基于ROS的智能机器人可视化自主交互系统设计

Design of Visual Autonomous Interactive System for Intelligent Robot Based on ROS

利用机器人控制系统(ROS)的分布式处理框架与Qt跨平台图形用户界面开发框架,设计了智能机器人自主交互的可视化系统。利用图形化集成工具Rviz对ROS的功能进行图形化表示,并通过添加不同的显示面板来显示发布的话题、模型参数等信息。集成librviz库的开发、速度仪表盘显示订阅与展示图像话题,在Qt中订阅与更新ROS内容等功能模块。基于Qt按钮与槽函数间的通信实现用户界面跳转,订阅机器人数据、运动状态信息,并通过UI界面进行可视化显示,实时反馈机器人运动状态以及功能模块运行结果。系统实现SLAM建图导航、人脸识别、激光雷达控制、无线手柄控制、设置了定点返航等终端一键控制演示,避免ROS在使用过程中涉及较多的命令和Ubuntu终端命令操作,解决了当前机器人研究平台兼容性差、代码冗余率高、功能类别不完善等问题。

ROS distributed processing framework and Qt cross-platform graphical user interface development framework are used to study and design the visualization system of autonomous interaction of intelligent robots.The graphical integration tool Rviz is used to graphically display all the functions of ROS,and different display panels are added to display published topics,model parameters,and other information.We integrate librviz development,display speed dashboard and image topics,subscribe and update ROS content in Qt and other functional modules.Based on the communication between Qt button and slot function,the user interface jumps,and subscribes robot data and motion status information,visualizes the display through the UI interface,and gives real-time feedback to robot motion status and functional module operation results.The system realizes the one-click control demonstration of terminal such as SLAM mapping navigation,face recognition,lidar control,wireless handle control,fixed point return,etc.,and avoids the ROS intelligent robot which involves more commands and Ubuntu terminal command operation in the process of use.It solves the problems of poor compatibility,high code redundancy rate and imperfect function categories of the current robot research platform.