From 261f533e1ea6767a5e8ed215f85344259db6c6a6 Mon Sep 17 00:00:00 2001 From: Orange <2314753575@qq.com> Date: Sat, 13 Jun 2026 19:55:01 +0800 Subject: [PATCH] Please enter the commit message for your changes. Lines starting with '#' will be ignored, and an empty message aborts the commit. On branch master Your branch is ahead of 'origin/master' by 31 commits. (use "git push" to publish your local commits) Changes to be committed: new file: .gitignore new file: .vscode/c_cpp_properties.json new file: .vscode/launch.json new file: .vscode/settings.json new file: CLAUDE.md new file: README.md new file: bashes/README.md new file: bashes/radar-driver-switch.sh new file: bashes/radar-driver-switch.sh.bak new file: dependencies/dependencies.txt new file: src/LSLIDAR_X_ROS2-20240228/src/README.md new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc.bak new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/version.txt new file: src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh new file: "src/LSLIDAR_X_ROS2-20240228/src/\351\225\255\347\245\236Lsx\351\233\267\350\276\276\346\227\213\350\275\254\350\247\222\345\272\246.png" new file: src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py new file: "src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py\344\273\205\345\234\250WHEELTEC\351\225\234\345\203\217\344\270\255\344\275\277\347\224\250" new file: src/cyy_navigation2/CMakeLists.txt new file: src/cyy_navigation2/bt/follow_point.xml new file: src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_distance.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_speed.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_time.xml new file: src/cyy_navigation2/bt/odometry_calibration.xml new file: src/cyy_navigation2/config/nav2_params.yaml new file: src/cyy_navigation2/launch/car_bringup.launch.py new file: src/cyy_navigation2/launch/cyy_nav.launch.py new file: src/cyy_navigation2/launch/cyy_nav_box.launch.py new file: src/cyy_navigation2/maps/cyy_map.data new file: src/cyy_navigation2/maps/cyy_map.pgm new file: src/cyy_navigation2/maps/cyy_map.yaml new file: src/cyy_navigation2/maps/cyy_map1.pgm new file: src/cyy_navigation2/maps/cyy_map1.yaml new file: src/cyy_navigation2/package.xml new file: src/cyy_navigation2/param/nav2_params.yaml new file: src/cyy_navigation2/param/slam_toolbox_localization.yaml new file: src/cyy_slamtoolbox/CMakeLists.txt new file: src/cyy_slamtoolbox/config/angular_filter_example.yaml new file: src/cyy_slamtoolbox/config/box_filter_example.yaml new file: src/cyy_slamtoolbox/config/footprint_filter_example.yaml new file: src/cyy_slamtoolbox/config/intensity_filter_example.yaml new file: src/cyy_slamtoolbox/config/laser_filter_config.yaml new file: src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/cyy_slamtoolbox/config/mapper_params_localization.yaml new file: src/cyy_slamtoolbox/config/mapper_params_offline.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_async.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/cyy_slamtoolbox/config/mask_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml new file: src/cyy_slamtoolbox/config/multiple_filters_example.yaml new file: src/cyy_slamtoolbox/config/pass_through_example.yaml new file: src/cyy_slamtoolbox/config/polygon_filter_example.yaml new file: src/cyy_slamtoolbox/config/range_filter_example.yaml new file: src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml new file: src/cyy_slamtoolbox/config/sector_filter_example.yaml new file: src/cyy_slamtoolbox/config/shadow_filter_example.yaml new file: src/cyy_slamtoolbox/config/slam_toolbox_default.rviz new file: src/cyy_slamtoolbox/config/speckle_filter_example.yaml new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py new file: src/cyy_slamtoolbox/launch/filter.launch.py new file: src/cyy_slamtoolbox/package.xml new file: src/gc_navigation2_real/CMakeLists.txt new file: src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml new file: src/gc_navigation2_real/config/slam_toolbox_async_real.yaml new file: src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml new file: src/gc_navigation2_real/launch/real_bringup.launch.py new file: src/gc_navigation2_real/launch/real_nav2_slam.launch.py new file: src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py new file: src/gc_navigation2_real/launch/real_slam_mapping.launch.py new file: src/gc_navigation2_real/maps/Readme.txt new file: src/gc_navigation2_real/package.xml new file: src/gc_navigation2_real/params/gc_navigation_slam_real.yaml new file: src/gc_navigation2_slamtoolbox/CMakeLists.txt new file: src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py new file: src/gc_navigation2_slamtoolbox/maps/my_map.data new file: src/gc_navigation2_slamtoolbox/maps/my_map.pgm new file: src/gc_navigation2_slamtoolbox/maps/my_map.posegraph new file: src/gc_navigation2_slamtoolbox/maps/my_map.yaml new file: src/gc_navigation2_slamtoolbox/maps/zhihui.data new file: src/gc_navigation2_slamtoolbox/maps/zhihui.pgm new file: src/gc_navigation2_slamtoolbox/maps/zhihui.posegraph new file: src/gc_navigation2_slamtoolbox/maps/zhihui.yaml new file: src/gc_navigation2_slamtoolbox/package.xml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file: src/gc_navigation2_slamtoolbox/world/zhihui/model.config new file: src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf new file: src/gc_navigation_fish/CMakeLists.txt new file: src/gc_navigation_fish/launch/gc_navigation.launch.py new file: src/gc_navigation_fish/maps/test_map.pgm new file: src/gc_navigation_fish/maps/test_map.yaml new file: src/gc_navigation_fish/package.xml new file: src/gc_navigation_fish/param/gc_navigation.yaml new file: 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src/ground_slam/include/read_configs.h new file: src/ground_slam/include/thread_publisher.h new file: src/ground_slam/include/timer.h new file: src/ground_slam/include/utils.h new file: src/ground_slam/include/visualization.h new file: src/ground_slam/main.cpp new file: src/ground_slam/package.xml new file: src/ground_slam/src/camera.cc new file: src/ground_slam/src/correlation_flow.cc new file: src/ground_slam/src/dataset.cc new file: src/ground_slam/src/edge.cc new file: src/ground_slam/src/frame.cc new file: src/ground_slam/src/loop_closure.cc new file: src/ground_slam/src/map.cc new file: src/ground_slam/src/map_builder.cc new file: src/ground_slam/src/map_stitcher.cc new file: src/ground_slam/src/optimization_2d/pose_graph_2d.cc new file: src/ground_slam/src/thread_publisher.cc new file: src/ground_slam/src/timer.cc new file: src/ground_slam/src/utils.cc new file: src/ground_slam/src/visualization.cc new file: src/ground_slam/supplementary/GroundSLAM_Supplement_Materia.pdf new file: src/origincar_base/CMakeLists.txt new file: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/imu.yaml new file: src/origincar_base/include/origincar_base/Quaternion_Solution.h new file: src/origincar_base/include/origincar_base/origincar_base.h new file: src/origincar_base/launch/__pycache__/testtwo.launch.cpython-38.pyc new file: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/ekf.launch.py new file: src/origincar_base/launch/origincar_bringup.launch.py new file: src/origincar_base/launch/robot_mode_description.launch.py new file: src/origincar_base/msg/Position.msg new file: src/origincar_base/package.xml new file: src/origincar_base/scripts/__pycache__/cmd_vel_to_ackermann_drive.cpython-310.pyc new file: src/origincar_base/scripts/cmd_vel_to_ackermann_drive.py new file: src/origincar_base/src/Quaternion_Solution.cpp new file: src/origincar_base/src/origincar_base.cpp new file: src/origincar_base/src/origincar_base.cpp.bak new file: src/origincar_description/CMakeLists.txt new file: src/origincar_description/CMakeLists.txt.save new file: src/origincar_description/config/joint_names_origincar_description.yaml new file: src/origincar_description/config/joint_names_origincar_description.yaml:Zone.Identifier new file: "src/origincar_description/config/joint_names_origincar_description.yaml\357\200\272Zone.Identifier" new file: src/origincar_description/launch/display.launch new file: src/origincar_description/launch/display.launch.py new file: src/origincar_description/launch/gazebo.launch new file: src/origincar_description/launch/gazebo.launch.py new file: src/origincar_description/meshes/base_link.STL new file: src/origincar_description/meshes/base_link.STL:Zone.Identifier new file: "src/origincar_description/meshes/base_link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_left_Link.STL new file: src/origincar_description/meshes/down_left_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/down_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_right_Link.STL new file: src/origincar_description/meshes/down_right_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/down_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_left_Link.STL new file: src/origincar_description/meshes/up_left_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/up_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_right_Link.STL new file: src/origincar_description/meshes/up_right_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/up_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/package.xml new file: src/origincar_description/rviz/README new file: src/origincar_description/rviz/display.rviz new file: src/origincar_description/urdf/origincar.urdf new file: src/origincar_description/urdf/origincar.xacro new file: src/origincar_description/world/fishbot.world new file: src/origincar_description/world/gc_world.world new file: src/origincar_description/world/test.world new file: src/origincar_description/world/zhihui.world new file: src/origincar_msg/CMakeLists.txt new file: src/origincar_msg/msg/Data.msg new file: src/origincar_msg/msg/Sign.msg new file: src/origincar_msg/package.xml new file: src/zbw_slamtoolbox/CMakeLists.txt new file: src/zbw_slamtoolbox/config/mapper_params_online_async.yaml new file: src/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml new file: src/zbw_slamtoolbox/config/navigation.yaml new file: src/zbw_slamtoolbox/launch/navigation.launch.py new file: src/zbw_slamtoolbox/launch/slamtoolbox.launch.py new file: src/zbw_slamtoolbox/package.xml new file: "\347\253\236\350\265\233\346\226\271\346\241\210_\347\254\25421\345\261\212\346\231\272\350\203\275\346\261\275\350\275\246\347\253\236\350\265\233\345\234\260\347\223\234\346\234\272\345\231\250\344\272\272\350\265\233\351\241\271.md" new file: "\350\260\203\350\257\225\350\256\260\345\275\225.log" --- .gitignore | 12 + .vscode/c_cpp_properties.json | 26 + .vscode/launch.json | 28 + .vscode/settings.json | 20 + CLAUDE.md | 165 ++ README.md | 105 ++ bashes/README.md | 52 + bashes/radar-driver-switch.sh | 101 ++ bashes/radar-driver-switch.sh.bak | 129 ++ dependencies/dependencies.txt | 5 + src/LSLIDAR_X_ROS2-20240228/src/README.md | 44 + .../src/lslidar_driver/CMakeLists.txt | 56 + .../include/lslidar_driver/input.h | 134 ++ .../include/lslidar_driver/lsiosr.h | 88 + .../include/lslidar_driver/lslidar_driver.h | 159 ++ .../launch/lslidar_double_launch.py | 50 + .../lslidar_driver/launch/lsm10_net_launch.py | 27 + .../launch/lsm10_uart_launch.py | 27 + .../launch/lsm10p_net_launch.py | 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src/zbw_slamtoolbox/config/mapper_params_online_async.yaml create mode 100644 src/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml create mode 100644 src/zbw_slamtoolbox/config/navigation.yaml create mode 100644 src/zbw_slamtoolbox/launch/navigation.launch.py create mode 100644 src/zbw_slamtoolbox/launch/slamtoolbox.launch.py create mode 100644 src/zbw_slamtoolbox/package.xml create mode 100644 竞赛方案_第21届智能汽车竞赛地瓜机器人赛项.md create mode 100644 调试记录.log diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1dffd57 --- /dev/null +++ b/.gitignore @@ -0,0 +1,12 @@ +# Build artifacts +build + +# Install artifacts +install + +# Log artifacts +log + +# VSCode database +.vscode/browse.vc.db* + diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..753ea31 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,26 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db", + "limitSymbolsToIncludedHeaders": false + }, + "includePath": [ + "/home/sunrise/yiliao_ws/install/origincar_base/include/**", + "/home/sunrise/yiliao_ws/install/origincar_msg/include/**", + "/home/sunrise/yiliao_ws/install/lslidar_msgs/include/**", + "/opt/ros/humble/include/**", + "/home/sunrise/yiliao_ws/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/**", + "/home/sunrise/yiliao_ws/src/ground_slam/include/**", + "/home/sunrise/yiliao_ws/src/origincar_base/include/**", + "/usr/include/**" + ], + "name": "ros2", + "intelliSenseMode": "gcc-arm64", + "compilerPath": "/usr/bin/gcc", + "cStandard": "gnu11", + "cppStandard": "c++17" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..7f63e8f --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,28 @@ +{ + // 使用 IntelliSense 了解相关属性。 + // 悬停以查看现有属性的描述。 + // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387 + "version": "0.2.0", + "configurations": [ + { + "name": "ROS2 C++ Debug", + "request": "launch", + "type": "cppdbg", + "MIMode": "gdb", + "cwd": "${workspaceFolder}", + "program": "${workspaceFolder}/install/xxx" + }, + { + "name": "ROS2: Launch grab_service", + "request": "launch", + "target": "${workspaceFolder}/install/xxx", + "launch": ["rviz", "gz", "gzserver", "gzclient"], + "type": "ros2" + }, + { + "name": "ROS: Attach", + "request": "attach", + "type": "ros2" + } + ] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..1124fb9 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,20 @@ +{ + "yaml.schemas": { + "https://www.schemastore.org/package.json": "file:///home/guoch/test_ws/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml" + }, + "ROS2.distro": "humble", + "python.autoComplete.extraPaths": [ + "/home/sunrise/yiliao_ws/install/origincar_base/local/lib/python3.10/dist-packages", + "/home/sunrise/yiliao_ws/install/origincar_msg/local/lib/python3.10/dist-packages", + "/home/sunrise/yiliao_ws/install/lslidar_msgs/local/lib/python3.10/dist-packages", + "/opt/ros/humble/lib/python3.10/site-packages", + "/opt/ros/humble/local/lib/python3.10/dist-packages" + ], + "python.analysis.extraPaths": [ + "/home/sunrise/yiliao_ws/install/origincar_base/local/lib/python3.10/dist-packages", + "/home/sunrise/yiliao_ws/install/origincar_msg/local/lib/python3.10/dist-packages", + "/home/sunrise/yiliao_ws/install/lslidar_msgs/local/lib/python3.10/dist-packages", + "/opt/ros/humble/lib/python3.10/site-packages", + "/opt/ros/humble/local/lib/python3.10/dist-packages" + ] +} \ No newline at end of file diff --git a/CLAUDE.md b/CLAUDE.md new file mode 100644 index 0000000..eab6c1c --- /dev/null +++ b/CLAUDE.md @@ -0,0 +1,165 @@ +# CLAUDE.md + +## 项目概述 + +这是一个 ROS 2 Humble 工作空间，用于 Ackermann 转向小车的 Gazebo 仿真、SLAM 建图和 Nav2 导航。同时支持实车部署（无 Gazebo）。 + +## 工作空间结构 + +``` +test_ws/ +├── src/ +│ ├── gc_navigation2_slamtoolbox/ # 仿真版：导航+SLAM 启动文件和配置 +│ │ ├── launch/ # Python launch 文件 +│ │ ├── config/ # slam_toolbox 参数 +│ │ ├── params/ # Nav2 参数 +│ │ ├── maps/ # 地图文件 (.pgm, .yaml, .posegraph) +│ │ └── world/ # Gazebo 模型 (zhihui/) +│ ├── gc_navigation2_real/ # 实车版：导航+SLAM 启动文件和配置（无 Gazebo） +│ │ ├── launch/ # Python launch 文件 +│ │ ├── config/ # slam_toolbox 参数（实车调优） +│ │ ├── params/ # Nav2 参数（use_sim_time=false） +│ │ ├── maps/ # 实车地图存放目录 +│ │ └── behavior_tree/ # 阿克曼自定义行为树 +│ ├── origincar_description/ # 机器人 URDF 和 Gazebo world +│ │ ├── urdf/ # origincar.urdf +│ │ ├── world/ # .world 文件 +│ │ ├── meshes/ # 3D 模型 +│ │ ├── launch/ # display.launch.py +│ │ └── rviz/ # RViz 配置 +│ ├── origincar_base/ # 实车底盘驱动（串口通信+EKF+IMU融合） +│ │ ├── src/ # C++ 源码（origincar_base.cpp） +│ │ ├── scripts/ # cmd_vel_to_ackermann_drive.py +│ │ ├── launch/ # origincar_bringup / base_serial / ekf +│ │ └── config/ # ekf.yaml / imu.yaml +│ ├── origincar_msg/ # 自定义 ROS 2 消息 +│ │ └── msg/ # Data.msg / Sign.msg +│ └── LSLIDAR_X_ROS2-20240228/ # 镭神激光雷达 ROS 2 驱动 +│ └── src/ +│ ├── lslidar_driver/ # 雷达驱动核心 +│ └── lslidar_msgs/ # 雷达消息定义 +├── build/ # colcon build 输出 +├── install/ # colcon install 输出 (含符号链接) +└── log/ # 构建日志 +``` + +## 构建命令 + +```bash +cd /home/guoch/test_ws +source /opt/ros/humble/setup.bash +colcon build --symlink-install +source install/setup.bash +``` + +## 常用 Launch 文件 + +### 仿真版 (gc_navigation2_slamtoolbox) + +| 文件 | 功能 | +|------|------| +| `gc_slam_mapping.launch.py` | Gazebo + SLAM 建图模式 | +| `gc_nav2_with_slam_online.launch.py` | 已知地图 + SLAM 在线更新 + Nav2 导航 | +| `gc_nav2_with_slam.launch.py` | 已知地图 + SLAM 定位 + Nav2 导航 | +| `gc_nav2_with_amcl.launch.py` | AMCL 定位 + Nav2 导航 | + +### 实车版 (gc_navigation2_real) + +| 文件 | 功能 | +|------|------| +| `real_bringup.launch.py` | 基础 bringup（底盘驱动+雷达+TF，无导航） | +| `real_slam_mapping.launch.py` | 实车 SLAM 建图模式 | +| `real_nav2_slam.launch.py` | 已知地图 + SLAM 定位 + Nav2 导航 | +| `real_nav2_slam_online.launch.py` | 已知地图 + SLAM 在线更新 + Nav2 导航 | + +## 机器人参数 (origincar) + +- **类型**: Ackermann 转向小车 +- **尺寸**: 0.276 × 0.214 × 0.211 m (长×宽×高) +- **轴距**: 0.143 m（URDF 中前轮 x=0.0715，后轮 x=-0.0715），**轮距**: 0.189 m +- **轮子**: 半径 0.03 m，厚 0.025 m +- **激光雷达**: 360°, 0.12~3.5 m, 5 Hz（仿真）; 镭神 N10 0.15~12m（实车） +- **IMU**: 100 Hz, 含高斯噪声 +- **Gazebo 插件**: `gazebo_ros_ackermann_drive`, `gazebo_ros_ray_sensor`, `gazebo_ros_imu_sensor` + +## 实车 TF 树 + +``` +map ──→ odom_combined ──→ base_footprint ──→ base_link ──→ laser + ↑ ↑ ↑ ↑ +slam_toolbox EKF static TF URDF/static +(定位) (融合odom+IMU) (origincar_bringup) +``` + +- slam_toolbox 发布 `map → odom_combined` +- EKF 发布 `odom_combined → base_footprint` +- origincar_bringup 发布 `base_footprint → base_link`（z=0）、`base_link → laser` +- robot_state_publisher 发布 URDF 各连杆 TF + +### 仿真 vs 实车关键差异 + +| 方面 | 仿真版 | 实车版 | +|------|--------|--------| +| use_sim_time | `true` | `false` | +| odom_frame | `odom` | `odom_combined`（EKF 融合后） | +| 底盘驱动 | Gazebo plugin | origincar_base 串口驱动 | +| 激光雷达 | Gazebo ray plugin | lslidar_driver（镭神 N10） | +| robot_state_publisher | launch 文件内启动 | origincar_bringup 已包含，勿重复启动 | +| joint_state_publisher | launch 文件内启动 | origincar_bringup 已包含，勿重复启动 | + +## 阿克曼底盘模式 + +通过 `akmcar` 参数控制，链路如下： + +``` +origincar_bringup.launch.py + └─ akmcar=LaunchConfiguration('akmcar', default='true') + └─ 传入 base_serial.launch.py + ├─ IfCondition(true) → origincar_base_node (akm_cmd_vel='ackermann_cmd') + │ + cmd_vel_to_ackermann_drive.py (Twist→Ackermann) + └─ UnlessCondition(false) → 差速模式（跳过） +``` + +数据流：`MPPI cmd_vel(Twist) → cmd_vel_to_ackermann_drive.py → ackermann_cmd(AckermannDriveStamped) → STM32` + +关键参数： +- `cmd_vel_to_ackermann_drive.py`: `wheelbase = 0.143`（与 URDF 一致） +- `akmcar=true` 时 STM32 接收 `speed + steering_angle` +- `akmcar=false` 时 STM32 接收 `vx + vy + wz`（固件自行转换） + +## 关键设计 + +1. **map_server** 提供全量静态底图（`/map`） +2. **slam_toolbox** 负责定位和增量建图，重映射 `/map` → `/slam_map` 避免冲突 +3. **Nav2** 使用 `global_costmap/static_layer ← /map` + `local_costmap/obstacle_layer ← /scan` +4. 保存地图: `ros2 service call /slam_toolbox/serialize_map ...` +5. 实车版 launch 文件**不应**自行启动 `robot_state_publisher` 和 `joint_state_publisher`，`origincar_bringup` 已包含 + +## 地图文件 + +地图放在 `src/gc_navigation2_slamtoolbox/maps/`（仿真）和 `src/gc_navigation2_real/maps/`（实车），包含: +- `xxx.pgm` — 地图图像 +- `xxx.yaml` — 地图元数据 (resolution, origin, thresholds) +- `xxx.posegraph` — 序列化的位姿图 + +## Gazebo World + +World 文件在 `src/origincar_description/world/`: +- `zhihui.world` — 智慧楼墙体环境（内联模型） +- `test.world` — 测试环境 +- `fishbot.world` / `gc_world.world` — 其他场景 + +## 实车底盘驱动包 (origincar_base) + +- `origincar_base_node`（C++）: 串口读写（/dev/ttyACM0, 115200bps）、航迹推算、四元数姿态解算（Mahony AHRS） +- `cmd_vel_to_ackermann_drive.py`（Python）: Twist → AckermannDriveStamped 转换，wheelbase=0.143 +- 帧协议: 24 字节收（帧头0x7B/帧尾0x7D）/ 11 字节发 +- EKF 融合: `/odom` + IMU → `/odom_combined`，`two_d_mode=true` + +## 注意事项 + +- 使用 `--symlink-install` 构建，Python launch 文件修改后无需重新编译 +- `.world` 文件不应使用 `model://` 外部引用，应将模型内联定义 +- `robot_base_frame` 在 ackermann plugin 中应设为 `base_footprint` +- 实车 `gc_navigation2_real` 的 launch 文件调用 `origincar_bringup.launch.py` 时，不再重复启动 `robot_state_publisher` 和 `joint_state_publisher` +- 轴距参数在三处需保持一致：URDF（0.143m）、`cmd_vel_to_ackermann_drive.py`（0.143m）、Nav2 planner `minimum_turning_radius`（0.40m） diff --git a/README.md b/README.md new file mode 100644 index 0000000..4cf7969 --- /dev/null +++ b/README.md @@ -0,0 +1,105 @@ +# 智慧医疗2026年代码仓库 + +# 一、文件夹说明 +## `dependencies` +`dependencies.txt`存储依赖名称 + +## `src` +存放源代码 + +## `bashes` +自动脚本的存放路径 + +--- +

+# 二、关于雷达驱动自动配置脚本的说明 +## 1. 配置说明：在设备上配置开机自启动(仅使用雷达的情况直接看第二点) +1. 放到固定位置并授权 + ```bash + sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh + sudo chmod +x /usr/local/bin/radar-driver-switch.sh + sudo chown root:root /usr/local/bin/radar-driver-switch.sh + ``` +2. 创建 systemd 服务文件 + ```bash + sudo vim /etc/systemd/system/radar-driver-switch.service + ``` + 编辑内容： + ```ini + [Unit] + Description=雷达驱动自动切换程序 + After=sysfs.target udev.target systemd-udevd.service + Before=multi-user.target + + [Service] + Type=oneshot + ExecStart=/usr/local/bin/radar-driver-switch.sh + User=root + Group=root + StandardOutput=journal+console + StandardError=journal+console + + [Install] + WantedBy=multi-user.target + ``` +3. 应用开机自启 + ```bash + sudo systemctl daemon-reload + sudo systemctl enable radar-driver-switch.service + ``` +4. 测试与debug + - 测试一次 + ```bash + sudo systemctl start radar-driver-switch.service + ``` + - 查看状态 / 日志（排查必用） + ```bash + sudo systemctl status radar-driver-switch.service + ``` + - 看 dmesg 日志 + ```bash + dmesg | grep 雷达驱动自动切换程序 + ``` +--- +### 特别说明 +1. 关于退出码对应的情况，详见sh文件开头 +2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看 + +## 2. 使用说明： +1. 设备开机自动启动脚本连接雷达。若开机时雷达与设备没有物理连接，则需要手动启动脚本连接雷达 +2. 查看雷达是否物理连接 + ```bash + lsusb + ``` + 返回的数据中，如果有` ID 1a86:55d4 QinHeng Electronics USB Single Serial`，则物理连接成功。 +3. 查看是否成功驱动雷达 + ```bash + ls /dev/tty* + ``` + 看返回数据，默认串口连接设备为`ttyACM*`，名为`ttyACM0`的设备是IMU，如果存在`ttyACM1`，则雷达连接失败； + + 如果出现`ttyCH340`，则说明雷达设备驱动成功 + +--- +

+ +# 三、指令 +启动雷达： +`ros2 launch lslidar_driver lsn10_launch.py ` +open new terminal +```bash +ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ # (open radar) +ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ # (close radar) +``` + +# 四、其它说明 +我设置了一些自定义指令，方便终端调试： +```bash +rosbuild # 编译指定包 +build_debug # 以调试模式编译指定包 +foxglove # 启动foxbridge +``` +启动键盘控制： +`ros2 run teleop_twist_keyboard teleop_twist_keyboard ` + +# 五、日志 diff --git a/bashes/README.md b/bashes/README.md new file mode 100644 index 0000000..42b9182 --- /dev/null +++ b/bashes/README.md @@ -0,0 +1,52 @@ +## 关于雷达驱动自动配置脚本的说明 +### 在设备上配置开机自启动 +1. 放到固定位置并授权 + ```bash + sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh + sudo chmod +x /usr/local/bin/radar-driver-switch.sh + sudo chown root:root /usr/local/bin/radar-driver-switch.sh + ``` +2. 创建 systemd 服务文件 + ```bash + sudo vim /etc/systemd/system/radar-driver-switch.service + ``` + 编辑内容： + ```ini + [Unit] + Description=雷达驱动自动切换程序 + After=sysfs.target udev.target systemd-udevd.service + Before=multi-user.target + + [Service] + Type=oneshot + ExecStart=/usr/local/bin/radar-driver-switch.sh + User=root + Group=root + StandardOutput=journal+console + StandardError=journal+console + + [Install] + WantedBy=multi-user.target + ``` +3. 应用开机自启 + ```bash + sudo systemctl daemon-reload + sudo systemctl enable radar-driver-switch.service + ``` +4. 测试与debug + - 测试一次 + ```bash + sudo systemctl start radar-driver-switch.service + ``` + - 查看状态 / 日志（排查必用） + ```bash + sudo systemctl status radar-driver-switch.service + ``` + - 看 dmesg 日志 + ```bash + dmesg | grep 雷达驱动自动切换程序 + ``` +--- +### 特别说明 +1. 关于退出码对应的情况，详见sh文件开头 +2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看 \ No newline at end of file diff --git a/bashes/radar-driver-switch.sh b/bashes/radar-driver-switch.sh new file mode 100644 index 0000000..c64b9ce --- /dev/null +++ b/bashes/radar-driver-switch.sh @@ -0,0 +1,101 @@ +#!/bin/bash + +# 退出码说明 +# 0 - 成功 +# 1 - 错误：等待TTY设备就绪超时 +# 2 - 错误：未找到CH343驱动 +# 3 - 错误：雷达端口上未找到CH34x设备 +# 4 - 错误：未从cdc_acm找到雷达接口 +# 5 - 错误：解绑cdc_acm驱动失败 +# 6 - 错误：绑定usb_ch343驱动失败 + +# ── 配置 ──────────────────────────────────────────── +TTY_DEVICE="/dev/ttyACM*" +CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm" +USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343" +RADAR_USB_PORT="1-1.4" # 雷达 CH34x 的 USB 物理端口（固定不变） +CHECK_INTERVAL=1 +MAX_WAIT_SECONDS=30 + +# ── 初始化 ────────────────────────────────────────── +start_time=$(cut -d. -f1 /proc/uptime) + +# ── 1. 等待 TTY 设备就绪 ──────────────────────────── +while true; do + for dev in /dev/ttyACM*; do + [ -e "$dev" ] || continue + if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then + echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg + TTY_DEVICE="$dev" + break 2 + fi + done + + if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then + current_time=$(cut -d. -f1 /proc/uptime) + elapsed_seconds=$((current_time - start_time)) + if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then + echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg + exit 1 + fi + echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg + fi + sleep ${CHECK_INTERVAL} +done + +# ── 2. 确认 CH343 驱动已加载 ──────────────────────── +if [ -d "${USB_CH343_PATH}" ]; then + echo "[雷达驱动自动切换程序] CH343驱动已加载，继续..." > /dev/kmsg +else + echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg + exit 2 +fi + +# ── 3. 通过物理端口定位雷达 CH34x ─────────────────── +radar_sysfs="/sys/bus/usb/devices/${RADAR_USB_PORT}" + +if [ ! -d "${radar_sysfs}" ]; then + echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上无设备！" > /dev/kmsg + exit 3 +fi + +vendor_id=$(cat "${radar_sysfs}/idVendor" 2>/dev/null) +product_id=$(cat "${radar_sysfs}/idProduct" 2>/dev/null) + +if [ "${vendor_id}" != "1a86" ] || [ "${product_id}" != "55d4" ]; then + echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上 VID:PID=${vendor_id}:${product_id}，非雷达CH34x！" > /dev/kmsg + exit 3 +fi + +echo "[雷达驱动自动切换程序] 雷达确认位于端口 ${RADAR_USB_PORT}，VID:PID=${vendor_id}:${product_id}" > /dev/kmsg + +# ── 4. 查找 cdc_acm 下雷达的接口 ──────────────────── +cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${RADAR_USB_PORT}:" | head -n 1) + +if [ -z "${cdc_acm_sub_addr}" ]; then + echo "[雷达驱动自动切换程序] 错误：cdc_acm驱动中未找到端口 ${RADAR_USB_PORT} 的接口" > /dev/kmsg + exit 4 +fi + +echo "[雷达驱动自动切换程序] 雷达 cdc_acm 接口：${cdc_acm_sub_addr}" > /dev/kmsg + +# ── 5. 解绑 cdc_acm ───────────────────────────────── +echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" > /dev/null 2>&1 +if [ $? -eq 0 ]; then + echo "[雷达驱动自动切换程序] 已解绑 cdc_acm：${cdc_acm_sub_addr}" > /dev/kmsg +else + echo "[雷达驱动自动切换程序] 错误：解绑 cdc_acm 失败" > /dev/kmsg + exit 5 +fi + +# ── 6. 绑定 ch343 ─────────────────────────────────── +echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" > /dev/null 2>&1 +if [ $? -eq 0 ]; then + echo "[雷达驱动自动切换程序] 已绑定 usb_ch343：${cdc_acm_sub_addr}" > /dev/kmsg +else + echo "[雷达驱动自动切换程序] 错误：绑定 usb_ch343 失败" > /dev/kmsg + exit 6 +fi + +echo "[雷达驱动自动切换程序] 雷达驱动切换完毕！" > /dev/kmsg +exit 0 diff --git a/bashes/radar-driver-switch.sh.bak b/bashes/radar-driver-switch.sh.bak new file mode 100644 index 0000000..edf5f15 --- /dev/null +++ b/bashes/radar-driver-switch.sh.bak @@ -0,0 +1,129 @@ +#!/bin/bash + +# 退出码说明 +# 0 - 成功 +# 1 - 错误：等待TTY设备就绪超时 +# 2 - 错误：未找到CH343驱动 +# 3 - 错误：未找到含Qingheng的USB设备 +# 4 - 错误：未找到对应USB地址 +# 5 - 错误：未找到cdc_acm绑定的对应USB设备 +# 6 - 错误：解绑cdc_acm驱动失败 +# 7 - 错误：绑定usb_ch343驱动失败 + +# 变量设置 +TTY_DEVICE="/dev/ttyACM*" # 替换为你要等待的tty设备路径 +CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm" +USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343" +CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒） +MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待 + +# 初始化变量 +start_time=$(cut -d. -f1 /proc/uptime) +current_time=0 +qinheng_id="" +usb_address="" +vendor_id="" +product_id="" +cdc_acm_sub_addr="" + + +# ----------------- 1. 等待TTY设备就绪 ----------------- +# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写） +while true; do + for dev in /dev/ttyACM*; do + [ -e "$dev" ] || continue + if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then + echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg + TTY_DEVICE="$dev" + break 2 # 跳出两层循环 + fi + done + + if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then + current_time=$(cut -d. -f1 /proc/uptime) + elapsed_seconds=$((current_time - start_time)) + if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then + echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg + exit 1 + fi + echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg + fi + + sleep ${CHECK_INTERVAL} +done + +# ------ 2. 