装消息    后面发布消息            publisher.publish(this.imu);            // Create a new message ，清空了this.imu            this.imu =this.publisher.newMessage();            this.accelTime =0L;            this.gyroTime =0L;            this.quatTime =0L;        }    }}

(3)编写MainActivity.class,见如下代码：

public class MainActivity extends RosActivity {    private ImuPublisher imu_pub;    private SensorManager msensorManager;    private EditText et;    public static Handler handler;    public static long start_time;    public MainActivity() {        super("android_sensors_driver", "android_sensors_driver");    }    @Override    protected void onCreate(Bundle savedInstanceState) {        super.onCreate(savedInstanceState);        requestWindowFeature(Window.FEATURE_NO_TITLE);        getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);        setContentView(R.layout.activity_main);        start_time = System.currentTimeMillis();        et = (EditText)findViewById(R.id.et);        //获取系统的传感器管理服务        msensorManager = (SensorManager) this.getSystemService(SENSOR_SERVICE);        handler = new Handler(){            @Override            public void handleMessage(Message msg) {                Bundle bundle = msg.getData();                txt1.setText(bundle.get("result").toString());                super.handleMessage(msg);            }        };    }    @Override    protected void onResume() {        super.onResume();    }    //是从父类继承过来的，父类再启动中会startServic    @Override    protected void init(final NodeMainExecutor nodeMainExecutor) {        NodeConfiguration nodeConfiguration1 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());        nodeConfiguration1.setMasterUri(getMasterUri());        nodeConfiguration1.setNodeName("android_sensors_driver");        this.imu_pub = new ImuPublisher(msensorManager);        nodeMainExecutor.execute(this.imu_pub,nodeConfiguration1);    }    @Override    public boolean onTouchEvent(MotionEvent event) {        return true;    }}

(4)android studio 的布局文件如下:

<?xml version="1.0" encoding="utf-8"?><RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"    xmlns:tools="http://schemas.android.com/tools" android:id="@+id/activity_main"    android:layout_width="match_parent" android:layout_height="match_parent"    android:paddingBottom="@dimen/activity_vertical_margin"    android:paddingLeft="@dimen/activity_horizontal_margin"    android:paddingRight="@dimen/activity_horizontal_margin"    android:paddingTop="@dimen/activity_vertical_margin"    tools:context="com.example.betty.app.MainActivity">    <EditText        android:id="@+id/et"        android:layout_width="wrap_content"        android:layout_height="wrap_content"        android:layout_centerHorizontal="true"        android:layout_centerVertical="true"        android:hint="test"        android:text="hello_world"        tools:context=".MainActivity" /></RelativeLayout>

(5) 功能清单文件如下：AndroidManifest.xml
“`

rostopic echo [ /android/imu]

在终端会显示加速度、角速度、方向的三个传感器参数。
至此，ROS和安卓手机的IMU参数的通信完成

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