5156a8d766
- 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)
74 lines
2.6 KiB
Python
74 lines
2.6 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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# ── origincar_bridge params ──
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declare_http_host = DeclareLaunchArgument(
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"http_host", default_value="192.168.64.1",
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description="simulation host IP (macOS)")
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declare_http_port = DeclareLaunchArgument(
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"http_port", default_value="8765")
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# ── car_nav_lite params ──
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declare_map_file = DeclareLaunchArgument(
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"map_file", default_value="/home/cyy/sim_map.pgm")
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declare_lookahead = DeclareLaunchArgument(
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"lookahead", default_value="0.8")
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declare_test_mode = DeclareLaunchArgument(
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"test_mode", default_value="false")
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declare_foxglove = DeclareLaunchArgument(
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"foxglove", default_value="true",
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description="also launch foxglove_bridge")
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return LaunchDescription([
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declare_http_host, declare_http_port,
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declare_map_file, declare_lookahead, declare_test_mode, declare_foxglove,
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# ── 1. HTTP→ROS2 bridge (sim ↔ nav) ──
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Node(
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package="origincar_bridge",
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executable="bridge_node",
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name="origincar_bridge",
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output="screen",
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parameters=[{
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"http_host": LaunchConfiguration("http_host"),
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"http_port": LaunchConfiguration("http_port"),
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}],
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),
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# ── 2. Static TF: base_link → laser ──
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Node(
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package="tf2_ros",
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executable="static_transform_publisher",
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name="tf_laser",
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arguments=["0", "0", "0.12", "0", "0", "0", "base_link", "laser"],
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),
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# ── 3. Main navigation node ──
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Node(
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package="car_nav_lite",
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executable="nav_lite_node",
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name="nav_lite_node",
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output="screen",
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parameters=[{
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"map_file": LaunchConfiguration("map_file"),
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"lookahead": LaunchConfiguration("lookahead"),
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"test_mode": LaunchConfiguration("test_mode"),
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}],
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),
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# ── 4. Foxglove bridge (for visualization) ──
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Node(
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package="foxglove_bridge",
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executable="foxglove_bridge",
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name="foxglove_bridge",
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output="screen",
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parameters=[{"port": 8766}],
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condition=IfCondition(LaunchConfiguration("foxglove")),
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),
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])
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