更新接口

README.md

@@ -1,28 +1,45 @@
 # sim_smart_car_bridge
 
-ROS2 桥接中转节点：将 Origincar 仿真的 HTTP API 与 ROS2 话题双向桥接。
+ROS2 桥接中转节点：将 [Origincar 仿真](https://github.com/mxxxdev/motrixsim) 的 HTTP API（端口 8765）全面桥接到 ROS2 话题。
 
 ## 数据流
 
 ```
-仿真机 HTTP API  ←———HTTP———→  origincar_bridge  ←———ROS2———→  你的其他节点
+                    origincar_bridge
+仿真机 HTTP API  ←──── HTTP ────→  ←── ROS2 ──→  你的其他节点
 
-GET  /image  ──→  cv_bridge 解码  ──→  sensor_msgs/Image       /image
-GET  /imu    ──→  填充字段       ──→  sensor_msgs/Imu          /imu
-POST /cmd    ←──  speed/steer   ←──  geometry_msgs/Twist        /cmd_vel
+GET  /image  ──→  cv_bridge 解码   ──→  sensor_msgs/Image      /image
+GET  /imu    ──→  填充字段        ──→  sensor_msgs/Imu         /imu/data_raw
+GET  /scan   ──→  填充字段        ──→  sensor_msgs/LaserScan   /scan
+GET  /odom   ──→  填充字段        ──→  nav_msgs/Odometry       /odom
+GET  /power  ──→  Float32         ──→  std_msgs/Float32        /PowerVoltage
+POST /cmd    ←──  vx / wz         ←──  geometry_msgs/Twist      /cmd_vel
 ```
 
+| 方向 | 话题 | 消息类型 | HTTP 端点 | 频率 |
+|------|------|----------|-----------|------|
+| 上行 | `/image` | `sensor_msgs/Image` | `GET /image` | 10 Hz（可配） |
+| 上行 | `/imu/data_raw` | `sensor_msgs/Imu` | `GET /imu` | 30 Hz sync |
+| 上行 | `/scan` | `sensor_msgs/LaserScan` | `GET /scan` | 30 Hz sync |
+| 上行 | `/odom` | `nav_msgs/Odometry` | `GET /odom` | 30 Hz sync |
+| 上行 | `/PowerVoltage` | `std_msgs/Float32` | `GET /power` | 30 Hz sync |
+| 下行 | `/cmd_vel` | `geometry_msgs/Twist` | `POST /cmd` | 事件驱动 |
+
+> **帧 ID**: `camera_front`（图像）、`gyro_link`（IMU）、`laser`（雷达）、`odom`→`base_link`（里程计）
+
 ## 依赖
 
 | 依赖 | 用途 |
 |------|------|
 | `rclpy` | ROS2 Python 客户端 |
-| `sensor_msgs` | Image / Imu 消息 |
-| `geometry_msgs` | Twist 消息 (cmd_vel) |
-| `cv_bridge` | OpenCV ↔ ROS Image 转换 |
-| `opencv-python` | 图像解码 |
-| `numpy` | 图像数组处理 |
-| `requests` | HTTP 请求 |
+| `sensor_msgs` | Image / Imu / LaserScan |
+| `nav_msgs` | Odometry |
+| `geometry_msgs` | Twist / Quaternion |
+| `std_msgs` | Float32 (PowerVoltage) |
+| `cv_bridge` | OpenCV ↔ ROS Image |
+| `opencv-python` | JPEG 解码 |
+| `numpy` | 图像数组 |
+| `requests` | HTTP 客户端 |
 
 ## 安装
 
@@ -35,15 +52,11 @@ source install/setup.bash
 
 ## 使用
 
-### launch 启动（推荐）
-
 ```bash
+# launch 启动（推荐）
 ros2 launch origincar_bridge bridge.launch.py http_host:=192.168.11.159
-```
 
-### 直接运行
-
-```bash
+# 直接运行
 ros2 run origincar_bridge bridge_node --ros-args -p http_host:=192.168.11.159
 ```
 
@@ -51,6 +64,7 @@ ros2 run origincar_bridge bridge_node --ros-args -p http_host:=192.168.11.159
 
 ```bash
 ros2 param set /origincar_bridge image_rate 15.0
+ros2 param set /origincar_bridge sync_rate 20.0
 ros2 param set /origincar_bridge timeout 2.0
 ```
 