查看CH343是否存在 ------ +if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then + echo "[雷达驱动自动切换程序] 检测到CH343驱动存在，继续执行..." > /dev/kmsg +else + echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg + exit 2 +fi + + +# ------------- 3. 查找Qingheng对应的usb接口 ------------- +echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg + +# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑） +qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1) + +# 检查是否提取到ID +if [ -z "${qinheng_id}" ]; then + echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg + exit 3 +else + echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg + # 将ID拆分为vendor_id和product_id + vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1) + product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2) +fi + +# -------------------- 4. 提取USB地址 -------------------- +echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg +# 核心命令：过滤dmesg日志，提取USB地址 +usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1) + +# 检查是否提取到USB地址 +if [ -z "${usb_address}" ]; then + echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg + exit 4 +else + echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg +fi + +# ---- 5. 找到cdc_acm驱动对应的usb设备 ---- +echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg + +cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1) + +if [ -z "${cdc_acm_sub_addr}" ]; then + echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg + exit 5 +else + echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg +fi + +# 6. 切换驱动 +echo "[雷达驱动自动切换程序] 开始切换cdc_acm驱动到USB地址${usb_address}..." > /dev/kmsg + +echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" 2>/dev/null +if [ $? -eq 0 ]; then + echo "[雷达驱动自动切换程序] 成功解绑cdc_acm驱动：${cdc_acm_sub_addr}" > /dev/kmsg +else + echo "[雷达驱动自动切换程序] 错误：解绑cdc_acm驱动失败" > /dev/kmsg + exit 6 +fi + +echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" 2>/dev/null +if [ $? -eq 0 ]; then + echo "[雷达驱动自动切换程序] 成功绑定usb_ch343驱动：${cdc_acm_sub_addr}" > /dev/kmsg +else + echo "[雷达驱动自动切换程序] 错误：绑定usb_ch343驱动失败（检查驱动是否加载）" > /dev/kmsg + exit 7 +fi + + +# 执行完成 +echo "[雷达驱动自动切换程序] 雷达驱动自动切换完毕！" > /dev/kmsg + +exit 0 \ No newline at end of file diff --git a/dependencies/dependencies.txt b/dependencies/dependencies.txt new file mode 100644 index 0000000..489f65e --- /dev/null +++ b/dependencies/dependencies.txt @@ -0,0 +1,5 @@ +ros-humble-serial-driver +ros-humble-ackermann-msgs +# 从源码编译serial库 +ros-humble-navigation2 +ros-humble-slam-toolbox \ No newline at end of file diff --git a/src/LSLIDAR_X_ROS2-20240228/src/README.md b/src/LSLIDAR_X_ROS2-20240228/src/README.md new file mode 100644 index 0000000..9871ecc --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/README.md @@ -0,0 +1,44 @@ +# lslidar + +## Description +The `lslidar package is a linux ROS2 driver for lslidar M10 ,M10_GPS,M10_P,M10_PLUS and N10. +The package is tested on Ubuntu 20.04 with ROS2 indigo. + +## Compling +This is a Catkin package. Make sure the package is on `ROS_PACKAGE_PATH` after cloning the package to your workspace. And the normal procedure for compling a catkin package will work. + +``` +cd your_work_space +colcon build +source install/setup.bash +ros2 launch lslidar_driver lslidar_launch.py +``` +open new terminal +ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ (open radar) +ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ (close radar) + + + + + +ros2 launch lslidar_driver lslidar_launch.py + +``` + +Note that this launch file launches both the driver, which is the only launch file needed to be used. + + +## FAQ + + +## Bug Report + +Prefer to open an issue. You can also send an E-mail to honghangli@lslidar.com + + + + +RERTION + + + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt new file mode 100644 index 0000000..85e13f6 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt @@ -0,0 +1,56 @@ +cmake_minimum_required(VERSION 3.5) +project(lslidar_driver) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +set(libpcap_LIBRARIES -lpcap) + +#set(FastRTPS_INCLUDE_DIR /opt/ros/foxy/include) +#set(FastRTPS_LIBRARY_RELEASE /opt/ros/foxy/lib/libfastrtps.so) + +#find_package(Boost REQUIRED COMPONENTS ) +find_package(Boost REQUIRED thread) +find_package(rclcpp REQUIRED) +find_package(PCL REQUIRED) +find_package(diagnostic_updater REQUIRED) +find_package(lslidar_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(pluginlib REQUIRED) +find_package(rclpy REQUIRED) +find_package(pcl_conversions REQUIRED) +find_package(sensor_msgs REQUIRED) +#find_package(PCL REQUIRED COMPONENTS common io) + +include_directories( + include + ${PCL_INCLUDE_DIRS} + ${PCL_COMMON_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +# Node +add_executable(lslidar_driver_node src/lslidar_driver_node.cc src/lslidar_driver.cc src/input.cc src/lsiosr.cpp) +target_link_libraries(lslidar_driver_node ${rclcpp_LIBRARIES} ${libpcap_LIBRARIES} ${Boost_LIBRARIES} Boost::thread) +ament_target_dependencies(lslidar_driver_node rclcpp std_msgs lslidar_msgs sensor_msgs diagnostic_updater pcl_conversions) + + +install(DIRECTORY launch params rviz + DESTINATION share/${PROJECT_NAME}) + +install(TARGETS + lslidar_driver_node + DESTINATION lib/${PROJECT_NAME} +) + +ament_export_dependencies(rclcpp pluginlib lslidar_msgs sensor_msgs pcl_conversions) +ament_export_include_directories(include ${PCL_COMMON_INCLUDE_DIRS}) + +ament_package() diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h new file mode 100644 index 0000000..2715da4 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h @@ -0,0 +1,134 @@ +/* + * This file is part of lslidar_ch driver. + * + * The driver is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * The driver is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the driver. If not, see . + * + * Input -- base class used to access the data independently of + * its source + * + * InputSocket -- derived class reads live data from the device + * via a UDP socket + * + * InputPCAP -- derived class provides a similar interface from a + * PCAP dump + */ + +#ifndef __LSLIDAR_INPUT_H_ +#define __LSLIDAR_INPUT_H_ + +#include +#include +#include +#include +#include "rclcpp/rclcpp.hpp" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace lslidar_driver +{ +static uint16_t MSOP_DATA_PORT_NUMBER = 2368; // lslidar default data port on PC +/** + * 从在线的网络数据或离线的网络抓包数据（pcap文件）中提取出lidar的原始数据，即packet数据包 + * @brief The Input class, + * + * @param private_nh 一个NodeHandled,用于通过节点传递参数 + * @param port + * @returns 0 if successful, + * -1 if end of file + * >0 if incomplete packet (is this possible?) + */ +class Input +{ +public: + Input(rclcpp::Node* private_nh, uint16_t port); + + virtual ~Input() + { + } + + virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet) = 0; + + int getRpm(void); + int getReturnMode(void); + bool getUpdateFlag(void); + void clearUpdateFlag(void); + void UDP_order(const std_msgs::msg::Int8 msg); + void UDP_difop(); +protected: + rclcpp::Node* private_nh_; + uint16_t port_; + std::string devip_str_; + std::string lidar_name; + int cur_rpm_; + int return_mode_; + bool npkt_update_flag_; + bool add_multicast; + std::string group_ip; + int UDP_PORT_NUMBER_DIFOP; + int socket_id_difop; + int sockfd_; + std::string devip_str_difop; +}; + +/** @brief Live lslidar input from socket. */ +class InputSocket : public Input +{ +public: + InputSocket(rclcpp::Node* private_nh, uint16_t port = MSOP_DATA_PORT_NUMBER); + + virtual ~InputSocket(); + + virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet); + +private: +private: + + in_addr devip_; + in_addr devip_difop; + //struct ip_mreq group; + +}; +class InputPCAP : public Input +{ +public: + InputPCAP(rclcpp::Node* private_nh,uint16_t port = MSOP_DATA_PORT_NUMBER, double packet_rate = 0.0, + std::string filename=""); + virtual ~InputPCAP(); + virtual int getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &pkt); +private: + + rclcpp::Rate packet_rate_; + std::string filename_; + pcap_t *pcap_; + bpf_program pcap_packet_filter_; + char errbuf_[PCAP_ERRBUF_SIZE]; + bool empty_; + bool read_once_; + bool read_fast_; + double repeat_delay_; + }; +} + +#endif // __LSLIDAR_INPUT_H diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h new file mode 100644 index 0000000..6109497 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h @@ -0,0 +1,88 @@ +/******************************************************* +@company: Copyright (C) 2021, Leishen Intelligent System +@product: LSM10_N10 +@filename: lsiosr.cpp +@brief: +@version: date: author: comments: +@v1.0 22-10-24 li new +*******************************************************/ +#ifndef LSIOSR_H +#define LSIOSR_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +//波特率 +#define BAUD_230400 230400 +#define BAUD_460800 460800 +#define BAUD_500000 500000 +#define BAUD_921600 921600 + +//奇偶校验位 +#define PARITY_ODD 'O' //奇数 +#define PARITY_EVEN 'E' //偶数 +#define PARITY_NONE 'N' //无奇偶校验位 + +//停止位 +#define STOP_BIT_1 1 +#define STOP_BIT_2 2 + +//数据位 +#define DATA_BIT_7 7 +#define DATA_BIT_8 8 + +namespace lslidar_driver +{ +class LSIOSR{ +public: + static LSIOSR* instance(std::string name, int speed, int fd = 0); + + ~LSIOSR(); + + /* 从串口中读取数据 */ + int read(unsigned char *buffer, int length, int timeout = 30); + + /* 向串口传数据 */ + int send(const char* buffer, int length, int timeout = 30); + + /* Empty serial port input buffer */ + void flushinput(); + + /* 串口初始化 */ + int init(); + + int close(); + + /* 获取串口号 */ + std::string getPort(); + + /* 设置串口号 */ + int setPortName(std::string name); + +private: + LSIOSR(std::string name, int speed, int fd); + + int waitWritable(int millis); + int waitReadable(int millis); + + /* 串口配置的函数 */ + int setOpt(int nBits, uint8_t nEvent, int nStop); + + std::string port_; + int baud_rate_; + + int fd_; +}; +} +#endif + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h new file mode 100644 index 0000000..34bb6d1 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h @@ -0,0 +1,159 @@ +/* + * This file is part of lslidar driver. + * + * The driver is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * The driver is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the driver. If not, see . + */ + +#ifndef LSLIDAR_DRIVER_H +#define LSLIDAR_DRIVER_H + +#include +#include +#include +#include + +#include +#include +#include +#include "rclcpp/rclcpp.hpp" +#include +#include "diagnostic_updater/diagnostic_updater.hpp" +#include "diagnostic_updater/publisher.hpp" +#include "lslidar_msgs/msg/lslidar_packet.hpp" +#include "std_msgs/msg/byte.hpp" + +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "pcl_conversions/pcl_conversions.h" +#include "pcl/point_types.h" + +#include "time.h" +#include "input.h" +#include "lsiosr.h" +#include "sensor_msgs/msg/laser_scan.hpp" +namespace lslidar_driver { + +struct PointXYZIT { + PCL_ADD_POINT4D; + uint8_t intensity; + double timestamp; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned +} EIGEN_ALIGN16; + +typedef struct { + double degree; + double range; + double intensity; +} ScanPoint; + +class LslidarDriver: public rclcpp::Node { +public: + LslidarDriver(); + LslidarDriver(const rclcpp::NodeOptions& options); + ~LslidarDriver(); + + bool initialize(); + bool polling(); + + typedef std::shared_ptr LslidarDriverPtr; + typedef std::shared_ptr LslidarDriverConstPtr; + +private: + uint64_t get_gps_stamp(struct tm t); + uint8_t N10_CalCRC8(unsigned char * p, int len); + bool loadParameters(); + bool createRosIO(); + void open_serial(); + void lidar_difop(); + void lidar_order(const std_msgs::msg::Int8::SharedPtr msg); + void data_processing(unsigned char *packet_bytes,int len); + void data_processing_2(unsigned char *packet_bytes,int len); + void difop_processing(unsigned char *packet_bytes); + void pubScanThread(); + void recvThread_crc(int &count,int &link_time); + int receive_data(unsigned char *packet_bytes); + int getScan(std::vector &points, rclcpp::Time &scan_time, float &scan_duration); + + boost::thread *pubscan_thread_ ; + boost::shared_ptr msop_input_; + boost::mutex mutex_; + boost::mutex pubscan_mutex_; + boost::condition_variable pubscan_cond_; + int UDP_PORT_NUMBER; + int count_num; + int package_points; + int data_bits_start; + int degree_bits_start; + int end_degree_bits_start; + int rpm_bits_start; + int baud_rate_; + int points_size_; + int idx = 0; + int link_time = 0; + int fixed_array_length;//cyy_add + + bool use_gps_ts; + bool is_start; + bool high_reflection; + bool compensation; + bool first_compensation = true; + bool pubScan; + bool pubPointCloud2; + + double min_range; + double max_range; + double angle_disable_min; + double angle_disable_max; + double angle_able_min; + double angle_able_max; + double last_degree = 0.0; + double degree_compensation = 0.0; + + uint16_t PACKET_SIZE ; + uint64_t sweep_end_time_gps; + uint64_t sweep_end_time_hardware; + uint64_t sub_second; + + std::string frame_id; + std::string interface_selection; + std::string scan_topic; + std::string lidar_name; + std::string serial_port_; + std::string dump_file; + std::string pointcloud_topic; + std::string in_file_name; + + tm pTime; + rclcpp::Time pre_time_; + rclcpp::Time time_; + std::vector scan_points_; + std::vector scan_points_bak_; + // Diagnostics updater + diagnostic_updater::Updater diagnostics; + std::shared_ptr diag_topic; + double diag_min_freq; + double diag_max_freq; + rclcpp::Publisher::SharedPtr scan_pub; + rclcpp::Publisher::SharedPtr point_cloud_pub; + rclcpp::Subscription::SharedPtr difop_switch; + LSIOSR * serial_; +}; +typedef PointXYZIT VPoint; +typedef pcl::PointCloud VPointCloud; + +} // namespace lslidar_driver +POINT_CLOUD_REGISTER_POINT_STRUCT(lslidar_driver::PointXYZIT, + (float, x, x)(float, y, y)(float, z, z)( + std::uint8_t, intensity, + intensity)(double, timestamp, timestamp)) +#endif // _LSLIDAR_DRIVER_H_ diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py new file mode 100644 index 0000000..40ad793 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py @@ -0,0 +1,50 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir_1 = os.path.join(get_package_share_directory('lslidar_driver_n10p'), 'params', 'lsx10_1.yaml') + driver_dir_2 = os.path.join(get_package_share_directory('lslidar_driver_n10p'), 'params', 'lsx10_2.yaml') + + driver_node_1 = LifecycleNode(package='lslidar_driver_n10p', + executable='lslidar_driver_node', + name='lslidar_driver_node', #设置激光数据topic名称 + output='screen', + emulate_tty=True, + namespace='lidar_1', + parameters=[driver_dir_1], + ) + + driver_node_2 = LifecycleNode(package='lslidar_driver_n10p', + executable='lslidar_driver_node', + name='lslidar_driver_node', #设置激光数据topic名称 + output='screen', + emulate_tty=True, + namespace='lidar_2', + parameters=[driver_dir_2], + ) + + rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz') + + rviz_node = Node( + package='rviz2', + namespace='', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_dir], + output='screen') + + return LaunchDescription([ + driver_node_1, + driver_node_2, + rviz_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py new file mode 100644 index 0000000..7659d3f --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py @@ -0,0 +1,27 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_net_ros2','lsm10_net.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py new file mode 100644 index 0000000..cd2fa16 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py @@ -0,0 +1,27 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_uart_ros2','lsm10.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py new file mode 100644 index 0000000..e2468c8 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py @@ -0,0 +1,27 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_net_ros2','lsm10p_net.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py new file mode 100644 index 0000000..10d1763 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py @@ -0,0 +1,27 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lidar_uart_ros2','lsm10_p.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py new file mode 100644 index 0000000..ae9366e --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py @@ -0,0 +1,28 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_uart_ros2', 'lsn10.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', #设置激光数据topic名称 + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py new file mode 100644 index 0000000..9a6a4d8 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py @@ -0,0 +1,28 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_net_ros2', 'lsn10_net.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', #设置激光数据topic名称 + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py new file mode 100644 index 0000000..758b03b --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py @@ -0,0 +1,28 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_uart_ros2', 'lsn10p.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', #设置激光数据topic名称 + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py new file mode 100644 index 0000000..966bda9 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py @@ -0,0 +1,28 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_net_ros2', 'lsn10p_net.yaml') + + driver_node = LifecycleNode(package='lslidar_driver', + executable='lslidar_driver_node', + name='lslidar_driver_node', #设置激光数据topic名称 + output='screen', + emulate_tty=True, + namespace='', + parameters=[driver_dir], + ) + + return LaunchDescription([ + driver_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py new file mode 100644 index 0000000..c82e76d --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py @@ -0,0 +1,26 @@ +#!/usr/bin/python3 +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import LifecycleNode +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument + +import lifecycle_msgs.msg +import os + +def generate_launch_description(): + + rviz2_config = os.path.join(get_package_share_directory('lslidar_driver'),'rviz','lslidar.rviz') + + rviz2_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d',rviz2_config], + output='screen') + + return LaunchDescription([ + rviz2_node, + ]) + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml new file mode 100644 index 0000000..2d88422 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml @@ -0,0 +1,36 @@ + + + lslidar_driver + 1.2.0 + ROS device driver for Leishen lidar. + Nick Shu + Nick Shu + GNU General Public License V3.0 + + ament_cmake + + rclcpp + std_msgs + lslidar_msgs + pcl_conversions + rclpy + libpcap + libpcl-all-dev + pluginlib + sensor_msgs + + rclcpp + std_msgs + lslidar_msgs + pcl_conversions + rclpy + libpcap + libpcl-all + pluginlib + sensor_msgs + + diagnostic_updater + + ament_cmake + + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml new file mode 100644 index 0000000..6e91feb --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml @@ -0,0 +1,22 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达目的ip + device_ip_difop: 192.168.1.102 #雷达源IP + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: M10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 + ceil_increase: -1 #Lsm10*时改值应设置为-1 + angle_disable_min: 0.0 #单角度裁剪开始值 + angle_disable_max: 0.0 #单角度裁剪结束值 + truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0 + #值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改 + min_range: 0.0 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: net #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/wheeltec_laser #串口连接时的串口号 +# pcap: /home/ls/work/2211/M10_P_gps.pcap #雷达是否使用pcap包读取功能 diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml new file mode 100644 index 0000000..a8e30ce --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml @@ -0,0 +1,22 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达目的ip + device_ip_difop: 192.168.1.102 #雷达源IP + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: M10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 + ceil_increase: -1 #Lsm10*时改值应设置为-1 + angle_disable_min: 0.0 #单角度裁剪开始值 + angle_disable_max: 0.0 #单角度裁剪结束值 + truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0 + #值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改 + min_range: 0.0 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: net #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/wheeltec_laser #串口连接时的串口号 +# pcap: /home/ls/work/2211/M10_P_gps.pcap #雷达是否使用pcap包读取功能 diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml new file mode 100644 index 0000000..f211d48 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml @@ -0,0 +1,25 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达源IP + device_ip_difop: 192.168.1.102 #雷达目的ip + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: N10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P + angle_disable_min: 0.0 #角度裁剪开始值 + angle_disable_max: 0.0 #角度裁剪结束值 + min_range: 0.2 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: net #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/wheeltec_laser #串口连接时的串口号 + high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。 + compensation: false #M10系列是否使用角度补偿功能 + pubScan: true #是否发布scan话题 + pubPointCloud2: false #是否发布pointcloud2话题 + pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称 +# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能 +# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能 \ No newline at end of file diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml new file mode 100644 index 0000000..ffd83bb --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml @@ -0,0 +1,25 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达源IP + device_ip_difop: 192.168.1.102 #雷达目的ip + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: N10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P + angle_disable_min: 120.0 #角度裁剪开始值 + angle_disable_max: 230.0 #角度裁剪结束值 + min_range: 0.2 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: net #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/wheeltec_laser #串口连接时的串口号 + high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。 + compensation: false #M10系列是否使用角度补偿功能 + pubScan: true #是否发布scan话题 + pubPointCloud2: false #是否发布pointcloud2话题 + pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称 +# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能 +# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能 \ No newline at end of file diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml new file mode 100644 index 0000000..203f6b5 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml @@ -0,0 +1,28 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达目的ip + device_ip_difop: 192.168.1.102 #雷达源IP + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: M10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 + ceil_increase: -1 #Lsm10*时改值应设置为-1 + angle_disable_min: 0.0 #单角度裁剪开始值 + angle_disable_max: 0.0 #单角度裁剪结束值 + truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0 + #值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改 + min_range: 0.0 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: serial #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/wheeltec_laser #串口连接时的串口号 + high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。 + compensation: false #M10系列是否使用角度补偿功能 + pubScan: true #是否发布scan话题 + pubPointCloud2: false #是否发布pointcloud2话题 + pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称 +# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能 +# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能 \ No newline at end of file diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml new file mode 100644 index 0000000..009e5fb --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml @@ -0,0 +1,28 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达目的ip + device_ip_difop: 192.168.1.102 #雷达源IP + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: M10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 + ceil_increase: -1 #Lsm10*时改值应设置为-1 + angle_disable_min: 0.0 #单角度裁剪开始值 + angle_disable_max: 0.0 #单角度裁剪结束值 + truncated_mode_: 0 #多角度裁剪开关：值为0时表示不使用多角度裁剪，默认为0 + #值为1表示使用多角度裁剪，同时angle_disable_min与angle_disable_max设为 0，角度值在/lslidar_driver.cc中修改 + min_range: 0.0 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: serial #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/wheeltec_laser #串口连接时的串口号 + high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。 + compensation: false #M10系列是否使用角度补偿功能 + pubScan: true #是否发布scan话题 + pubPointCloud2: false #是否发布pointcloud2话题 + pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称 +# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能 +# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能 \ No newline at end of file diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml new file mode 100644 index 0000000..ea0e78f --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml @@ -0,0 +1,26 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser_link #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达源IP + device_ip_difop: 192.168.1.102 #雷达目的ip + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: N10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P + angle_disable_min: 0.0 #角度裁剪开始值 + angle_disable_max: 0.0 #角度裁剪结束值 + min_range: 0.15 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: serial #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/ttyCH343USB0 #串口连接时的串口号 + high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。 + compensation: false #M10系列是否使用角度补偿功能 + pubScan: true #是否发布scan话题 + pubPointCloud2: false #是否发布pointcloud2话题 + pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称 + fixed_array_length: 450 +# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能 +# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能 \ No newline at end of file diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml new file mode 100644 index 0000000..8f1c6c9 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml @@ -0,0 +1,25 @@ +/lslidar_driver_node: + ros__parameters: + frame_id: laser #激光坐标 + group_ip: 224.1.1.2 + add_multicast: false + device_ip: 192.168.1.200 #雷达源IP + device_ip_difop: 192.168.1.102 #雷达目的ip + msop_port: 2368 #雷达目的端口号 + difop_port: 2369 #雷达源端口号 + lidar_name: N10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P + angle_disable_min: 120.0 #角度裁剪开始值 + angle_disable_max: 230.0 #角度裁剪结束值 + min_range: 0.2 #雷达接收距离最小值 + max_range: 200.0 #雷达接收距离最大值 + use_gps_ts: false #雷达是否使用GPS授时 + scan_topic: /scan #设置激光数据topic名称 + interface_selection: serial #接口选择:net 为网口,serial 为串口。 + serial_port_: /dev/wheeltec_laser #串口连接时的串口号 + high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。 + compensation: false #M10系列是否使用角度补偿功能 + pubScan: true #是否发布scan话题 + pubPointCloud2: false #是否发布pointcloud2话题 + pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称 +# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能 +# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能 \ No newline at end of file diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz new file mode 100644 index 0000000..4b104c7 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz @@ -0,0 +1,161 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /LaserScan1 + Splitter Ratio: 0.3441176414489746 + Tree Height: 617 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: scan + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: laser + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.635173797607422 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.8653978705406189 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.095397710800171 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1283 + X: 406 + Y: 152 diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc new file mode 100644 index 0000000..cfa40a8 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc @@ -0,0 +1,398 @@ +#include "lslidar_driver/input.h" + +extern volatile sig_atomic_t flag; +namespace lslidar_driver +{ + static const size_t packet_size_input = 400; + //////////////////////////////////////////////////////////////////////// + // Input base class implementation + //////////////////////////////////////////////////////////////////////// + + /** @brief constructor + * + * @param private_nh ROS private handle for calling node. + * @param port UDP port number. + */ + Input::Input(rclcpp::Node *private_nh, uint16_t port) : private_nh_(private_nh), port_(port) { + npkt_update_flag_ = false; + cur_rpm_ = 0; + return_mode_ = 1; + devip_str_difop = std::string("192.168.1.200"); + devip_str_ = std::string("192.168.1.102"); + lidar_name = std::string("M10"); + add_multicast = false; + group_ip = std::string("224.1.1.2"); + UDP_PORT_NUMBER_DIFOP = 2369; + + + private_nh->declare_parameter("device_ip","192.168.1.102"); + private_nh->declare_parameter("device_ip_difop","192.168.1.200"); + private_nh->declare_parameter("add_multicast",false); + private_nh->declare_parameter("group_ip","224.1.1.2"); + private_nh->declare_parameter("difop_port",2369); + + + private_nh->get_parameter("lidar_name", lidar_name); + private_nh->get_parameter("device_ip", devip_str_); + private_nh->get_parameter("add_multicast", add_multicast); + private_nh->get_parameter("group_ip", group_ip); + private_nh->get_parameter("difop_port", UDP_PORT_NUMBER_DIFOP); + private_nh->get_parameter("device_ip_difop", devip_str_difop); + + if (!devip_str_.empty()) + RCLCPP_INFO(private_nh->get_logger(), "[driver][input] accepting packets from IP address: %s port: %d", + devip_str_.c_str(),port); + } + + /** @brief constructor + * + * @param private_nh ROS private handle for calling node. + * @param port UDP port number + */ + InputSocket::InputSocket(rclcpp::Node *private_nh, uint16_t port) : Input(private_nh, port) { + sockfd_ = -1; + + if (!devip_str_.empty()) { + inet_aton(devip_str_.c_str(), &devip_); + inet_aton(devip_str_difop.c_str(), &devip_difop); + } + + RCLCPP_INFO(private_nh_->get_logger(), "[driver][socket] Opening UDP socket: port %d", port); + sockfd_ = socket(PF_INET, SOCK_DGRAM, 0); + if (sockfd_ == -1) { + perror("socket"); // TODO: ROS_ERROR errno + return; + } + + int opt = 1; + if (setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (const void *) &opt, sizeof(opt))) { + perror("setsockopt error!\n"); + return; + } + + sockaddr_in my_addr; // my address information + memset(&my_addr, 0, sizeof(my_addr)); // initialize to zeros + my_addr.sin_family = AF_INET; // host byte order + my_addr.sin_port = htons(port); // port in network byte order + my_addr.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP + + if (bind(sockfd_, (sockaddr * ) & my_addr, sizeof(sockaddr)) == -1) { + perror("bind"); // TODO: ROS_ERROR errno + return; + } + + if (add_multicast) { + struct ip_mreq group; + group.imr_multiaddr.s_addr = inet_addr(group_ip.c_str()); + group.imr_interface.s_addr = htonl(INADDR_ANY); + + if (setsockopt(sockfd_, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *) &group, sizeof(group)) < 0) { + perror("Adding multicast group error "); + close(sockfd_); + exit(1); + } else + printf("Adding multicast group...OK.\n"); + } + if (fcntl(sockfd_, F_SETFL, O_NONBLOCK | FASYNC) < 0) { + perror("non-block"); + return; + } + } + + /** @brief destructor */ + InputSocket::~InputSocket(void) { + (void) close(sockfd_); + } + + void Input::UDP_difop() + { + sockaddr_in server_sai; + server_sai.sin_family = AF_INET; // IPV4 协议族 + server_sai.sin_port = htons(UDP_PORT_NUMBER_DIFOP); + server_sai.sin_addr.s_addr = inet_addr(devip_str_.c_str()); + for (int k = 0; k < 10; k++) + { + unsigned char data[188]= {0x00}; + data[0] = 0xA5; + data[1] = 0x5A; + data[2] = 0x55; + data[184] = 0x08; + data[185] = 0x01; + data[186] = 0xFA; + data[187] = 0xFB; + int rtn = sendto(sockfd_, data, 188, 0, (struct sockaddr *)&server_sai, sizeof(struct sockaddr)); + if (rtn < 0) printf("start scan error !\n"); + else return; + } + return; + } + + void Input::UDP_order(const std_msgs::msg::Int8 msg) + { + int i = msg.data; + sockaddr_in server_sai; + server_sai.sin_family = AF_INET; // IPV4 协议族 + server_sai.sin_port = htons(UDP_PORT_NUMBER_DIFOP); + server_sai.sin_addr.s_addr = inet_addr(devip_str_.c_str()); + int rtn = 0; + for (int k = 0; k < 10; k++) + { + unsigned char data[188]= {0x00}; + data[0] = 0xA5; + data[1] = 0x5A; + data[2] = 0x55; + data[186] = 0xFA; + data[187] = 0xFB; + if(lidar_name == "M10" || lidar_name == "M10_GPS" || lidar_name == "M10_P"){ + if (i <= 1){ //雷达启停 + data[184] = 0x01; + data[185] = char(i); + } + else if (i == 2){ //雷达点云不滤波 + data[181] = 0x0A; + data[184] = 0x06; + data[185] = 0x01; + } + else if (i == 3){ //雷达点云正常滤波 + data[181] = 0x0B; + data[184] = 0x06; + data[185] = 0x01; + } + else if (i == 4){ //雷达近距离滤波 + data[181] = 0x0C; + data[184] = 0x06; + data[185] = 0x01; + } + else if (i == 100){ //接收设备包 + data[184] = 0x08; + data[185] = 0x01; + } + else return; + } + else if (lidar_name == "M10_PLUS"){ + data[184] = 0x0A; + data[185] = 0x01; + if(i == 5) { + data[141] = 0x01; + data[142] = 0x2c; + } + else if(i == 6) { + data[141] = 0x01; + data[142] = 0x68; + } + else if(i == 8) { + data[141] = 0x01; + data[142] = 0xe0; + } + else if(i == 10) { + data[141] = 0x02; + data[142] = 0x58; + } + else if(i == 12) { + data[141] = 0x02; + data[142] = 0xd0; + } + else if(i == 15) { + data[141] = 0x03; + data[142] = 0x84; + } + else if(i == 20) { + data[141] = 0x04; + data[142] = 0xb0; + } + else if(i <= 1) { + data[184] = 0x01; + data[185] = char(i); + } + else if(i == 100) { //接收设备包 + data[184] = 0x08; + data[185] = 0x01; + } + else return; + } + else if(lidar_name == "N10"){ + if(i <= 1){ + data[185] = char(i); + data[184] = 0x01; + } + else if(i>=6 && i<=12){ + data[172] = char(i); + data[184] = 0x0a; + data[185] = 0X01; + } + else return; + } + rtn = sendto(sockfd_, data, 188, 0, (struct sockaddr *)&server_sai, sizeof(struct sockaddr)); + if (rtn < 0) + { + printf("start scan error !\n"); + } + else + { + if (i == 1) + usleep(3000000); + return; + } + } + return; + } + + + + int InputSocket::getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &packet) + { + int q = 0; + struct pollfd fds[1]; + fds[0].fd = sockfd_; + fds[0].events = POLLIN; + static const int POLL_TIMEOUT = 2000; // one second (in msec) + + sockaddr_in sender_address{}; + socklen_t sender_address_len = sizeof(sender_address); + while (flag == 1) + { + // poll() until input available + do { + int retval = poll(fds, 1, POLL_TIMEOUT); + if (retval < 0) // poll() error? + { + if (errno != EINTR) + RCLCPP_ERROR(private_nh_->get_logger(), "[driver][socket] poll() error: %s", strerror(errno)); + return 0; + } + if (retval == 0) // poll() timeout? + { + RCLCPP_WARN(private_nh_->get_logger(), "lslidar poll() timeout, port: %d",port_); + return 0; + } + if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) || (fds[0].revents & POLLNVAL)) // device error? + { + RCLCPP_ERROR(private_nh_->get_logger(),"poll() reports lslidar error"); + return 0; + } + } while ((fds[0].revents & POLLIN) == 0); + + // Receive packets that should now be available from the + // socket using a blocking read. + ssize_t nbytes = recvfrom(sockfd_, &packet->data[0], packet_size_input, 0, + (sockaddr *)&sender_address, &sender_address_len); + // ROS_DEBUG_STREAM("incomplete lslidar packet read: " + // << nbytes << " bytes"); + q = (int)nbytes; + if (nbytes < 0) + { + if (errno != EWOULDBLOCK) + { + perror("recvfail"); + RCLCPP_ERROR(private_nh_->get_logger(),"recvfail"); + return 1; + } + } + else if ((size_t)nbytes <= packet_size_input || (size_t)nbytes >= 50) + { + + // read successful, + // if packet is not from the lidar scanner we selected by IP, + // continue otherwise we are done + if (devip_str_ != "" && sender_address.sin_addr.s_addr != devip_.s_addr) + continue; + else + break; // done + } + + } + if (flag == 0) + { + abort(); + } + + return q; + } + InputPCAP::InputPCAP(rclcpp::Node *private_nh, uint16_t port, double packet_rate, std::string filename) : Input(private_nh, port), + packet_rate_(packet_rate), + filename_(filename) + { + pcap_ = NULL; + empty_ = true; + read_once_ = false; + read_fast_ = false; + repeat_delay_ = 0.0; + private_nh->get_parameter("read_once", read_once_); + private_nh->get_parameter("read_fast", read_fast_); + private_nh->get_parameter("repeat_delay", repeat_delay_); + + if (read_once_) + RCLCPP_WARN(private_nh_->get_logger(),"Read input file only once."); + if (read_fast_) + RCLCPP_WARN(private_nh_->get_logger(),"Read input file as quickly as possible."); + if (repeat_delay_ > 0.0) + RCLCPP_WARN(private_nh_->get_logger(),"Delay %.3f seconds before repeating input file.", repeat_delay_); + + RCLCPP_INFO(private_nh_->get_logger(),"Opening PCAP file %s",filename_.c_str()); + if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_)) == NULL) + { + RCLCPP_WARN(private_nh_->get_logger(),"Error opening lslidar socket dump file."); + return; + } + std::stringstream filter; + if (devip_str_ != "") + { + filter << "src host " << devip_str_ << "&&"; + } + filter << "udp dst port " << port; + pcap_compile(pcap_, &pcap_packet_filter_, filter.str().c_str(), 1, PCAP_NETMASK_UNKNOWN); + } + + InputPCAP::~InputPCAP(void) + { + pcap_close(pcap_); + } + + int InputPCAP::getPacket(lslidar_msgs::msg::LslidarPacket::UniquePtr &pkt) + { + struct pcap_pkthdr *header; + const u_char *pkt_data; + while (flag == 1) + { + int res; + if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0) + { + // skip packets not for the correct port and from the selected IP address + if (!devip_str_.empty() && (0 == pcap_offline_filter(&pcap_packet_filter_, header, pkt_data))) + continue; + + if (read_fast_ == false) + packet_rate_.sleep(); + mempcpy(&pkt->data[0], pkt_data + 42, packet_size_input); + empty_ = false; + return 0; + } + if (empty_) + { + RCLCPP_WARN(private_nh_->get_logger(),"Error %d reading lslidar packet: %s", res, pcap_geterr(pcap_)); + return -1; + } + if (read_once_) + { + RCLCPP_WARN(private_nh_->get_logger(),"end of file reached -- done reading."); + return -1; + } + if (repeat_delay_ > 0.0) + { + RCLCPP_WARN(private_nh_->get_logger(),"end of file reached -- delaying %.3f seconds.", repeat_delay_); + usleep(rint(repeat_delay_ * 1000000.0)); + } + RCLCPP_WARN(private_nh_->get_logger(),"replayding lsliar dump file"); + + pcap_close(pcap_); + pcap_ = pcap_open_offline(filename_.c_str(), errbuf_); + empty_ = true; + } + if (flag == 0) + { + abort(); + } + return 0; + } + +} // namespace diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp new file mode 100644 index 0000000..d560b12 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp @@ -0,0 +1,400 @@ +/******************************************************* +@company: Copyright (C) 2022, Leishen Intelligent System +@product: LSM10 and N10 +@filename: lsiosr.cpp +@brief: +@version: date: author: comments: +@v1.0 21-2-4 yao new +*******************************************************/ +#include "lslidar_driver/lsiosr.h" + +namespace lslidar_driver { + +LSIOSR * LSIOSR::instance(std::string name, int speed, int fd) +{ + static LSIOSR obj(name, speed, fd); + return &obj; +} + +LSIOSR::LSIOSR(std::string port, int baud_rate, int fd):port_(port), baud_rate_(baud_rate), fd_(fd) +{ + printf("port = %s, baud_rate = %d\n", port.c_str(), baud_rate); +} + +LSIOSR::~LSIOSR() +{ + close(); +} +/* 串口配置的函数 */ +int LSIOSR::setOpt(int nBits, uint8_t nEvent, int nStop) +{ + struct termios newtio, oldtio; + /*保存测试现有串口参数设置，在这里如果串口号等出错，会有相关的出错信息*/ + if (tcgetattr(fd_, &oldtio) != 0) + { + perror("SetupSerial 1"); + return -1; + } + bzero(&newtio, sizeof(newtio)); + /*步骤一，设置字符大小*/ + newtio.c_cflag |= CLOCAL; //如果设置，modem 的控制线将会被忽略。如果没有设置，则 open()函数会阻塞直到载波检测线宣告 modem 处于摘机状态为止。 + newtio.c_cflag |= CREAD; //使端口能读取输入的数据 + /*设置每个数据的位数*/ + switch (nBits) + { + case 7: + newtio.c_cflag |= CS7; + break; + case 8: + newtio.c_cflag |= CS8; + break; + } + /*设置奇偶校验位*/ + switch (nEvent) + { + case 'O': //奇数 + newtio.c_iflag |= (INPCK | ISTRIP); + newtio.c_cflag |= PARENB; //使能校验，如果不设PARODD则是偶校验 + newtio.c_cflag |= PARODD; //奇校验 + break; + case 'E': //偶数 + newtio.c_iflag |= (INPCK | ISTRIP); + newtio.c_cflag |= PARENB; + newtio.c_cflag &= ~PARODD; + break; + case 'N': //无奇偶校验位 + newtio.c_cflag &= ~PARENB; + break; + } + /*设置波特率*/ + switch (baud_rate_) + { + case 230400: + cfsetispeed(&newtio, B230400); + cfsetospeed(&newtio, B230400); + break; + case 460800: + cfsetispeed(&newtio, B460800); + cfsetospeed(&newtio, B460800); + break; + case 500000: + cfsetispeed(&newtio, B500000); + cfsetospeed(&newtio, B500000); + break; + case 921600: + cfsetispeed(&newtio, B921600); + cfsetospeed(&newtio, B921600); + break; + default: + cfsetispeed(&newtio, B460800); + cfsetospeed(&newtio, B460800); + break; + } + + /* + * 设置停止位 + * 设置停止位的位数， 如果设置，则会在每帧后产生两个停止位， 如果没有设置，则产生一个 + * 停止位。一般都是使用一位停止位。需要两位停止位的设备已过时了。 + * */ + if (nStop == 1) + newtio.c_cflag &= ~CSTOPB; + else if (nStop == 2) + newtio.c_cflag |= CSTOPB; + /*设置等待时间和最小接收字符*/ + newtio.c_cc[VTIME] = 0; + newtio.c_cc[VMIN] = 0; + /*处理未接收字符*/ + tcflush(fd_, TCIFLUSH); + /*激活新配置*/ + if ((tcsetattr(fd_, TCSANOW, &newtio)) != 0) + { + perror("serial set error"); + return -1; + } + + return 0; +} + +void LSIOSR::flushinput() { + tcflush(fd_, TCIFLUSH); +} + +/* 从串口中读取数据 */ +int LSIOSR::read(unsigned char *buffer, int length, int timeout) +{ + memset(buffer, 0, length); + + int totalBytesRead = 0; + int rc; + int unlink = 0; + unsigned char* pb = buffer; + + if (timeout > 0) + { + rc = waitReadable(timeout); + if (rc <= 0) + { + return (rc == 0) ? 0 : -1; + } + + int retry = 3; + while (length > 0) + { + rc = ::read(fd_, pb, (size_t)length); + + if (rc > 0) + { + length -= rc; + pb += rc; + totalBytesRead += rc; + + if (length == 0) + { + break; + } + } + else if (rc < 0) + { + printf("error \n"); + retry--; + if (retry <= 0) + { + break; + } + } + unlink++; + rc = waitReadable(20); + if(unlink > 10) + return -1; + + if (rc <= 0) + { + break; + } + } + } + else + { + rc = ::read(fd_, pb, (size_t)length); + + if (rc > 0) + { + totalBytesRead += rc; + } + else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN)) + { + printf("read error\n"); + return -1; + } + } + + return totalBytesRead; +} + +int LSIOSR::waitReadable(int millis) +{ + if (fd_ < 0) + { + return -1; + } + int serial = fd_; + + fd_set fdset; + struct timeval tv; + int rc = 0; + + while (millis > 0) + { + if (millis < 5000) + { + tv.tv_usec = millis % 1000 * 1000; + tv.tv_sec = millis / 1000; + + millis = 0; + } + else + { + tv.tv_usec = 0; + tv.tv_sec = 5; + + millis -= 5000; + } + + FD_ZERO(&fdset); + FD_SET(serial, &fdset); + + rc = select(serial + 1, &fdset, NULL, NULL, &tv); + if (rc > 0) + { + rc = (FD_ISSET(serial, &fdset)) ? 1 : -1; + break; + } + else if (rc < 0) + { + rc = -1; + break; + } + } + + return rc; +} + + +int LSIOSR::waitWritable(int millis) +{ + if (fd_ < 0) + { + return -1; + } + int serial = fd_; + + fd_set fdset; + struct timeval tv; + int rc = 0; + + while (millis > 0) + { + if (millis < 5000) + { + tv.tv_usec = millis % 1000 * 1000; + tv.tv_sec = millis / 1000; + + millis = 0; + } + else + { + tv.tv_usec = 0; + tv.tv_sec = 5; + + millis -= 5000; + } + + FD_ZERO(&fdset); + FD_SET(serial, &fdset); + + rc = select(serial + 1, NULL, &fdset, NULL, &tv); + if (rc > 0) + { + rc = (FD_ISSET(serial, &fdset)) ? 1 : -1; + break; + } + else if (rc < 0) + { + rc = -1; + break; + } + } + + return rc; +} + +/* 向串口中发送数据 */ +int LSIOSR::send(const char* buffer, int length, int timeout) +{ + if (fd_ < 0) + { + return -1; + } + + if ((buffer == 0) || (length <= 0)) + { + return -1; + } + + int totalBytesWrite = 0; + int rc; + char* pb = (char*)buffer; + + + if (timeout > 0) + { + rc = waitWritable(timeout); + if (rc <= 0) + { + return (rc == 0) ? 0 : -1; + } + + int retry = 3; + while (length > 0) + { + rc = write(fd_, pb, (size_t)length); + if (rc > 0) + { + length -= rc; + pb += rc; + totalBytesWrite += rc; + + if (length == 0) + { + break; + } + } + else + { + retry--; + if (retry <= 0) + { + break; + } + } + + rc = waitWritable(50); + if (rc <= 0) + { + break; + } + } + } + else + { + rc = write(fd_, pb, (size_t)length); + if (rc > 0) + { + totalBytesWrite += rc; + } + else if ((rc < 0) && (errno != EINTR) && (errno != EAGAIN)) + { + return -1; + } + } + + return totalBytesWrite; +} + +int LSIOSR::init() +{ + int error_code = 0; + + fd_ = open(port_.c_str(), O_RDWR|O_NOCTTY|O_NDELAY); + if (0 < fd_) + { + error_code = 0; + setOpt(DATA_BIT_8, PARITY_NONE, STOP_BIT_1);//设置串口参数 + //printf("open_port %s OK !\n", port_.c_str()); + } + else + { + error_code = -1; + } + + return error_code; +} + +int LSIOSR::close() +{ + ::close(fd_); + return 0; +} + +std::string LSIOSR::getPort() +{ + return port_; +} + +int LSIOSR::setPortName(std::string name) +{ + port_ = name; + return 0; +} + +} diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc new file mode 100644 index 0000000..a141253 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc @@ -0,0 +1,1423 @@ +/* + * This file is part of lslidar driver. + * + * The driver is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * The driver is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the driver. If not, see . + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "lslidar_driver/lslidar_driver.h" +#include + +int truncated_mode_=0; //多角度屏蔽开关：默认为0，如果需要屏蔽多个角度，则truncated_mode_赋值为1。 + +int scan_crop_min[]={0,180}; //雷达屏蔽角度，这里屏蔽角度为135°到225°， + //如果要多角度屏蔽，如10~30，50~60，改为： + //scan_angle_min[]={10，50};scan_angle_max[]={30，60}; +int scan_crop_max[]={90,270}; //修改后编译即可 + + +namespace lslidar_driver +{ + + static void my_hander(int sig) + { + printf("sig: %d", sig); + abort(); + } + LslidarDriver::LslidarDriver() : LslidarDriver(rclcpp::NodeOptions()) {} + LslidarDriver::LslidarDriver(const rclcpp::NodeOptions &options) : Node("lslidar_driver_node", options), diagnostics(this) + { + signal(SIGINT, my_hander); + + if (!this->initialize()) + RCLCPP_ERROR(this->get_logger(), "Could not initialize the driver..."); + else + RCLCPP_INFO(this->get_logger(), "Successfully initialize driver..."); + } + + LslidarDriver::~LslidarDriver() + { + return; + } + + bool LslidarDriver::loadParameters() + { + pubscan_thread_ = new boost::thread(boost::bind(&LslidarDriver::pubScanThread, this)); + interface_selection = std::string("net"); + frame_id = std::string("laser_link"); + scan_topic = std::string("/scan"); + lidar_name = std::string("M10"); + pointcloud_topic = std::string("/lslidar_point_cloud"); + is_start = true; + min_range = 0.3; + max_range = 100.0; + use_gps_ts = true; + compensation = true; + pubScan = true; + pubPointCloud2 = true; + angle_disable_min = 0.0; + angle_disable_max = 0.0; + // 添加恒定输出长度参数 + fixed_array_length = 450; //cyy_addcyy_add + this->declare_parameter("fixed_array_length", 450);//cyy_addcyy_add + + + this->declare_parameter("lidar_name", "M10"); + this->declare_parameter("frame_id", "laser_link"); + this->declare_parameter("scan_topic", "/scan"); + this->declare_parameter("pointcloud_topic", "/lslidar_point_cloud"); + this->declare_parameter("min_range", 0.3); + this->declare_parameter("max_range", 100.0); + this->declare_parameter("use_gps_ts", false); + this->declare_parameter("high_reflection", false); + this->declare_parameter("compensation", false); + this->declare_parameter("pubScan", true); + this->declare_parameter("pubPointCloud2", false); + this->declare_parameter("angle_disable_min", 0.0); + this->declare_parameter("angle_disable_max", 0.0); + this->declare_parameter("interface_selection", "net"); + + this->get_parameter("fixed_array_length", fixed_array_length);//cyy_addcyy_add + this->get_parameter("lidar_name", lidar_name); + this->get_parameter("frame_id", frame_id); + this->get_parameter("high_reflection", high_reflection); + this->get_parameter("scan_topic", scan_topic); + this->get_parameter("min_range", min_range); + this->get_parameter("max_range", max_range); + this->get_parameter("use_gps_ts", use_gps_ts); + this->get_parameter("compensation", compensation); + this->get_parameter("pointcloud_topic", pointcloud_topic); + this->get_parameter("pubScan", pubScan); + this->get_parameter("pubPointCloud2", pubPointCloud2); + this->get_parameter("angle_disable_min", angle_disable_min); + this->get_parameter("angle_disable_max", angle_disable_max); + this->get_parameter("interface_selection", interface_selection); + while (angle_disable_min < 0) + angle_disable_min += 360; + while (angle_disable_max < 0) + angle_disable_max += 360; + while (angle_disable_min > 360) + angle_disable_min -= 360; + while (angle_disable_max > 360) + angle_disable_max -= 360; + if (angle_disable_max == angle_disable_min) + { + angle_able_min = 0; + angle_able_max = 360; + } + else + { + if (angle_disable_min < angle_disable_max && angle_disable_min != 0.0) + { + angle_able_min = angle_disable_max; + angle_able_max = angle_disable_min + 360; + } + if (angle_disable_min < angle_disable_max && angle_disable_min == 0.0) + { + angle_able_min = angle_disable_max; + angle_able_max = 360; + } + if (angle_disable_min > angle_disable_max) + { + angle_able_min = angle_disable_max; + angle_able_max = angle_disable_min; + } + } + count_num = 0; + + scan_points_.resize(6000); + + if (lidar_name == "M10") + { + use_gps_ts = false; + PACKET_SIZE = 92; + package_points = 42; + data_bits_start = 6; + degree_bits_start = 2; + rpm_bits_start = 4; + baud_rate_ = 460800; + points_size_ = 1008; + } + else if (lidar_name == "M10_P") + { + PACKET_SIZE = 160; + package_points = 70; + data_bits_start = 8; + degree_bits_start = 4; + rpm_bits_start = 6; + baud_rate_ = 500000; + points_size_ = 2000; + } + else if (lidar_name == "M10_PLUS") + { + PACKET_SIZE = 104; + package_points = 41; + data_bits_start = 8; + degree_bits_start = 4; + rpm_bits_start = 6; + points_size_ = 5000; + baud_rate_ = 921600; + } + else if (lidar_name == "M10_GPS") + { + PACKET_SIZE = 102; + package_points = 42; + data_bits_start = 6; + degree_bits_start = 2; + rpm_bits_start = 4; + baud_rate_ = 460800; + points_size_ = 1008; + } + else if (lidar_name == "N10") + { + PACKET_SIZE = 58; + package_points = 16; + data_bits_start = 7; + degree_bits_start = 5; + end_degree_bits_start = 55; + baud_rate_ = 230400; + points_size_ = 2000; + use_gps_ts = false; + compensation = false; + } + else if (lidar_name == "M10_DOUBLE") + { + PACKET_SIZE = 300; + package_points = 70; + data_bits_start = 8; + degree_bits_start = 4; + rpm_bits_start = 6; + points_size_ = 3000; + baud_rate_ = 921600; + } + else if (lidar_name == "N10_P") + { + PACKET_SIZE = 108; + package_points = 16; + data_bits_start = 7; + degree_bits_start = 5; + end_degree_bits_start = 105; + baud_rate_ = 460800; + points_size_ = 2000; + use_gps_ts = false; + compensation = false; + } + else if (lidar_name == "L10") + { + PACKET_SIZE = 58; + package_points = 16; + data_bits_start = 7; + degree_bits_start = 5; + end_degree_bits_start = 55; + baud_rate_ = 230400; + points_size_ = 2000; + use_gps_ts = false; + compensation = false; + } + RCLCPP_INFO_STREAM(this->get_logger(), "Lidar is " << lidar_name.c_str()); + + if (pubScan) + scan_pub = this->create_publisher(scan_topic, 10); + if (pubPointCloud2) + point_cloud_pub = this->create_publisher(pointcloud_topic, 10); + difop_switch = this->create_subscription("lslidar_order", 1, std::bind(&LslidarDriver::lidar_order, this, std::placeholders::_1)); // 转速输入 + return true; + } + + void LslidarDriver::lidar_difop() + { + if (lidar_name == "L10" || lidar_name == "N10" || lidar_name == "N10_P") + return; + if (interface_selection == "net") + msop_input_->UDP_difop(); + else + { + for (int k = 0; k < 10; k++) + { + unsigned char data[188] = {0x00}; + data[0] = 0xA5; + data[1] = 0x5A; + data[2] = 0x55; + data[184] = 0x08; + data[185] = 0x01; + data[186] = 0xFA; + data[187] = 0xFB; + int rtn = serial_->send((const char *)data, 188); + if (rtn < 0) + printf("start scan error !\n"); + else + return; + } + } + return; + } + + void LslidarDriver::lidar_order(const std_msgs::msg::Int8::SharedPtr msg) + { + if (lidar_name == "L10") + return; + int i = msg->data; + if (i == 0) + is_start = false; + else + is_start = true; + if (interface_selection == "net") + msop_input_->UDP_order(*msg); + else + { + int i = msg->data; + for (int k = 0; k < 10; k++) + { + int rtn; + unsigned char data[188] = {0x00}; + data[0] = 0xA5; + data[1] = 0x5A; + data[2] = 0x55; + data[186] = 0xFA; + data[187] = 0xFB; + + if (lidar_name == "M10" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_DOUBLE") + { + if (i <= 1) + { // 雷达启停 + data[184] = 0x01; + data[185] = char(i); + } + else if (i == 2) + { // 雷达点云不滤波 + data[181] = 0x0A; + data[184] = 0x06; + if (is_start) + data[185] = 0x01; + } + else if (i == 3) + { // 雷达点云正常滤波 + data[181] = 0x0B; + data[184] = 0x06; + if (is_start) + data[185] = 0x01; + } + else if (i == 4) + { // 雷达近距离滤波 + data[181] = 0x0C; + data[184] = 0x06; + if (is_start) + data[185] = 0x01; + } + else if (i == 100) + { // 接收设备包 + data[184] = 0x08; + data[185] = 0x01; + } + else + return; + } + else if (lidar_name == "M10_PLUS") + { + data[184] = 0x0A; + data[185] = 0x01; + if (i == 5) + { + data[141] = 0x01; + data[142] = 0x2c; + } + else if (i == 6) + { + data[141] = 0x01; + data[142] = 0x68; + } + else if (i == 8) + { + data[141] = 0x01; + data[142] = 0xe0; + } + else if (i == 10) + { + data[141] = 0x02; + data[142] = 0x58; + } + else if (i == 12) + { + data[141] = 0x02; + data[142] = 0xd0; + } + else if (i == 15) + { + data[141] = 0x03; + data[142] = 0x84; + } + else if (i == 20) + { + data[141] = 0x04; + data[142] = 0xb0; + } + else if (i <= 1) + { + data[184] = 0x01; + data[185] = char(i); + } + else if (i == 100) // 接收设备包 + { + data[184] = 0x08; + data[185] = 0x01; + } + else + return; + } + else if (lidar_name == "N10" || lidar_name == "N10_P") + { + if (i <= 1) + { + data[185] = char(i); + data[184] = 0x01; + } + else if (i >= 6 && i <= 12) + { + data[172] = char(i); + data[184] = 0x0a; + data[185] = 0X01; + } + else + return; + } + rtn = serial_->send((const char *)data, 188); + if (rtn < 0) + printf("start scan error !\n"); + else + { + if (i == 1) + usleep(1000000); // 1.0s + if (i == 0) + is_start = false; + if (i == 1) + is_start = true; + return; + } + } + return; + } + } + + void LslidarDriver::open_serial() + { + diagnostics.setHardwareID("Lslidar"); + int code = 0; + serial_port_ = std::string("/dev/ttyUSB0"); + this->declare_parameter("serial_port_", "/dev/ttyUSB0"); + this->get_parameter("serial_port_", serial_port_); + serial_ = LSIOSR::instance(serial_port_, baud_rate_); + code = serial_->init(); + if (code != 0) + { + printf("open_port %s ERROR !\n", serial_port_.c_str()); + rclcpp::shutdown(); + exit(0); + } + printf("open_port %s OK !