# DAMAD

**Repository Path**: dagoo101-studio/damad

## Basic Information

- **Project Name**: DAMAD
- **Description**: 无人机辅助的多感知主体自动驾驶决策系统
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-08-24
- **Last Updated**: 2025-04-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# DAMAD

#### 介绍
无人机辅助的多感知主体自动驾驶决策系统

#### 软件架构
软件架构说明


#### 安装教程

1.从github上clone源码
`git clone https://github.com/PX4/PX4-Autopilot.git --recursive`
进入PX4-Autopilot文件夹，继续下载未下载完的组件

```
cd PX4-Autopilot/
git submodule update --init --recursive
```

继续执行ubuntu.sh脚本

```
cd ..
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
```

中间出错的话执行指令

```
python3 -m pip install --upgrade pip
python3 -m pip install --upgrade Pillow
```

如果过程中有安装失败的地方，可以再用以下命令更新一下，：

```
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh --fix-missing
```
之后进行编译
```
make px4_sitl_default gazebo 
```

有gazebo出现后，输入commander takeoff可以看到无人机起飞

tips:
E: 无法定位软件包 kconfig-frontends

```
sudo add-apt-repository universe
sudo apt-get update
sudo apt install kconfig-frontends
```


E: 软件包 libgstreamer-plugins-base1.0-dev 没有可安装候选
尝试更换aliyun软件源

1.5 source相关文件
`gedit ~/.bashrc`
在.bashrc文件最下面写入如下：

```
source ~/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic
```

输入source ~/.bashrc使上述命令生效
2.安装MAVROS
```
sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh
```
(这一步往往用时很长)

将`DAMAD/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models`复制并覆盖`~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models`
运行以下命令测试mavros是否安装成功
`roslaunch mavros px4.launch`
在成功打开gazebo仿真界面后输入
`rostopic list`
可查看mavros话题

3.安装gazebo的模型库
将`DAMAD/.gazebo/models` 覆盖 `~/.gazebo/models`
将`DAMAD/PX4-Autopilot/launch`文件夹覆盖`~/PX4-Autopilot/launch`文件夹
将`DAMAD/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds`文件夹覆盖`~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds`


4.安装无人车
安装无人车依赖

```
sudo apt install ros-noetic-effort-controllers
sudo apt-get install ros-noetic-gazebo-ros-control
sudo apt-get install ros-noetic-ackermann-msgs
sudo apt-get install ros-noetic-joint-state-controller
```

安装无人车的包
将uavros_gazebo放入主目录下
在.bashrc文件最下面写入

```
gedit ~/.bashrc
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/uavros_gazebo
source ~/.bashrc
```


5.安装ros包
将catkin_ws/src下的shipinliu、test_sudu、launch、Yolov8_ros放入你的catkin_ws/src下
`catkin_make`
为了使用yolov8，要创建python3.8的anaconda环境，并下载torch2.0.1，ultralytics
配置好anaconda环境后

```
进入Yolov8_ros文件夹
sudo -s
conda activate your_env
source /opt/ros/noetic/setup.bash
catkin_make
```


5.5.1记得把需要path的文件加上你自己的路径(几乎所有)

5.5.2在主目录下创建用于传输数据的txt文件

```
touch able_to_start.txt
touch actor_x.txt
touch car_ready.txt
touch if_obstacle_exist.txt
touch if_pass.txt
touch if_ready.txt
touch iris_orientation.txt
touch iris_speed.txt
touch iris_x.txt
touch orientation.txt
touch pump.txt
touch rplidar_ready.txt
touch speed.txt
touch state.txt
touch time.txt
touch time_past.txt
touch x.txt
touch value.txt
touch y.txt
```


6.测试传统方法
```

roslaunch px4 mavros_posix_sitl.launch
```

6.1测试yolov8
进入Yolov8_ros文件夹

```
sudo -s
conda activate your_env
source /opt/ros/noetic/setup.bash
catkin_make
source ./devel/setup.bash
roslaunch yolov8_ros yolo_v8.launch 
```

