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 SDK
        SDKInitializer.initialize(getApplicationContext());
        SDKInitializer.setCoordType(CoordType.BD09LL);

        try {
......//其他代码

对应.xml文件：

 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
    @Override
    public 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;
    }
    @Override
    public void onResume() {
        super.onResume();
        mapView.onResume();
    }

    @Override
    public void onPause() {
        super.onPause();
        mapView.onPause();
    }

    @Override
    public 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
    @Override
    public 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;
    }

    @Override
    public 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 location
                baiduMap.animateMapStatus(MapStatusUpdateFactory.newLatLng(new LatLng(lastKnownLocation.getLatitude(), lastKnownLocation.getLongitude())));

                // Configure and show the blue dot
                MyLocationConfiguration 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 dot
                MyLocationData 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.");
        }
    }

    @Override
    public 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
            }
        }
    }


    @Override
    public void onResume() {
        super.onResume();
        mapView.onResume();
    }

    @Override
    public void onPause() {
        super.onPause();
        mapView.onPause();
    }

    @Override
    public 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());