\n", serial_port_.c_str()); + } + + bool LslidarDriver::createRosIO() + { + UDP_PORT_NUMBER = 2368; + this->declare_parameter("msop_port", 2368); + this->get_parameter("msop_port", UDP_PORT_NUMBER); + RCLCPP_INFO_STREAM(this->get_logger(), "Opening UDP socket: port " << UDP_PORT_NUMBER); + dump_file = std::string(""); + this->declare_parameter("pcap", ""); + this->get_parameter("pcap", dump_file); + // ROS diagnostics + diagnostics.setHardwareID("Lslidar"); + + const double diag_freq = 12 * 24; + diag_max_freq = diag_freq; + diag_min_freq = diag_freq; + RCLCPP_INFO(this->get_logger(), "expected frequency: %.3f (Hz)", diag_freq); + + using namespace diagnostic_updater; + diag_topic.reset(new TopicDiagnostic( + "lslidar_packets", diagnostics, + FrequencyStatusParam(&diag_min_freq, &diag_max_freq, 0.1, 10), + TimeStampStatusParam())); + + int hz = 10; + if (lidar_name == "M10_P") + hz = 12; + else if (lidar_name == "M10_PLUS") + hz = 20; + + double packet_rate = hz * 24; + if (dump_file != "") + { + msop_input_.reset(new lslidar_driver::InputPCAP(this, UDP_PORT_NUMBER, packet_rate, dump_file)); + } + else + { + msop_input_.reset(new lslidar_driver::InputSocket(this, UDP_PORT_NUMBER)); + } + + // Output + return true; + } + + int LslidarDriver::getScan(std::vector &points, rclcpp::Time &scan_time, float &scan_duration) + { + boost::unique_lock lock(mutex_); + points.assign(scan_points_bak_.begin(), scan_points_bak_.end()); + scan_time = pre_time_; + scan_duration = time_.seconds() - pre_time_.seconds(); + return 1; + } + + uint64_t LslidarDriver::get_gps_stamp(struct tm t) + { + + uint64_t ptime = static_cast(timegm(&t)); + return ptime; + } + + bool LslidarDriver::initialize() + { + if (!loadParameters()) + { + RCLCPP_ERROR(this->get_logger(), "Cannot load all required ROS parameters..."); + return false; + } + if (interface_selection == "net") + { + if (!createRosIO()) + { + RCLCPP_ERROR(this->get_logger(), "Cannot create all ROS IO..."); + return false; + } + } + else + { + in_file_name = std::string(""); + this->declare_parameter("in_file_name", ""); + this->get_parameter("in_file_name", in_file_name); + if (in_file_name == "") + open_serial(); + else + { + RCLCPP_INFO_STREAM(this->get_logger(), "Opening txt file " << in_file_name.c_str()); + std::ifstream file_reader(in_file_name); + if (!file_reader.is_open()) + { + RCLCPP_ERROR(this->get_logger(), "Cannot open the file"); + return false; + } + } + } + RCLCPP_INFO(this->get_logger(), "Initialised lslidar without error"); + return true; + } + + void LslidarDriver::recvThread_crc(int &count, int &link_time) + { + if (count <= 0) + link_time++; + else + link_time = 0; + + if (link_time > 150) + { + serial_->close(); + int ret = serial_->init(); + if (ret < 0) + { + RCLCPP_ERROR(this->get_logger(), "serial open fail"); + usleep(200000); + } + link_time = 0; + } + } + + int LslidarDriver::receive_data(unsigned char *packet_bytes) + { + int link_time = 0; + int len_H = 0; + int len_L = 0; + int len = 0; + int count_2 = 0; + int count = 0; + while (count <= 0) + { + count = serial_->read(packet_bytes, 1); + LslidarDriver::recvThread_crc(count, link_time); + } + if (packet_bytes[0] != 0xA5) + return 0; + + while (count_2 <= 0) + { + count_2 = serial_->read(packet_bytes + count, 1); + if (count_2 >= 0) + count += count_2; + LslidarDriver::recvThread_crc(count_2, link_time); + } + + count_2 = 0; + if (packet_bytes[1] != 0x5A) + return 0; + while (count_2 <= 0) + { + count_2 = serial_->read(packet_bytes + count, 2); + if (count_2 >= 0) + count += count_2; + LslidarDriver::recvThread_crc(count_2, link_time); + } + + count_2 = 0; + + if (lidar_name == "M10") + len = 92; + else if (lidar_name == "M10_GPS") + len = 102; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "N10" || lidar_name == "L10") + len = packet_bytes[2]; + else + { + len_H = packet_bytes[2]; + len_L = packet_bytes[3]; + len = len_H * 256 + len_L; + } + if (lidar_name == "M10" || lidar_name == "M10_DOUBLE" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_PLUS") + { + if (packet_bytes[2] == 0x55 && packet_bytes[3] == 0x00) + len = 188; + } + while (count < len) + { + count_2 = serial_->read(packet_bytes + count, len - count); + if (count_2 >= 0) + count += count_2; + LslidarDriver::recvThread_crc(count_2, link_time); + } + if (lidar_name == "N10" || lidar_name == "L10" || lidar_name == "N10_P") + { + if (packet_bytes[PACKET_SIZE - 1] != N10_CalCRC8(packet_bytes, PACKET_SIZE - 1)) + return 0; + } + return len; + } + + uint8_t LslidarDriver::N10_CalCRC8(unsigned char *p, int len) + { + uint8_t crc = 0; + int sum = 0; + + for (int i = 0; i < len; i++) + { + sum += uint8_t(p[i]); + } + crc = sum & 0xff; + return crc; + } + + void LslidarDriver::difop_processing(unsigned char *packet_bytes) // 处理设备包的数据 + { + int s = packet_bytes[173]; + int z = packet_bytes[174]; + int degree_temp = s & 0x7F; + int sign_temp = s & 0x80; + degree_compensation = double(degree_temp * 256 + z) / 100.f; + if (sign_temp) + degree_compensation = -degree_compensation; + first_compensation = false; + printf("degree_compensation = %f\n", degree_compensation); + return; + } + + void LslidarDriver::data_processing(unsigned char *packet_bytes, int len) // 处理每一包的数据 + { + double degree; + double end_degree; + double degree_interval = 15.0; + boost::posix_time::ptime t1, t2; + t1 = boost::posix_time::microsec_clock::universal_time(); + + int s = packet_bytes[degree_bits_start]; + int z = packet_bytes[degree_bits_start + 1]; + + degree = (s * 256 + z) / 100.f + degree_compensation; + degree = (degree < 0) ? degree + 360 : degree; + degree = (degree > 360) ? degree - 360 : degree; + if (lidar_name == "N10" || lidar_name == "L10") + { + int s_e = packet_bytes[end_degree_bits_start]; + int z_e = packet_bytes[end_degree_bits_start + 1]; + + end_degree = (s_e * 256 + z_e) / 100.f; + end_degree = (end_degree > 360) ? end_degree - 360 : end_degree; + + if (degree > end_degree) + degree_interval = end_degree + 360 - degree; + else + degree_interval = end_degree - degree; + } + + // boost::unique_lock lock(mutex_); + if (lidar_name == "M10_PLUS" || lidar_name == "M10_P") + { + PACKET_SIZE = len; + package_points = (PACKET_SIZE - 20) / 2; + } + int invalidValue = 0; + int point_len = 2; + if (lidar_name == "N10" || lidar_name == "L10") + point_len = 3; + + if (lidar_name == "M10_GPS" || lidar_name == "M10") + { + int err_data_84 = packet_bytes[84]; + int err_data_85 = packet_bytes[85]; + if ((err_data_84 * 256 + err_data_85) == 0xFFFF || packet_bytes[86] >= 0xF5) + { + packet_bytes[86] = 0xFF; + packet_bytes[87] = 0xFF; + } + } + + for (int num = 0; num < point_len * package_points; num += point_len) + { + int s = packet_bytes[num + data_bits_start]; + int z = packet_bytes[num + data_bits_start + 1]; + if ((s * 256 + z) == 0xFFFF) + invalidValue++; + } + + if (use_gps_ts && lidar_name != "N10") + { + pTime.tm_year = packet_bytes[PACKET_SIZE - 12] + 2000 - 1900; // x+2000 + pTime.tm_mon = packet_bytes[PACKET_SIZE - 11] - 1; // 1-12 + pTime.tm_mday = packet_bytes[PACKET_SIZE - 10]; // 1-31 + pTime.tm_hour = packet_bytes[PACKET_SIZE - 9]; // 0-23 + pTime.tm_min = packet_bytes[PACKET_SIZE - 8]; // 0-59 + pTime.tm_sec = packet_bytes[PACKET_SIZE - 7]; // 0-59 + sub_second = (packet_bytes[PACKET_SIZE - 6] * 256 + packet_bytes[PACKET_SIZE - 5]) * 1000000 + (packet_bytes[PACKET_SIZE - 4] * 256 + packet_bytes[PACKET_SIZE - 3]) * 1000; + sweep_end_time_gps = get_gps_stamp(pTime); + sweep_end_time_hardware = sub_second % 1000000000; + } + invalidValue = package_points - invalidValue; + if (lidar_name == "N10" || lidar_name == "L10") + invalidValue--; + if (invalidValue <= 1) + { + delete packet_bytes; + return; + } + + for (int num = 0; num < package_points; num++) + { + int s = packet_bytes[num * point_len + data_bits_start]; + int z = packet_bytes[num * point_len + data_bits_start + 1]; + int y = 0; + if (lidar_name == "N10" || lidar_name == "L10") + y = packet_bytes[num * point_len + data_bits_start + 2]; + int dist_temp = s & 0x7F; + int inten_temp = s & 0x80; + + if ((s * 256 + z) != 0xFFFF) + { + if (lidar_name == "N10" || lidar_name == "L10") + { + scan_points_[idx].range = double(s * 256 + (z)) / 1000.f; + scan_points_[idx].intensity = int(y); + } + else if ((lidar_name == "M10_P" || lidar_name == "M10_PLUS") && !high_reflection) + { + scan_points_[idx].range = double(s * 256 + (z)) / 1000.f; + scan_points_[idx].intensity = 0; + } + else + { + scan_points_[idx].range = double(dist_temp * 256 + (z)) / 1000.f; + if (inten_temp) + scan_points_[idx].intensity = 255; + else + scan_points_[idx].intensity = 0; + } + if ((degree + (degree_interval / invalidValue * num)) > 360) + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num) - 360; + else + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num); + } + else + continue; + + if ((scan_points_[idx].degree < last_degree && scan_points_[idx].degree < 5 && last_degree > 355) || idx >= points_size_) + { + last_degree = scan_points_[idx].degree; + count_num = idx; + idx = 0; + for (long unsigned int k = 0; k < scan_points_.size(); k++) + { + if (scan_points_[k].range < min_range || scan_points_[k].range > max_range) + scan_points_[k].range = 0; + } + boost::unique_lock lock(mutex_); + scan_points_bak_.resize(scan_points_.size()); + scan_points_bak_.assign(scan_points_.begin(), scan_points_.end()); + for (long unsigned int k = 0; k < scan_points_.size(); k++) + { + scan_points_[k].range = 0; + scan_points_[k].degree = 0; + scan_points_[k].intensity = 0; + } + pre_time_ = time_; + lock.unlock(); + pubscan_cond_.notify_one(); + time_ = get_clock()->now(); + } + else + { + last_degree = scan_points_[idx].degree; + idx++; + } + } + packet_bytes = {0x00}; + if (packet_bytes) + { + packet_bytes = NULL; + delete packet_bytes; + } + } + + void LslidarDriver::data_processing_2(unsigned char *packet_bytes, int len) // 处理每一包的数据 + { + double degree; + double end_degree; + double degree_interval = 15.0; + boost::posix_time::ptime t1, t2; + t1 = boost::posix_time::microsec_clock::universal_time(); + + int s = packet_bytes[degree_bits_start]; + int z = packet_bytes[degree_bits_start + 1]; + + degree = (s * 256 + z) / 100.f + degree_compensation; + degree = (degree < 0) ? degree + 360 : degree; + degree = (degree > 360) ? degree - 360 : degree; + if (lidar_name == "N10_P") + { + int s_e = packet_bytes[end_degree_bits_start]; + int z_e = packet_bytes[end_degree_bits_start + 1]; + + end_degree = (s_e * 256 + z_e) / 100.f; + end_degree = (end_degree > 360) ? end_degree - 360 : end_degree; + + if (degree > end_degree) + degree_interval = end_degree + 360 - degree; + else + degree_interval = end_degree - degree; + } + + // boost::unique_lock lock(mutex_); + if (lidar_name == "M10_DOUBLE") + { + PACKET_SIZE = len; + package_points = (PACKET_SIZE - 20) / 4; + } + int invalidValue = 0; + int point_len = 4; + if (lidar_name == "N10_P") + point_len = 6; + + for (int num = 0; num < point_len * package_points; num += point_len) + { + int s = packet_bytes[num + data_bits_start]; + int z = packet_bytes[num + data_bits_start + 1]; + if ((s * 256 + z) == 0xFFFF) + invalidValue++; + } + + if (use_gps_ts) + { + pTime.tm_year = packet_bytes[PACKET_SIZE - 12] + 2000 - 1900; // x+2000 + pTime.tm_mon = packet_bytes[PACKET_SIZE - 11] - 1; // 1-12 + pTime.tm_mday = packet_bytes[PACKET_SIZE - 10]; // 1-31 + pTime.tm_hour = packet_bytes[PACKET_SIZE - 9]; // 0-23 + pTime.tm_min = packet_bytes[PACKET_SIZE - 8]; // 0-59 + pTime.tm_sec = packet_bytes[PACKET_SIZE - 7]; // 0-59 + sub_second = (packet_bytes[PACKET_SIZE - 6] * 256 + packet_bytes[PACKET_SIZE - 5]) * 1000000 + (packet_bytes[PACKET_SIZE - 4] * 256 + packet_bytes[PACKET_SIZE - 3]) * 1000; + sweep_end_time_gps = get_gps_stamp(pTime); + sweep_end_time_hardware = sub_second % 1000000000; + } + invalidValue = package_points - invalidValue; + if (lidar_name == "N10_P") + invalidValue--; + if (invalidValue <= 1) + { + delete packet_bytes; + return; + } + + for (int num = 0; num < package_points; num++) + { + int s = packet_bytes[num * point_len + data_bits_start]; + int z = packet_bytes[num * point_len + data_bits_start + 1]; + int y = 0; + if (lidar_name == "N10_P") + y = packet_bytes[num * point_len + data_bits_start + 2]; + + if ((s * 256 + z) != 0xFFFF) + { + scan_points_[idx].range = double(s * 256 + (z)) / 1000.f; + if (lidar_name == "N10_P") + scan_points_[idx].intensity = int(y); + else + scan_points_[idx].intensity = 0; + s = packet_bytes[num * point_len + data_bits_start + point_len / 2]; + z = packet_bytes[num * point_len + data_bits_start + point_len / 2 + 1]; + if (lidar_name == "N10_P") + y = packet_bytes[num * point_len + data_bits_start + point_len / 2 + 2]; + + scan_points_[idx + 3000].range = double(s * 256 + (z)) / 1000.f; + if (lidar_name == "N10_P") + scan_points_[idx + 3000].intensity = int(y); + else + scan_points_[idx + 3000].intensity = 0; + + if ((degree + (degree_interval / invalidValue * num)) > 360) + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num) - 360; + else + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num); + } + else + continue; + if (((scan_points_[idx].degree < last_degree && scan_points_[idx].degree < 5 && last_degree > 355) || idx >= points_size_) && idx > 10) + { + last_degree = scan_points_[idx].degree; + count_num = idx; + idx = 0; + for (int k = 0; k < count_num; k++) + { + if (angle_able_max > 360) + { + if ((360 - scan_points_[k].degree) > (angle_able_max - 360) && (360 - scan_points_[k].degree) < angle_able_min) + { + scan_points_[k].range = 0; + scan_points_[k + 3000].range = 0; + } + } + else + { + if ((360 - scan_points_[k].degree) > angle_able_max || (360 - scan_points_[k].degree) < angle_able_min) + { + scan_points_[k].range = 0; + scan_points_[k + 3000].range = 0; + } + } + if (scan_points_[k].range < min_range || scan_points_[k].range > max_range) + scan_points_[k].range = 0; + if (scan_points_[k + 3000].range < min_range || scan_points_[k + 3000].range > max_range) + scan_points_[k + 3000].range = 0; + } + boost::unique_lock lock(mutex_); + scan_points_bak_.resize(scan_points_.size()); + scan_points_bak_.assign(scan_points_.begin(), scan_points_.end()); + for (long unsigned int k = 0; k < scan_points_.size(); k++) + { + scan_points_[k].range = 0; + scan_points_[k].degree = 0; + scan_points_[k].intensity = 0; + } + pre_time_ = time_; + lock.unlock(); + pubscan_cond_.notify_one(); + time_ = get_clock()->now(); + } + else + { + last_degree = scan_points_[idx].degree; + idx++; + } + } + packet_bytes = {0x00}; + if (packet_bytes) + { + packet_bytes = NULL; + delete packet_bytes; + } + } + + void LslidarDriver::pubScanThread() + { + bool wait_for_wake = true; + boost::unique_lock lock(pubscan_mutex_); + + while (rclcpp::ok()) + { + + while (wait_for_wake) + { + pubscan_cond_.wait(lock); + wait_for_wake = false; + } + if (lidar_name == "N10_P" || lidar_name == "M10_DOUBLE") + { + if (pubScan) + { + auto scan = sensor_msgs::msg::LaserScan::UniquePtr(new sensor_msgs::msg::LaserScan()); + ////int scan_num = count_num * 2; + int scan_num = count_num ; + + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + scan->header.frame_id = frame_id; + if (use_gps_ts) + { + scan->header.stamp = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + else + { + scan->header.stamp = this->now(); // timestamp will obtained from sweep data stamp + } + + scan->angle_min = 0; + scan->angle_max = 2 * M_PI; + scan->angle_increment = 2 * M_PI / (double)(count_num); + scan->range_min = min_range; + scan->range_max = max_range; + scan->ranges.reserve(scan_num); + scan->ranges.assign(scan_num, std::numeric_limits::infinity()); + scan->intensities.reserve(scan_num); + scan->intensities.assign(scan_num, std::numeric_limits::infinity()); + // scan->scan_time = scan_time; + // scan->time_increment = scan_time / (double)(count_num); + + for (int k = 0; k < scan_num; k++) + { + scan->ranges[k] = std::numeric_limits::infinity(); + scan->intensities[k] = 0; + } + + for (int i = 0; i < count_num; i++) + { + int point_idx = round((360 - points[i].degree) * count_num / 360); + if (points[i].range == 0.0) + { + scan->ranges[point_idx] = std::numeric_limits::infinity(); + scan->intensities[point_idx] = 0; + } + else + { + double dist = points[i].range; + scan->ranges[point_idx] = (float)dist; + scan->intensities[point_idx] = points[i].intensity; + } + + if(truncated_mode_){ + int len=sizeof(scan_crop_max) / sizeof(scan_crop_max[0]) ; + for(int j=0;j=(scan_crop_min[j]*count_num / 360)) && (point_idx<=(scan_crop_max[j]*count_num / 360))){ + scan->ranges[point_idx] = std::numeric_limits::infinity(); + scan->intensities[point_idx] = 0; + } + } + } + /* + if (points[i + 3000].range == 0.0) + { + scan->ranges[point_idx + count_num] = std::numeric_limits::infinity(); + scan->intensities[point_idx + count_num] = 0; + } + else + { + double dist = points[i+3000].range; + scan->ranges[point_idx + count_num] = (float)dist; + scan->intensities[point_idx + count_num] = points[i + 3000].intensity; + }*/ + } + scan_pub->publish(std::move(scan)); + } + if (pubPointCloud2) + { + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + VPointCloud::Ptr point_cloud(new VPointCloud()); + if (use_gps_ts) + { + start_time = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + double timestamp = start_time.seconds(); + point_cloud->header.stamp = static_cast(timestamp * 1e6); + point_cloud->header.frame_id = frame_id; + point_cloud->height = 1; + // printf("now = %f\n",timestamp); + for (uint16_t i = 0; i < count_num; i++) + { + // printf("degree = %f\n",points[i].degree); + double degree = 360.0 - points[i].degree; + bool pass_point = false; + if (angle_able_max < 360) + { + if (degree < angle_able_min || degree > angle_able_max) + pass_point = true; + } + else + { + if (degree < angle_able_min && degree > (angle_able_max - 360)) + pass_point = true; + } + if (points[i].range < 0.001) + pass_point = true; + if (!pass_point) + { + // printf("degree = %f\n",degree); + // printf("angle_able_min = %f\nangle_able_max=%f\n",angle_able_min,angle_able_max); + VPoint point; + int point_idx = round(degree * count_num / 360); + point.timestamp = timestamp - point_idx * (scan_time / count_num); + // printf("timestamp = %f\n",point.timestamp); + point.x = points[i].range * cos(M_PI / 180 * points[i].degree); + point.y = -points[i].range * sin(M_PI / 180 * points[i].degree); + point.z = 0; + point.intensity = points[i].intensity; + point_cloud->points.push_back(point); + ++point_cloud->width; + } + if (points[i + 3000].range < 0.001) + pass_point = true; + if (!pass_point) + { + // printf("degree = %f\n",degree); + // printf("angle_able_min = %f\nangle_able_max=%f\n",angle_able_min,angle_able_max); + VPoint point; + int point_idx = round(degree * count_num / 360); + point.timestamp = timestamp - point_idx * (scan_time / count_num); + // printf("timestamp = %f\n",point.timestamp); + point.x = points[i + 3000].range * cos(M_PI / 180 * points[i].degree); + point.y = -points[i + 3000].range * sin(M_PI / 180 * points[i].degree); + point.z = 0; + point.intensity = points[i + 3000].intensity; + point_cloud->points.push_back(point); + ++point_cloud->width; + } + } + sensor_msgs::msg::PointCloud2 pc_msg; + pcl::toROSMsg(*point_cloud, pc_msg); + point_cloud_pub->publish(pc_msg); + } + } + else + { + if (pubScan) + { + auto scan = sensor_msgs::msg::LaserScan::UniquePtr(new sensor_msgs::msg::LaserScan()); + //int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1; + int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1; + + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + scan->header.frame_id = frame_id; + if (use_gps_ts) + { + scan->header.stamp = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + else + { + scan->header.stamp = this->now(); // timestamp will obtained from sweep data stamp + } + + if (angle_able_max > 360) + { + scan->angle_min = 2 * M_PI * (angle_able_min - 360) / 360; + scan->angle_max = 2 * M_PI * (angle_able_max - 360) / 360; + } + else + { + scan->angle_min = 2 * M_PI * angle_able_min / 360; + scan->angle_max = 2 * M_PI * angle_able_max / 360; + } + scan->angle_increment = 2 * M_PI / (double)(scan_num - 1); + + scan->range_min = min_range; + scan->range_max = max_range; + scan->ranges.reserve(scan_num); + scan->ranges.assign(scan_num, std::numeric_limits::infinity()); + scan->intensities.reserve(scan_num); + scan->intensities.assign(scan_num, std::numeric_limits::infinity()); + scan->scan_time = 0.1; + scan->time_increment = 0.1 / (double)(scan_num - 1); + + int start_num = floor(angle_able_min * count_num / 360); + int end_num = floor(angle_able_max * count_num / 360); + + for (int i = 0; i < count_num; i++) + { + int point_idx = round((360 - points[i].degree) * count_num / 360); + if (point_idx < (end_num - count_num)) + point_idx += count_num; + point_idx = point_idx - start_num; + if (point_idx < 0 || point_idx >= scan_num) + continue; + if (points[i].range == 0.0) + { + scan->ranges[point_idx] = std::numeric_limits::infinity(); + } + else + { + double dist = points[i].range; + scan->ranges[point_idx] = (float)dist; + } + scan->intensities[point_idx] = points[i].intensity; + + if(truncated_mode_){ + int len=sizeof(scan_crop_max) / sizeof(scan_crop_max[0]) ; + for(int j=0;j=(scan_crop_min[j]*count_num / 360)) && (point_idx<=(scan_crop_max[j]*count_num / 360))){ + scan->ranges[point_idx] = std::numeric_limits::infinity(); + scan->intensities[point_idx] = 0; + } + } + } + } + + + scan_pub->publish(std::move(scan)); + } + if (pubPointCloud2) + { + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + VPointCloud::Ptr point_cloud(new VPointCloud()); + if (use_gps_ts) + { + start_time = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + double timestamp = start_time.seconds(); + point_cloud->header.stamp = static_cast(timestamp * 1e6); + point_cloud->header.frame_id = frame_id; + point_cloud->height = 1; + for (uint16_t i = 0; i < count_num; i++) + { + double degree = 360.0 - points[i].degree; + bool pass_point = false; + if (angle_able_max < 360) + { + if (degree < angle_able_min || degree > angle_able_max) + pass_point = true; + } + else + { + if (degree < angle_able_min && degree > (angle_able_max - 360)) + pass_point = true; + } + if (points[i].range < 0.001) + pass_point = true; + if (!pass_point) + { + // printf("degree = %f\n",degree); + // printf("angle_able_min = %f\nangle_able_max=%f\n",angle_able_min,angle_able_max); + VPoint point; + int point_idx = round(degree * count_num / 360); + point.timestamp = timestamp - point_idx * (scan_time / count_num); + // printf("timestamp = %f\n",point.timestamp); + point.x = points[i].range * cos(M_PI / 180 * points[i].degree); + point.y = -points[i].range * sin(M_PI / 180 * points[i].degree); + point.z = 0; + point.intensity = points[i].intensity; + point_cloud->points.push_back(point); + ++point_cloud->width; + } + } + sensor_msgs::msg::PointCloud2 pc_msg; + pcl::toROSMsg(*point_cloud, pc_msg); + point_cloud_pub->publish(pc_msg); + } + } + count_num = 0; + wait_for_wake = true; + if (first_compensation && compensation) + { + lidar_difop(); + } + } + } + + bool LslidarDriver::polling() + { + if (!is_start) + return true; + // Allocate a new shared pointer for zero-copy sharing with other nodelets. + unsigned char *packet_bytes = new unsigned char[500]; + int len = 0; + bool difop = false; + if (interface_selection == "net") + { + auto packet = lslidar_msgs::msg::LslidarPacket::UniquePtr( + new lslidar_msgs::msg::LslidarPacket()); + + std_msgs::msg::Byte msg; + while (true) + { + difop = false; + len = 0; + // keep reading until full packet received + len = msop_input_->getPacket(packet); + if (packet->data[0] == 0x5a) + { + if (lidar_name == "N10" || lidar_name == "L10") + len = 58; + else if (lidar_name == "M10") + len = 92; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "M10_GPS") + len = 102; + else + { + int len_H = packet->data[1]; + int len_L = packet->data[2]; + len = len_H * 256 + len_L; + } + for (int i = len - 1; i > 0; i--) + packet->data[i] = packet->data[i - 1]; + packet->data[0] = 0xa5; + } + + if (lidar_name == "N10" || lidar_name == "L10") + len = 58; + else if (lidar_name == "M10") + len = 92; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "M10_GPS") + len = 102; + else + { + int len_H = packet->data[2]; + int len_L = packet->data[3]; + len = len_H * 256 + len_L; + } + if ((lidar_name == "M10" || lidar_name == "M10_DOUBLE" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_PLUS") && compensation) + { + if (packet->data[2] == 0x55 && packet->data[3] == 0x00 && packet->data[186] == 0xFA && packet->data[187] == 0xFB) + { + len = 188; + difop = true; + } + } + + if (len <= 0 || len >= 1000 || packet->data[0] != 0xa5 || packet->data[1] != 0x5a) + continue; + for (int i = 0; i < len; i++) + { + packet_bytes[i] = packet->data[i]; + } + if ((lidar_name == "N10" || lidar_name == "L10" || lidar_name == "N10_P") && packet_bytes[len - 1] != N10_CalCRC8(packet_bytes, len - 1)) + continue; + break; + } + } + else + { + if (in_file_name != "") // 读txt文件功能 + { + int usleep_time = round(1000000 / 10 / 24) - 135; + while (true) + { + std::ifstream file_reader(in_file_name); + while (file_reader.peek() != EOF) + { + std::string line; + std::getline(file_reader, line, '\n'); + for (long unsigned int i = 0; i < line.size() - 1; i++) + { + line[i] = line[i] - 48; + if (line[i] > 9) + line[i] = line[i] - 39; + } + + for (long unsigned int i = 0; i < (line.size() - 1) / 2; i++) + { + packet_bytes[i] = line[i * 2] * 16 + line[i * 2 + 1]; + } + if (lidar_name == "N10" || lidar_name == "L10") + len = 58; + else if (lidar_name == "M10") + len = 92; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "M10_GPS") + len = 102; + else + { + int len_H = packet_bytes[2]; + int len_L = packet_bytes[3]; + len = len_H * 256 + len_L; + } + if (lidar_name == "N10_P" || lidar_name == "M10_DOUBLE") + LslidarDriver::data_processing_2(packet_bytes, len); + else + LslidarDriver::data_processing(packet_bytes, len); + usleep(usleep_time); + } + } + return false; + } + else + { + while (true) + { + difop = false; + len = 0; + len = LslidarDriver::receive_data(packet_bytes); + if ((lidar_name == "M10" || lidar_name == "M10_DOUBLE" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_PLUS") && compensation) + { + if (packet_bytes[2] == 0x55 && packet_bytes[3] == 0x00 && packet_bytes[186] == 0xFA && packet_bytes[187] == 0xFB) + difop = true; + } + if (len == 0) + continue; + break; + } + } + } + if (difop) + LslidarDriver::difop_processing(packet_bytes); + else + { + if (lidar_name == "N10_P" || lidar_name == "M10_DOUBLE") + LslidarDriver::data_processing_2(packet_bytes, len); + else + LslidarDriver::data_processing(packet_bytes, len); + } + delete packet_bytes; + return true; + } + +} // namespace lslidar_driver diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc.bak b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc.bak new file mode 100644 index 0000000..c22c0f7 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc.bak @@ -0,0 +1,1423 @@ +/* + * This file is part of lslidar driver. + * + * The driver is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * The driver is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the driver. If not, see . + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "lslidar_driver/lslidar_driver.h" +#include + +int truncated_mode_=0; //多角度屏蔽开关：默认为0，如果需要屏蔽多个角度，则truncated_mode_赋值为1。 + +int scan_crop_min[]={0,180}; //雷达屏蔽角度，这里屏蔽角度为135°到225°， + //如果要多角度屏蔽，如10~30，50~60，改为： + //scan_angle_min[]={10，50};scan_angle_max[]={30，60}; +int scan_crop_max[]={90,270}; //修改后编译即可 + + +namespace lslidar_driver +{ + + static void my_hander(int sig) + { + printf("sig: %d", sig); + abort(); + } + LslidarDriver::LslidarDriver() : LslidarDriver(rclcpp::NodeOptions()) {} + LslidarDriver::LslidarDriver(const rclcpp::NodeOptions &options) : Node("lslidar_driver_node", options), diagnostics(this) + { + signal(SIGINT, my_hander); + + if (!this->initialize()) + RCLCPP_ERROR(this->get_logger(), "Could not initialize the driver..."); + else + RCLCPP_INFO(this->get_logger(), "Successfully initialize driver..."); + } + + LslidarDriver::~LslidarDriver() + { + return; + } + + bool LslidarDriver::loadParameters() + { + pubscan_thread_ = new boost::thread(boost::bind(&LslidarDriver::pubScanThread, this)); + interface_selection = std::string("net"); + frame_id = std::string("laser_link"); + scan_topic = std::string("/scan"); + lidar_name = std::string("M10"); + pointcloud_topic = std::string("/lslidar_point_cloud"); + is_start = true; + min_range = 0.3; + max_range = 100.0; + use_gps_ts = true; + compensation = true; + pubScan = true; + pubPointCloud2 = true; + angle_disable_min = 0.0; + angle_disable_max = 0.0; + // 添加恒定输出长度参数 + fixed_array_length = 450; //cyy_addcyy_add + this->declare_parameter("fixed_array_length", 450);//cyy_addcyy_add + + + this->declare_parameter("lidar_name", "M10"); + this->declare_parameter("frame_id", "laser_link"); + this->declare_parameter("scan_topic", "/scan"); + this->declare_parameter("pointcloud_topic", "/lslidar_point_cloud"); + this->declare_parameter("min_range", 0.3); + this->declare_parameter("max_range", 100.0); + this->declare_parameter("use_gps_ts", false); + this->declare_parameter("high_reflection", false); + this->declare_parameter("compensation", false); + this->declare_parameter("pubScan", true); + this->declare_parameter("pubPointCloud2", false); + this->declare_parameter("angle_disable_min", 0.0); + this->declare_parameter("angle_disable_max", 0.0); + this->declare_parameter("interface_selection", "net"); + + this->get_parameter("fixed_array_length", fixed_array_length);//cyy_addcyy_add + this->get_parameter("lidar_name", lidar_name); + this->get_parameter("frame_id", frame_id); + this->get_parameter("high_reflection", high_reflection); + this->get_parameter("scan_topic", scan_topic); + this->get_parameter("min_range", min_range); + this->get_parameter("max_range", max_range); + this->get_parameter("use_gps_ts", use_gps_ts); + this->get_parameter("compensation", compensation); + this->get_parameter("pointcloud_topic", pointcloud_topic); + this->get_parameter("pubScan", pubScan); + this->get_parameter("pubPointCloud2", pubPointCloud2); + this->get_parameter("angle_disable_min", angle_disable_min); + this->get_parameter("angle_disable_max", angle_disable_max); + this->get_parameter("interface_selection", interface_selection); + while (angle_disable_min < 0) + angle_disable_min += 360; + while (angle_disable_max < 0) + angle_disable_max += 360; + while (angle_disable_min > 360) + angle_disable_min -= 360; + while (angle_disable_max > 360) + angle_disable_max -= 360; + if (angle_disable_max == angle_disable_min) + { + angle_able_min = 0; + angle_able_max = 360; + } + else + { + if (angle_disable_min < angle_disable_max && angle_disable_min != 0.0) + { + angle_able_min = angle_disable_max; + angle_able_max = angle_disable_min + 360; + } + if (angle_disable_min < angle_disable_max && angle_disable_min == 0.0) + { + angle_able_min = angle_disable_max; + angle_able_max = 360; + } + if (angle_disable_min > angle_disable_max) + { + angle_able_min = angle_disable_max; + angle_able_max = angle_disable_min; + } + } + count_num = 0; + + scan_points_.resize(6000); + + if (lidar_name == "M10") + { + use_gps_ts = false; + PACKET_SIZE = 92; + package_points = 42; + data_bits_start = 6; + degree_bits_start = 2; + rpm_bits_start = 4; + baud_rate_ = 460800; + points_size_ = 1008; + } + else if (lidar_name == "M10_P") + { + PACKET_SIZE = 160; + package_points = 70; + data_bits_start = 8; + degree_bits_start = 4; + rpm_bits_start = 6; + baud_rate_ = 500000; + points_size_ = 2000; + } + else if (lidar_name == "M10_PLUS") + { + PACKET_SIZE = 104; + package_points = 41; + data_bits_start = 8; + degree_bits_start = 4; + rpm_bits_start = 6; + points_size_ = 5000; + baud_rate_ = 921600; + } + else if (lidar_name == "M10_GPS") + { + PACKET_SIZE = 102; + package_points = 42; + data_bits_start = 6; + degree_bits_start = 2; + rpm_bits_start = 4; + baud_rate_ = 460800; + points_size_ = 1008; + } + else if (lidar_name == "N10") + { + PACKET_SIZE = 58; + package_points = 16; + data_bits_start = 7; + degree_bits_start = 5; + end_degree_bits_start = 55; + baud_rate_ = 230400; + points_size_ = 2000; + use_gps_ts = false; + compensation = false; + } + else if (lidar_name == "M10_DOUBLE") + { + PACKET_SIZE = 300; + package_points = 70; + data_bits_start = 8; + degree_bits_start = 4; + rpm_bits_start = 6; + points_size_ = 3000; + baud_rate_ = 921600; + } + else if (lidar_name == "N10_P") + { + PACKET_SIZE = 108; + package_points = 16; + data_bits_start = 7; + degree_bits_start = 5; + end_degree_bits_start = 105; + baud_rate_ = 460800; + points_size_ = 2000; + use_gps_ts = false; + compensation = false; + } + else if (lidar_name == "L10") + { + PACKET_SIZE = 58; + package_points = 16; + data_bits_start = 7; + degree_bits_start = 5; + end_degree_bits_start = 55; + baud_rate_ = 230400; + points_size_ = 2000; + use_gps_ts = false; + compensation = false; + } + RCLCPP_INFO_STREAM(this->get_logger(), "Lidar is " << lidar_name.c_str()); + + if (pubScan) + scan_pub = this->create_publisher(scan_topic, 10); + if (pubPointCloud2) + point_cloud_pub = this->create_publisher(pointcloud_topic, 10); + difop_switch = this->create_subscription("lslidar_order", 1, std::bind(&LslidarDriver::lidar_order, this, std::placeholders::_1)); // 转速输入 + return true; + } + + void LslidarDriver::lidar_difop() + { + if (lidar_name == "L10" || lidar_name == "N10" || lidar_name == "N10_P") + return; + if (interface_selection == "net") + msop_input_->UDP_difop(); + else + { + for (int k = 0; k < 10; k++) + { + unsigned char data[188] = {0x00}; + data[0] = 0xA5; + data[1] = 0x5A; + data[2] = 0x55; + data[184] = 0x08; + data[185] = 0x01; + data[186] = 0xFA; + data[187] = 0xFB; + int rtn = serial_->send((const char *)data, 188); + if (rtn < 0) + printf("start scan error !\n"); + else + return; + } + } + return; + } + + void LslidarDriver::lidar_order(const std_msgs::msg::Int8::SharedPtr msg) + { + if (lidar_name == "L10") + return; + int i = msg->data; + if (i == 0) + is_start = false; + else + is_start = true; + if (interface_selection == "net") + msop_input_->UDP_order(*msg); + else + { + int i = msg->data; + for (int k = 0; k < 10; k++) + { + int rtn; + unsigned char data[188] = {0x00}; + data[0] = 0xA5; + data[1] = 0x5A; + data[2] = 0x55; + data[186] = 0xFA; + data[187] = 0xFB; + + if (lidar_name == "M10" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_DOUBLE") + { + if (i <= 1) + { // 雷达启停 + data[184] = 0x01; + data[185] = char(i); + } + else if (i == 2) + { // 雷达点云不滤波 + data[181] = 0x0A; + data[184] = 0x06; + if (is_start) + data[185] = 0x01; + } + else if (i == 3) + { // 雷达点云正常滤波 + data[181] = 0x0B; + data[184] = 0x06; + if (is_start) + data[185] = 0x01; + } + else if (i == 4) + { // 雷达近距离滤波 + data[181] = 0x0C; + data[184] = 0x06; + if (is_start) + data[185] = 0x01; + } + else if (i == 100) + { // 接收设备包 + data[184] = 0x08; + data[185] = 0x01; + } + else + return; + } + else if (lidar_name == "M10_PLUS") + { + data[184] = 0x0A; + data[185] = 0x01; + if (i == 5) + { + data[141] = 0x01; + data[142] = 0x2c; + } + else if (i == 6) + { + data[141] = 0x01; + data[142] = 0x68; + } + else if (i == 8) + { + data[141] = 0x01; + data[142] = 0xe0; + } + else if (i == 10) + { + data[141] = 0x02; + data[142] = 0x58; + } + else if (i == 12) + { + data[141] = 0x02; + data[142] = 0xd0; + } + else if (i == 15) + { + data[141] = 0x03; + data[142] = 0x84; + } + else if (i == 20) + { + data[141] = 0x04; + data[142] = 0xb0; + } + else if (i <= 1) + { + data[184] = 0x01; + data[185] = char(i); + } + else if (i == 100) // 接收设备包 + { + data[184] = 0x08; + data[185] = 0x01; + } + else + return; + } + else if (lidar_name == "N10" || lidar_name == "N10_P") + { + if (i <= 1) + { + data[185] = char(i); + data[184] = 0x01; + } + else if (i >= 6 && i <= 12) + { + data[172] = char(i); + data[184] = 0x0a; + data[185] = 0X01; + } + else + return; + } + rtn = serial_->send((const char *)data, 188); + if (rtn < 0) + printf("start scan error !\n"); + else + { + if (i == 1) + usleep(1000000); // 1.0s + if (i == 0) + is_start = false; + if (i == 1) + is_start = true; + return; + } + } + return; + } + } + + void LslidarDriver::open_serial() + { + diagnostics.setHardwareID("Lslidar"); + int code = 0; + serial_port_ = std::string("/dev/ttyUSB0"); + this->declare_parameter("serial_port_", "/dev/ttyUSB0"); + this->get_parameter("serial_port_", serial_port_); + serial_ = LSIOSR::instance(serial_port_, baud_rate_); + code = serial_->init(); + if (code != 0) + { + printf("open_port %s ERROR !\n", serial_port_.c_str()); + rclcpp::shutdown(); + exit(0); + } + printf("open_port %s OK !\n", serial_port_.c_str()); + } + + bool LslidarDriver::createRosIO() + { + UDP_PORT_NUMBER = 2368; + this->declare_parameter("msop_port", 2368); + this->get_parameter("msop_port", UDP_PORT_NUMBER); + RCLCPP_INFO_STREAM(this->get_logger(), "Opening UDP socket: port " << UDP_PORT_NUMBER); + dump_file = std::string(""); + this->declare_parameter("pcap", ""); + this->get_parameter("pcap", dump_file); + // ROS diagnostics + diagnostics.setHardwareID("Lslidar"); + + const double diag_freq = 12 * 24; + diag_max_freq = diag_freq; + diag_min_freq = diag_freq; + RCLCPP_INFO(this->get_logger(), "expected frequency: %.3f (Hz)", diag_freq); + + using namespace diagnostic_updater; + diag_topic.reset(new TopicDiagnostic( + "lslidar_packets", diagnostics, + FrequencyStatusParam(&diag_min_freq, &diag_max_freq, 0.1, 10), + TimeStampStatusParam())); + + int hz = 10; + if (lidar_name == "M10_P") + hz = 12; + else if (lidar_name == "M10_PLUS") + hz = 20; + + double packet_rate = hz * 24; + if (dump_file != "") + { + msop_input_.reset(new lslidar_driver::InputPCAP(this, UDP_PORT_NUMBER, packet_rate, dump_file)); + } + else + { + msop_input_.reset(new lslidar_driver::InputSocket(this, UDP_PORT_NUMBER)); + } + + // Output + return true; + } + + int LslidarDriver::getScan(std::vector &points, rclcpp::Time &scan_time, float &scan_duration) + { + boost::unique_lock lock(mutex_); + points.assign(scan_points_bak_.begin(), scan_points_bak_.end()); + scan_time = pre_time_; + scan_duration = time_.seconds() - pre_time_.seconds(); + return 1; + } + + uint64_t LslidarDriver::get_gps_stamp(struct tm t) + { + + uint64_t ptime = static_cast(timegm(&t)); + return ptime; + } + + bool LslidarDriver::initialize() + { + if (!loadParameters()) + { + RCLCPP_ERROR(this->get_logger(), "Cannot load all required ROS parameters..."); + return false; + } + if (interface_selection == "net") + { + if (!createRosIO()) + { + RCLCPP_ERROR(this->get_logger(), "Cannot create all ROS IO..."); + return false; + } + } + else + { + in_file_name = std::string(""); + this->declare_parameter("in_file_name", ""); + this->get_parameter("in_file_name", in_file_name); + if (in_file_name == "") + open_serial(); + else + { + RCLCPP_INFO_STREAM(this->get_logger(), "Opening txt file " << in_file_name.c_str()); + std::ifstream file_reader(in_file_name); + if (!file_reader.is_open()) + { + RCLCPP_ERROR(this->get_logger(), "Cannot open the file"); + return false; + } + } + } + RCLCPP_INFO(this->get_logger(), "Initialised lslidar without error"); + return true; + } + + void LslidarDriver::recvThread_crc(int &count, int &link_time) + { + if (count <= 0) + link_time++; + else + link_time = 0; + + if (link_time > 150) + { + serial_->close(); + int ret = serial_->init(); + if (ret < 0) + { + RCLCPP_ERROR(this->get_logger(), "serial open fail"); + usleep(200000); + } + link_time = 0; + } + } + + int LslidarDriver::receive_data(unsigned char *packet_bytes) + { + int link_time = 0; + int len_H = 0; + int len_L = 0; + int len = 0; + int count_2 = 0; + int count = 0; + while (count <= 0) + { + count = serial_->read(packet_bytes, 1); + LslidarDriver::recvThread_crc(count, link_time); + } + if (packet_bytes[0] != 0xA5) + return 0; + + while (count_2 <= 0) + { + count_2 = serial_->read(packet_bytes + count, 1); + if (count_2 >= 0) + count += count_2; + LslidarDriver::recvThread_crc(count_2, link_time); + } + + count_2 = 0; + if (packet_bytes[1] != 0x5A) + return 0; + while (count_2 <= 0) + { + count_2 = serial_->read(packet_bytes + count, 2); + if (count_2 >= 0) + count += count_2; + LslidarDriver::recvThread_crc(count_2, link_time); + } + + count_2 = 0; + + if (lidar_name == "M10") + len = 92; + else if (lidar_name == "M10_GPS") + len = 102; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "N10" || lidar_name == "L10") + len = packet_bytes[2]; + else + { + len_H = packet_bytes[2]; + len_L = packet_bytes[3]; + len = len_H * 256 + len_L; + } + if (lidar_name == "M10" || lidar_name == "M10_DOUBLE" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_PLUS") + { + if (packet_bytes[2] == 0x55 && packet_bytes[3] == 0x00) + len = 188; + } + while (count < len) + { + count_2 = serial_->read(packet_bytes + count, len - count); + if (count_2 >= 0) + count += count_2; + LslidarDriver::recvThread_crc(count_2, link_time); + } + if (lidar_name == "N10" || lidar_name == "L10" || lidar_name == "N10_P") + { + if (packet_bytes[PACKET_SIZE - 1] != N10_CalCRC8(packet_bytes, PACKET_SIZE - 1)) + return 0; + } + return len; + } + + uint8_t LslidarDriver::N10_CalCRC8(unsigned char *p, int len) + { + uint8_t crc = 0; + int sum = 0; + + for (int i = 0; i < len; i++) + { + sum += uint8_t(p[i]); + } + crc = sum & 0xff; + return crc; + } + + void LslidarDriver::difop_processing(unsigned char *packet_bytes) // 处理设备包的数据 + { + int s = packet_bytes[173]; + int z = packet_bytes[174]; + int degree_temp = s & 0x7F; + int sign_temp = s & 0x80; + degree_compensation = double(degree_temp * 256 + z) / 100.f; + if (sign_temp) + degree_compensation = -degree_compensation; + first_compensation = false; + printf("degree_compensation = %f\n", degree_compensation); + return; + } + + void LslidarDriver::data_processing(unsigned char *packet_bytes, int len) // 处理每一包的数据 + { + double degree; + double end_degree; + double degree_interval = 15.0; + boost::posix_time::ptime t1, t2; + t1 = boost::posix_time::microsec_clock::universal_time(); + + int s = packet_bytes[degree_bits_start]; + int z = packet_bytes[degree_bits_start + 1]; + + degree = (s * 256 + z) / 100.f + degree_compensation; + degree = (degree < 0) ? degree + 360 : degree; + degree = (degree > 360) ? degree - 360 : degree; + if (lidar_name == "N10" || lidar_name == "L10") + { + int s_e = packet_bytes[end_degree_bits_start]; + int z_e = packet_bytes[end_degree_bits_start + 1]; + + end_degree = (s_e * 256 + z_e) / 100.f; + end_degree = (end_degree > 360) ? end_degree - 360 : end_degree; + + if (degree > end_degree) + degree_interval = end_degree + 360 - degree; + else + degree_interval = end_degree - degree; + } + + // boost::unique_lock lock(mutex_); + if (lidar_name == "M10_PLUS" || lidar_name == "M10_P") + { + PACKET_SIZE = len; + package_points = (PACKET_SIZE - 20) / 2; + } + int invalidValue = 0; + int point_len = 2; + if (lidar_name == "N10" || lidar_name == "L10") + point_len = 3; + + if (lidar_name == "M10_GPS" || lidar_name == "M10") + { + int err_data_84 = packet_bytes[84]; + int err_data_85 = packet_bytes[85]; + if ((err_data_84 * 256 + err_data_85) == 0xFFFF || packet_bytes[86] >= 0xF5) + { + packet_bytes[86] = 0xFF; + packet_bytes[87] = 0xFF; + } + } + + for (int num = 0; num < point_len * package_points; num += point_len) + { + int s = packet_bytes[num + data_bits_start]; + int z = packet_bytes[num + data_bits_start + 1]; + if ((s * 256 + z) == 0xFFFF) + invalidValue++; + } + + if (use_gps_ts && lidar_name != "N10") + { + pTime.tm_year = packet_bytes[PACKET_SIZE - 12] + 2000 - 1900; // x+2000 + pTime.tm_mon = packet_bytes[PACKET_SIZE - 11] - 1; // 1-12 + pTime.tm_mday = packet_bytes[PACKET_SIZE - 10]; // 1-31 + pTime.tm_hour = packet_bytes[PACKET_SIZE - 9]; // 0-23 + pTime.tm_min = packet_bytes[PACKET_SIZE - 8]; // 0-59 + pTime.tm_sec = packet_bytes[PACKET_SIZE - 7]; // 0-59 + sub_second = (packet_bytes[PACKET_SIZE - 6] * 256 + packet_bytes[PACKET_SIZE - 5]) * 1000000 + (packet_bytes[PACKET_SIZE - 4] * 256 + packet_bytes[PACKET_SIZE - 3]) * 1000; + sweep_end_time_gps = get_gps_stamp(pTime); + sweep_end_time_hardware = sub_second % 1000000000; + } + invalidValue = package_points - invalidValue; + if (lidar_name == "N10" || lidar_name == "L10") + invalidValue--; + if (invalidValue <= 1) + { + delete packet_bytes; + return; + } + + for (int num = 0; num < package_points; num++) + { + int s = packet_bytes[num * point_len + data_bits_start]; + int z = packet_bytes[num * point_len + data_bits_start + 1]; + int y = 0; + if (lidar_name == "N10" || lidar_name == "L10") + y = packet_bytes[num * point_len + data_bits_start + 2]; + int dist_temp = s & 0x7F; + int inten_temp = s & 0x80; + + if ((s * 256 + z) != 0xFFFF) + { + if (lidar_name == "N10" || lidar_name == "L10") + { + scan_points_[idx].range = double(s * 256 + (z)) / 1000.f; + scan_points_[idx].intensity = int(y); + } + else if ((lidar_name == "M10_P" || lidar_name == "M10_PLUS") && !high_reflection) + { + scan_points_[idx].range = double(s * 256 + (z)) / 1000.f; + scan_points_[idx].intensity = 0; + } + else + { + scan_points_[idx].range = double(dist_temp * 256 + (z)) / 1000.f; + if (inten_temp) + scan_points_[idx].intensity = 255; + else + scan_points_[idx].intensity = 0; + } + if ((degree + (degree_interval / invalidValue * num)) > 360) + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num) - 360; + else + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num); + } + else + continue; + + if ((scan_points_[idx].degree < last_degree && scan_points_[idx].degree < 5 && last_degree > 355) || idx >= points_size_) + { + last_degree = scan_points_[idx].degree; + count_num = idx; + idx = 0; + for (long unsigned int k = 0; k < scan_points_.size(); k++) + { + if (scan_points_[k].range < min_range || scan_points_[k].range > max_range) + scan_points_[k].range = 0; + } + boost::unique_lock lock(mutex_); + scan_points_bak_.resize(scan_points_.size()); + scan_points_bak_.assign(scan_points_.begin(), scan_points_.end()); + for (long unsigned int k = 0; k < scan_points_.size(); k++) + { + scan_points_[k].range = 0; + scan_points_[k].degree = 0; + scan_points_[k].intensity = 0; + } + pre_time_ = time_; + lock.unlock(); + pubscan_cond_.notify_one(); + time_ = get_clock()->now(); + } + else + { + last_degree = scan_points_[idx].degree; + idx++; + } + } + packet_bytes = {0x00}; + if (packet_bytes) + { + packet_bytes = NULL; + delete packet_bytes; + } + } + + void LslidarDriver::data_processing_2(unsigned char *packet_bytes, int len) // 处理每一包的数据 + { + double degree; + double end_degree; + double degree_interval = 15.0; + boost::posix_time::ptime t1, t2; + t1 = boost::posix_time::microsec_clock::universal_time(); + + int s = packet_bytes[degree_bits_start]; + int z = packet_bytes[degree_bits_start + 1]; + + degree = (s * 256 + z) / 100.f + degree_compensation; + degree = (degree < 0) ? degree + 360 : degree; + degree = (degree > 360) ? degree - 360 : degree; + if (lidar_name == "N10_P") + { + int s_e = packet_bytes[end_degree_bits_start]; + int z_e = packet_bytes[end_degree_bits_start + 1]; + + end_degree = (s_e * 256 + z_e) / 100.f; + end_degree = (end_degree > 360) ? end_degree - 360 : end_degree; + + if (degree > end_degree) + degree_interval = end_degree + 360 - degree; + else + degree_interval = end_degree - degree; + } + + // boost::unique_lock lock(mutex_); + if (lidar_name == "M10_DOUBLE") + { + PACKET_SIZE = len; + package_points = (PACKET_SIZE - 20) / 4; + } + int invalidValue = 0; + int point_len = 4; + if (lidar_name == "N10_P") + point_len = 6; + + for (int num = 0; num < point_len * package_points; num += point_len) + { + int s = packet_bytes[num + data_bits_start]; + int z = packet_bytes[num + data_bits_start + 1]; + if ((s * 256 + z) == 0xFFFF) + invalidValue++; + } + + if (use_gps_ts) + { + pTime.tm_year = packet_bytes[PACKET_SIZE - 12] + 2000 - 1900; // x+2000 + pTime.tm_mon = packet_bytes[PACKET_SIZE - 11] - 1; // 1-12 + pTime.tm_mday = packet_bytes[PACKET_SIZE - 10]; // 1-31 + pTime.tm_hour = packet_bytes[PACKET_SIZE - 9]; // 0-23 + pTime.tm_min = packet_bytes[PACKET_SIZE - 8]; // 0-59 + pTime.tm_sec = packet_bytes[PACKET_SIZE - 7]; // 0-59 + sub_second = (packet_bytes[PACKET_SIZE - 6] * 256 + packet_bytes[PACKET_SIZE - 5]) * 1000000 + (packet_bytes[PACKET_SIZE - 4] * 256 + packet_bytes[PACKET_SIZE - 3]) * 1000; + sweep_end_time_gps = get_gps_stamp(pTime); + sweep_end_time_hardware = sub_second % 1000000000; + } + invalidValue = package_points - invalidValue; + if (lidar_name == "N10_P") + invalidValue--; + if (invalidValue <= 1) + { + delete packet_bytes; + return; + } + + for (int num = 0; num < package_points; num++) + { + int s = packet_bytes[num * point_len + data_bits_start]; + int z = packet_bytes[num * point_len + data_bits_start + 1]; + int y = 0; + if (lidar_name == "N10_P") + y = packet_bytes[num * point_len + data_bits_start + 2]; + + if ((s * 256 + z) != 0xFFFF) + { + scan_points_[idx].range = double(s * 256 + (z)) / 1000.f; + if (lidar_name == "N10_P") + scan_points_[idx].intensity = int(y); + else + scan_points_[idx].intensity = 0; + s = packet_bytes[num * point_len + data_bits_start + point_len / 2]; + z = packet_bytes[num * point_len + data_bits_start + point_len / 2 + 1]; + if (lidar_name == "N10_P") + y = packet_bytes[num * point_len + data_bits_start + point_len / 2 + 2]; + + scan_points_[idx + 3000].range = double(s * 256 + (z)) / 1000.f; + if (lidar_name == "N10_P") + scan_points_[idx + 3000].intensity = int(y); + else + scan_points_[idx + 3000].intensity = 0; + + if ((degree + (degree_interval / invalidValue * num)) > 360) + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num) - 360; + else + scan_points_[idx].degree = degree + (degree_interval / invalidValue * num); + } + else + continue; + if (((scan_points_[idx].degree < last_degree && scan_points_[idx].degree < 5 && last_degree > 355) || idx >= points_size_) && idx > 10) + { + last_degree = scan_points_[idx].degree; + count_num = idx; + idx = 0; + for (int k = 0; k < count_num; k++) + { + if (angle_able_max > 360) + { + if ((360 - scan_points_[k].degree) > (angle_able_max - 360) && (360 - scan_points_[k].degree) < angle_able_min) + { + scan_points_[k].range = 0; + scan_points_[k + 3000].range = 0; + } + } + else + { + if ((360 - scan_points_[k].degree) > angle_able_max || (360 - scan_points_[k].degree) < angle_able_min) + { + scan_points_[k].range = 0; + scan_points_[k + 3000].range = 0; + } + } + if (scan_points_[k].range < min_range || scan_points_[k].range > max_range) + scan_points_[k].range = 0; + if (scan_points_[k + 3000].range < min_range || scan_points_[k + 3000].range > max_range) + scan_points_[k + 3000].range = 0; + } + boost::unique_lock lock(mutex_); + scan_points_bak_.resize(scan_points_.size()); + scan_points_bak_.assign(scan_points_.begin(), scan_points_.end()); + for (long unsigned int k = 0; k < scan_points_.size(); k++) + { + scan_points_[k].range = 0; + scan_points_[k].degree = 0; + scan_points_[k].intensity = 0; + } + pre_time_ = time_; + lock.unlock(); + pubscan_cond_.notify_one(); + time_ = get_clock()->now(); + } + else + { + last_degree = scan_points_[idx].degree; + idx++; + } + } + packet_bytes = {0x00}; + if (packet_bytes) + { + packet_bytes = NULL; + delete packet_bytes; + } + } + + void LslidarDriver::pubScanThread() + { + bool wait_for_wake = true; + boost::unique_lock lock(pubscan_mutex_); + + while (rclcpp::ok()) + { + + while (wait_for_wake) + { + pubscan_cond_.wait(lock); + wait_for_wake = false; + } + if (lidar_name == "N10_P" || lidar_name == "M10_DOUBLE") + { + if (pubScan) + { + auto scan = sensor_msgs::msg::LaserScan::UniquePtr(new sensor_msgs::msg::LaserScan()); + ////int scan_num = count_num * 2; + int scan_num = count_num ; + + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + scan->header.frame_id = frame_id; + if (use_gps_ts) + { + scan->header.stamp = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + else + { + scan->header.stamp = this->now(); // timestamp will obtained from sweep data stamp + } + + scan->angle_min = 0; + scan->angle_max = 2 * M_PI; + scan->angle_increment = 2 * M_PI / (double)(count_num); + scan->range_min = min_range; + scan->range_max = max_range; + scan->ranges.reserve(scan_num); + scan->ranges.assign(scan_num, std::numeric_limits::infinity()); + scan->intensities.reserve(scan_num); + scan->intensities.assign(scan_num, std::numeric_limits::infinity()); + // scan->scan_time = scan_time; + // scan->time_increment = scan_time / (double)(count_num); + + for (int k = 0; k < scan_num; k++) + { + scan->ranges[k] = std::numeric_limits::infinity(); + scan->intensities[k] = 0; + } + + for (int i = 0; i < count_num; i++) + { + int point_idx = round((360 - points[i].degree) * count_num / 360); + if (points[i].range == 0.0) + { + scan->ranges[point_idx] = std::numeric_limits::infinity(); + scan->intensities[point_idx] = 0; + } + else + { + double dist = points[i].range; + scan->ranges[point_idx] = (float)dist; + scan->intensities[point_idx] = points[i].intensity; + } + + if(truncated_mode_){ + int len=sizeof(scan_crop_max) / sizeof(scan_crop_max[0]) ; + for(int j=0;j=(scan_crop_min[j]*count_num / 360)) && (point_idx<=(scan_crop_max[j]*count_num / 360))){ + scan->ranges[point_idx] = std::numeric_limits::infinity(); + scan->intensities[point_idx] = 0; + } + } + } + /* + if (points[i + 3000].range == 0.0) + { + scan->ranges[point_idx + count_num] = std::numeric_limits::infinity(); + scan->intensities[point_idx + count_num] = 0; + } + else + { + double dist = points[i+3000].range; + scan->ranges[point_idx + count_num] = (float)dist; + scan->intensities[point_idx + count_num] = points[i + 3000].intensity; + }*/ + } + scan_pub->publish(std::move(scan)); + } + if (pubPointCloud2) + { + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + VPointCloud::Ptr point_cloud(new VPointCloud()); + if (use_gps_ts) + { + start_time = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + double timestamp = start_time.seconds(); + point_cloud->header.stamp = static_cast(timestamp * 1e6); + point_cloud->header.frame_id = frame_id; + point_cloud->height = 1; + // printf("now = %f\n",timestamp); + for (uint16_t i = 0; i < count_num; i++) + { + // printf("degree = %f\n",points[i].degree); + double degree = 360.0 - points[i].degree; + bool pass_point = false; + if (angle_able_max < 360) + { + if (degree < angle_able_min || degree > angle_able_max) + pass_point = true; + } + else + { + if (degree < angle_able_min && degree > (angle_able_max - 360)) + pass_point = true; + } + if (points[i].range < 0.001) + pass_point = true; + if (!pass_point) + { + // printf("degree = %f\n",degree); + // printf("angle_able_min = %f\nangle_able_max=%f\n",angle_able_min,angle_able_max); + VPoint point; + int point_idx = round(degree * count_num / 360); + point.timestamp = timestamp - point_idx * (scan_time / count_num); + // printf("timestamp = %f\n",point.timestamp); + point.x = points[i].range * cos(M_PI / 180 * points[i].degree); + point.y = -points[i].range * sin(M_PI / 180 * points[i].degree); + point.z = 0; + point.intensity = points[i].intensity; + point_cloud->points.push_back(point); + ++point_cloud->width; + } + if (points[i + 3000].range < 0.001) + pass_point = true; + if (!pass_point) + { + // printf("degree = %f\n",degree); + // printf("angle_able_min = %f\nangle_able_max=%f\n",angle_able_min,angle_able_max); + VPoint point; + int point_idx = round(degree * count_num / 360); + point.timestamp = timestamp - point_idx * (scan_time / count_num); + // printf("timestamp = %f\n",point.timestamp); + point.x = points[i + 3000].range * cos(M_PI / 180 * points[i].degree); + point.y = -points[i + 3000].range * sin(M_PI / 180 * points[i].degree); + point.z = 0; + point.intensity = points[i + 3000].intensity; + point_cloud->points.push_back(point); + ++point_cloud->width; + } + } + sensor_msgs::msg::PointCloud2 pc_msg; + pcl::toROSMsg(*point_cloud, pc_msg); + point_cloud_pub->publish(pc_msg); + } + } + else + { + if (pubScan) + { + auto scan = sensor_msgs::msg::LaserScan::UniquePtr(new sensor_msgs::msg::LaserScan()); + //int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1; + int scan_num = fixed_array_length;//cyy_addcyy_add + + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + scan->header.frame_id = frame_id; + if (use_gps_ts) + { + scan->header.stamp = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + else + { + scan->header.stamp = this->now(); // timestamp will obtained from sweep data stamp + } + + if (angle_able_max > 360) + { + scan->angle_min = 2 * M_PI * (angle_able_min - 360) / 360; + scan->angle_max = 2 * M_PI * (angle_able_max - 360) / 360; + } + else + { + scan->angle_min = 2 * M_PI * angle_able_min / 360; + scan->angle_max = 2 * M_PI * angle_able_max / 360; + } + scan->angle_increment = 2 * M_PI / (double)(fixed_array_length - 1); + + scan->range_min = min_range; + scan->range_max = max_range; + scan->ranges.reserve(scan_num); + scan->ranges.assign(scan_num, std::numeric_limits::infinity()); + scan->intensities.reserve(scan_num); + scan->intensities.assign(scan_num, std::numeric_limits::infinity()); + scan->scan_time = 0.1; + scan->time_increment = 0.1 / (double)(fixed_array_length - 1); + + int start_num = floor(angle_able_min * count_num / 360); + int end_num = floor(angle_able_max * count_num / 360); + + for (int i = 0; i < count_num; i++) + { + int point_idx = round((360 - points[i].degree) * count_num / 360); + if (point_idx < (end_num - count_num)) + point_idx += count_num; + point_idx = point_idx - start_num; + if (point_idx < 0 || point_idx >= scan_num) + continue; + if (points[i].range == 0.0) + { + scan->ranges[point_idx] = std::numeric_limits::infinity(); + } + else + { + double dist = points[i].range; + scan->ranges[point_idx] = (float)dist; + } + scan->intensities[point_idx] = points[i].intensity; + + if(truncated_mode_){ + int len=sizeof(scan_crop_max) / sizeof(scan_crop_max[0]) ; + for(int j=0;j=(scan_crop_min[j]*count_num / 