6.2测试无人机传统方法（在打开yolov8的基础上）
在test_sudu文件夹中
`rosrun test_sudu test_sudu`
在看到无人机起飞后
`roslaunch launch all.launch`
6.3测试雷达传统方法（不用打开yolov8）
```

roslaunch launch rplidar.launch
```


7.测试ddqn
进入shipinliu/src文件夹

```
sudo -s
conda activate your_env
source /opt/ros/noetic/setup.bash
python3 DDQN_v32_rplidar.py
打开另一个终端
roslaunch launch rplidar_ddqn.launch
```

其他类似

可能遇到的问题及解决方案：

1. px4仿真环境不能使用虚拟机安装，必须使用双系统

2. 在编译catkin_ws的时候，如果已经正确安装了需要的包，还是提示缺少包的话，需要修改test_sudu中的cmakelist文件，删除引用的多余的库

3. 路径PX4-Autopilot/launch/中的文件”mavros_posix_sitl.launch”中的bl-ver5no_collision.world应修改为bl-ver5.world

4. 在开启mavros_posix_sitl.launch文件时，若遇到命名冲突的问题，可能是多个launch文件同时开启了gazebo建图导致的。可以把uavros_gazebo/launch/rover_laucnh/rover_sitl.launch文件中打开gazebo的部分删掉

5. 若已经安装了rospkg包，仍然报错提示缺少rospkg，除了考虑安装的位置不对（本地or虚拟环境）之外，也可能是存在多个冲突的python版本。只保留一个应该可以解决此问题

