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cyy
2026-06-20 21:54:04 +08:00
parent 954ca7f8a7
commit a58cbbf481
5 changed files with 366 additions and 203 deletions
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origincar_bridge/bridge_node.py
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@@ -2,27 +2,29 @@
"""
Origincar ROS2 桥接中转节点
功能：
1. 从 HTTP API 拉取图像 (GET /image) → 发布 sensor_msgs/Image 到 ROS2
2. 从 HTTP API 拉取 IMU (GET /imu) → 发布 sensor_msgs/Imu 到 ROS2
3. 订阅 ROS2 /cmd_vel (geometry_msgs/Twist) → HTTP POST /cmd 控制小车
将 Origincar 仿真 HTTP API 全面桥接到 ROS2 话题，双向中转。
上行（HTTP → ROS2）：
GET /image → sensor_msgs/Image (独立定时器，可配置频率)
GET /imu → sensor_msgs/Imu (统一同步定时器)
GET /scan → sensor_msgs/LaserScan (统一同步定时器)
GET /odom → nav_msgs/Odometry (统一同步定时器)
GET /power → std_msgs/Float32 (统一同步定时器)
下行（ROS2 → HTTP）：
geometry_msgs/Twist → POST /cmd (差速模式: vx/wz)
可配置参数：
- http_host: 仿真机 IP 地址
- http_port: HTTP 服务端口 (默认 8765)
- image_topic: 图像发布话题 (默认 /image)
- imu_topic: IMU 发布话题 (默认 /imu)
- cmd_vel_topic: 控制指令订阅话题 (默认 /cmd_vel)
- image_rate: 图像拉取频率 Hz (默认 10.0)
- imu_rate: IMU 拉取频率 Hz (默认 50.0)
- timeout: HTTP 请求超时秒数 (默认 1.0)
http_host, http_port, timeout
image_topic, imu_topic, scan_topic, odom_topic, power_topic, cmd_vel_topic
sync_rate — 统一同步频率 Hz（scan/odom/imu/power，默认 30）
image_rate — 图像拉取频率 Hz（默认 10）
使用方式:
ros2 run origincar_bridge bridge_node --ros-args -p http_host:=192.168.1.100
ros2 launch origincar_bridge bridge.launch.py http_host:=192.168.1.100
使用:
ros2 run origincar_bridge bridge_node --ros-args -p http_host:=192.168.11.159
ros2 launch origincar_bridge bridge.launch.py http_host:=192.168.11.159
"""
import time
import traceback
import cv2
@@ -30,33 +32,39 @@ import numpy as np
import requests
import rclpy
from rclpy.node import Node
from rclpy.parameter import Parameter
# ROS2 消息
from sensor_msgs.msg import Image as RosImage
from sensor_msgs.msg import Imu
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Twist, Quaternion
from std_msgs.msg import Float32
from cv_bridge import CvBridge
class OrigincarBridge(Node):
"""将 Origincar 仿真 HTTP API 与 ROS2 话题双向桥接。"""
"""Origincar 仿真 HTTP API ⇄ ROS2 话题 全功能桥接节点。"""
def __init__(self):
super().__init__("origincar_bridge")
# ---------- 声明参数 ----------
self.declare_parameter("http_host", "192.168.1.100")
self.declare_parameter("http_host", "192.168.11.159")
self.declare_parameter("http_port", 8765)
self.declare_parameter("image_topic", "/image")
self.declare_parameter("imu_topic", "/imu")
self.declare_parameter("cmd_vel_topic", "/cmd_vel")
self.declare_parameter("image_rate", 10.0)
self.declare_parameter("imu_rate", 50.0)
self.declare_parameter("timeout", 1.0)
# 缓读参数（允许运行时通过 ros2 param set 动态调整）
self.declare_parameter("image_topic", "/image")
self.declare_parameter("imu_topic", "/imu/data_raw")
self.declare_parameter("scan_topic", "/scan")
self.declare_parameter("odom_topic", "/odom")
self.declare_parameter("power_topic", "/PowerVoltage")
self.declare_parameter("cmd_vel_topic", "/cmd_vel")
self.declare_parameter("sync_rate", 30.0) # scan/odom/imu/power 频率
self.declare_parameter("image_rate", 10.0) # 图像独立频率
self._read_params()
# ---------- cv_bridge ----------
@@ -64,7 +72,10 @@ class OrigincarBridge(Node):
# ---------- 发布者 ----------
self.image_pub = self.create_publisher(RosImage, self.image_topic, 10)
self.imu_pub = self.create_publisher(Imu, self.imu_topic, 10)
self.imu_pub = self.create_publisher(Imu, self.imu_topic, 10)
self.scan_pub = self.create_publisher(LaserScan, self.scan_topic, 10)
self.odom_pub = self.create_publisher(Odometry, self.odom_topic, 10)
self.power_pub = self.create_publisher(Float32, self.power_topic, 10)
# ---------- 订阅者 ----------
self.cmd_sub = self.create_subscription(
@@ -72,69 +83,71 @@ class OrigincarBridge(Node):
