android app控制ros机器人五（百度地图）

半吊子改安卓，新增了标签页，此标签页需要显示百度地图

按照官方教程注册信息，得到访问应用AK，步骤也可以参照下面csdn

Android地图SDK | 百度地图API SDK

【Android】实现百度地图显示_宾有为的博客-CSDN博客

本人使用的是aar开发包，ros-mobile工程中app下没有libs文件夹需要新建。把开发包libs下的文件复制到工程中的libs。在app下的build.gradle中添加了如下代码。

implementation files('libs/BaiduLBS_Android.aar') // 添加这一行，替换为你的 AAR 文件名

查阅资料了解到，百度地图SDK初始化在程序入口进行较好，可以避免多次初始化或冲突问题。

MainActivity.java中添加：

 protected void onCreate(Bundle savedInstanceState) {super.onCreate(savedInstanceState);setContentView(R.layout.activity_main); //置当前活动使用的布局文件为 activity_main.xml// 同意百度地图的隐私政策SDKInitializer.setAgreePrivacy(getApplicationContext(), true);// 初始化百度地图 SDKSDKInitializer.initialize(getApplicationContext());SDKInitializer.setCoordType(CoordType.BD09LL);try {
......//其他代码

对应.xml文件：

 <!-- 百度地图组件 --><com.baidu.mapapi.map.MapViewandroid:id="@+id/baiduMapView"android:layout_width="match_parent"android:layout_height="0dp"android:layout_weight="1"android:visibility="visible" />

 对应fragment.java文件：

package com.schneewittchen.rosandroid.ui.fragments.map;//.....import其他包import com.baidu.mapapi.map.BaiduMap;
import com.baidu.mapapi.BMapManager;
import com.baidu.mapapi.map.MapStatusUpdateFactory;
import com.baidu.mapapi.map.MapView;
import com.baidu.mapapi.model.LatLng;
import com.baidu.location.BDLocation;
import com.baidu.location.BDLocationListener;
import com.baidu.location.LocationClient;
import com.baidu.location.LocationClientOption;
import com.baidu.mapapi.CoordType;
import com.baidu.mapapi.SDKInitializer;public class MapFragment extends Fragment {private MapView mapView;private BaiduMap baiduMap;@Nullable@Overridepublic View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {View rootView = inflater.inflate(R.layout.fragment_map, container, false);mapView = rootView.findViewById(R.id.baiduMapView); // 获取组件Log.d("MapFragment", "MapView is null: " + (mapView == null));baiduMap = mapView.getMap();MapStatusUpdate update = MapStatusUpdateFactory.zoomTo(15);baiduMap.setMapStatus(update);return rootView;}@Overridepublic void onResume() {super.onResume();mapView.onResume();}@Overridepublic void onPause() {super.onPause();mapView.onPause();}@Overridepublic void onDestroyView() {super.onDestroyView();mapView.onDestroy();}
}

