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修了一下障碍物相关

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This commit is contained in:
Orange
2026-07-31 16:54:19 +08:00
parent 0c09a97e7f
commit 1d2eeecd5b
24 changed files with 14131 additions and 112 deletions
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7
src/origincar_base/launch/base_serial.launch.py
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@@ -6,8 +6,13 @@ def generate_launch_description():
robot_parameters = [
{'usart_port_name': '/dev/ttyACM0',
'serial_baud_rate': 115200,
'robot_frame_id': 'base_link',
'robot_frame_id': 'base_footprint',
'odom_frame_id': 'odom',
'combined_odom_topic': 'odom_combined',
'scan_topic': '/scan',
'wall_config_path': '/home/sunrise/yiliao_ws/src/origincar_base/config/wall_fit.json',
'publish_tf': True,
'wall_scan_stride': 2,
'cmd_vel': 'cmd_vel',
'akm_cmd_vel': 'none',
'product_number': 0,

130
src/origincar_base/launch/origincar_bringup.launch.py
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@@ -1,99 +1,87 @@
import os
from pathlib import Path
import launch
from launch.actions import SetEnvironmentVariable
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
IncludeLaunchDescription, SetEnvironmentVariable)
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import PushRosNamespace
import launch_ros.actions
from launch.conditions import UnlessCondition
from launch.substitutions import Command, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('origincar_base')
launch_dir = os.path.join(bringup_dir, 'launch')
ekf_config = Path(get_package_share_directory('origincar_base'), 'config', 'ekf.yaml')
imu_config = Path(get_package_share_directory('origincar_base'), 'config', 'imu.yaml')
carto_slam = LaunchConfiguration('carto_slam', default='false')
carto_slam_dec = DeclareLaunchArgument('carto_slam',default_value='false')
akmcar = LaunchConfiguration('akmcar', default='true')
wall_preview = LaunchConfiguration('wall_preview', default='false')
wall_preview_port = LaunchConfiguration('wall_preview_port', default='8772')
akmcar = LaunchConfiguration('akmcar', default='false')
akmcar_dec = DeclareLaunchArgument('akmcar', default_value='true',
description='阿克曼底盘模式 (true=阿克曼, false=差速)')
origincar_base = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'base_serial.launch.py')),
launch_arguments={'akmcar': akmcar}.items(),
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'base_serial.launch.py')),
launch_arguments={'akmcar': akmcar}.items(),
)
choose_car = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description.launch.py')),
robot_mode_description = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description.launch.py')),
)
base_to_gyro = launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
name='base_to_gyro',
arguments=['0', '0', '0','0', '0','0','base_footprint','gyro_link'],
)
link_to_laser = launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
name='link_to_laser',
arguments=['0', '0', '0','0', '0','0','base_link','laser'],
base_to_gyro = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='base_to_gyro',
arguments=['0', '0', '0', '0', '0', '0', 'base_footprint', 'gyro_link'],
)
imu_filter_node = launch_ros.actions.Node(
link_to_laser = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='link_to_laser',
arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'laser'],
)
imu_filter_node = Node(
package='imu_filter_madgwick',
executable='imu_filter_madgwick_node',
parameters=[imu_config]
parameters=[imu_config],
)
wall_preview_server = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'wall_localization.launch.py')),
condition=IfCondition(wall_preview),
launch_arguments={
'port': wall_preview_port,
}.items(),
)
robot_ekf = launch_ros.actions.Node(
condition=UnlessCondition(carto_slam),
package='robot_localization',
executable='ekf_node',
parameters=[ekf_config],
remappings=[("odometry/filtered", "odom_combined")]
)
# 从 URDF 生成 robot_description，供 joint_state_publisher 和 robot_state_publisher 共用
from launch_ros.parameter_descriptions import ParameterValue
from launch.substitutions import Command
robot_description = ParameterValue(
Command(['xacro ', os.path.join(
get_package_share_directory('origincar_description'),
'urdf', 'origincar.urdf')]),
value_type=str)
joint_state_publisher_node = launch_ros.actions.Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
parameters=[{'robot_description': robot_description}],
Command([
'xacro ',
os.path.join(get_package_share_directory('origincar_description'), 'urdf', 'origincar.urdf'),
]),
value_type=str,
)
ld = LaunchDescription()
ld.add_action(carto_slam_dec)
ld.add_action(akmcar_dec)
ld.add_action(origincar_base)
ld.add_action(base_to_gyro)
ld.add_action(joint_state_publisher_node)
ld.add_action(choose_car)
ld.add_action(imu_filter_node)
ld.add_action(robot_ekf)
return ld
joint_state_publisher_node = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
parameters=[{'robot_description': robot_description}],
)
return LaunchDescription([
DeclareLaunchArgument('carto_slam', default_value='false'),
DeclareLaunchArgument('akmcar', default_value='true'),
DeclareLaunchArgument('wall_preview', default_value='false'),
DeclareLaunchArgument('wall_preview_port', default_value='8772'),
origincar_base,
base_to_gyro,
joint_state_publisher_node,
robot_mode_description,
imu_filter_node,
wall_preview_server,
])

33
src/origincar_base/launch/wall_localization.launch.py Normal file
View File

@@ -0,0 +1,33 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
scan_topic = LaunchConfiguration('scan_topic')
combined_odom_topic = LaunchConfiguration('combined_odom_topic')
wall_config = LaunchConfiguration('wall_config')
port = LaunchConfiguration('port')
return LaunchDescription([
DeclareLaunchArgument('scan_topic', default_value='/scan'),
DeclareLaunchArgument('combined_odom_topic', default_value='/odom_combined'),
DeclareLaunchArgument(
'wall_config',
default_value='/home/sunrise/yiliao_ws/src/origincar_base/config/wall_fit.json'),
DeclareLaunchArgument('port', default_value='8772'),
Node(
package='origincar_base',
executable='wall_preview_server',
name='wall_preview_server',
output='screen',
parameters=[{
'scan_topic': scan_topic,
'combined_odom_topic': combined_odom_topic,
'config_path': wall_config,
'port': port,
}],
),
])