MPPI planner + fence-line localization + scan obstacles

- Lightweight MPPI (200 trajectories, 15 steps, endpoint path_align)
- adaptive exploration (more random when stuck)
- fence-line Hough detection + geometric correction
- scan hit points marked at 255 immediately
- forward half-step pre-check for obstacle avoidance
- Ackermann constraint |wz| <= |vx|/min_turn_r
- XORshift RNG (stdlib broken on ARM)

launch/all_in_one.launch.py

@@ -0,0 +1,73 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # ── origincar_bridge params ──
+    declare_http_host = DeclareLaunchArgument(
+        "http_host", default_value="192.168.64.1",
+        description="simulation host IP (macOS)")
+    declare_http_port = DeclareLaunchArgument(
+        "http_port", default_value="8765")
+
+    # ── car_nav_lite params ──
+    declare_map_file = DeclareLaunchArgument(
+        "map_file", default_value="/home/cyy/sim_map.pgm")
+    declare_lookahead = DeclareLaunchArgument(
+        "lookahead", default_value="0.8")
+    declare_test_mode = DeclareLaunchArgument(
+        "test_mode", default_value="false")
+    declare_foxglove = DeclareLaunchArgument(
+        "foxglove", default_value="true",
+        description="also launch foxglove_bridge")
+
+    return LaunchDescription([
+        declare_http_host, declare_http_port,
+        declare_map_file, declare_lookahead, declare_test_mode, declare_foxglove,
+
+        # ── 1. HTTP→ROS2 bridge (sim ↔ nav) ──
+        Node(
+            package="origincar_bridge",
+            executable="bridge_node",
+            name="origincar_bridge",
+            output="screen",
+            parameters=[{
+                "http_host": LaunchConfiguration("http_host"),
+                "http_port": LaunchConfiguration("http_port"),
+            }],
+        ),
+
+        # ── 2. Static TF: base_link → laser ──
+        Node(
+            package="tf2_ros",
+            executable="static_transform_publisher",
+            name="tf_laser",
+            arguments=["0", "0", "0.12", "0", "0", "0", "base_link", "laser"],
+        ),
+
+        # ── 3. Main navigation node ──
+        Node(
+            package="car_nav_lite",
+            executable="nav_lite_node",
+            name="nav_lite_node",
+            output="screen",
+            parameters=[{
+                "map_file": LaunchConfiguration("map_file"),
+                "lookahead": LaunchConfiguration("lookahead"),
+                "test_mode": LaunchConfiguration("test_mode"),
+            }],
+        ),
+
+        # ── 4. Foxglove bridge (for visualization) ──
+        Node(
+            package="foxglove_bridge",
+            executable="foxglove_bridge",
+            name="foxglove_bridge",
+            output="screen",
+            parameters=[{"port": 8766}],
+            condition=IfCondition(LaunchConfiguration("foxglove")),
+        ),
+    ])

launch/nav_lite.launch.py

@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument("map_file", default_value="/home/cyy/sim_map.pgm"),
+        DeclareLaunchArgument("lookahead", default_value="0.8"),
+        DeclareLaunchArgument("test_mode", default_value="false"),
+
+        # Static TF: base_link → laser
+        Node(
+            package="tf2_ros", executable="static_transform_publisher",
+            name="tf_laser",
+            arguments=["0","0","0.12","0","0","0","base_link","laser"],
+        ),
+
+        # Main navigation node
+        Node(
+            package="car_nav_lite",
+            executable="nav_lite_node",
+            name="nav_lite_node",
+            output="screen",
+            parameters=[{
+                "map_file": LaunchConfiguration("map_file"),
+                "lookahead": LaunchConfiguration("lookahead"),
+                "test_mode": LaunchConfiguration("test_mode"),
+            }],
+        ),
+    ])