954ca7f8a7
Bridge image (GET /image → sensor_msgs/Image), IMU (GET /imu → sensor_msgs/Imu), and cmd_vel (Twist → POST /cmd) between Origincar simulation and ROS2. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
96 lines
2.7 KiB
Markdown
96 lines
2.7 KiB
Markdown
# sim_smart_car_bridge
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ROS2 桥接中转节点：将 Origincar 仿真的 HTTP API 与 ROS2 话题双向桥接。
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## 数据流
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```
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仿真机 HTTP API ←———HTTP———→ origincar_bridge ←———ROS2———→ 你的其他节点
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GET /image ──→ cv_bridge 解码 ──→ sensor_msgs/Image /image
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GET /imu ──→ 填充字段 ──→ sensor_msgs/Imu /imu
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POST /cmd ←── speed/steer ←── geometry_msgs/Twist /cmd_vel
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```
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## 依赖
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| 依赖 | 用途 |
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|------|------|
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| `rclpy` | ROS2 Python 客户端 |
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| `sensor_msgs` | Image / Imu 消息 |
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| `geometry_msgs` | Twist 消息 (cmd_vel) |
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| `cv_bridge` | OpenCV ↔ ROS Image 转换 |
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| `opencv-python` | 图像解码 |
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| `numpy` | 图像数组处理 |
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| `requests` | HTTP 请求 |
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## 安装
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```bash
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cd <your_workspace>
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git clone http://106.14.170.56:57575/cyy/sim_smart_car_bridge.git src/origincar_bridge
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colcon build --packages-select origincar_bridge --symlink-install
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source install/setup.bash
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```
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## 使用
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### launch 启动（推荐）
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```bash
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ros2 launch origincar_bridge bridge.launch.py http_host:=192.168.11.159
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```
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### 直接运行
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```bash
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ros2 run origincar_bridge bridge_node --ros-args -p http_host:=192.168.11.159
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```
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### 运行时调参
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```bash
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ros2 param set /origincar_bridge image_rate 15.0
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ros2 param set /origincar_bridge timeout 2.0
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```
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## 可配置参数
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| 参数 | 默认值 | 说明 |
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|------|--------|------|
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| `http_host` | `192.168.11.159` | 仿真机 IP 地址 |
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| `http_port` | `8765` | HTTP API 端口 |
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| `image_topic` | `/image` | 图像发布话题 |
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| `imu_topic` | `/imu` | IMU 发布话题 |
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| `cmd_vel_topic` | `/cmd_vel` | 控制指令订阅话题 |
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| `image_rate` | `30.0` | 图像拉取频率 (Hz) |
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| `imu_rate` | `30.0` | IMU 拉取频率 (Hz) |
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| `timeout` | `1.0` | HTTP 请求超时 (秒) |
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## 上游 API
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本节点对接 [Origincar Simulation](https://github.com/mxxxdev/motrixsim) 的 HTTP API（端口 8765）：
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| 端点 | 方法 | 说明 |
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|------|------|------|
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| `/image` | GET | 前置摄像头 JPEG 图像 |
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| `/imu` | GET | IMU 数据 (MPU6050) JSON |
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| `/state` | GET | 小车状态 JSON |
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| `/cmd` | POST | 发送控制指令 `{"speed": 1.0, "steer": 0.3}` |
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## 项目结构
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```
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origincar_bridge/
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├── package.xml # ROS2 包清单
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├── setup.py # ament_python 构建入口
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├── setup.cfg
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├── resource/
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│ └── origincar_bridge # 包标记
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├── launch/
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│ └── bridge.launch.py # 启动文件
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└── origincar_bridge/
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├── __init__.py
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└── bridge_node.py # 桥接节点主程序
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```
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