360)) && (point_idx<=(scan_crop_max[j]*count_num / 360))){ + scan->ranges[point_idx] = std::numeric_limits::infinity(); + scan->intensities[point_idx] = 0; + } + } + } + } + + + scan_pub->publish(std::move(scan)); + } + if (pubPointCloud2) + { + std::vector points; + rclcpp::Time start_time; + float scan_time; + this->getScan(points, start_time, scan_time); + VPointCloud::Ptr point_cloud(new VPointCloud()); + if (use_gps_ts) + { + start_time = rclcpp::Time(sweep_end_time_gps, sweep_end_time_hardware); + } + double timestamp = start_time.seconds(); + point_cloud->header.stamp = static_cast(timestamp * 1e6); + point_cloud->header.frame_id = frame_id; + point_cloud->height = 1; + for (uint16_t i = 0; i < count_num; i++) + { + double degree = 360.0 - points[i].degree; + bool pass_point = false; + if (angle_able_max < 360) + { + if (degree < angle_able_min || degree > angle_able_max) + pass_point = true; + } + else + { + if (degree < angle_able_min && degree > (angle_able_max - 360)) + pass_point = true; + } + if (points[i].range < 0.001) + pass_point = true; + if (!pass_point) + { + // printf("degree = %f\n",degree); + // printf("angle_able_min = %f\nangle_able_max=%f\n",angle_able_min,angle_able_max); + VPoint point; + int point_idx = round(degree * count_num / 360); + point.timestamp = timestamp - point_idx * (scan_time / count_num); + // printf("timestamp = %f\n",point.timestamp); + point.x = points[i].range * cos(M_PI / 180 * points[i].degree); + point.y = -points[i].range * sin(M_PI / 180 * points[i].degree); + point.z = 0; + point.intensity = points[i].intensity; + point_cloud->points.push_back(point); + ++point_cloud->width; + } + } + sensor_msgs::msg::PointCloud2 pc_msg; + pcl::toROSMsg(*point_cloud, pc_msg); + point_cloud_pub->publish(pc_msg); + } + } + count_num = 0; + wait_for_wake = true; + if (first_compensation && compensation) + { + lidar_difop(); + } + } + } + + bool LslidarDriver::polling() + { + if (!is_start) + return true; + // Allocate a new shared pointer for zero-copy sharing with other nodelets. + unsigned char *packet_bytes = new unsigned char[500]; + int len = 0; + bool difop = false; + if (interface_selection == "net") + { + auto packet = lslidar_msgs::msg::LslidarPacket::UniquePtr( + new lslidar_msgs::msg::LslidarPacket()); + + std_msgs::msg::Byte msg; + while (true) + { + difop = false; + len = 0; + // keep reading until full packet received + len = msop_input_->getPacket(packet); + if (packet->data[0] == 0x5a) + { + if (lidar_name == "N10" || lidar_name == "L10") + len = 58; + else if (lidar_name == "M10") + len = 92; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "M10_GPS") + len = 102; + else + { + int len_H = packet->data[1]; + int len_L = packet->data[2]; + len = len_H * 256 + len_L; + } + for (int i = len - 1; i > 0; i--) + packet->data[i] = packet->data[i - 1]; + packet->data[0] = 0xa5; + } + + if (lidar_name == "N10" || lidar_name == "L10") + len = 58; + else if (lidar_name == "M10") + len = 92; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "M10_GPS") + len = 102; + else + { + int len_H = packet->data[2]; + int len_L = packet->data[3]; + len = len_H * 256 + len_L; + } + if ((lidar_name == "M10" || lidar_name == "M10_DOUBLE" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_PLUS") && compensation) + { + if (packet->data[2] == 0x55 && packet->data[3] == 0x00 && packet->data[186] == 0xFA && packet->data[187] == 0xFB) + { + len = 188; + difop = true; + } + } + + if (len <= 0 || len >= 1000 || packet->data[0] != 0xa5 || packet->data[1] != 0x5a) + continue; + for (int i = 0; i < len; i++) + { + packet_bytes[i] = packet->data[i]; + } + if ((lidar_name == "N10" || lidar_name == "L10" || lidar_name == "N10_P") && packet_bytes[len - 1] != N10_CalCRC8(packet_bytes, len - 1)) + continue; + break; + } + } + else + { + if (in_file_name != "") // 读txt文件功能 + { + int usleep_time = round(1000000 / 10 / 24) - 135; + while (true) + { + std::ifstream file_reader(in_file_name); + while (file_reader.peek() != EOF) + { + std::string line; + std::getline(file_reader, line, '\n'); + for (long unsigned int i = 0; i < line.size() - 1; i++) + { + line[i] = line[i] - 48; + if (line[i] > 9) + line[i] = line[i] - 39; + } + + for (long unsigned int i = 0; i < (line.size() - 1) / 2; i++) + { + packet_bytes[i] = line[i * 2] * 16 + line[i * 2 + 1]; + } + if (lidar_name == "N10" || lidar_name == "L10") + len = 58; + else if (lidar_name == "M10") + len = 92; + else if (lidar_name == "N10_P") + len = 108; + else if (lidar_name == "M10_GPS") + len = 102; + else + { + int len_H = packet_bytes[2]; + int len_L = packet_bytes[3]; + len = len_H * 256 + len_L; + } + if (lidar_name == "N10_P" || lidar_name == "M10_DOUBLE") + LslidarDriver::data_processing_2(packet_bytes, len); + else + LslidarDriver::data_processing(packet_bytes, len); + usleep(usleep_time); + } + } + return false; + } + else + { + while (true) + { + difop = false; + len = 0; + len = LslidarDriver::receive_data(packet_bytes); + if ((lidar_name == "M10" || lidar_name == "M10_DOUBLE" || lidar_name == "M10_GPS" || lidar_name == "M10_P" || lidar_name == "M10_PLUS") && compensation) + { + if (packet_bytes[2] == 0x55 && packet_bytes[3] == 0x00 && packet_bytes[186] == 0xFA && packet_bytes[187] == 0xFB) + difop = true; + } + if (len == 0) + continue; + break; + } + } + } + if (difop) + LslidarDriver::difop_processing(packet_bytes); + else + { + if (lidar_name == "N10_P" || lidar_name == "M10_DOUBLE") + LslidarDriver::data_processing_2(packet_bytes, len); + else + LslidarDriver::data_processing(packet_bytes, len); + } + delete packet_bytes; + return true; + } + +} // namespace lslidar_driver diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc new file mode 100644 index 0000000..6a89f99 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc @@ -0,0 +1,35 @@ +/* + * This file is part of lslidar driver. + * + * The driver is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * The driver is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the driver. If not, see . + */ + +#include "rclcpp/rclcpp.hpp" +#include "lslidar_driver/lslidar_driver.h" + +using namespace lslidar_driver; +volatile sig_atomic_t flag = 1; + +int main(int argc, char* argv[]) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + + while (rclcpp::ok() && node->polling()) { + rclcpp::spin_some(node); + } + //rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt new file mode 100644 index 0000000..e6a603e --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.5) +project(lslidar_msgs) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +rosidl_generate_interfaces(lslidar_msgs + "msg/LslidarDifop.msg" + "msg/LslidarPacket.msg" + "msg/LslidarPoint.msg" + "msg/LslidarScan.msg" + "msg/LslidarSweep.msg" + DEPENDENCIES builtin_interfaces std_msgs + ) + +ament_package() diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg new file mode 100644 index 0000000..f377c75 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg @@ -0,0 +1,2 @@ +int64 temperature +int64 rpm diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg new file mode 100644 index 0000000..d77ee45 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg @@ -0,0 +1,5 @@ +# Raw Leishen LIDAR packet. + +builtin_interfaces/Time stamp # packet timestamp +uint8[2000] data # packet contents + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg new file mode 100644 index 0000000..3132167 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg @@ -0,0 +1,12 @@ +# Time when the point is captured +float32 time + +# Converted distance in the sensor frame +float64 x +float64 y +float64 z + +# Raw measurement from Leishen M10 +float64 azimuth +float64 distance +float64 intensity diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg new file mode 100644 index 0000000..0a3891c --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg @@ -0,0 +1,6 @@ +# Altitude of all the points within this scan +float64 altitude + +# The valid points in this scan sorted by azimuth +# from 0 to 359.99 +LslidarPoint[] points diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg new file mode 100644 index 0000000..9cfe4b7 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg @@ -0,0 +1,4 @@ +std_msgs/Header header + +# The 0th scan is at the bottom +LslidarScan[16] scans diff --git a/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml new file mode 100644 index 0000000..8001ad5 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml @@ -0,0 +1,25 @@ + + + lslidar_msgs + 1.2.0 + ROS message definitions for Leishen LIDARs. + Nick Shu + Nick Shu + GNU General Public License V3.0 + + ament_cmake + rosidl_default_generators + + rosidl_default_runtime + builtin_interfaces + + std_msgs + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/version.txt b/src/LSLIDAR_X_ROS2-20240228/src/version.txt new file mode 100644 index 0000000..7a2b9d4 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/version.txt @@ -0,0 +1,20 @@ +版本变更 +/*************************************************************** +初始版本: LSLIDAR_M10_N10_V2.5.0_221104_ROS2 +变更内容: + 1.实现M10/M10_P/M10_PLUS/N10/M10_GPS网口和串口传输数据生成点云功能 + 2.实现点云角度裁剪和距离过滤功能 + 3.可以通过lslidar_order话题控制雷达启停 + 4.支持读取pcap包 + +更改日期: 2022-11-04 +***************************************************************/ + +/*************************************************************** +初始版本: LSLIDAR_M10_N10_V2.5.0_221111_ROS2 +变更内容: + 1.针对M10和M10_GPS雷达出货后发现的点云问题进行驱动补救 + +更改日期: 2022-11-11 +***************************************************************/ + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh b/src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh new file mode 100644 index 0000000..17aaa46 --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh @@ -0,0 +1,33 @@ +#CP2102 串口号0002 设置别名为wheeltec_controller +echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_controller.rules +#CH9102，同时系统安装了对应驱动 串口号0002 设置别名为wheeltec_controller +echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_controller2.rules +#CH9102，同时系统没有安装对应驱动 串口号0002 设置别名为wheeltec_controller +echo 'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_controller3.rules + +#CP2102 串口号0001 设置别名为wheeltec_lidar +echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0001", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_lidar"' >/etc/udev/rules.d/wheeltec_lidar.rules +#CH9102，同时系统安装了对应驱动 串口号0001 设置别名为wheeltec_lidar +echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="54B8001974", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_lidar"' >/etc/udev/rules.d/wheeltec_lidar2.rules +#CH9102，同时系统没有安装对应驱动 串口号0001 设置别名为wheeltec_lidar +echo 'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0001", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_lidar"' >/etc/udev/rules.d/wheeltec_lidar3.rules + +#CP2102 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS +echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss.rules +#CH9102，同时系统安装了对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS +echo 'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss2.rules +#CH9102，同时系统没有安装对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS +echo 'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss3.rules + +echo 'SUBSYSTEM=="video4linux",ATTR{name}=="GENERAL WEBCAM",ATTR{index}=="0",MODE:="0777",SYMLINK+="RgbCam"' >>/etc/udev/rules.d/camera.rules +echo 'SUBSYSTEM=="video4linux",ATTR{name}=="GENERAL WEBCAM: GENERAL WEBCAM",ATTR{index}=="0",MODE:="0777",SYMLINK+="RgbCam"' >>/etc/udev/rules.d/camera.rules +echo 'SUBSYSTEM=="video4linux",ATTR{name}=="Astra Pro HD Camera: Astra Pro ",ATTR{index}=="0",MODE:="0777",SYMLINK+="Astra_Pro"' >>/etc/udev/rules.d/camera.rules +echo 'SUBSYSTEM=="video4linux",ATTR{name}=="USB 2.0 Camera: USB Camera",ATTR{index}=="0",MODE:="0777",SYMLINK+="Astra_Dabai"' >>/etc/udev/rules.d/camera.rules +echo 'SUBSYSTEM=="video4linux",ATTR{name}=="USB 2.0 Camera",ATTR{index}=="0",MODE:="0777",SYMLINK+="Astra_Gemini"' >>/etc/udev/rules.d/camera.rules +echo 'SUBSYSTEM=="video4linux",ATTR{name}=="Intel(R) RealSense(TM) Depth Ca",ATTR{index}=="0",MODE:="0777",SYMLINK+="realsense"' >>/etc/udev/rules.d/camera.rules + +service udev reload +sleep 2 +service udev restart + + diff --git a/src/LSLIDAR_X_ROS2-20240228/src/镭神Lsx雷达旋转角度.png b/src/LSLIDAR_X_ROS2-20240228/src/镭神Lsx雷达旋转角度.png new file mode 100644 index 0000000000000000000000000000000000000000..aa247855f25076075025218ad73d877a247427a8 GIT binary patch literal 6646 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zGUp{M%yL$3uk7tttteLIw}g>x>ELzrE9`pW>YwlZI}~fu@m{G>tuC!Q)Lfk!9m*%h ztkwvvL#yKR=03yNUkZaGKF1%gXj;NDB8)L8jY*@zJ_t6K!O7p)5aw-c7jjePq(=sd z;Xk*|j(}G5D?UxEj{3pPK0Hoa$D2l}i1i<CNf5S2$A!OWez~lix#(oxfM))>PhFutux@ z=-(-_g5tYccOZ0r;28l&ny>nr=`Zfn{$3}i;~&Z%u9Q!Wg+vJ2cZ=!8BrUI@e9&Og zzn(9$xRD>*dSc78FFI9`?AZvsF~%%!X3SQRt`l@H@+QFD*PgdmxXQ<`&U|5_KaqI# zB|f{&4qNoNEw44Mw!(Z4AqDrMNTWt`%j^2SrEln7DKt1tGfB0TA#O6MvqR#D2@ELz kyk%8A7UB4N|Q#f1Q^osamyKdTXNuywYnwz`b@FT^_5k^lez literal 0 HcmV?d00001 diff --git a/src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py b/src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py new file mode 100644 index 0000000..f38b80a --- /dev/null +++ b/src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py @@ -0,0 +1,62 @@ +import os +from pathlib import Path +import launch_ros.actions +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import (DeclareLaunchArgument, GroupAction, + IncludeLaunchDescription, SetEnvironmentVariable) +from launch.launch_description_sources import PythonLaunchDescriptionSource + +def generate_launch_description(): + Lslidar_dir = get_package_share_directory('lslidar_driver') + Lslidar_launch_dir = os.path.join(Lslidar_dir, 'launch') + + + Ld14_dir = get_package_share_directory('ldlidar_sl_ros2') + Ld14_launch_dir = os.path.join(Ld14_dir, 'launch') + + Ld06_dir = get_package_share_directory('ldlidar_stl_ros2') + Ld06_launch_dir = os.path.join(Ld14_dir, 'launch') + + + Lsm10_m10_uart = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_uart_launch.py')),) + + Lsm10_m10_net = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_net_launch.py')),) + + Lsm10_m10p_uart = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_uart_launch.py')),) + + Lsm10_m10p_net = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_net_launch.py')),) + + Lsn10 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_launch.py')),) + Lsn10p = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_launch.py')),) + + Lsn10_net = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_net_launch.py')),) + Lsn10p_net = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_net_launch.py')),) + + Ld14 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Ld14_launch_dir, 'ld14.launch.py')),) + Ld06 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(Ld06_launch_dir, 'ld06.launch.py')),) + + # Create the launch description and populate + ld = LaunchDescription() + ''' + Please select your lidar here, options include: + Lsm10_m10p_uart、Lsm10_m10p_net、Lsm10_m10_uart、Lsm10_m10_net、Lsn10、Lsn10p,Lsn10_net、Lsn10p_net,ld14、Ld06. + 1.If you are using LS* lidar (including lsn10, lsm10*), please don't forget to + modify the tf conversion parameters of robot_mode_description.launch.py + according to the user guide file. + 2.If you are using m10 lidar, please pay attention to distinguish whether it is m10p or not. + ''' + ld.add_action(Lsn10) + + return ld + diff --git a/src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py仅在WHEELTEC镜像中使用 b/src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py仅在WHEELTEC镜像中使用 new file mode 100644 index 0000000..e69de29 diff --git a/src/cyy_navigation2/CMakeLists.txt b/src/cyy_navigation2/CMakeLists.txt new file mode 100644 index 0000000..884ac6a --- /dev/null +++ b/src/cyy_navigation2/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.8) +project(cyy_navigation2) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(nav2_bringup REQUIRED) +install( + DIRECTORY launch param maps + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() + diff --git a/src/cyy_navigation2/bt/follow_point.xml b/src/cyy_navigation2/bt/follow_point.xml new file mode 100644 index 0000000..ffae8d9 --- /dev/null +++ b/src/cyy_navigation2/bt/follow_point.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml b/src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml new file mode 100644 index 0000000..f4ed518 --- /dev/null +++ b/src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml b/src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml new file mode 100644 index 0000000..1378863 --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml b/src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml new file mode 100644 index 0000000..2396b84 --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml b/src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml new file mode 100644 index 0000000..6b5883b --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml b/src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml new file mode 100644 index 0000000..d21efa3 --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_w_replanning_distance.xml b/src/cyy_navigation2/bt/navigate_w_replanning_distance.xml new file mode 100644 index 0000000..8ca5dbb --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_w_replanning_distance.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml b/src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml new file mode 100644 index 0000000..3e88944 --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml b/src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml new file mode 100644 index 0000000..e921db5 --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/cyy_navigation2/bt/navigate_w_replanning_speed.xml b/src/cyy_navigation2/bt/navigate_w_replanning_speed.xml new file mode 100644 index 0000000..f0f47c4 --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_w_replanning_speed.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/navigate_w_replanning_time.xml b/src/cyy_navigation2/bt/navigate_w_replanning_time.xml new file mode 100644 index 0000000..33c2c41 --- /dev/null +++ b/src/cyy_navigation2/bt/navigate_w_replanning_time.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/src/cyy_navigation2/bt/odometry_calibration.xml b/src/cyy_navigation2/bt/odometry_calibration.xml new file mode 100644 index 0000000..49000e1 --- /dev/null +++ b/src/cyy_navigation2/bt/odometry_calibration.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + diff --git a/src/cyy_navigation2/config/nav2_params.yaml b/src/cyy_navigation2/config/nav2_params.yaml new file mode 100644 index 0000000..295058a --- /dev/null +++ b/src/cyy_navigation2/config/nav2_params.yaml @@ -0,0 +1,348 @@ +amcl: + ros__parameters: + use_sim_time: True + alpha1: 0.5 + alpha2: 0.5 + alpha3: 0.5 + alpha4: 0.5 + alpha5: 0.5 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: true + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 4.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 120 + max_particles: 4000 + min_particles: 1000 + odom_frame_id: "odom" + pf_err: 0.01 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 2 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.9 + z_max: 0.05 + z_rand: 0.1 + z_short: 0.05 + scan_topic: scan + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_assisted_teleop_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_goal_updated_controller_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_assisted_teleop_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + - nav2_is_battery_charging_condition_bt_node + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.50 + max_vel_y: 0.0 + max_vel_theta: 3.0 + min_speed_xy: 0.0 + max_speed_xy: 0.50 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.20 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.30 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + robot_radius: 0.20 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.30 + always_send_full_costmap: True + +map_server: + ros__parameters: + use_sim_time: True + # Overridden in launch by the "map" launch configuration or provided default value. + # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below. + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + use_sim_time: True + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + use_sim_time: True + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["backup", "drive_on_heading", "assisted_teleop", "wait"] + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + assisted_teleop: + plugin: "nav2_behaviors/AssistedTeleop" + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.3 + use_sim_time: true + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + use_sim_time: True + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + use_sim_time: True + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 diff --git a/src/cyy_navigation2/launch/car_bringup.launch.py b/src/cyy_navigation2/launch/car_bringup.launch.py new file mode 100644 index 0000000..ebed688 --- /dev/null +++ b/src/cyy_navigation2/launch/car_bringup.launch.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +""" +小车导航系统启动文件 +启动所有必要的硬件和导航节点 +""" + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction, LogInfo +from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from launch.conditions import IfCondition, UnlessCondition + +def generate_launch_description(): + # 获取包路径 + cyy_navigation2_dir = get_package_share_directory('cyy_navigation2') + + # 声明启动参数 + use_base = LaunchConfiguration('use_base', default='true') + use_lidar = LaunchConfiguration('use_lidar', default='true') + use_description = LaunchConfiguration('use_description', default='true') + use_bridge = LaunchConfiguration('use_bridge', default='true') + + # 启动参数列表 + launch_arguments = [ + DeclareLaunchArgument( + 'use_base', + default_value='true', + description='启动底盘控制' + ), + DeclareLaunchArgument( + 'use_lidar', + default_value='true', + description='启动激光雷达' + ), + DeclareLaunchArgument( + 'use_description', + default_value='true', + description='启动URDF显示' + ), + DeclareLaunchArgument( + 'use_bridge', + default_value='true', + description='启动ROS Bridge' + ), + ] + + # 创建启动描述 + ld = LaunchDescription(launch_arguments) + + # 1. 启动底盘控制 + base_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + FindPackageShare('origincar_base'), '/launch/base_serial.launch.py' + ]), + condition=IfCondition(use_base) + ) + + # 添加延迟，确保底盘先启动 + ld.add_action(TimerAction( + period=1.0, + actions=[LogInfo(msg='启动底盘控制...'), base_launch] + )) + + # 2. 启动激光雷达 + lidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + FindPackageShare('lslidar_driver'), '/launch/lsn10_launch.py' + ]), + condition=IfCondition(use_lidar) + ) + + ld.add_action(TimerAction( + period=2.0, + actions=[LogInfo(msg='启动激光雷达...'), lidar_launch] + )) + + # 3. 启动URDF显示 + description_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + FindPackageShare('origincar_description'), '/launch/display.launch.py' + ]), + condition=IfCondition(use_description) + ) + + ld.add_action(TimerAction( + period=3.0, + actions=[LogInfo(msg='启动URDF显示...'), description_launch] + )) + + # 4. 启动ROS Bridge + bridge_launch = IncludeLaunchDescription( + FrontendLaunchDescriptionSource([ + FindPackageShare('rosbridge_server'), '/launch/rosbridge_websocket_launch.xml' + ]), + condition=IfCondition(use_bridge) + ) + + ld.add_action(TimerAction( + period=4.0, + actions=[LogInfo(msg='启动ROS Bridge...'), bridge_launch] + )) + + + return ld diff --git a/src/cyy_navigation2/launch/cyy_nav.launch.py b/src/cyy_navigation2/launch/cyy_nav.launch.py new file mode 100644 index 0000000..26f4de1 --- /dev/null +++ b/src/cyy_navigation2/launch/cyy_nav.launch.py @@ -0,0 +1,41 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # =============================1.λĵַ============================================================= + cyy_navigation2_dir = get_package_share_directory('cyy_navigation2') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + slam = LaunchConfiguration('slam', default='True') + # =============================2.ȡļ·=================================================== + # use_sim_time Ҫótrue,ΪgazeboǷ滷ʱͨ/clockȡϵͳʱ + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + map_yaml_path = LaunchConfiguration('map', + default=os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map1.yaml')) + nav2_param_path = LaunchConfiguration('params_file', + default=os.path.join(cyy_navigation2_dir, 'param', 'nav2_params.yaml')) + rviz_config_dir = os.path.join(nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz') + + # =============================3.launchļ룺ͼ·Ƿʹ÷ʱԼnav2ļ============== + nav2_bringup_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([nav2_bringup_dir, '/launch', '/bringup_launch.py']), + launch_arguments={ + 'map': map_yaml_path, + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + 'slam': slam}.items(), + ) + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_dir], + parameters=[{'use_sim_time': use_sim_time}], + output='screen') + + return LaunchDescription([nav2_bringup_launch]) \ No newline at end of file diff --git a/src/cyy_navigation2/launch/cyy_nav_box.launch.py b/src/cyy_navigation2/launch/cyy_nav_box.launch.py new file mode 100644 index 0000000..c6fd3f2 --- /dev/null +++ b/src/cyy_navigation2/launch/cyy_nav_box.launch.py @@ -0,0 +1,86 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + # 获取包路径 + cyy_navigation2_dir = get_package_share_directory('cyy_navigation2') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + + # 声明参数 + use_sim_time = LaunchConfiguration('use_sim_time', default='False') + slam = LaunchConfiguration('slam', default='False') + localization = LaunchConfiguration('localization', default='False') + + # 定义文件路径 + map_yaml_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map.yaml') + nav2_param_path = os.path.join(cyy_navigation2_dir, 'param', 'nav2_params.yaml') + slam_params_file = os.path.join(cyy_navigation2_dir, 'param', 'slam_toolbox_localization.yaml') + + # 定义地图基础路径（用于 .posegraph 文件） + map_base_path = os.path.join(cyy_navigation2_dir, 'maps', 'cyy_map') + + # 检查 .posegraph 文件是否存在 + posegraph_path = map_base_path + '.posegraph' + if not os.path.exists(posegraph_path): + print(f"警告: .posegraph 文件不存在: {posegraph_path}") + print("将使用 AMCL 替代") + use_slam_toolbox = False + else: + use_slam_toolbox = True + print(f"找到 .posegraph 文件: {posegraph_path}") + + # 创建启动描述 + ld = LaunchDescription([ + DeclareLaunchArgument('use_sim_time', default_value='False'), + DeclareLaunchArgument('slam', default_value='False'), + DeclareLaunchArgument('localization', default_value='False'), + ]) + + # 如果使用 slam_toolbox + if use_slam_toolbox: + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[ + slam_params_file, + {'use_sim_time': use_sim_time}, + {'map_file_name': map_base_path}, + {'map_start_pose': [0.0, 0.0, 0.0]} + ], + remappings=[('/scan', '/scan')] + ) + ld.add_action(slam_toolbox_node) + # 使用 slam_toolbox 时，Nav2 不启用定位 + localization_arg = 'False' + else: + # 使用 AMCL + localization_arg = 'True' + + # Nav2 启动 - 使用正确的路径 + nav2_launch_path = os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py') + if not os.path.exists(nav2_launch_path): + print(f"错误: 找不到 Nav2 启动文件: {nav2_launch_path}") + return ld + + nav2_bringup_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource(nav2_launch_path), + launch_arguments={ + 'map': map_yaml_path, + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + 'slam': slam, + 'localization': localization_arg, + 'autostart': 'True', + }.items(), + ) + + ld.add_action(nav2_bringup_launch) + + return ld \ No newline at end of file diff --git a/src/cyy_navigation2/maps/cyy_map.data b/src/cyy_navigation2/maps/cyy_map.data new file mode 100644 index 0000000000000000000000000000000000000000..f1ee3aa985fe4b3c0840a2c43790635794f1f6e6 GIT binary patch literal 758856 zcmeEv2|ShE+V>vJVULDP(S#-{DO2krC8a_tLXjyUB%)L(8i+y~MX6MVP!uUcsSKq- zgGz={O3JX2`CE3~&pGYq>GYoOyzl#+_x;+xAOC%=;abCet+noZU;FxRNz%8MkJAQM zdw18(_8VP2*K2FrZ*W-a>gU8H@d@z>k#UjXzrVeHlyEvXVfdfq_d;`geKvY}C>lEX zIBalTfzZH5lKTGE&3?m1Pi<`zd)xtY`}HnP^IX?EI&I+UqY%Zp$W5Z+ zw?f}q^+<|I&IJ;5!e1EgV+1bZw zqbV*yu6FeFUE}WbtvNwlPV{@(MXu{zJ$ya5 zqyC;ms^82`H>xi~;&_yQSJK}9PbI(Aa0PMF@Ys2D>aTZk|5N|P@yz^P$!|J&OWO4* zjl?=f;F64QO^|RAUw8Wr=1xAI?!Lq3@jZPQ3U8c?z?