# 实车实验参考文档

## SR5E1E3

引脚定义如下：

```
1.	HardwareBoard myBoard
2.	include "platform:/plugin/com.st.stellar.model.lib/lib/SR5E1/SR5E1.gpio_def" version "2.0.0"
3.	package E7
4.	
5.	//CAN
6.	CAN1 {
7.	in CAN1_RX -> E7_1 as Pin_CAN1_RX_A4
8.	 IO
9.	  AFRL4 = 6,
10.	  IHYSTR4 = 'CMOS',
11.	  MODER4 = 'Alternate',
12.	  OSPEEDR4 = 'VeryHigh',
13.	  OT4 = 'PushPull',
14.	  PUPDR4 = 'Floating',
15.	  SFS4 = 'Disabled',
16.	  SFV4 = 'Low',
17.	  TR4 = 'Enable'
18.	 
19.	;
20.	out CAN1_TX -> E7_2 as Pin_CAN1_TX_A5
21.	 IO
22.	  AFRL5 = 6,
23.	  IHYSTR5 = 'CMOS',
24.	  MODER5 = 'Alternate',
25.	  OSPEEDR5 = 'VeryHigh',
26.	  OT5 = 'PushPull',
27.	  PUPDR5 = 'Floating',
28.	  SFS5 = 'Disabled',
29.	  SFV5 = 'Low',
30.	  TR5 = 'Disabled'
31.	 
32.	;
33.	}
34.	UART3 {
35.	in UART3_RX -> E7_91 as Pin_UART3_RX_E9
36.	 IO
37.	  AFRL9 = 7,
38.	  IHYSTR9 = 'CMOS',
39.	  MODER9 = 'Alternate',
40.	  OSPEEDR9 = 'VeryHigh',
41.	  OT9 = 'PushPull',
42.	  PUPDR9 = 'Floating',
43.	  SFS9 = 'Disabled',
44.	  SFV9 = 'Low',
45.	  TR9 = 'Enable'
46.	 
47.	;
48.	out UART3_TX -> E7_92 as Pin_UART3_TX_E10
49.	 IO
50.	  AFRL10 = 7,
51.	  IHYSTR10 = 'CMOS',
52.	  MODER10 = 'Alternate',
53.	  OSPEEDR10 = 'VeryHigh',
54.	  OT10 = 'PushPull',
55.	  PUPDR10 = 'Floating',
56.	  SFS10 = 'Disabled',
57.	  SFV10 = 'Low',
58.	  TR10 = 'Disabled'
59.	 
60.	;
61.	}
62.	//PS2手柄
63.	GPIO {
64.	in GPIO3_12 -> E7_81 as Pin_PS2_DATA_D12
65.	 IO
66.	  AFRL12 = 0,
67.	  IHYSTR12 = 'CMOS',
68.	  MODER12 = 'Input',
69.	  OSPEEDR12 = 'VeryHigh',
70.	  OT12 = 'PushPull',
71.	  PUPDR12 = 'PullDown',
72.	  SFS12 = 'Disabled',
73.	  SFV12 = 'Low',
74.	  TR12 = 'Disabled'
75.	 
76.	;
77.	out GPIO3_13 -> E7_82 as Pin_PS2_CMD_D13
78.	 IO
79.	  AFRL13 = 0,
80.	  IHYSTR13 = 'CMOS',
81.	  MODER13 = 'Output',
82.	  OSPEEDR13 = 'VeryHigh',
83.	  OT13 = 'PushPull',
84.	  PUPDR13 = 'Floating',
85.	  SFS13 = 'Disabled',
86.	  SFV13 = 'Low',
87.	  TR13 = 'Disabled'
88.	 
89.	;
90.	out GPIO3_14 -> E7_84 as Pin_PS2_ATT_D14
91.	 IO
92.	  AFRL14 = 0,
93.	  IHYSTR14 = 'CMOS',
94.	  MODER14 = 'Output',
95.	  OSPEEDR14 = 'VeryHigh',
96.	  OT14 = 'PushPull',
97.	  PUPDR14 = 'Floating',
98.	  SFS14 = 'Disabled',
99.	  SFV14 = 'Low',
100.	  TR14 = 'Disabled'
101.	 
102.	;
103.	out GPIO3_15 -> E7_85 as Pin_PS2_CLK_D15
104.	 IO
105.	  AFRL15 = 0,
106.	  IHYSTR15 = 'CMOS',
107.	  MODER15 = 'Output',
108.	  OSPEEDR15 = 'VeryHigh',
109.	  OT15 = 'PushPull',
110.	  PUPDR15 = 'Floating',
111.	  SFS15 = 'Disabled',
112.	  SFV15 = 'Low',
113.	  TR15 = 'Disabled'
114.	 
115.	;
116.	}
117.	//按键
118.	GPIO {
119.	in GPI_PB_7 -> E7_26 as Pin_KEY1_B7
120.	 IO
121.	  AFRL7 = 0,
122.	  IHYSTR7 = 'CMOS',
123.	  MODER7 = 'Input',
124.	  OSPEEDR7 = 'VeryHigh',
125.	  OT7 = 'PushPull',
126.	  PUPDR7 = 'PullDown',
