添加IMU传感器
在webots中 InertialUnit 只对外提供pitch、roll、yaw三个角度，如需要加速度、陀螺仪和磁力计的数据还需要添加 Accelerometer、Gyro 和 Compass 组件。这几个传感器添加实体的方式基本相同，只有数据读取的接口差别较大，其次要注意 InertialUnit 输出的姿态角度（单位是 rad）Accelerometer 输出的加速度值（单位是 m/s^2）、Gyro 输出的是车体旋转速度（单位是单位是 rad/s ）。
1. 添加姿态测量传感器 InertialUnit
1.1添加 InertialUnit实体
step1: 在Robot中添加 InertialUnit（IMU传感器）
step2: 设置这个InertialUnit传感器的children中添加shape节点，并设置外观和形状。设置半径 0.015 高度0.01 ，偏移量为（x=0,y=0.02,z=0）
step3: 设置IMU传感器的名称（这个在控制器中会用到）
注意：添加IMU的过程中不设置boundingObject属性和 physics属性。
1.2 添加InertialUnit读取代码
初始化代码段：
#include <webots/InertialUnit.hpp> //头文件
InertialUnit *imu;
imu== robot->getInertialUnit("imu");
imu->enable(TIME_STEP);
IMU角度数据读取代码段：（单位是 弧度/rad）
std::cout<< "IMU roll: " <<imu->getRollPitchYaw()[0]<< " pitch: " <<imu->getRollPitchYaw()[1]
<< " yaw: " <<imu->getRollPitchYaw()[2] <<std::endl;
2 添加陀螺仪 Gyro
2.1 添加 Gyro 实体
添加陀螺仪 Gyro 实体的步骤与添加 InertialUnit 实体的操作方式一样，只需要把 step1: 中选中Gyro 实体，后续的操作与 step2 和 step3 一样。
2.2 添加 Gyro 读取代码
初始化代码段：
Gyro *gyro;
gyro=robot->getGyro("gyro");
gyro->enable(TIME_STEP);
陀螺仪数据读取代码段：（单位是 rad/s）
std::cout<< "Gyro X: " <<gyro->getValues()[0]
<< " Y: " <<gyro->getValues()[1]<< " Z: " <<gyro->getValues()[2] <<std::endl;
3 添加加速度计 Accelerometer
3.1 添加 Accelerometer实体
添加陀螺仪 Gyro 实体的步骤与添加 InertialUnit 实体的操作方式一样，只需要把 step1: 中选中Gyro 实体，后续的操作与 step2 和 step3 一样。
3.2 添加 Accelerometer 读取代码
初始化代码段：
Gyro *gyro;
gyro=robot->getGyro("gyro");
gyro->enable(TIME_STEP);
加速度数据读取代码段：（单位是 m/s^2）
std::cout<< "Gyro X: " <<gyro->getValues()[0]
<< " Y: " <<gyro->getValues()[1]<< " Z: " <<gyro->getValues()[2] <<std::endl;
4 添加磁力计 Compass
4.1 添加 Compass 实体
添加陀螺仪 Gyro 实体的步骤与添加 InertialUnit 实体的操作方式一样，只需要把 step1: 中选中Gyro 实体，后续的操作与 step2 和 step3 一样。
4.2 添加 Compass 读取代码
初始化代码段：
Compass *compass;
compass=robot->getCompass("compass");
compass->enable(TIME_STEP);
加速度数据读取代码段：
std::cout<< "Compass X: " <<compass->getValues()[0]
<< " Y: " <<compass->getValues()[1]<< " Z: " <<compass->getValues()[2] <<std::endl;
5. 测试效果
完整的控制器代码如下：
#include <webots/Robot.hpp>
#include <webots/GPS.hpp>
#include <webots/DistanceSensor.hpp>
#include <webots/Motor.hpp>
#include <webots/Keyboard.hpp>
#include <webots/InertialUnit.hpp>
#include <webots/Gyro.hpp>
#include <webots/Accelerometer.hpp>
#include <webots/Compass.hpp>
#include <stdio.h>
#define TIME_STEP 64
// All the webots classes are defined in the "webots" namespace
using namespace webots;
int main(int argc, char **argv) {
// create the Robot instance.