~g#Ui^D9cRUtrH#qsM^>laq 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zRHsx2jle&IiHk)lClO%|YeaWe6xv}1tbi4;0#?8ZyhQ=FB=xs#d&|CxV=>fmeU*h< zO&188ZGh^zQ;PDq5&vYk`(OkDRah(jP&qI{`G?EQ!xAF%rRicq+0y6lppRb~ir6sZ7g z=JYCrBw`s&I3X`qzzSFaD_{jaQUNweo@`jtK?{toR%S$Hsx^i^cS81B#Puh^n)$b~ zLPkf;Jl5JYO;+Au)1hoy0V`kytbi5xi3&`et;|~WI`lAQqwQ!J{pZEmdx1BGZVN!k zs>qqyV;b1Rv1tXYfEBO;R^WFiuxo>duf?{g$gzo7MRMgb?8${0PyOMs>Uy>UR=^5a z0V`kyP8Co?)gKw3lGcDyR?MCiumV=V3RnRvaHK$fNu5I3dMCuD6|e$UzzSFaE3hiy zZ=I_i_N;&vumV=V3RnRvU + + + cyy_navigation2 + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + + nav2_bringup + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/cyy_navigation2/param/nav2_params.yaml b/src/cyy_navigation2/param/nav2_params.yaml new file mode 100644 index 0000000..02c388c --- /dev/null +++ b/src/cyy_navigation2/param/nav2_params.yaml @@ -0,0 +1,353 @@ +amcl: + ros__parameters: + enabled: False + use_sim_time: True + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_assisted_teleop_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_goal_updated_controller_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_assisted_teleop_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + - nav2_is_battery_charging_condition_bt_node + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 20.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 6.28 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: -0.50 + min_vel_y: 0.0 + max_vel_x: 0.50 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.50 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 0 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.01 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.2, 0.15], [0.2, -0.15], [-0.2, -0.15], [-0.2, 0.15]]" + robot_radius: 0.00 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.10 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + footprint: "[[0.2, 0.15], [0.2, -0.15], [-0.2, -0.15], [-0.2, 0.15]]" + robot_radius: 0.0 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.30 + always_send_full_costmap: True + +map_server: + ros__parameters: + use_sim_time: True + # Overridden in launch by the "map" launch configuration or provided default value. + # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below. + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + use_sim_time: True + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + use_sim_time: True + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + assisted_teleop: + plugin: "nav2_behaviors/AssistedTeleop" + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.3 + use_sim_time: true + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + use_sim_time: True + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + use_sim_time: True + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.26, 0.0, 1.0] + min_velocity: [-0.26, 0.0, -1.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 diff --git a/src/cyy_navigation2/param/slam_toolbox_localization.yaml b/src/cyy_navigation2/param/slam_toolbox_localization.yaml new file mode 100644 index 0000000..cd751e1 --- /dev/null +++ b/src/cyy_navigation2/param/slam_toolbox_localization.yaml @@ -0,0 +1,54 @@ +slam_toolbox: + ros__parameters: + # 核心模式设置 + mode: "localization" # 重要：设置为定位模式 + map_file_name: "" # 由启动参数传入 + map_start_pose: [0.0, 0.0, 0.0] + # ROS框架设置 + odom_frame: "odom" + map_frame: "map" + base_frame: "base_link" + scan_topic: "/scan" + + # 求解器设置 + solver_plugin: "solver_plugins::CeresSolver" + ceres_linear_solver: "SPARSE_NORMAL_CHOLESKY" + ceres_preconditioner: "SCHUR_JACOBI" + ceres_trust_strategy: "LEVENBERG_MARQUARDT" + ceres_dogleg_type: "TRADITIONAL_DOGLEG" + ceres_loss_function: "None" + + # 定位优化参数 + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.05 + minimum_travel_heading: 0.087 + + # 扫描处理 + scan_buffer_size: 20 + throttle_scans: 1 + + # 回环检测（定位模式可关闭） + do_loop_closing: false + + # 搜索参数 + link_match_minimum_response_fine: 0.2 + link_scan_maximum_distance: 2.0 + loop_search_maximum_distance: 5.0 + + # 性能参数 + minimum_time_interval: 0.1 + transform_publish_period: 0.02 + map_update_interval: 0.5 + + # 地图参数 + resolution: 0.05 + max_laser_range: 15.0 + min_laser_range: 0.2 + + # 初始位姿（可选，可以通过RViz设置） + # map_start_pose: [0.0, 0.0, 0.0] + + # 调试 + debug_logging: false + enable_interactive_mode: true \ No newline at end of file diff --git a/src/cyy_slamtoolbox/CMakeLists.txt b/src/cyy_slamtoolbox/CMakeLists.txt new file mode 100644 index 0000000..305da3e --- /dev/null +++ b/src/cyy_slamtoolbox/CMakeLists.txt @@ -0,0 +1,61 @@ +# 设置CMake最低版本要求 +cmake_minimum_required(VERSION 3.8) +# 定义项目名称（应与package.xml中的一致） +project(cyy_slamtoolbox) + +# 如果未设置，默认使用C++17标准 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +# 查找编译依赖 +find_package(ament_cmake REQUIRED) +# 查找slam_toolbox包 +find_package(slam_toolbox REQUIRED) +# 查找其他可能的依赖，如传感器消息、几何库等 +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(geometry_msgs REQUIRED) + +# 消息输出，用于调试 +message(STATUS "开始配置项目: ${PROJECT_NAME}") + +# 包含头文件目录 +include_directories( + include + ${ament_INCLUDE_DIRS} +) + +# 如果有自定义的C++节点源文件，在此添加可执行文件 +# 例如，如果您有自定义的SLAM处理节点： +# add_executable(origincar_slam_node src/origincar_slam_node.cpp) +# ament_target_dependencies(origincar_slam_node +# rclcpp std_msgs sensor_msgs nav_msgs tf2 tf2_ros geometry_msgs slam_toolbox) +# +# 安装目标（将可执行文件安装到lib/） +# install(TARGETS origincar_slam_node +# DESTINATION lib/${PROJECT_NAME}) + +# 安装launch文件到share//launch目录 +install(DIRECTORY launch + DESTINATION share/${PROJECT_NAME} + PATTERN "*.py" +) + +# 安装配置文件（如YAML参数文件）到share//config目录 +install(DIRECTORY config + DESTINATION share/${PROJECT_NAME} + PATTERN "*.yaml" + PATTERN "*.yml" +) + + +# 声明ament包依赖关系（确保在package.xml中已声明这些依赖） +ament_export_dependencies(slam_toolbox rclcpp std_msgs sensor_msgs nav_msgs tf2 tf2_ros geometry_msgs) + +# 必须调用此函数来生成必要的CMake配置 +ament_package() \ No newline at end of file diff --git a/src/cyy_slamtoolbox/config/angular_filter_example.yaml b/src/cyy_slamtoolbox/config/angular_filter_example.yaml new file mode 100644 index 0000000..26ef078 --- /dev/null +++ b/src/cyy_slamtoolbox/config/angular_filter_example.yaml @@ -0,0 +1,9 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: angle + type: laser_filters/LaserScanAngularBoundsFilter + params: + lower_angle: -1.52 + upper_angle: 1.52 + \ No newline at end of file diff --git a/src/cyy_slamtoolbox/config/box_filter_example.yaml b/src/cyy_slamtoolbox/config/box_filter_example.yaml new file mode 100644 index 0000000..ae63991 --- /dev/null +++ b/src/cyy_slamtoolbox/config/box_filter_example.yaml @@ -0,0 +1,15 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: box_filter + type: laser_filters/LaserScanBoxFilter + params: + box_frame: base_link + max_x: 0.5 + max_y: 0.5 + max_z: 0.5 + min_x: -0.5 + min_y: -0.5 + min_z: -0.5 + + invert: false # activate to remove all points outside of the box diff --git a/src/cyy_slamtoolbox/config/footprint_filter_example.yaml b/src/cyy_slamtoolbox/config/footprint_filter_example.yaml new file mode 100644 index 0000000..aa3ae16 --- /dev/null +++ b/src/cyy_slamtoolbox/config/footprint_filter_example.yaml @@ -0,0 +1,7 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: footprint_filter + type: laser_filters/LaserScanFootprintFilter + params: + inscribed_radius: 0.325 diff --git a/src/cyy_slamtoolbox/config/intensity_filter_example.yaml b/src/cyy_slamtoolbox/config/intensity_filter_example.yaml new file mode 100644 index 0000000..05d0827 --- /dev/null +++ b/src/cyy_slamtoolbox/config/intensity_filter_example.yaml @@ -0,0 +1,9 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: intensity + type: laser_filters/LaserScanIntensityFilter + params: + lower_threshold: 8000. + upper_threshold: 100000. + disp_histogram: 0 diff --git a/src/cyy_slamtoolbox/config/laser_filter_config.yaml b/src/cyy_slamtoolbox/config/laser_filter_config.yaml new file mode 100644 index 0000000..05730e4 --- /dev/null +++ b/src/cyy_slamtoolbox/config/laser_filter_config.yaml @@ -0,0 +1,19 @@ +scan_filter_chain: + - name: angle_bounds + type: laser_filters/LaserScanAngularBoundsFilter + params: + # 示例：如果您只想处理前方180度的数据，可以设置为： + lower_angle: -1.57 # 约-90度 + upper_angle: 1.57 # 约90度 + + - name: range_filter + type: laser_filters/LaserScanRangeFilter + params: + # 过滤掉无效的距离值，这对于SLAM非常重要 + lower_threshold: 0.2 # 忽略小于0.2米的测量（如雷达自身的噪声） + upper_threshold: 20.0 # 忽略大于20.0米的测量（通常是不稳定的数据） + use_message_range_limits: false + + - name: interpolation + type: laser_filters/InterpolationFilter + # 此滤波器没有参数，它会自动对因过滤产生的无效值（如NaN）进行插值修复[1](@ref) \ No newline at end of file diff --git a/src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml b/src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml new file mode 100644 index 0000000..fe39dc2 --- /dev/null +++ b/src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml @@ -0,0 +1,87 @@ + +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + use_map_saver: true + mode: mapping + + # lifelong params + lifelong_search_use_tree: false + lifelong_minimum_score: 0.1 + lifelong_iou_match: 0.85 + lifelong_node_removal_score: 0.04 + lifelong_overlap_score_scale: 0.06 + lifelong_constraint_multiplier: 0.08 + lifelong_nearby_penalty: 0.001 + lifelong_candidates_scale: 0.03 + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 10. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/cyy_slamtoolbox/config/mapper_params_localization.yaml b/src/cyy_slamtoolbox/config/mapper_params_localization.yaml new file mode 100644 index 0000000..176f2e2 --- /dev/null +++ b/src/cyy_slamtoolbox/config/mapper_params_localization.yaml @@ -0,0 +1,70 @@ +slam_toolbox: + ros__parameters: + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: localization #localization + + # if you'd like to start localizing on bringup in a map and pose + #map_file_name: test_steve + #map_start_pose: [5.0, 1.0, 0.0] + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 3 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + do_loop_closing: true + loop_match_minimum_chain_size: 3 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + loop_search_maximum_distance: 3.0 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/cyy_slamtoolbox/config/mapper_params_offline.yaml b/src/cyy_slamtoolbox/config/mapper_params_offline.yaml new file mode 100644 index 0000000..d7d8587 --- /dev/null +++ b/src/cyy_slamtoolbox/config/mapper_params_offline.yaml @@ -0,0 +1,69 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 10.0 + resolution: 0.05 + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 14400. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/cyy_slamtoolbox/config/mapper_params_online_async.yaml b/src/cyy_slamtoolbox/config/mapper_params_online_async.yaml new file mode 100644 index 0000000..8a392d5 --- /dev/null +++ b/src/cyy_slamtoolbox/config/mapper_params_online_async.yaml @@ -0,0 +1,78 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + samples: 440 + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 5 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 0.01 + resolution: 0.01 + min_laser_range: 0.21 #for rastering images + max_laser_range: 15.0 #for rastering images + minimum_time_interval: 0.1 + transform_timeout: 2.0 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.2 + minimum_travel_heading: 0.2 + scan_buffer_size: 10 + samples: 440 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.05 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml b/src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml new file mode 100644 index 0000000..4ccc68c --- /dev/null +++ b/src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml @@ -0,0 +1,77 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/cyy_slamtoolbox/config/mask_filter_example.yaml b/src/cyy_slamtoolbox/config/mask_filter_example.yaml new file mode 100644 index 0000000..17751d1 --- /dev/null +++ b/src/cyy_slamtoolbox/config/mask_filter_example.yaml @@ -0,0 +1,16 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: mask + type: laser_filters/LaserScanMaskFilter + params: + masks: + laser: + - 100. + - 101. + - 102. + - 103. + - 104. + - 1000. + - 1001. + - 1002. diff --git a/src/cyy_slamtoolbox/config/median_filter_example.yaml b/src/cyy_slamtoolbox/config/median_filter_example.yaml new file mode 100644 index 0000000..ea6c447 --- /dev/null +++ b/src/cyy_slamtoolbox/config/median_filter_example.yaml @@ -0,0 +1,20 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + type: laser_filters/LaserArrayFilter + name: median + params: + range_filter_chain: + filter1: + name: median + type: filters/MultiChannelMedianFilterFloat + params: + number_of_observations: 5 + unused: 10 + intensity_filter_chain: + filter1: + name: median + type: filters/MultiChannelMedianFilterFloat + params: + number_of_observations: 5 + unused: 10 diff --git a/src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml b/src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml new file mode 100644 index 0000000..bbe95e0 --- /dev/null +++ b/src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml @@ -0,0 +1,17 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: median_spatial + type: laser_filters/LaserScanMedianSpatialFilter + params: + window_size: 31 + filter2: + name: median_filter + type: laser_filters/LaserArrayFilter + params: + range_filter_chain: + filter1: + name: median + type: filters/MultiChannelMedianFilterFloat + params: + number_of_observations: 3 \ No newline at end of file diff --git a/src/cyy_slamtoolbox/config/multiple_filters_example.yaml b/src/cyy_slamtoolbox/config/multiple_filters_example.yaml new file mode 100644 index 0000000..e992449 --- /dev/null +++ b/src/cyy_slamtoolbox/config/multiple_filters_example.yaml @@ -0,0 +1,42 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + type: laser_filters/LaserArrayFilter + name: laser_median_5 + params: + range_filter_chain: + filter1: + name: median_5 + type: filters/MultiChannelMedianFilterFloat + params: + number_of_observations: 5 + unused: 10 + intensity_filter_chain: + filter2: + name: median_5 + type: filters/MultiChannelMedianFilterFloat + params: + number_of_observations: 5 + unused: 10 + filter2: + name: intensity + type: laser_filters/LaserScanIntensityFilter + params: + lower_threshold: 8000. + upper_threshold: 100000. + disp_histogram: 0 + filter3: + name: shadows + type: laser_filters/ScanShadowsFilter + params: + min_angle: 10. + max_angle: 170. + neighbors: 20 + window: 0 + filter4: + name: dark_shadows + type: laser_filters/LaserScanIntensityFilter + params: + lower_threshold: 100. + upper_threshold: 10000. + disp_histogram: 0 diff --git a/src/cyy_slamtoolbox/config/pass_through_example.yaml b/src/cyy_slamtoolbox/config/pass_through_example.yaml new file mode 100644 index 0000000..e69de29 diff --git a/src/cyy_slamtoolbox/config/polygon_filter_example.yaml b/src/cyy_slamtoolbox/config/polygon_filter_example.yaml new file mode 100644 index 0000000..90bf7d9 --- /dev/null +++ b/src/cyy_slamtoolbox/config/polygon_filter_example.yaml @@ -0,0 +1,10 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: polygon_filter + type: laser_filters/LaserScanPolygonFilter + params: + polygon_frame: base_link + polygon: '[[0.0, 0.0], [0.1, 0.1], [0.1, 0.0], [0.0, -0.1]]' + invert: false + footprint_topic: base_footprint_exclude diff --git a/src/cyy_slamtoolbox/config/range_filter_example.yaml b/src/cyy_slamtoolbox/config/range_filter_example.yaml new file mode 100644 index 0000000..27869ed --- /dev/null +++ b/src/cyy_slamtoolbox/config/range_filter_example.yaml @@ -0,0 +1,11 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: box_filter + type: laser_filters/LaserScanRangeFilter + params: + use_message_range_limits: false # if not specified defaults to false + lower_threshold: 0.5 # if not specified defaults to 0.0 + upper_threshold: 1.0 # if not specified defaults to 100000.0 + lower_replacement_value: -.inf # if not specified defaults to NaN + upper_replacement_value: .inf # if not specified defaults to NaN diff --git a/src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml b/src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml new file mode 100644 index 0000000..eb9f4ab --- /dev/null +++ b/src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml @@ -0,0 +1,8 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: scan_blob_filter + type: laser_filters/ScanBlobFilter + params: + max_radius: 0.25 # maximum radius to be considered as blob object + min_points: 6 # min scan points to be considered as blob object diff --git a/src/cyy_slamtoolbox/config/sector_filter_example.yaml b/src/cyy_slamtoolbox/config/sector_filter_example.yaml new file mode 100644 index 0000000..e278235 --- /dev/null +++ b/src/cyy_slamtoolbox/config/sector_filter_example.yaml @@ -0,0 +1,12 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: scan_filter + type: laser_filters/LaserScanSectorFilter + params: + angle_min: 2.54 # if not specified defaults to 0.0 + angle_max: -2.54 # if not specified defaults to 0.0 + range_min: 0.2 # if not specified defaults to 0.0 + range_max: 2.0 # if not specified defaults to 100000.0 + clear_inside: true # if not specified defaults to true + invert: false # (!clear_inside) if not specified defaults to false diff --git a/src/cyy_slamtoolbox/config/shadow_filter_example.yaml b/src/cyy_slamtoolbox/config/shadow_filter_example.yaml new file mode 100644 index 0000000..82504fe --- /dev/null +++ b/src/cyy_slamtoolbox/config/shadow_filter_example.yaml @@ -0,0 +1,18 @@ +scan_to_scan_filter_chain: + ros__parameters: + filter1: + name: shadows + type: laser_filters/ScanShadowsFilter + params: + min_angle: 10. + max_angle: 170. + neighbors: 20 + window: 1 + filter2: + name: dark_shadows + type: laser_filters/LaserScanIntensityFilter + params: + lower_threshold: 100. + upper_threshold: 10000. + disp_histogram: 0 + diff --git a/src/cyy_slamtoolbox/config/slam_toolbox_default.rviz b/src/cyy_slamtoolbox/config/slam_toolbox_default.rviz new file mode 100644 index 0000000..c079a07 --- /dev/null +++ b/src/cyy_slamtoolbox/config/slam_toolbox_default.rviz @@ -0,0 +1,137 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 154 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: slam_toolbox::SlamToolboxPlugin + Name: SlamToolboxPlugin +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + SlamToolboxPlugin: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 72 + Y: 60 diff --git a/src/cyy_slamtoolbox/config/speckle_filter_example.yaml b/src/cyy_slamtoolbox/config/speckle_filter_example.yaml new file mode 100644 index 0000000..6f8c6a7 --- /dev/null +++ b/src/cyy_slamtoolbox/config/speckle_filter_example.yaml @@ -0,0 +1,19 @@ +scan_filter_chain: +- name: speckle_filter + type: laser_filters/LaserScanSpeckleFilter + params: + # Select which filter type to use. + # 0: Range based filtering (distance between consecutive points) + # 1: Euclidean filtering based on radius outlier search + filter_type: 0 + + # Only ranges smaller than this range are taken into account + max_range: 2.0 + + # filter_type[0] (Distance): max distance between consecutive points + # filter_type[1] (RadiusOutlier): max distance between points + max_range_difference: 0.1 + + # filter_type[0] (Distance): Number of consecutive ranges that will be tested for max_distance + # filter_type[1] (RadiusOutlier): Minimum number of neighbors + filter_window: 2 diff --git a/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py b/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py new file mode 100644 index 0000000..aa4ff01 --- /dev/null +++ b/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + # 获取参数文件路径 + pkg_share = get_package_share_directory('cyy_slamtoolbox') + params_file = os.path.join(pkg_share, 'config', 'mapper_params_online_async.yaml') + + # 创建SLAM Toolbox节点 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + + return LaunchDescription([ + slam_toolbox_node + ]) \ No newline at end of file diff --git a/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py b/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py new file mode 100644 index 0000000..c8c784a --- /dev/null +++ b/src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + # ȡļ· + pkg_share = get_package_share_directory('cyy_slamtoolbox') + params_file = os.path.join(pkg_share, 'config', 'mapper_params_localization.yaml') + + # SLAM Toolboxڵ + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', # sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + + return LaunchDescription([ + slam_toolbox_node + ]) \ No newline at end of file diff --git a/src/cyy_slamtoolbox/launch/filter.launch.py b/src/cyy_slamtoolbox/launch/filter.launch.py new file mode 100644 index 0000000..19f7450 --- /dev/null +++ b/src/cyy_slamtoolbox/launch/filter.launch.py @@ -0,0 +1,24 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + +def generate_launch_description(): + # 假设配置文件路径，你需要根据实际情况修改 + config_path = os.path.join( + get_package_share_directory('cyy_slamtoolbox'), + 'config', + 'angular_filter_example.yaml' + ) + + laser_filter_node = Node( + package='laser_filters', + executable='scan_to_scan_filter_chain', + name='laser_filter', + output='screen', + parameters=[config_path], + # 重新映射话题：从/base_scan原始数据过滤后发布到/scan + remappings=[('scan', '/base_scan'), ('scan_filtered', '/scan')] + ) + + return LaunchDescription([laser_filter_node]) \ No newline at end of file diff --git a/src/cyy_slamtoolbox/package.xml b/src/cyy_slamtoolbox/package.xml new file mode 100644 index 0000000..18ae51b --- /dev/null +++ b/src/cyy_slamtoolbox/package.xml @@ -0,0 +1,18 @@ + + + + cyy_slamtoolbox + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/gc_navigation2_real/CMakeLists.txt b/src/gc_navigation2_real/CMakeLists.txt new file mode 100644 index 0000000..8a939d4 --- /dev/null +++ b/src/gc_navigation2_real/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.8) +project(gc_navigation2_real) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch config params maps behavior_tree + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml b/src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml new file mode 100644 index 0000000..c3343f7 --- /dev/null +++ b/src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/gc_navigation2_real/config/slam_toolbox_async_real.yaml b/src/gc_navigation2_real/config/slam_toolbox_async_real.yaml new file mode 100644 index 0000000..85b0e2a --- /dev/null +++ b/src/gc_navigation2_real/config/slam_toolbox_async_real.yaml @@ -0,0 +1,78 @@ +slam_toolbox: + ros__parameters: + + # ============================ Solver 插件参数 ====================================== + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ============================ ROS 基础参数（实车）=================================== + odom_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + map_frame: map # 地图坐标系 + base_frame: base_footprint # 机器人基座坐标系（与 URDF 根帧一致） + scan_topic: /scan # 激光雷达话题（实车镭神雷达） + use_map_saver: true # 启用地图保存功能 + mode: mapping # mapping = 定位 + 实时建图 + + # ============================ 已有地图加载 ========================================== + # map_file_name: "" # 从零开始建图，留空 + map_start_pose: [0.0, 0.0, 0.0] # 初始位姿 [x, y, yaw] + + # ============================ 调试与性能 =========================================== + debug_logging: false + throttle_scans: 1 # 每 N 帧处理一次（实车每秒10帧左右） + transform_publish_period: 0.02 # TF 发布周期（秒） + map_update_interval: 3.0 # /map 话题更新间隔（秒） + resolution: 0.05 # 地图分辨率（米/像素） + restamp_tf: false + min_laser_range: 0.15 # 实车雷达盲区约 0.12m，设 0.15 过滤近处噪点 + max_laser_range: 12.0 # 实车雷达最大有效距离（镭神 N10 ≈ 10-15m） + minimum_time_interval: 0.3 # 最小处理时间间隔（实车可适当放宽） + transform_timeout: 0.2 # TF 查找超时 + tf_buffer_duration: 30.0 # TF 缓冲区时长 + stack_size_to_use: 40000000 # 栈大小（序列化大地图需要） + enable_interactive_mode: true # 交互模式：允许外部工具编辑地图 + + # ============================ 通用建图参数 ========================================= + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.3 # 实车最小移动距离（米），小于仿真以更频繁更新 + minimum_travel_heading: 0.3 # 最小转向角度（弧度） + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 # 扫描缓冲区大小 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + + # ============================ 回环检测参数 ========================================= + do_loop_closing: true # 启用回环检测 + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + loop_search_maximum_distance: 3.0 + + # ============================ 相关性匹配参数 ======================================= + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # ============================ 扫描匹配器参数 ======================================== + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml b/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml new file mode 100644 index 0000000..7466496 --- /dev/null +++ b/src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml @@ -0,0 +1,77 @@ +slam_toolbox: + ros__parameters: + + # ============================ Solver 插件参数 ====================================== + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ============================ ROS 基础参数（实车定位模式）============================ + odom_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + map_frame: map + base_frame: base_footprint + scan_topic: /scan + mode: localization # 纯定位模式，不更新地图 + + # ============================ 已有地图加载 ========================================== + # 由 launch 文件通过 map_file_name 参数传入 .posegraph 路径 + # map_file_name: "" + map_start_pose: [0.0, 0.0, 0.0] + + # ============================ 调试与性能 =========================================== + debug_logging: false + throttle_scans: 2 # 每2帧处理一次（实车激光较慢时使用） + transform_publish_period: 0.02 + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.15 # 过滤雷达盲区噪点 + max_laser_range: 12.0 # 实车雷达最大有效距离 + minimum_time_interval: 0.3 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 + + # ============================ 通用参数 ============================================= + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.3 + minimum_travel_heading: 0.3 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + + # 定位模式关闭回环检测 + do_loop_closing: false + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + loop_search_maximum_distance: 3.0 + + # ============================ 相关性匹配参数 ======================================= + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # ============================ 扫描匹配器参数 ======================================== + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_real/launch/real_bringup.launch.py b/src/gc_navigation2_real/launch/real_bringup.launch.py new file mode 100644 index 0000000..096a166 --- /dev/null +++ b/src/gc_navigation2_real/launch/real_bringup.launch.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_bringup.launch.py +# 功能：实车基础 bringup — 底盘驱动 + 激光雷达 + TF 树 +# +# 适用场景： +# - 单独调试底盘通信和传感器数据 +# - 遥控测试（无导航） +# - 作为其他 launch 文件的基础模块 +# +# 启动内容： +# origincar_base bringup — 串口驱动 + EKF + IMU 滤波 + TF + robot_state_publisher +# lslidar_driver — 镭神激光雷达 → /scan +# +# 使用方式： +# ros2 launch gc_navigation2_real real_bringup.launch.py +# ============================================================================ + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + """生成 LaunchDescription，启动实车底盘 + 雷达 + TF（无导航）""" + + # ============================ 1. 包路径 ========================================= + origincar_base_dir = get_package_share_directory('origincar_base') + + # ============================ 2. 实车底盘 bringup =============================== + # 注：origincar_bringup 已包含 robot_state_publisher + joint_state_publisher + 静态 TF + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # ============================ 3. 镭神激光雷达驱动 =============================== + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # ============================ 4. 组装 LaunchDescription ========================= + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='使用仿真时间（实车必须为 false）'), + + origincar_bringup, + lslidar_launch, + ]) diff --git a/src/gc_navigation2_real/launch/real_nav2_slam.launch.py b/src/gc_navigation2_real/launch/real_nav2_slam.launch.py new file mode 100644 index 0000000..c9cf7ab --- /dev/null +++ b/src/gc_navigation2_real/launch/real_nav2_slam.launch.py @@ -0,0 +1,110 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_nav2_slam.launch.py +# 功能：实车导航 — 已知静态地图 + SLAM 定位 + Nav2 导航 +# +# 架构： +# origincar_base (bringup) — 底盘串口驱动 + EKF 里程计 + IMU 滤波 + TF +# lslidar_driver — 镭神激光雷达驱动 → /scan +# map_server — 加载 yaml+pgm 全量静态地图 → /map +# slam_toolbox (localization) — 加载 .posegraph，激光扫描匹配定位 +# 发布 map→odom_combined TF（替代 AMCL） +# ⚠️ /map 话题重映射为 /slam_map，避免冲突 +# navigation_launch — Nav2 导航栈 +# global_costmap 从 /map 获取全量静态地图 +# +# 使用方式： +# ros2 launch gc_navigation2_real real_nav2_slam.launch.py +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + """生成 LaunchDescription，启动实车底盘 + 雷达 + SLAM定位 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1. 