最终效果：

 增加定位功能：

第一版本，可以显示定位蓝点，但是定位有误差，偏差几个街道，此方法不稳定，第二次进入该标签页测试时会出现定位点无法显示的情况

package com.schneewittchen.rosandroid.ui.fragments.map;import android.Manifest;
import android.content.Context;
import android.content.pm.PackageManager;
import android.location.Criteria;
import android.location.Location;
import android.location.LocationListener;
import android.location.LocationManager;
import android.os.Bundle;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.core.app.ActivityCompat;
import androidx.core.content.ContextCompat;
import androidx.fragment.app.Fragment;import com.baidu.mapapi.map.BaiduMap;
import com.baidu.mapapi.map.BitmapDescriptorFactory;
import com.baidu.mapapi.map.MapStatusUpdate;
import com.baidu.mapapi.map.MapStatusUpdateFactory;
import com.baidu.mapapi.map.MapView;
import com.baidu.mapapi.map.MyLocationConfiguration;
import com.baidu.mapapi.map.MyLocationData;
import com.baidu.mapapi.model.LatLng;
import com.schneewittchen.rosandroid.R;
import java.util.Map;public class MapFragment extends Fragment {private MapView mapView;private BaiduMap baiduMap;private LocationManager locationManager;private static final int LOCATION_PERMISSION_REQUEST = 101;@Nullable@Overridepublic View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {View rootView = inflater.inflate(R.layout.fragment_map, container, false);mapView = rootView.findViewById(R.id.baiduMapView); // 获取组件baiduMap = mapView.getMap();// 启用定位图层baiduMap.setMyLocationEnabled(true);MapStatusUpdate update = MapStatusUpdateFactory.zoomTo(18);baiduMap.setMapStatus(update);return rootView;}@Overridepublic void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {super.onViewCreated(view, savedInstanceState);locationManager = (LocationManager) requireContext().getSystemService(Context.LOCATION_SERVICE);if (ContextCompat.checkSelfPermission(requireContext(), Manifest.permission.ACCESS_FINE_LOCATION) == PackageManager.PERMISSION_GRANTED&& ContextCompat.checkSelfPermission(requireContext(), Manifest.permission.ACCESS_COARSE_LOCATION) == PackageManager.PERMISSION_GRANTED) {Log.d("MapFragment", "Location permission granted.");startLocationUpdates();} else {ActivityCompat.requestPermissions(requireActivity(), new String[]{Manifest.permission.ACCESS_FINE_LOCATION,Manifest.permission.ACCESS_COARSE_LOCATION}, LOCATION_PERMISSION_REQUEST);}}private void startLocationUpdates() {LocationManager locationManager = (LocationManager) requireContext().getSystemService(Context.LOCATION_SERVICE);Criteria criteria = new Criteria();String provider = locationManager.getBestProvider(criteria, true);if (provider != null) {Location lastKnownLocation = locationManager.getLastKnownLocation(provider);if (lastKnownLocation != null) {Log.d("MapFragment", "Last known location: " + lastKnownLocation.getLatitude() + ", " + lastKnownLocation.getLongitude());// Move the camera to the current locationbaiduMap.animateMapStatus(MapStatusUpdateFactory.newLatLng(new LatLng(lastKnownLocation.getLatitude(), lastKnownLocation.getLongitude())));// Configure and show the blue dotMyLocationConfiguration configuration = new MyLocationConfiguration(MyLocationConfiguration.LocationMode.NORMAL,true,null);baiduMap.setMyLocationConfiguration(configuration);Log.d("MapFragment", "Current location set on the map.");// Set current location data for the blue dotMyLocationData locationData = new MyLocationData.Builder().accuracy(lastKnownLocation.getAccuracy()).latitude(lastKnownLocation.getLatitude()).longitude(lastKnownLocation.getLongitude()).build();baiduMap.setMyLocationData(locationData);Log.d("MapFragment", "Current location set on the map.");}else{Log.d("MapFragment", "Last known location is null.");}}else{Log.d("MapFragment", "Location provider is null.");}}@Overridepublic void onRequestPermissionsResult(int requestCode, @NonNull String[] permissions, @NonNull int[] grantResults) {super.onRequestPermissionsResult(requestCode, permissions, grantResults);if (requestCode == LOCATION_PERMISSION_REQUEST) {if (grantResults.length > 0 && grantResults[0] == PackageManager.PERMISSION_GRANTED) {Log.d("MapFragment", "Location permission granted.");startLocationUpdates();} else {Log.d("MapFragment", "Location permission denied.");// Handle permission denied}}}@Overridepublic void onResume() {super.onResume();mapView.onResume();}@Overridepublic void onPause() {super.onPause();mapView.onPause();}@Overridepublic void onDestroyView() {super.onDestroyView();mapView.onDestroy();}
}

按照百度地图提供的关于定位教程无法实现定位功能，初始化客户端的时候总是报错，按照提示使用try，会出现闪退无法显示地图，网上也有看到相同错误，但是没找到解决适用的方法。有解决该问题的欢迎交流！

// 初始化客户端mLocationClient = new LocationClient(requireContext());