Robot *robot = new Robot();
Keyboard kb;
kb.enable(TIME_STEP);
DistanceSensor *ds[2];
char dsNames[2][10] = {
"ds_right","ds_left"};
for (int i = 0; i < 2; i++) {
ds[i] = robot->getDistanceSensor(dsNames[i]);
ds[i]->enable(TIME_STEP);
}
GPS *gps;
gps = robot->getGPS("global_gps");
gps->enable(TIME_STEP);
InertialUnit *imu;
imu=robot->getInertialUnit("imu");
imu->enable(TIME_STEP);
Gyro *gyro;
gyro=robot->getGyro("gyro");
gyro->enable(TIME_STEP);
Accelerometer *accelerometer;
accelerometer=robot->getAccelerometer("accelerometer");
accelerometer->enable(TIME_STEP);
Compass *compass;
compass=robot->getCompass("compass");
compass->enable(TIME_STEP);
// initialise motors
Motor *wheels[4];
char wheels_names[4][8] = {
"wheel1", "wheel2", "wheel3", "wheel4"};
for (int i = 0; i < 4; i++) {
wheels[i] = robot->getMotor(wheels_names[i]);
wheels[i]->setPosition(INFINITY);
wheels[i]->setVelocity(0);
}
printf("init successd ...\n");
double leftSpeed = 0.0;
double rightSpeed = 0.0;
// Main loop:
// - perform simulation steps until Webots is stopping the controller
while (robot->step(TIME_STEP) != -1)
{
int key = kb.getKey();
if(key== 315)
{
leftSpeed = 3.0;
rightSpeed = 3.0;
}
else if(key== 317)
{
leftSpeed = -3.0;
rightSpeed = -3.0;
}
else if(key== 314)
{
leftSpeed = -3.0;
rightSpeed = 3.0;
}
else if(key== 316)
{
leftSpeed = 3.0;
rightSpeed = -3.0;
}
else
{
leftSpeed = 0.0;
rightSpeed = 0.0;
}
std::cout<< " Right Sensor Value:" <<ds[0]->getValue() << " Left Sensor Value:" <<ds[1]->getValue() <<std::endl;
std::cout<< "GPS Value X: " <<gps->getValues()[0]
<< " Y: " <<gps->getValues()[1]<< " Z: " <<gps->getValues()[2] <<std::endl;
std::cout<< "IMU roll: " <<imu->getRollPitchYaw()[0]<< " pitch: " <<imu->getRollPitchYaw()[1]
<< " yaw: " <<imu->getRollPitchYaw()[2] <<std::endl;
std::cout<< "Gyro X: " <<gyro->getValues()[0]
<< " Y: " <<gyro->getValues()[1]<< " Z: " <<gyro->getValues()[2] <<std::endl;
std::cout<< "Accel X: " <<accelerometer->getValues()[0]
<< " Y: " <<accelerometer->getValues()[1]<< " Z: " <<accelerometer->getValues()[2] <<std::endl;
std::cout<< "Compass X: " <<compass->getValues()[0]
<< " Y: " <<compass->getValues()[1]<< " Z: " <<compass->getValues()[2] <<std::endl;
wheels[0]->setVelocity(leftSpeed);
wheels[1]->setVelocity(rightSpeed);
wheels[2]->setVelocity(leftSpeed);
wheels[3]->setVelocity(rightSpeed);
};
// Enter here exit cleanup code.
delete robot;
return 0;
}
参考资料
[1] 1https://cyberbotics.com/doc/reference/index?version=R2020a-rev1
[2] https://www.cyberbotics.com/doc/reference/motion
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