)
# ---------- 定时器 ----------
image_period = 1.0 / self.image_rate
imu_period = 1.0 / self.imu_rate
# image 独立定时器（JPEG 解码较重，用较低频率）
self.image_timer = self.create_timer(
1.0 / self.image_rate, self._fetch_and_publish_image
)
# 统一同步定时器（scan / odom / imu / power 在同一拍内完成）
self.sync_timer = self.create_timer(
1.0 / self.sync_rate, self._sync_fast_data
)
self.image_timer = self.create_timer(image_period, self._fetch_and_publish_image)
self.imu_timer = self.create_timer(imu_period, self._fetch_and_publish_imu)
# 参数变更回调（运行时动态调参）
# ---------- 参数变更 ----------
self.add_on_set_parameters_callback(self._on_param_change)
# 统计
self._image_seq = 0
self._imu_seq = 0
# ---------- 统计 & Session ----------
self._cmd_count = 0
# HTTP Session（连接复用，降低延迟）
self._session = requests.Session()
self.get_logger().info(
f"桥接启动: http://{self.http_host}:{self.http_port}\n"
f" 图像 [{self.image_topic}] @ {self.image_rate} Hz\n"
f" IMU [{self.imu_topic}] @ {self.imu_rate} Hz\n"
f" 控制 [{self.cmd_vel_topic}] → /cmd"
f"桥接启动 → http://{self.http_host}:{self.http_port}\n"
f" 上行: 图像 [{self.image_topic}] @ {self.image_rate} Hz\n"
f" IMU [{self.imu_topic}] }} sync @ {self.sync_rate} Hz\n"
f" Scan [{self.scan_topic}] }}\n"
f" Odom [{self.odom_topic}] }}\n"
f" Power[{self.power_topic}] }}\n"
f" 下行: 控制 [{self.cmd_vel_topic}] → POST /cmd (vx/wz)"
)
# ------------------------------------------------------------------
# 参数管理
# 参数
# ------------------------------------------------------------------
def _read_params(self):
self.http_host = self.get_parameter("http_host").value
self.http_port = self.get_parameter("http_port").value
self.image_topic = self.get_parameter("image_topic").value
self.imu_topic = self.get_parameter("imu_topic").value
self.http_host = self.get_parameter("http_host").value
self.http_port = self.get_parameter("http_port").value
self.timeout = self.get_parameter("timeout").value
self.image_topic = self.get_parameter("image_topic").value
self.imu_topic = self.get_parameter("imu_topic").value
self.scan_topic = self.get_parameter("scan_topic").value
self.odom_topic = self.get_parameter("odom_topic").value
self.power_topic = self.get_parameter("power_topic").value
self.cmd_vel_topic = self.get_parameter("cmd_vel_topic").value
self.image_rate = self.get_parameter("image_rate").value
self.imu_rate = self.get_parameter("imu_rate").value
self.timeout = self.get_parameter("timeout").value
self.sync_rate = self.get_parameter("sync_rate").value
self.image_rate = self.get_parameter("image_rate").value
def _on_param_change(self, params):
"""运行时参数变更回调。允许动态调整 rate / timeout / host 等。"""
for p in params:
if p.name == "http_host":
self.http_host = p.value
elif p.name == "http_port":
self.http_port = p.value
elif p.name == "image_rate":
name = p.name
if name == "http_host": self.http_host = p.value
elif name == "http_port": self.http_port = p.value
elif name == "timeout": self.timeout = p.value
elif name == "sync_rate":
self.sync_rate = p.value
self.sync_timer.timer_period_ns = int(1e9 / self.sync_rate)
elif name == "image_rate":
self.image_rate = p.value
self.image_timer.timer_period_ns = int(1e9 / self.image_rate)
elif p.name == "imu_rate":
self.imu_rate = p.value
self.imu_timer.timer_period_ns = int(1e9 / self.imu_rate)
elif p.name == "timeout":
self.timeout = p.value
elif p.name == "image_topic":
self.image_topic = p.value
elif p.name == "imu_topic":
self.imu_topic = p.value
elif p.name == "cmd_vel_topic":
self.cmd_vel_topic = p.value
elif name == "image_topic": self.image_topic = p.value
elif name == "imu_topic": self.imu_topic = p.value
elif name == "scan_topic": self.scan_topic = p.value
elif name == "odom_topic": self.odom_topic = p.value
elif name == "power_topic": self.power_topic = p.value