127.	  SFS7 = 'Disabled',
128.	  SFV7 = 'Low',
129.	  TR7 = 'Enable'
130.	 
131.	;
132.	in GPI_PB_8 -> E7_27 as Pin_KEY2_B8
133.	 IO
134.	  AFRL8 = 0,
135.	  IHYSTR8 = 'CMOS',
136.	  MODER8 = 'Input',
137.	  OSPEEDR8 = 'VeryHigh',
138.	  OT8 = 'PushPull',
139.	  PUPDR8 = 'PullDown',
140.	  SFS8 = 'Disabled',
141.	  SFV8 = 'Low',
142.	  TR8 = 'Enable'
143.	 
144.	;
145.	in GPI_PB_9 -> E7_28 as Pin_KEY3_B9
146.	 IO
147.	  AFRL9 = 0,
148.	  IHYSTR9 = 'CMOS',
149.	  MODER9 = 'Input',
150.	  OSPEEDR9 = 'VeryHigh',
151.	  OT9 = 'PushPull',
152.	  PUPDR9 = 'PullDown',
153.	  SFS9 = 'Disabled',
154.	  SFV9 = 'Low',
155.	  TR9 = 'Enable'
156.	 
157.	;
158.	}
159.	//OLED屏幕，屏幕接口靠左
160.	GPIO {
161.	out GPIO6_5 -> E7_129 as Pin_OLED_SCL_G5
162.	 IO
163.	  AFRL5 = 0,
164.	  IHYSTR5 = 'CMOS',
165.	  MODER5 = 'Output',
166.	  OSPEEDR5 = 'VeryHigh',
167.	  OT5 = 'PushPull',
168.	  PUPDR5 = 'Floating',
169.	  SFS5 = 'Disabled',
170.	  SFV5 = 'Low',
171.	  TR5 = 'Disabled'
172.	 
173.	;
174.	out GPIO6_7 -> E7_131 as Pin_OLED_SDA_G7
175.	 IO
176.	  AFRL7 = 0,
177.	  IHYSTR7 = 'CMOS',
178.	  MODER7 = 'Output',
179.	  OSPEEDR7 = 'VeryHigh',
180.	  OT7 = 'PushPull',
181.	  PUPDR7 = 'Floating',
182.	  SFS7 = 'Disabled',
183.	  SFV7 = 'Low',
184.	  TR7 = 'Disabled'
185.	 
186.	;
187.	out GPIO6_6 -> E7_130 as Pin_OLED_RES_G6
188.	 IO
189.	  AFRL6 = 0,
190.	  IHYSTR6 = 'CMOS',
191.	  MODER6 = 'Output',
192.	  OSPEEDR6 = 'VeryHigh',
193.	  OT6 = 'PushPull',
194.	  PUPDR6 = 'Floating',
195.	  SFS6 = 'Disabled',
196.	  SFV6 = 'Low',
197.	  TR6 = 'Disabled'
198.	 
199.	;
200.	out GPIO7_1 -> E7_146 as Pin_OLED_DC_H1
201.	 IO
202.	  AFRL1 = 0,
203.	  IHYSTR1 = 'CMOS',
204.	  MODER1 = 'Output',
205.	  OSPEEDR1 = 'VeryHigh',
206.	  OT1 = 'PushPull',
207.	  PUPDR1 = 'Floating',
208.	  SFS1 = 'Disabled',
209.	  SFV1 = 'Low',
210.	  TR1 = 'Disabled'
211.	 
212.	;
213.	}
214.	//电机
215.	TIM4 {
216.	out TIM4_CH1 -> E7_160 as Pin_MOTOR1_H12
217.	 IO
218.	  AFRL12 = 2,
219.	  IHYSTR12 = 'CMOS',
220.	  MODER12 = 'Alternate',
221.	  OSPEEDR12 = 'VeryHigh',
222.	  OT12 = 'PushPull',
223.	  PUPDR12 = 'Floating',
224.	  SFS12 = 'Disabled',
225.	  SFV12 = 'Low',
226.	  TR12 = 'Disabled'
227.	 
228.	;
229.	out TIM4_CH2 -> E7_161 as Pin_MOTOR2_H13
230.	 IO
231.	  AFRL13 = 2,
232.	  IHYSTR13 = 'CMOS',
233.	  MODER13 = 'Alternate',
234.	  OSPEEDR13 = 'VeryHigh',
235.	  OT13 = 'PushPull',
236.	  PUPDR13 = 'Floating',
237.	  SFS13 = 'Disabled',
238.	  SFV13 = 'Low',
239.	  TR13 = 'Disabled'
240.	 
241.	;
242.	}
243.	GPIO {
244.	out GPIO8_1 -> E7_165 as Pin_MOTOR1_A_I1
245.	 IO
246.	  AFRL1 = 0,
247.	  IHYSTR1 = 'CMOS',
248.	  MODER1 = 'Output',
249.	  OSPEEDR1 = 'VeryHigh',
250.	  OT1 = 'PushPull',
251.	  PUPDR1 = 'Floating',
252.	  SFS1 = 'Disabled',
253.	  SFV1 = 'Low',
