finalise

mangdangroboticsclub · Aug 23, 2024 · 872abc9 · 872abc9
1 parent 0dfa2ee
commit 872abc9
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Showing 5 changed files with 3 additions and 7 deletions.
diff --git a/mini_pupper_recognition/mini_pupper_recognition/cloud_line_following_node.py b/mini_pupper_recognition/mini_pupper_recognition/cloud_line_following_node.py
@@ -18,7 +18,6 @@
 
 import rclpy
 from rclpy.node import Node
-from std_msgs.msg import String
 from geometry_msgs.msg import Twist
 import time
 from mini_pupper_interfaces.msg import AiLineRecognitionResult

diff --git a/mini_pupper_recognition/mini_pupper_recognition/cloud_line_recognition_node.py b/mini_pupper_recognition/mini_pupper_recognition/cloud_line_recognition_node.py
@@ -26,7 +26,6 @@
 from langchain_google_vertexai import ChatVertexAI
 from langchain_core.messages import HumanMessage
 from io import BytesIO
-from std_msgs.msg import String
 from mini_pupper_interfaces.msg import AiLineRecognitionResult
 
 

diff --git a/mini_pupper_recognition/mini_pupper_recognition/line_detection_node.py b/mini_pupper_recognition/mini_pupper_recognition/line_detection_node.py
@@ -20,11 +20,11 @@
 import rclpy
 from sensor_msgs.msg import Image
 from rclpy.node import Node
-from std_msgs.msg import String
 import numpy as np
 from cv_bridge import CvBridge
 from mini_pupper_interfaces.msg import LineDetectionResult
 
+
 def detect_black_line(frame):
     # Convert frame to grayscale
     gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

diff --git a/mini_pupper_recognition/mini_pupper_recognition/normal_line_following_node.py b/mini_pupper_recognition/mini_pupper_recognition/normal_line_following_node.py
@@ -18,7 +18,6 @@
 
 import rclpy
 from rclpy.node import Node
-from std_msgs.msg import String
 from geometry_msgs.msg import Twist
 import time
 from mini_pupper_interfaces.msg import LineDetectionResult
@@ -50,7 +49,7 @@ def _vel_callback(self, msg):
             time.sleep(self.interval)
 
         velocity_cmd = Twist()
-        velocity_cmd.linear.x = 0.10 / ((abs(float(msg.linear)) + abs(msg.angular)) * 3)
+        velocity_cmd.linear.x = 0.10 / ((abs(float(msg.linear)) + abs(float(msg.angular))) * 3)
         self.vel_publisher_.publish(velocity_cmd)
         time.sleep(self.interval)
 

diff --git a/mini_pupper_recognition/mini_pupper_recognition/pid_line_following_node.py b/mini_pupper_recognition/mini_pupper_recognition/pid_line_following_node.py
@@ -18,7 +18,6 @@
 
 import rclpy
 from rclpy.node import Node
-from std_msgs.msg import String
 from geometry_msgs.msg import Twist
 import time
 from simple_pid import PID
@@ -62,7 +61,7 @@ def _vel_callback(self, msg):
             time.sleep(self.interval)
 
         velocity_cmd = Twist()
-        velocity_cmd.linear.x = 0.10 / ((abs(float(msg.linear)) + abs(msg.angular)) * 3)
+        velocity_cmd.linear.x = 0.10 / ((abs(float(msg.linear)) + abs(float(msg.angular))) * 3)
         self.vel_publisher_.publish(velocity_cmd)
         time.sleep(self.interval)