@@ -58,30 +72,44 @@ ros2 param set /origincar_bridge timeout 2.0
 
 | 参数 | 默认值 | 说明 |
 |------|--------|------|
-| `http_host` | `192.168.11.159` | 仿真机 IP 地址 |
+| `http_host` | `192.168.11.159` | 仿真机 IP |
 | `http_port` | `8765` | HTTP API 端口 |
+| `timeout` | `1.0` | HTTP 请求超时 (s) |
+| `sync_rate` | `30.0` | scan/odom/imu/power 统一同步频率 (Hz) |
+| `image_rate` | `10.0` | 图像独立拉取频率 (Hz) |
 | `image_topic` | `/image` | 图像发布话题 |
-| `imu_topic` | `/imu` | IMU 发布话题 |
+| `imu_topic` | `/imu/data_raw` | IMU 发布话题 |
+| `scan_topic` | `/scan` | 激光雷达发布话题 |
+| `odom_topic` | `/odom` | 里程计发布话题 |
+| `power_topic` | `/PowerVoltage` | 电池电压发布话题 |
 | `cmd_vel_topic` | `/cmd_vel` | 控制指令订阅话题 |
-| `image_rate` | `30.0` | 图像拉取频率 (Hz) |
-| `imu_rate` | `30.0` | IMU 拉取频率 (Hz) |
-| `timeout` | `1.0` | HTTP 请求超时 (秒) |
 
-## 上游 API
+## 上游 HTTP API
 
-本节点对接 [Origincar Simulation](https://github.com/mxxxdev/motrixsim) 的 HTTP API（端口 8765）：
+| 端点 | 方法 | 返回 | 说明 |
+|------|------|------|------|
+| `/image` | GET | JPEG bytes | 前置摄像头图像 |
+| `/imu` | GET | JSON | IMU 数据（MPU6050 噪声） |
+| `/scan` | GET | JSON | LSLIDAR N10 2D 激光雷达（360°, 450 点） |
+| `/odom` | GET | JSON | 里程计（位置/姿态/速度） |
+| `/power` | GET | JSON | 电池电压 `{"voltage": 12.0}` |
+| `/state` | GET | JSON | 小车完整状态 |
+| `/cmd` | POST | — | 控制指令 `{"vx": vx, "wz": wz}` |
 
-| 端点 | 方法 | 说明 |
-|------|------|------|
-| `/image` | GET | 前置摄像头 JPEG 图像 |
-| `/imu` | GET | IMU 数据 (MPU6050) JSON |
-| `/state` | GET | 小车状态 JSON |
-| `/cmd` | POST | 发送控制指令 `{"speed": 1.0, "steer": 0.3}` |
+### /cmd 控制模式
+
+HTTP `/cmd` 使用差速模式 `{"vx": vx, "wz": wz}`（匹配串口协议，与 `Twist` 语义一致），服务端内部通过 bicycle model 将 `wz` 转为阿克曼转向角。
+
+```json
+{"vx": 1.0, "wz": 0.5}
+```
 
 ## 项目结构
 
 ```
 origincar_bridge/
+├── README.md
+├── .gitignore
 ├── package.xml                    # ROS2 包清单
 ├── setup.py                       # ament_python 构建入口
 ├── setup.cfg
@@ -91,5 +119,5 @@ origincar_bridge/
 │   └── bridge.launch.py           # 启动文件
 └── origincar_bridge/
     ├── __init__.py
-    └── bridge_node.py             # 桥接节点主程序
+    └── bridge_node.py             # ★ 全功能桥接节点
 ```

launch/bridge.launch.py

@@ -9,78 +9,77 @@ from launch_ros.actions import Node
 def generate_launch_description():
     """启动 origincar_bridge 节点，所有参数可通过命令行覆盖。"""
 
-    # 声明 launch 参数（名称, 默认值, 说明）
     declare_http_host = DeclareLaunchArgument(
-        "http_host",
-        default_value="192.168.11.159",
+        "http_host", default_value="192.168.11.159",
         description="仿真机 IP 地址",
     )
     declare_http_port = DeclareLaunchArgument(
-        "http_port",
-        default_value="8765",
+        "http_port", default_value="8765",
         description="HTTP API 端口",
     )
+    declare_timeout = DeclareLaunchArgument(
+        "timeout", default_value="1.0",
+        description="HTTP 请求超时 (秒)",
+    )
+    declare_sync_rate = DeclareLaunchArgument(
+        "sync_rate", default_value="30.0",
+        description="scan/odom/imu/power 同步频率 (Hz)",
+    )
+    declare_image_rate = DeclareLaunchArgument(
+        "image_rate", default_value="10.0",
+        description="图像拉取频率 (Hz)",
+    )
+
+    # 话题名称
     declare_image_topic = DeclareLaunchArgument(
-        "image_topic",
-        default_value="/image",
+        "image_topic", default_value="/image",
         description="图像发布话题",
     )
     declare_imu_topic = DeclareLaunchArgument(
-        "imu_topic",
-        default_value="/imu",
+        "imu_topic", default_value="/imu/data_raw",
         description="IMU 发布话题",
     )
+    declare_scan_topic = DeclareLaunchArgument(
+        "scan_topic", default_value="/scan",
+        description="激光雷达发布话题",
+    )
+    declare_odom_topic = DeclareLaunchArgument(
+        "odom_topic", default_value="/odom",
+        description="里程计发布话题",
+    )
+    declare_power_topic = DeclareLaunchArgument(
+        "power_topic", default_value="/PowerVoltage",
+        description="电池电压发布话题",
+    )
     declare_cmd_vel_topic = DeclareLaunchArgument(
-        "cmd_vel_topic",
-        default_value="/cmd_vel",
+        "cmd_vel_topic", default_value="/cmd_vel",
         description="控制指令订阅话题",
     )
-    declare_image_rate = DeclareLaunchArgument(
-        "image_rate",
-        default_value="30.0",
-        description="图像拉取频率 (Hz)",
-    )
-    declare_imu_rate = DeclareLaunchArgument(
-        "imu_rate",
-        default_value="30.0",
-        description="IMU 拉取频率 (Hz)",
-    )
-    declare_timeout = DeclareLaunchArgument(
-        "timeout",
-        default_value="1.0",
-        description="HTTP 请求超时 (秒)",
-    )
 