254.	  TR1 = 'Disabled'
255.	 
256.	;
257.	out GPIO8_3 -> E7_168 as Pin_MOTOR1_B_I3
258.	 IO
259.	  AFRL3 = 0,
260.	  IHYSTR3 = 'CMOS',
261.	  MODER3 = 'Output',
262.	  OSPEEDR3 = 'VeryHigh',
263.	  OT3 = 'PushPull',
264.	  PUPDR3 = 'Floating',
265.	  SFS3 = 'Disabled',
266.	  SFV3 = 'Low',
267.	  TR3 = 'Disabled'
268.	 
269.	;
270.	out GPIO8_4 -> E7_169 as Pin_MOTOR2_A_I4
271.	 IO
272.	  AFRL4 = 0,
273.	  IHYSTR4 = 'CMOS',
274.	  MODER4 = 'Output',
275.	  OSPEEDR4 = 'VeryHigh',
276.	  OT4 = 'PushPull',
277.	  PUPDR4 = 'Floating',
278.	  SFS4 = 'Disabled',
279.	  SFV4 = 'Low',
280.	  TR4 = 'Disabled'
281.	 
282.	;
283.	out GPIO8_5 -> E7_170 as Pin_MOTOR2_B_I5
284.	 IO
285.	  AFRL5 = 0,
286.	  IHYSTR5 = 'CMOS',
287.	  MODER5 = 'Output',
288.	  OSPEEDR5 = 'VeryHigh',
289.	  OT5 = 'PushPull',
290.	  PUPDR5 = 'Floating',
291.	  SFS5 = 'Disabled',
292.	  SFV5 = 'Low',
293.	  TR5 = 'Disabled'
294.	 
295.	;
296.	}
297.	//编码器
298.	GPIO {
299.	in GPI_PB_2 -> E7_20 as Pin_BMQ0_B2
300.	 IO
301.	  AFRL2 = 0,
302.	  IHYSTR2 = 'CMOS',
303.	  MODER2 = 'Input',
304.	  OSPEEDR2 = 'VeryHigh',
305.	  OT2 = 'PushPull',
306.	  PUPDR2 = 'Floating',
307.	  SFS2 = 'Disabled',
308.	  SFV2 = 'Low',
309.	  TR2 = 'Enable'
310.	 
311.	;
312.	in GPI_PB_3 -> E7_21 as Pin_BMQ1_B3
313.	 IO
314.	  AFRL3 = 0,
315.	  IHYSTR3 = 'CMOS',
316.	  MODER3 = 'Input',
317.	  OSPEEDR3 = 'VeryHigh',
318.	  OT3 = 'PushPull',
319.	  PUPDR3 = 'Floating',
320.	  SFS3 = 'Disabled',
321.	  SFV3 = 'Low',
322.	  TR3 = 'Enable'
323.	 
324.	;
325.	in GPI_PB_4 -> E7_22 as Pin_EIRQ_BMQ0_B4
326.	 IO
327.	  AFRL4 = 0,
328.	  IHYSTR4 = 'CMOS',
329.	  MODER4 = 'Input',
330.	  OSPEEDR4 = 'VeryHigh',
331.	  OT4 = 'PushPull',
332.	  PUPDR4 = 'Floating',
333.	  SFS4 = 'Disabled',
334.	  SFV4 = 'Low',
335.	  TR4 = 'Enable'
336.	 
337.	;
338.	in GPI_PB_5 -> E7_23 as Pin_EIRQ_BMQ1_B5
339.	 IO
340.	  AFRL5 = 0,
341.	  IHYSTR5 = 'CMOS',
342.	  MODER5 = 'Input',
343.	  OSPEEDR5 = 'VeryHigh',
344.	  OT5 = 'PushPull',
345.	  PUPDR5 = 'Floating',
346.	  SFS5 = 'Disabled',
347.	  SFV5 = 'Low',
348.	  TR5 = 'Enable'
349.	 
350.	;
351.	}
352.	//舵机
353.	TIM3 {
354.	out TIM3_CH1 -> E7_140 as Pin_SERVO_G14
355.	 IO
356.	  AFRL14 = 2,
357.	  IHYSTR14 = 'CMOS',
358.	  MODER14 = 'Alternate',
359.	  OSPEEDR14 = 'VeryHigh',
360.	  OT14 = 'PushPull',
361.	  PUPDR14 = 'Floating',
362.	  SFS14 = 'Disabled',
363.	  SFV14 = 'Low',
364.	  TR14 = 'Disabled'
365.	 
366.	;
367.	}
368.	//定时器
369.	TIM3 {
370.	out TIM3_CH2 -> E7_141 as Pin_DingShiQi_G15
371.	 IO
372.	  AFRL15 = 2,
373.	  IHYSTR15 = 'CMOS',
374.	  MODER15 = 'Alternate',
375.	  OSPEEDR15 = 'VeryHigh',
376.	  OT15 = 'PushPull',
377.	  PUPDR15 = 'Floating',
378.	  SFS15 = 'Disabled',
379.	  SFV15 = 'Low',
380.	  TR15 = 'Disabled'
381.	 
382.	;
383.	}