elif name == "cmd_vel_topic": self.cmd_vel_topic = p.value
return rclpy.parameter.SetParametersResult(successful=True)
# ------------------------------------------------------------------
# HTTP 基础方法
# HTTP 基础
# ------------------------------------------------------------------
@property
@@ -142,7 +155,6 @@ class OrigincarBridge(Node):
return f"http://{self.http_host}:{self.http_port}"
def _get(self, endpoint: str):
"""GET 请求，失败返回 None，打日志。"""
try:
r = self._session.get(
f"{self._base_url}{endpoint}", timeout=self.timeout
@@ -151,7 +163,7 @@ class OrigincarBridge(Node):
return r
except requests.ConnectionError:
self.get_logger().warn(
f"连接仿真机 {self._base_url} 失败，请确认仿真已启动",
f"连接失败 {self._base_url}，仿真是否启动？",
throttle_duration_sec=5.0,
)
except requests.Timeout:
@@ -165,8 +177,18 @@ class OrigincarBridge(Node):
)
return None
def _get_json(self, endpoint: str) -> dict | None:
r = self._get(endpoint)
if r is not None:
try:
return r.json()
except Exception:
self.get_logger().warn(
f"解析 {endpoint} JSON 失败", throttle_duration_sec=5.0
)
return None
def _post(self, endpoint: str, json_data: dict):
"""POST 请求（不关心返回值）。"""
try:
self._session.post(
f"{self._base_url}{endpoint}",
@@ -179,7 +201,7 @@ class OrigincarBridge(Node):
)
# ------------------------------------------------------------------
# 图像 — GET /image → sensor_msgs/Image
# 图像 — GET /image → sensor_msgs/Image (独立定时器)
# ------------------------------------------------------------------
def _fetch_and_publish_image(self):
@@ -206,75 +228,184 @@ class OrigincarBridge(Node):
)
# ------------------------------------------------------------------
# IMU — GET /imu → sensor_msgs/Imu
# 同步快速数据 — scan / odom / imu / power (统一定时器)
# ------------------------------------------------------------------
def _fetch_and_publish_imu(self):
r = self._get("/imu")
if r is None or r.status_code != 200:
return
def _sync_fast_data(self):
"""在同一拍内拉取并发布 scan / odom / imu / power。"""
now = self.get_clock().now().to_msg()
try:
data = r.json()
msg = Imu()
msg.header.stamp = self.get_clock().now().to_msg()
msg.header.frame_id = "imu_link"
# ---- LaserScan ----
scan_data = self._get_json("/scan")
if scan_data:
try:
self._publish_scan(scan_data, now)
except Exception:
self.get_logger().warn(
f"LaserScan 异常:\n{traceback.format_exc()}",
throttle_duration_sec=5.0,
)
# 姿态四元数
ori = data.get("orientation", {})
msg.orientation.w = ori.get("w", 1.0)
msg.orientation.x = ori.get("x", 0.0)
msg.orientation.y = ori.get("y", 0.0)
msg.orientation.z = ori.get("z", 0.0)
# ---- Odometry ----
odom_data = self._get_json("/odom")
if odom_data:
try:
self._publish_odom(odom_data, now)
except Exception:
self.get_logger().warn(
f"Odometry 异常:\n{traceback.format_exc()}",
throttle_duration_sec=5.0,
)
# 角速度 (rad/s)
av = data.get("angular_velocity", {})
msg.angular_velocity.x = av.get("x", 0.0)
msg.angular_velocity.y = av.get("y", 0.0)
msg.angular_velocity.z = av.get("z", 0.0)
# ---- IMU ----
imu_data = self._get_json("/imu")
if imu_data:
try:
self._publish_imu(imu_data, now)
except Exception:
self.get_logger().warn(
f"IMU 异常:\n{traceback.format_exc()}",
throttle_duration_sec=5.0,
)
# 线加速度 (m/s²)
la = data.get("linear_acceleration", {})
msg.linear_acceleration.x = la.get("x", 0.0)
msg.linear_acceleration.y = la.get("y", 0.0)
msg.linear_acceleration.z = la.get("z", 0.0)
# ---- Power ----
power_data = self._get_json("/power")
if power_data:
try:
self._publish_power(power_data)
except Exception:
self.get_logger().warn(
f"Power 异常:\n{traceback.format_exc()}",
throttle_duration_sec=5.0,
)
# 协方差置 -1（表示无估计）
msg.orientation_covariance[0] = -1.0
msg.angular_velocity_covariance[0] = -1.0
msg.linear_acceleration_covariance[0] = -1.0
# ---- 各数据发布方法 ----
self.imu_pub.publish(msg)
def _publish_scan(self, data: dict, now):
