124 lines
4.4 KiB
Markdown
124 lines
4.4 KiB
Markdown
# sim_smart_car_bridge
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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。
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## 数据流
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```
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origincar_bridge
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仿真机 HTTP API ←──── HTTP ────→ ←── 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/data_raw
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GET /scan ──→ 填充字段 ──→ sensor_msgs/LaserScan /scan
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GET /odom ──→ 填充字段 ──→ nav_msgs/Odometry /odom
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GET /power ──→ Float32 ──→ std_msgs/Float32 /PowerVoltage
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POST /cmd ←── vx / wz ←── geometry_msgs/Twist /cmd_vel
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```
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| 方向 | 话题 | 消息类型 | HTTP 端点 | 频率 |
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|------|------|----------|-----------|------|
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| 上行 | `/image` | `sensor_msgs/Image` | `GET /image` | 10 Hz（可配） |
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| 上行 | `/imu/data_raw` | `sensor_msgs/Imu` | `GET /imu` | 30 Hz sync |
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| 上行 | `/scan` | `sensor_msgs/LaserScan` | `GET /scan` | 30 Hz sync |
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| 上行 | `/odom` | `nav_msgs/Odometry` | `GET /odom` | 30 Hz sync |
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| 上行 | `/PowerVoltage` | `std_msgs/Float32` | `GET /power` | 30 Hz sync |
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| 下行 | `/cmd_vel` | `geometry_msgs/Twist` | `POST /cmd` | 事件驱动 |
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> **帧 ID**: `camera_front`（图像）、`gyro_link`（IMU）、`laser`（雷达）、`odom`→`base_link`（里程计）
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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 / LaserScan |
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| `nav_msgs` | Odometry |
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| `geometry_msgs` | Twist / Quaternion |
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| `std_msgs` | Float32 (PowerVoltage) |
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| `cv_bridge` | OpenCV ↔ ROS Image |
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| `opencv-python` | JPEG 解码 |
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| `numpy` | 图像数组 |
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| `requests` | HTTP 客户端 |
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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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```bash
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# launch 启动（推荐）
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ros2 launch origincar_bridge bridge.launch.py http_host:=192.168.11.159
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# 直接运行
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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 sync_rate 20.0
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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 |
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| `http_port` | `8765` | HTTP API 端口 |
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| `timeout` | `1.0` | HTTP 请求超时 (s) |
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| `sync_rate` | `30.0` | scan/odom/imu/power 统一同步频率 (Hz) |
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| `image_rate` | `10.0` | 图像独立拉取频率 (Hz) |
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| `image_topic` | `/image` | 图像发布话题 |
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| `imu_topic` | `/imu/data_raw` | IMU 发布话题 |
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| `scan_topic` | `/scan` | 激光雷达发布话题 |
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| `odom_topic` | `/odom` | 里程计发布话题 |
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| `power_topic` | `/PowerVoltage` | 电池电压发布话题 |
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| `cmd_vel_topic` | `/cmd_vel` | 控制指令订阅话题 |
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## 上游 HTTP API
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| 端点 | 方法 | 返回 | 说明 |
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|------|------|------|------|
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| `/image` | GET | JPEG bytes | 前置摄像头图像 |
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| `/imu` | GET | JSON | IMU 数据（MPU6050 噪声） |
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| `/scan` | GET | JSON | LSLIDAR N10 2D 激光雷达（360°, 450 点） |
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| `/odom` | GET | JSON | 里程计（位置/姿态/速度） |
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| `/power` | GET | JSON | 电池电压 `{"voltage": 12.0}` |
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| `/state` | GET | JSON | 小车完整状态 |
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| `/cmd` | POST | — | 控制指令 `{"vx": vx, "wz": wz}` |
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### /cmd 控制模式
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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。
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```json
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{"vx": 1.0, "wz": 0.5}
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```
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## 项目结构
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```
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origincar_bridge/
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├── README.md
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├── .gitignore
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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 # ★ 全功能桥接节点
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```
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