```

## 接线

为了方便，给板子分别命名为B1, B2, B3，如图所示。

![B1](Figure/B1.png)

![B2](Figure/B2.png)

![B3](Figure/B3.png)

电机编码器：

左轮编码器          B1_B2—>B2_D4

左轮外部中断编码器    B1_B4—>B2_D8

右轮编码器          B1_B3—>B2_D2

右轮外部中断编码器    B1_B5—>B2_D7

 

电机驱动：

右轮：

B3_V —>B2_3.3V

B3_P2—>B1_H13

B3_A2—>B1_I4

B3_B2—>B1_I5

B3_G —>B2_GND

左轮：

B3_V —>B2_3.3V

B3_P1—>B1_H12

B3_A1—>B1_I1

B3_B1—>B1_I3

B3_G —>B2_GND

 

舵机：

舵机白线—>B1_G14

舵机红线—>12V电源正极

舵机黑线—>12V电源负极&B1_GND

 

PS2手柄：（B2的PS2开关往上拨）

B1_D12—>B2_A3

B1_D13—>B2_PC_TX

B1_D14—>B2_A2

B1_D15—>B2_A1

 

CAN：

USBCAN分析仪L—>B1_CAN_L

USBCAN分析仪H—>B1_CAN_H

 

蓝牙：

UART wifi接口 5V&GND

TX—>B1_E9

RX—>B1_E10

 

OLED显示屏：

屏幕接口靠左接

 

启动开关：

JP34跳线帽需要拿掉

黄线   —>B1_GND

黑线   —>B1_3.3V

蓝线&绿线—>B1_B8

 

切换开关：

黄线   —>B1_GND

黑线   —>B1_3.3V

蓝线&绿线—>B1_B9

 

急停开关：

B1_B7&B1_3.3V任意连接

 

供电（B1的5V引脚为输入引脚）

B1_5V—>B2_5V

B1_GND—>B2_GND

## 运行

![硬件接线图](Figure/hardware.png)

将`d435i.py`，`esp32_detect_person.py`和`control.py`放在同一目录下

分别新建终端运行以下文件

```
python3 d435i.py
```

```
python3 esp32_detect_person.py
```

待以上两个程序初始化完成后运行以下程序

```
python3 control.py
```
## 结果
![视频预览](Figure/real_world_expriment.gif)