"""GET /scan → sensor_msgs/LaserScan
except Exception:
self.get_logger().warn(
f"IMU 处理异常:\n{traceback.format_exc()}",
throttle_duration_sec=5.0,
)
HTTP 返回格式:
angle_min, angle_max, angle_increment, range_min, range_max, ranges[]
"""
msg = LaserScan()
msg.header.stamp = now
msg.header.frame_id = "laser"
msg.angle_min = float(data["angle_min"])
msg.angle_max = float(data["angle_max"])
msg.angle_increment = float(data["angle_increment"])
msg.range_min = float(data.get("range_min", 0.15))
msg.range_max = float(data.get("range_max", 3.0))
msg.ranges = [float(r) for r in data["ranges"]]
# intensities 置空
msg.intensities = []
self.scan_pub.publish(msg)
def _publish_odom(self, data: dict, now):
"""GET /odom → nav_msgs/Odometry
HTTP 返回格式:
x, y, yaw, vx, vy, wz, orientation{w,x,y,z}
"""
msg = Odometry()
msg.header.stamp = now
msg.header.frame_id = "odom"
msg.child_frame_id = "base_link"
msg.pose.pose.position.x = float(data["x"])
msg.pose.pose.position.y = float(data["y"])
msg.pose.pose.position.z = 0.0
ori = data.get("orientation", {})
msg.pose.pose.orientation = Quaternion(
w=float(ori.get("w", 1.0)),
x=float(ori.get("x", 0.0)),
y=float(ori.get("y", 0.0)),
z=float(ori.get("z", 0.0)),
)
msg.twist.twist.linear.x = float(data.get("vx", 0.0))
msg.twist.twist.linear.y = float(data.get("vy", 0.0))
msg.twist.twist.angular.z = float(data.get("wz", 0.0))
# 协方差置 -1（无估计）
msg.pose.covariance[0] = -1.0
msg.twist.covariance[0] = -1.0
self.odom_pub.publish(msg)
def _publish_imu(self, data: dict, now):
"""GET /imu → sensor_msgs/Imu
HTTP 返回格式:
orientation{w,x,y,z}, angular_velocity{x,y,z}, linear_acceleration{x,y,z}
"""
msg = Imu()
msg.header.stamp = now
msg.header.frame_id = "gyro_link"
ori = data.get("orientation", {})
msg.orientation = Quaternion(
w=float(ori.get("w", 1.0)),
x=float(ori.get("x", 0.0)),
y=float(ori.get("y", 0.0)),
z=float(ori.get("z", 0.0)),
)
av = data.get("angular_velocity", {})
msg.angular_velocity.x = float(av.get("x", 0.0))
msg.angular_velocity.y = float(av.get("y", 0.0))
msg.angular_velocity.z = float(av.get("z", 0.0))
la = data.get("linear_acceleration", {})
msg.linear_acceleration.x = float(la.get("x", 0.0))
msg.linear_acceleration.y = float(la.get("y", 0.0))
msg.linear_acceleration.z = float(la.get("z", 0.0))
# 协方差置 -1
msg.orientation_covariance[0] = -1.0
msg.angular_velocity_covariance[0] = -1.0
msg.linear_acceleration_covariance[0] = -1.0
self.imu_pub.publish(msg)
def _publish_power(self, data: dict):
"""GET /power → std_msgs/Float32
HTTP 返回格式:
{"voltage": 12.0}
"""
msg = Float32()
msg.data = float(data.get("voltage", 0.0))
self.power_pub.publish(msg)
# ------------------------------------------------------------------
# 控制 — ROS2 /cmd_vel → POST /cmd
# 控制 — ROS2 /cmd_vel (Twist) → POST /cmd (差速模式 vx/wz)
# ------------------------------------------------------------------
def _cmd_vel_callback(self, msg: Twist):
"""将 Twist 消息转换为 HTTP /cmd 控制指令。
"""将 Twist 转为差速控制指令。
Twist.linear.x → speed (m/s)
Twist.angular.z → steer (rad)
Twist.linear.x → vx (线速度 m/s)
Twist.angular.z → wz (角速度 rad/s)
HTTP /cmd 只接受差速模式 {"vx": vx, "wz": wz}，
服务端内部通过 bicycle model 将 wz 转成阿克曼转向角。
"""
speed = float(msg.linear.x)
steer = float(msg.angular.z)
vx = float(msg.linear.x)
wz = float(msg.angular.z)
self._post("/cmd", {"speed": speed, "steer": steer})
self._post("/cmd", {"vx": vx, "wz": wz})
self._cmd_count += 1
self.get_logger().debug(
f"发送控制: speed={speed:.2f}, steer={steer:.2f}"
f" (总计 {self._cmd_count})"
f"cmd_vel → vx={vx:.2f}, wz={wz:.2f} (#{self._cmd_count})"
)
# ------------------------------------------------------------------
# 清理
# ------------------------------------------------------------------
def destroy_node(self):
"""关闭 HTTP Session 后再销毁节点。"""
self._session.close()
super().destroy_node()