face_object_tracker

1，本次尝试也只会在/cmd_val话题中的z方向上有数据，所以机器人只能左右转。

2.其次就是运行你自己的机器人框架，实质上机器人需要订阅/cmd_val话题下的数据。通过串口下发给终端控制器解析后相应的移动机器人。

以下代码是我的机器人平台的tf_broadcaster_node.cpp节点，在此仅做参考：

#include <ros/ros.h>#include <sensor_msgs/JointState.h>#include <tf/transform_broadcaster.h>#include <nav_msgs/Odometry.h>#include <iostream>#include <iomanip>#include <boost/asio.hpp>#include <boost/bind.hpp>#include <math.h>#include "string.h" using namespace std;using namespace boost::asio; double x = 0.0;double y = 0.0;double th = 0.0;double vx = 0.0;double vy = 0.0;double vth = 0.0;double dt = 0.0;//Defines the packet protocol for communication between upper and lower computers#pragma pack(1) typedef union _Upload_speed_   {    unsigned char buffer[16];    struct _Speed_data_    {        float Header;        float X_speed;        float Y_speed;        float Z_speed;    }Upload_Speed;}Struct_Union;#pragma pack(4) //Initializes the protocol packet dataStruct_Union Reciver_data        = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};  Struct_Union Transmission_data   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};    //Defines the message type to be transmitted geometry_msgsgeometry_msgs::Quaternion odom_quat; void cmd_velCallback(const geometry_msgs::Twist &twist_aux){    geometry_msgs::Twist twist = twist_aux;        Transmission_data.Upload_Speed.Header = 15.5;    Transmission_data.Upload_Speed.X_speed = twist_aux.linear.x;    Transmission_data.Upload_Speed.Y_speed = twist_aux.linear.y;    Transmission_data.Upload_Speed.Z_speed = twist_aux.angular.z;}int main(int argc, char** argv){    unsigned char check_buf[1];    std::string usart_port,robot_frame_id,smoother_cmd_vel;    int baud_data;    float p,i,d;        ros::init(argc, argv, "base_controller");    ros::NodeHandle n;    ros::Time current_time, last_time;        //Gets the parameters in the launch file    ros::NodeHandle nh_private("~");    nh_private.param<std::string>("usart_port", usart_port, "/dev/ttyUSB0");     nh_private.param<int>("baud_data", baud_data, 115200);     nh_private.param<std::string>("robot_frame_id", robot_frame_id, "base_link");    nh_private.param<std::string>("smoother_cmd_vel", smoother_cmd_vel, "/cmd_vel");            //Create a boot node for the underlying driver layer of the robot base_controller    ros::Subscriber cmd_vel_sub = n.subscribe(smoother_cmd_vel, 50, cmd_velCallback);    ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);    tf::TransformBroadcaster odom_broadcaster;        //Initializes the data related to the boost serial port    io_service iosev;    serial_port sp(iosev, usart_port);    sp.set_option(serial_port::baud_rate(baud_data));    sp.set_option(serial_port::flow_control(serial_port::flow_control::none));    sp.set_option(serial_port::parity(serial_port::parity::none));    sp.set_option(serial_port::stop_bits(serial_port::stop_bits::one));    sp.set_option(serial_port::character_size(8));        while(ros::ok())    {        ros::spinOnce();         //Gets the cycle of two time slice rotations. The purpose is to calculate the odom message data        current_time = ros::Time::now();        dt = (current_time - last_time).toSec();        last_time = ros::Time::now();                      //Read the data from the lower computer        read(sp, buffer(Reciver_data.buffer));        if(Reciver_data.Upload_Speed.Header > 15.4 && Reciver_data.Upload_Speed.Header < 15.6)        {                vx  = Reciver_data.Upload_Speed.X_speed;                vy  = Reciver_data.Upload_Speed.Y_speed;                vth = Reciver_data.Upload_Speed.Z_speed;                //ROS_INFO("%2f    %2f    %2f",vx,vy,vth);        }        else        {              //ROS_INFO("------Please wait while the robot is connected!-----");            read(sp, buffer(check_buf));        }        //Send the next bit machine under the cmd_val topic to monitor the speed information        write(sp, buffer(Transmission_data.buffer,16));        //Calculate odometer data        double delta_x = (vx * cos(th) - vy * sin(th)) * dt;        double delta_y = (vx * sin(th) + vy * cos(th)) * dt;        double delta_th = vth * dt;        x += delta_x;        y += delta_y;        th += delta_th;                 geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);                 geometry_msgs::TransformStamped odom_trans;        odom_trans.header.stamp = current_time;        odom_trans.header.frame_id = "odom";        odom_trans.child_frame_id = robot_frame_id;         odom_trans.transform.translation.x = x;        odom_trans.transform.translation.y = y;        odom_trans.transform.translation.z = 0.0;        odom_trans.transform.rotation = odom_quat;                 odom_broadcaster.sendTransform(odom_trans);                 nav_msgs::Odometry odom;        odom.header.stamp = current_time;        odom.header.frame_id = "odom";                 odom.pose.pose.position.x = x;        odom.pose.pose.position.y = y;        odom.pose.pose.position.z = 0.0;        odom.pose.pose.orientation = odom_quat;                  odom.child_frame_id = robot_frame_id;        odom.twist.twist.linear.x = vx;        odom.twist.twist.linear.y = vy;        odom.twist.twist.angular.z = vth;        //Release odometer data between odom-> base_link         odom_pub.publish(odom);    }    iosev.run();}

运行机器人平台节点：

rosrun odom_tf_package tf_broadcaster_node
若运行不成功，报错：
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::
error_info_injector<boost::system::system_error> >'
 what():  open: NO such file or directAborted (core dumped)应该是找不到串口，可能原因是串口minicom没有安装，程序里面or软件驱动or硬件串口号选择不对

若运行不成功，报错：
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::
error_info_injector<boost::system::system_error> >'
 what():  open: Permission deniedAborted (core dumped)
好像是权限不够
使用root用户或sudo chmod 666 /dev/ttyUSB0 或者 sudo chmod a+rw /dev/ttyUSB0

3.运行kinect图像采集：

 roslaunch freenect_launch freenect.launch

4.运行脸部跟踪器。

roslaunch rbx1_vision face_tracker2.launch

5.运行物体跟踪节点

roslaunch rbx1_apps object_tracker.launch

当然此时你可以查看/cmd_vel话题下的数据。

rostopic echo /cmd_vel

6.以下是我的测试结果：

 显示angular_z数据的终端是我监听的机器人编码器结算的速度信息，当然你的机器人也在做跟踪的效果。