-    # 节点
     bridge_node = Node(
         package="origincar_bridge",
         executable="bridge_node",
         name="origincar_bridge",
         output="screen",
-        parameters=[
-            {
-                "http_host": LaunchConfiguration("http_host"),
-                "http_port": LaunchConfiguration("http_port"),
-                "image_topic": LaunchConfiguration("image_topic"),
-                "imu_topic": LaunchConfiguration("imu_topic"),
-                "cmd_vel_topic": LaunchConfiguration("cmd_vel_topic"),
-                "image_rate": LaunchConfiguration("image_rate"),
-                "imu_rate": LaunchConfiguration("imu_rate"),
-                "timeout": LaunchConfiguration("timeout"),
-            }
-        ],
+        parameters=[{
+            "http_host":     LaunchConfiguration("http_host"),
+            "http_port":     LaunchConfiguration("http_port"),
+            "timeout":       LaunchConfiguration("timeout"),
+            "sync_rate":     LaunchConfiguration("sync_rate"),
+            "image_rate":    LaunchConfiguration("image_rate"),
+            "image_topic":   LaunchConfiguration("image_topic"),
+            "imu_topic":     LaunchConfiguration("imu_topic"),
+            "scan_topic":    LaunchConfiguration("scan_topic"),
+            "odom_topic":    LaunchConfiguration("odom_topic"),
+            "power_topic":   LaunchConfiguration("power_topic"),
+            "cmd_vel_topic": LaunchConfiguration("cmd_vel_topic"),
+        }],
     )
 
-    return LaunchDescription(
-        [
-            declare_http_host,
-            declare_http_port,
-            declare_image_topic,
-            declare_imu_topic,
-            declare_cmd_vel_topic,
-            declare_image_rate,
-            declare_imu_rate,
-            declare_timeout,
-            bridge_node,
-        ]
-    )
+    return LaunchDescription([
+        declare_http_host, declare_http_port, declare_timeout,
+        declare_sync_rate, declare_image_rate,
+        declare_image_topic, declare_imu_topic, declare_scan_topic,
+        declare_odom_topic, declare_power_topic, declare_cmd_vel_topic,
+        bridge_node,
+    ])

origincar_bridge/bridge_node.py

@@ -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()
 

package.xml

@@ -3,7 +3,10 @@
 <package format="3">
   <name>origincar_bridge</name>
   <version>1.0.0</version>
-  <description>ROS2 bridge relay: HTTP API ⇄ ROS2 topics (image, IMU, /cmd_vel)</description>
+  <description>
+    ROS2 bridge relay for Origincar Simulation HTTP API.
+    Bridges /image, /imu, /scan, /odom, /power (HTTP→ROS2) and /cmd_vel→/cmd (ROS2→HTTP).
+  </description>
   <maintainer email="user@example.com">cyy</maintainer>
   <license>Apache-2.0</license>
 
@@ -11,7 +14,9 @@
 
   <depend>rclpy</depend>
   <depend>sensor_msgs</depend>
+  <depend>nav_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>python3-numpy</depend>
   <depend>python3-opencv</depend>

setup.py

@@ -15,7 +15,7 @@ setup(
     zip_safe=True,
     maintainer="cyy",
     maintainer_email="user@example.com",
-    description="ROS2 bridge relay: HTTP API ⇄ ROS2 topics (image, IMU, /cmd_vel)",
+    description="ROS2 bridge relay: HTTP API ⇄ ROS2 topics (image, IMU, scan, odom, power, /cmd_vel)",
     license="Apache-2.0",
     entry_points={
         "console_scripts": [