修改地图，中科新苑

ControllWidget.py

@@ -106,7 +106,7 @@ class ControlFrame(QFrame):
         self.wheelbasestatic.setText("轴距:")
         self.wheelbasestatic.setGeometry(260, 100, 40, 30)
         self.WheelBaseEdit = QLineEdit(self)
-        self.WheelBaseEdit.setText("3.3")
+        self.WheelBaseEdit.setText("2.78")
         self.WheelBaseEdit.setGeometry(300, 100, 50, 30)
 
         self.btnModelCheck = QCheckBox("整体协调", self)
@@ -192,8 +192,8 @@ class ControlFrame(QFrame):
                     self.endStreetQc.setCurrentText(self.targetId_)
                     self.endSpaceQc.setCurrentText("------")
 
-        if self.robot_.IsMainModeStatu():
-            self.btnAutoDirect.setCheckState(Qt.Unchecked)
+        # if self.robot_.IsMainModeStatu():
+        #     self.btnAutoDirect.setCheckState(Qt.Unchecked)
 
     def AutoCheck(self):
         if self.btnAuto.checkState()==Qt.Checked:

RobotData.py

@@ -255,15 +255,15 @@ class Robot(MqttAsync):
         limitAdjustH.min=0.03
         limitAdjustH.max=0.3
         limitInOutV.min=0.03
-        limitInOutV.max=0.5
+        limitInOutV.max=0.8
 
         actions=self.SplitPath(self.currentNavPathNodes_)
         for action in actions:
             [type,nodes]=action
             if type=="input":
                 [street,space]=nodes
-                protoSpace=self.generateProtoNode(space,[0.01,0.01,0.3*math.pi/180.0])
-                protoStreet=self.generateProtoNode(street,[0.02,0.02,1*math.pi/180.0])
+                protoSpace=self.generateProtoNode(space,[0.05,0.05,0.7*math.pi/180.0])
+                protoStreet=self.generateProtoNode(street,[0.05,0.05,1*math.pi/180.0])
                 act=message.NewAction()
                 act.type=1
                 act.spaceNode.CopyFrom(protoSpace)
@@ -275,7 +275,7 @@ class Robot(MqttAsync):
                 cmd.newActions.add().CopyFrom(act)
             if type=="output":
                 [space,street]=nodes
-                protoSpace=self.generateProtoNode(space,[0.02,0.2,0.5*math.pi/180.0])
+                protoSpace=self.generateProtoNode(space,[0.05,0.05,0.7*math.pi/180.0])
                 protoStreet=self.generateProtoNode(street,[0.05,0.05,1*math.pi/180.0])
                 act=message.NewAction()
                 act.type=2
@@ -359,11 +359,11 @@ class Robot(MqttAsync):
                     if count==size-1:
                         accuracy.x=0.02
                         accuracy.y=0.02
-                        accuracy.theta=3*math.pi/(180.0)
+                        accuracy.theta=1*math.pi/(180.0)
                     else:
                         accuracy.x=0.05
                         accuracy.y=0.1
-                        accuracy.theta=5*math.pi/180.0
+                        accuracy.theta=2*math.pi/180.0
                     count+=1
 
                     pathNode=message.PathNode()

count.json

@@ -1 +1 @@
-{"load_count": 382, "single_count": 522}
+{"load_count": 531, "single_count": 673}

map.json

@@ -1,57 +1,49 @@
 
 {
   "street_nodes":{
-    "OF":[3.3,3.5],
-    "OB":[3.3,0],
-    "N1":[6.3,3.5],
-    "NT":[10.3,1.7],
-    "NT1":[6.3,0],
-    "N2":[10.3,3.5],
-    "N3": [15.4,3.5],
-    "N4":[17.9,3.5],
-    "N5":[10.3,17.7],
-    "N6":[15.18,17.7],
-    "N7":[17.4,17.7],
-    "N8":[10.3,-0.18],
-    "N11":[18.8,3.5],
-    "CC":[10.8,22.2],
-    "CC1":[10.8,23.85],
-    "CC2":[10.8,20.55]
-    
+    "V1":[2.94,-0.42],
+    "S1":[2.94,3.58],
+    "V2": [14.07,-0.42],
+    "V3": [10.25,-0.42],
+    "V4": [5.37,-0.42],
+    "V5": [20.43,-0.42],
+    "V6": [22.78,-0.42],
+    "S4":[5.37,3.58],
+    "N1":[26.65,-0.42],
+    "H1": [26.65,11.5],
+    "H2": [26.65,16.27],
+    "N2":[33,-0.42]
   },
   
   "space_nodes":{
-    "O1":[1.65,1.7,3.1415],
-    "O":[3.3,1.7,3.1415],
-    "O2":[4.95,1.7,3.1415],
-  	"A":[15.4,8,1.57],
-    "B1":[15.18,11.35,-1.57],
-  	"B":[15.18,13,-1.57],
-    "B2":[15.18,14.65,-1.57],
-    "C1":[15.18,23.85,1.57],
-    "C":[15.18,22.2,1.57],
-    "C2":[15.18,20.55,1.57],
-    "D1":[17.4,23.85,1.57],
-    "D":[17.4,22.2,1.57],
-    "D2":[17.4,20.55,1.57],
-    "E1":[17.4,11.35,-1.57],
-    "E":[17.4,13,-1.57],
-    "E2":[17.4,14.65,-1.57]
+    "PW":[5.37,-14.34,-1.57],
+    "PWA":[5.37,-10,-1.57],
+    "I1":[34.39,16.27,0],
+    "I":[33,16.27,0],
+    "I2":[31.61,16.27,0],
+    "P1":[2.94,-7.44,-1.57],
+    "P":[2.94,-6.05,-1.57],
+    "P2":[2.94,-4.66,-1.57],
+    "PA1":[10.25,6.56,1.57],
+    "PA":[10.25,5.17,1.57],
+    "PA2":[10.25,3.78,1.57],
+    "PX1":[20.43,-7.53,1.57],
+    "PX":[20.43,-6.14,1.57],
+    "PX2":[20.43,-4.75,1.57],
+    "PY1":[22.78,-7.53,1.57],
+    "PY":[22.78,-6.14,1.57],
+    "PY2":[22.78,-4.75,1.57]
   },
   "roads":{
-    "road1":["OF","N1","N2","N3","N4","N11"],
-    "conn":["O","NT","O1","O2"],
-    "conn1":["NT1","N1"],
-    "conn2":["NT1","OB"],
-    "road2":["N8","N5","N2","NT"],
-    "road3":["N5","N6","N7"],
-    "road_A":["A","N3"],
-    "road_B":["B","N6","B1","B2"],
-    "road_C":["N6","C","C1","C2"],
-    "road_D":["D","N7","D1","D2"],
-    "road_E":["N7","E","E1","E2"],
-    "road_cc":["C","CC"],
-    "road_cc1":["C1","CC1"],
-    "road_cc2":["C2","CC2"]
+    "road1":["I1","I","I2","H2"],
+    "road2":["H1","N1","H2"],
+    "conn":["V1","V2","V3","V4","V5","V6","N1","N2"],
+    "rp":["V4","PW","PWA"],
+    "vp1":["V1","P1","P","P2"],
+    "vp2":["V3","PA1","PA","PA2"],
+    "s_conn_1":["V1","S1"],
+    "s_conn_4":["V4","S4"],
+    "s_conn_5":["V5","PX1","PX","PX2"],
+    "s_conn_5":["V6","PY1","PY","PY2"]
   }
 }