包路径=========================================== + pkg_dir = get_package_share_directory('gc_navigation2_real') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_base_dir = get_package_share_directory('origincar_base') + + # =============================2. 参数============================================= + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + map_yaml_path = LaunchConfiguration('map', default=os.path.join( + pkg_dir, 'maps', 'my_map.yaml')) + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam_real.yaml')) + slam_params_file = os.path.join( + pkg_dir, 'config', 'slam_toolbox_localization_real.yaml') + posegraph_path = os.path.join( + pkg_dir, 'maps', 'my_map.posegraph') + + # =============================3. 实车底盘 bringup ================================ + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # =============================4. 镭神激光雷达驱动 ================================ + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # =============================5. map_server：全量静态地图 ========================== + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, 'use_sim_time': False}], + ) + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': False, 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================6. slam_toolbox 定位模式（替代 AMCL）================== + # ⚠️ /map 重映射到 /slam_map，避免覆盖 map_server 的全量地图 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, + {'use_sim_time': False, + 'map_file_name': posegraph_path}], + remappings=[('/map', '/slam_map')], + ) + + # =============================7. Nav2 导航栈 ===================================== + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # =============================8. 组装============================================= + ld.add_action(origincar_bringup) + ld.add_action(lslidar_launch) + ld.add_action(map_server_node) + ld.add_action(map_server_lifecycle) + ld.add_action(slam_toolbox_node) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py b/src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py new file mode 100644 index 0000000..248d160 --- /dev/null +++ b/src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py @@ -0,0 +1,135 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_nav2_slam_online.launch.py +# 功能：实车导航 — 已知全局地图 + SLAM 在线更新 + Nav2 导航 +# +# 架构： +# ┌─ /map（全量静态地图） +# map_server ──────────┤ +# └─ 来自 my_map.yaml + my_map.pgm +# +# ┌─ map→odom_combined TF（激光扫描匹配定位） +# slam_toolbox ────────┤ +# (async mapping) └─ /slam_map（实时建图结果，重映射避免冲突） +# +# navigation ┌─ global_costmap/static_layer ← /map（全量地图） +# ├─ local_costmap/obstacle_layer ← /scan（实时避障） +# └─ planner + controller + behavior +# +# 关键设计： +# 1. map_server 提供全量静态底图 → Foxglove 中看到完整房间布局 +# 2. slam_toolbox 定位 + 实时建图，/slam_map 可单独查看更新效果 +# 3. 实时避障通过 costmap 的 obstacle_layer 实现（不依赖地图更新） +# 4. 定期调用 /slam_toolbox/serialize_map 保存更新后的地图 +# +# 与仿真版的区别： +# - 无 Gazebo，无 spawn_entity +# - 使用 origincar_base bringup（串口驱动 + EKF + IMU） +# - 使用 lslidar_driver（镭神实车雷达） +# - use_sim_time: False +# - TF 帧适配实车（odom_combined, base_footprint） +# +# 使用方式： +# ros2 launch gc_navigation2_real real_nav2_slam_online.launch.py +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """启动实车底盘 + 雷达 + 静态地图 + SLAM 在线定位建图 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1. 包路径=========================================== + pkg_dir = get_package_share_directory('gc_navigation2_real') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_base_dir = get_package_share_directory('origincar_base') + + # =============================2. 参数============================================= + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + map_yaml_path = os.path.join(pkg_dir, 'maps', 'my_map.yaml') + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam_real.yaml')) + slam_params_file = os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml') + posegraph_path = os.path.join(pkg_dir, 'maps', 'my_map.posegraph') + + # =============================3. 实车底盘 bringup ================================ + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # =============================4. 镭神激光雷达驱动 ================================ + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # =============================5. map_server：全量静态地图 ========================== + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, 'use_sim_time': False}], + ) + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': False, 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================6. slam_toolbox：定位 + 实时建图======================== + # ⚠️ /map 重映射到 /slam_map，避免覆盖 map_server 的全量地图 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, {'use_sim_time': False}], + remappings=[('/map', '/slam_map')], + ) + + # =============================7. 加载已有序列化地图 ================================= + load_map_cmd = ExecuteProcess( + cmd=[ + 'bash', '-c', + 'sleep 8 && ' + 'ros2 service call /slam_toolbox/deserialize_map ' + 'slam_toolbox/srv/DeserializePoseGraph ' + "'{filename: \"%s\", match_type: 1}'" % posegraph_path, + ], + output='screen', + ) + + # =============================8. Nav2 导航栈 ===================================== + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # =============================9. 组装============================================ + ld.add_action(origincar_bringup) + ld.add_action(lslidar_launch) + ld.add_action(map_server_node) + ld.add_action(map_server_lifecycle) + ld.add_action(slam_toolbox_node) + ld.add_action(load_map_cmd) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_real/launch/real_slam_mapping.launch.py b/src/gc_navigation2_real/launch/real_slam_mapping.launch.py new file mode 100644 index 0000000..f957e03 --- /dev/null +++ b/src/gc_navigation2_real/launch/real_slam_mapping.launch.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python3 +# ============================================================================ +# real_slam_mapping.launch.py +# 功能：实车 SLAM 建图启动文件（无 Gazebo 仿真） +# +# 适用场景： +# - 在实际场地遥控机器人建立环境地图 +# - 在已有地图基础上增量更新 +# - 单独调试 slam_toolbox 建图参数 +# +# 架构： +# origincar_base (bringup) — 底盘串口驱动 + EKF 里程计 + IMU 滤波 + TF +# lslidar_driver — 镭神激光雷达驱动 → /scan +# async_slam_toolbox_node — 激光 SLAM 建图（mapping 模式） +# 发布 map→odom_combined TF +# 发布 /map 话题（实时地图） +# +# 使用方式： +# ros2 launch gc_navigation2_real real_slam_mapping.launch.py +# +# 保存地图： +# ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph \ +# "{filename: '/home/guoch/test_ws/src/gc_navigation2_real/maps/my_map'}" +# ros2 run nav2_map_server map_saver_cli -f +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + """生成 LaunchDescription，启动实车底盘 + 雷达 + slam_toolbox 建图""" + + # ============================ 1. 包路径 ========================================= + pkg_dir = get_package_share_directory('gc_navigation2_real') + origincar_base_dir = get_package_share_directory('origincar_base') + + # ============================ 2. 声明启动参数 ==================================== + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + + # slam_params_file: slam_toolbox 配置文件 + slam_params_file = LaunchConfiguration( + 'slam_params_file', + default=os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml')) + + # map_file_name: 可选，加载已有序列化地图继续建图 + map_file_name = LaunchConfiguration('map_file_name', default='') + + # ============================ 3. 实车底盘 bringup =============================== + # 启动 origincar_base：串口驱动 + EKF + IMU 滤波 + TF 发布 + # 注：origincar_bringup 已包含 robot_state_publisher + joint_state_publisher + 静态 TF + origincar_bringup = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']), + ) + + # ============================ 4. 镭神激光雷达驱动 =============================== + # 启动 lslidar_driver → /scan 话题 + lslidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [get_package_share_directory('lslidar_driver'), + '/launch', '/lsn10_launch.py']), + ) + + # ============================ 5. slam_toolbox 建图节点 ============================ + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[ + slam_params_file, + { + 'use_sim_time': False, + 'map_file_name': map_file_name, + }, + ], + ) + + # ============================ 6. 组装 LaunchDescription ========================= + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='使用仿真时间（实车必须为 false）'), + DeclareLaunchArgument( + 'slam_params_file', + default_value=os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml'), + description='slam_toolbox 参数配置文件路径'), + DeclareLaunchArgument( + 'map_file_name', + default_value='', + description='已有序列化地图路径（.posegraph），留空则从零开始建图'), + + origincar_bringup, + lslidar_launch, + slam_toolbox_node, + ]) diff --git a/src/gc_navigation2_real/maps/Readme.txt b/src/gc_navigation2_real/maps/Readme.txt new file mode 100644 index 0000000..75b15b6 --- /dev/null +++ b/src/gc_navigation2_real/maps/Readme.txt @@ -0,0 +1,3 @@ +# 实车地图存放目录 +# 使用 map_saver_cli 保存地图到此目录： +# ros2 run nav2_map_server map_saver_cli -f ~/test_ws/src/gc_navigation2_real/maps/your_map_name diff --git a/src/gc_navigation2_real/package.xml b/src/gc_navigation2_real/package.xml new file mode 100644 index 0000000..bbc6199 --- /dev/null +++ b/src/gc_navigation2_real/package.xml @@ -0,0 +1,31 @@ + + + + gc_navigation2_real + 0.0.0 + Real-world navigation package: SLAM + Nav2 for OriginCar on physical robot (no Gazebo) + guoch + TODO: License declaration + + ament_cmake + + rclcpp + slam_toolbox + nav2_bringup + origincar_base + origincar_description + origincar_msg + robot_state_publisher + joint_state_publisher + robot_localization + imu_filter_madgwick + tf2_ros + lslidar_driver + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/gc_navigation2_real/params/gc_navigation_slam_real.yaml b/src/gc_navigation2_real/params/gc_navigation_slam_real.yaml new file mode 100644 index 0000000..02e1ea1 --- /dev/null +++ b/src/gc_navigation2_real/params/gc_navigation_slam_real.yaml @@ -0,0 +1,353 @@ +# ============================================================================ +# gc_navigation_slam_real.yaml +# 实车 Nav2 导航参数（SLAM 定位方案，无 AMCL） +# +# 与仿真版的区别： +# - use_sim_time: False（使用系统时钟） +# - TF 帧适配实车（odom_combined, base_footprint） +# - 速度/加速度参数适当降低以保证实车安全 +# - 激光雷达参数匹配镭神 N10 实车性能 +# ============================================================================ + +slam_toolbox: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom_combined + bt_loop_duration: 50 + default_server_timeout: 20 + # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待 + default_nav_to_pose_bt_xml: /home/guoch/test_ws/install/gc_navigation2_real/share/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 20.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 36 + model_dt: 0.05 + batch_size: 1000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 # 第一阶段提速：0.4→0.5（仿真已验证安全） + vx_min: -0.30 # 第一阶段提速：-0.25→-0.30 + vy_max: 0.0 + wz_max: 1.5 # 实车最大角速度降低 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + robot_base_frame: base_footprint # 实车：URDF 根帧 + use_sim_time: False + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: False + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_footprint # 实车：与 URDF 根帧一致 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: False + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false + downsampling_factor: 1 + tolerance: 0.25 + allow_unknown: true + max_iterations: 1000000 + max_on_approach_iterations: 1000 + max_planning_time: 5.0 + motion_model_for_search: "REEDS_SHEPP" + angle_quantization_bins: 72 + analytic_expansion_ratio: 3.5 + analytic_expansion_max_length: 3.0 + minimum_turning_radius: 0.40 + reverse_penalty: 1.3 + change_penalty: 0.0 + non_straight_penalty: 1.2 + cost_penalty: 2.0 + retrospective_penalty: 0.015 + lookup_table_size: 20.0 + cache_obstacle_heuristic: false + viz_expansions: false + smooth_path: True + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +smoother_server: + ros__parameters: + use_sim_time: False + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + backup_dist: 0.8 + backup_speed: 0.18 + wait: + plugin: "nav2_behaviors/Wait" + wait_duration: 0.5 + global_frame: odom_combined # 实车：EKF 融合后的里程计坐标系 + robot_base_frame: base_footprint # 实车：URDF 根帧 + transform_tolerance: 0.5 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: False + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/CMakeLists.txt b/src/gc_navigation2_slamtoolbox/CMakeLists.txt new file mode 100644 index 0000000..25a809b --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.8) +project(gc_navigation2_slamtoolbox) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +# 查找slam_toolbox包 +find_package(slam_toolbox REQUIRED) +install( + DIRECTORY launch config params maps world + DESTINATION share/${PROJECT_NAME} +) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml new file mode 100644 index 0000000..fd1088a --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml @@ -0,0 +1,89 @@ + +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + use_map_saver: true + mode: mapping + + # lifelong params + lifelong_search_use_tree: false + lifelong_minimum_score: 0.1 + lifelong_iou_match: 0.85 + lifelong_node_removal_score: 0.04 + lifelong_overlap_score_scale: 0.06 + lifelong_constraint_multiplier: 0.08 + lifelong_nearby_penalty: 0.001 + lifelong_candidates_scale: 0.03 + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 10. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml new file mode 100644 index 0000000..b6356ef --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml @@ -0,0 +1,72 @@ +slam_toolbox: + ros__parameters: + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: localization #localization + + # if you'd like to start localizing on bringup in a map and pose + map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph + map_start_pose: [0.0, 0.0, 0.0] + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 3 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + do_loop_closing: true + loop_match_minimum_chain_size: 3 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + loop_search_maximum_distance: 3.0 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml new file mode 100644 index 0000000..4d9dba2 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml @@ -0,0 +1,71 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 10.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 14400. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml new file mode 100644 index 0000000..9b8e220 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml @@ -0,0 +1,74 @@ +$(var namespace)/slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: global_odom + map_frame: map + base_frame: base_footprint + scan_topic: scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml new file mode 100644 index 0000000..73a4ac7 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml @@ -0,0 +1,79 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + restamp_tf: false + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + check_min_dist_and_heading_precisely: false + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 diff --git a/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml b/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml new file mode 100644 index 0000000..5b2cc52 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml new file mode 100644 index 0000000..d0b1e16 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml @@ -0,0 +1,82 @@ +slam_toolbox: + ros__parameters: + + # ============================ Solver 插件参数 ====================================== + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ============================ ROS 基础参数 ========================================= + odom_frame: odom # 里程计坐标系 + map_frame: map # 地图坐标系 + base_frame: base_link # 机器人基座坐标系（与 URDF 根帧一致） + scan_topic: /scan # 激光雷达话题 + use_map_saver: true # 启用地图保存功能 + mode: mapping # mapping = 定位 + 实时建图（地图可更新） + + # ============================ 已有地图加载（在其基础上继续更新）========================== + # 启动时暂不加载（注释掉），通过服务在启动后手动加载： + # ros2 service call /slam_toolbox/deserialize_map slam_toolbox/srv/DeserializePoseGraph "{filename: '/home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph', match_type: 1}" + # map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph + map_start_pose: [-2.0, -2.0, 0.0] # 初始位姿 [x, y, yaw]（map 坐标系下） + # map_start_at_dock: true # 或从 docking 位姿启动（与 pose 互斥） + + # ============================ 调试与性能 =========================================== + debug_logging: false # 调试日志（生产环境关闭） + throttle_scans: 10 # 每 N 帧激光处理一次（1=全部处理） + transform_publish_period: 0.02 # TF 发布周期（秒），0=不发布里程计 + map_update_interval: 3.0 # /map 话题更新间隔（秒），越小越实时 + resolution: 0.05 # 地图分辨率（米/像素） + restamp_tf: false # 是否重新打时间戳 + min_laser_range: 0.0 # 激光最小有效距离（米） + max_laser_range: 20.0 # 激光最大有效距离（米） + minimum_time_interval: 0.5 # 最小处理时间间隔（秒） + transform_timeout: 0.2 # TF 查找超时（秒） + tf_buffer_duration: 30.0 # TF 缓冲区时长（秒） + stack_size_to_use: 40000000 # 栈大小（序列化大地图需要） + enable_interactive_mode: true # 交互模式：允许外部工具编辑地图 + + # ============================ 通用建图参数 ========================================= + use_scan_matching: true # 启用扫描匹配 + use_scan_barycenter: true # 使用扫描重心 + minimum_travel_distance: 0.1 # 最小移动距离触发处理（米） + minimum_travel_heading: 0.1 # 最小转向角度触发处理（弧度） + check_min_dist_and_heading_precisely: false + scan_buffer_size: 5 # 扫描缓冲区大小（越大匹配越稳定） + scan_buffer_maximum_scan_distance: 5.0 # 缓冲区最大扫描距离 + link_match_minimum_response_fine: 0.1 # 精细匹配最小响应 + link_scan_maximum_distance: 1.5 # 链接扫描最大距离 + + # ============================ 回环检测参数 ========================================= + do_loop_closing: true # 启用回环检测（消除累积误差） + loop_match_minimum_chain_size: 10 # 最小回环链大小 + loop_match_maximum_variance_coarse: 3.0 # 粗匹配最大方差 + loop_match_minimum_response_coarse: 0.35 # 粗匹配最小响应 + loop_match_minimum_response_fine: 0.45 # 精细匹配最小响应 + loop_search_maximum_distance: 3.0 # 回环搜索最大距离 + + # ============================ 相关性匹配 - 扫描匹配参数 ============================== + correlation_search_space_dimension: 0.5 # 搜索空间维度 + correlation_search_space_resolution: 0.01 # 搜索空间分辨率 + correlation_search_space_smear_deviation: 0.1 # 搜索空间平滑偏差 + + # ============================ 相关性匹配 - 回环检测参数 ============================== + loop_search_space_dimension: 8.0 # 回环搜索空间维度 + loop_search_space_resolution: 0.05 # 回环搜索分辨率 + loop_search_space_smear_deviation: 0.03 # 回环搜索平滑偏差 + + # ============================ 扫描匹配器参数 ======================================== + distance_variance_penalty: 0.5 # 距离方差惩罚 + angle_variance_penalty: 1.0 # 角度方差惩罚 + + fine_search_angle_offset: 0.00349 # 精细搜索角度偏移 + coarse_search_angle_offset: 0.349 # 粗搜索角度偏移 + coarse_angle_resolution: 0.0349 # 粗搜索角度分辨率 + minimum_angle_penalty: 0.9 # 最小角度惩罚 + minimum_distance_penalty: 0.5 # 最小距离惩罚 + use_response_expansion: true # 使用响应扩展 + min_pass_through: 2 # 最小通过次数 + occupancy_threshold: 0.1 # 占据阈值 diff --git a/src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml new file mode 100644 index 0000000..56ef629 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml @@ -0,0 +1,55 @@ +slam_toolbox: + ros__parameters: + # 核心模式设置 + use_sim_time: true + mode: "localization" # 重要：设置为定位模式 + map_file_name: "" # 由启动参数传入 + map_start_pose: [0.0,0.0,0.0] + # ROS框架设置 + odom_frame: "odom" + map_frame: "map" + base_frame: "base_footprint" + scan_topic: "/scan" + + # 求解器设置 + solver_plugin: "solver_plugins::CeresSolver" + ceres_linear_solver: "SPARSE_NORMAL_CHOLESKY" + ceres_preconditioner: "SCHUR_JACOBI" + ceres_trust_strategy: "LEVENBERG_MARQUARDT" + ceres_dogleg_type: "TRADITIONAL_DOGLEG" + ceres_loss_function: "None" + + # 定位优化参数 + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.05 + minimum_travel_heading: 0.087 + + # 扫描处理 + scan_buffer_size: 50 + throttle_scans: 2 + + # 回环检测（定位模式可关闭） + do_loop_closing: false + + # 搜索参数 + link_match_minimum_response_fine: 0.2 + link_scan_maximum_distance: 2.0 + loop_search_maximum_distance: 5.0 + + # 性能参数 + minimum_time_interval: 0.1 + transform_publish_period: 0.02 + map_update_interval: 0.5 + + # 地图参数 + resolution: 0.05 + max_laser_range: 15.0 + min_laser_range: 0.2 + + # 初始位姿（可选，可以通过RViz设置） + # map_start_pose: [0.0, 0.0, 0.0] + + # 调试 + debug_logging: false + enable_interactive_mode: true \ No newline at end of file diff --git a/src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml new file mode 100644 index 0000000..44a3d68 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # === Solver === + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # === ROS 基础 === + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: mapping + use_map_saver: true + + # === 调试与性能 === + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 + map_update_interval: 3.0 + resolution: 0.05 + min_laser_range: 0.15 + max_laser_range: 20.0 + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 + enable_interactive_mode: true + + # === 建图参数 === + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.1 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + + # === 回环检测 === + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + loop_search_maximum_distance: 3.0 + + # === 扫描匹配 === + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # === 匹配器参数 === + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true + min_pass_through: 2 + occupancy_threshold: 0.1 + + # MessageFilter queue size (default 1, too small for high-rate lidar) + scan_queue_size: 20 diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py new file mode 100644 index 0000000..a20c1b7 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py @@ -0,0 +1,156 @@ +# ============================================================================ +# gc_nav2_with_amcl.launch.py +# 功能：基于 AMCL（自适应蒙特卡洛定位）的导航启动文件 +# +# 架构： +# Gazebo 仿真环境 +# ├── robot_state_publisher — 发布机器人 TF 树（URDF 模型） +# └── nav2_bringup_launch — Nav2 一体化启动（包含以下子模块）： +# ├── map_server — 加载 my_map.yaml,发布全量静态地图到 /map +# ├── AMCL — 粒子滤波定位,发布 map→odom TF +# │ 需要手动设置 /initialpose 初始位姿 +# ├── planner_server — 全局/局部路径规划器（SmacHybrid） +# ├── controller_server — 路径跟踪控制器（MPPI Ackermann） +# ├── behavior_server — 恢复行为服务器（spin/backup/wait） +# └── bt_navigator — 行为树导航编排器 +# +# 与 SLAM 定位方案的区别： +# AMCL： 粒子滤波定位,需要手动设置初始位姿,地图固定不更新 +# SLAM定位： 激光扫描匹配定位,自动定位,可加载 .posegraph 序列化地图 +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """生成 LaunchDescription,启动 Gazebo + AMCL定位 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1.定位到包的地址============================================================= + # 通过 ament_index 获取各功能包的安装路径 + gc_navigation_fish_dir = get_package_share_directory( + 'gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_urdf_dir = get_package_share_directory( + 'origincar_description') + + # =============================2.声明参数,获取配置文件路径=================================================== + # use_sim_time: 仿真时间开关。Gazebo 下必须为 True, + # 因为仿真环境通过 /clock 话题提供时间,而非系统时间 + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # map_yaml_path: 全量静态地图 yaml 文件路径 + # 传给 bringup_launch → map_server 加载并发布到 /map + map_yaml_path = LaunchConfiguration('map', default=os.path.join( + gc_navigation_fish_dir, 'maps', 'my_map.yaml')) + + # nav2_param_path: Nav2 导航栈参数文件（含 AMCL 粒子滤波配置） + # 注意：此处用 gc_navigation_amcl.yaml,包含 AMCL 参数（粒子数、运动模型等） + # SLAM 方案则用 gc_navigation_slam.yaml（不含 AMCL） + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + gc_navigation_fish_dir, 'params', 'gc_navigation_amcl.yaml')) + + # =============================3.声明启动launch文件========================================================== + # bringup_launch.py 是 Nav2 的一体化启动入口,内部自动处理： + # 1. 声明所有 launch 参数（map, slam, use_sim_time, params_file 等） + # 2. 根据 slam 参数决定启动模式： + # slam=False（默认）→ localization_launch（map_server + AMCL） + # slam=True → slam_launch（slam_toolbox 在线建图） + # 3. 启动 navigation_launch（planner + controller + behavior + bt_navigator） + # 4. 通过 RewrittenYaml 实现参数文件中的变量替换 + # + # 传入参数： + # map: 地图 yaml 文件路径（map_server 加载,AMCL 定位） + # use_sim_time: 仿真时间模式（Gazebo 下必须为 true） + # params_file: Nav2 全部节点的参数配置 + nav2_bringup_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/bringup_launch.py']), + launch_arguments={ + 'map': map_yaml_path, + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path}.items(), + ) + + # =============================4.Gazebo仿真设置========================================================== + # robot_name_in_model: Gazebo 中机器人的模型名称,需与 URDF 中一致 + robot_name_in_model = 'mycar' + + # default_model_path: 机器人 URDF 模型文件路径 + # 使用 xacro 宏展开生成最终的 URDF + default_model_path = os.path.join( + origincar_urdf_dir, "urdf", "origincar.urdf") + + # 声明 model 启动参数,支持命令行覆盖：ros2 launch ... model:=/path/to/custom.urdf + model = DeclareLaunchArgument( + name="model", default_value=default_model_path) + + # Gazebo 仿真世界文件路径 + gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world') + + # 启动 Gazebo 仿真器进程 + # --verbose: 输出详细日志 + # -s libgazebo_ros_init.so: 加载 ROS ↔ Gazebo 通信初始化插件 + # -s libgazebo_ros_factory.so: 加载模型生成（spawn_entity）插件 + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', gazebo_world_path], + output='screen') + + # 在 Gazebo 世界中生成机器人模型 + # -entity: 模型在 Gazebo 中的实例名（mycar） + # -file: 要加载的 URDF 模型文件 + # 生成后 Gazebo 会为模型创建对应的关节状态话题等 + spawn_entity_cmd = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=['-entity', robot_name_in_model, + '-file', default_model_path], + output='screen' + ) + + # robot_description: 将 XACRO/URDF 模型字符串设为 ROS 参数 + # robot_state_publisher 读取此参数发布各连杆的 TF 坐标变换 + robot_description = ParameterValue( + Command(["xacro ", LaunchConfiguration("model")]), value_type=str) + + # robot_state_publisher: 发布机器人各关节、连杆的 TF 变换 + # - 订阅 joint_states 话题获取关节角度 + # - 根据 URDF 模型计算 base_link → laser_link, wheel_link 等变换 + # - publish_frequency=30Hz 确保 TF 更新平滑 + # - use_sim_time=True 使用 /clock 仿真时间 + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[{"robot_description": robot_description, + 'use_sim_time': True, 'publish_frequency': 30.0}] + ) + + # joint_state_publisher: 发布非固定关节的默认状态 + # 如果 Gazebo 已经发布 joint_states,此节点可以注释掉避免冲突 + # joint_state_publisher = Node( + # package="joint_state_publisher", + # executable="joint_state_publisher" + # ) + + # =============================5.将所有 Action 添加到 LaunchDescription ================================== + # 注意：nav2_bringup_launch 必须在 Gazebo 启动之后, + # 否则会出现 /clock 话题未就绪的问题 + # 可通过 TimerAction 添加延迟,或依赖 launch 系统的自动排序 + ld.add_action(model) # 1. 声明模型路径参数 + ld.add_action(nav2_bringup_launch) # 2. 启动 Nav2 一体化（map_server + AMCL + 导航） + ld.add_action(start_gazebo_cmd) # 3. 启动 Gazebo 仿真器 + ld.add_action(spawn_entity_cmd) # 4. 在 Gazebo 中生成机器人 + ld.add_action(robot_state_publisher) # 5. 发布机器人 TF 树 + # ld.add_action(joint_state_publisher) # 6. (可选) 默认关节状态发布 + + return ld diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py new file mode 100644 index 0000000..a896429 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py @@ -0,0 +1,196 @@ +# ============================================================================ +# gc_nav2_with_slam.launch.py +# 功能：基于 slam_toolbox 定位的导航启动文件 +# +# 架构： +# Gazebo 仿真环境 +# ├── robot_state_publisher — 发布机器人 TF 树（URDF 模型） +# ├── map_server — 加载 my_map.yaml，发布全量静态地图到 /map +# ├── slam_toolbox — 加载 my_map.posegraph，激光扫描匹配定位 +# │ 发布 map→odom TF，替代 AMCL 的粒子滤波 +# │ ⚠️ /map 话题重映射为 /slam_map，避免冲突 +# └── navigation_launch — Nav2 导航栈（路径规划 + 运动控制） +# global_costmap 从 /map 获取全量静态地图 +# +# 与 AMCL 方案的区别： +# AMCL： 粒子滤波定位，需要手动设置初始位姿 +# SLAM定位： 激光扫描匹配定位，自动根据地图特征定位 +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """生成 LaunchDescription，启动 Gazebo + SLAM定位 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1.定位到包的地址============================================================= + # 通过 ament_index 获取各功能包的安装路径 + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_urdf_dir = get_package_share_directory('origincar_description') + + # =============================2.声明参数=============================================================== + # use_sim_time: 仿真时间开关。Gazebo 下必须为 True， + # 因为仿真环境通过 /clock 话题提供时间，而非系统时间 + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # map_yaml_path: 全量静态地图 yaml 文件路径 + # 由 map_server 加载，发布到 /map 供 global_costmap 使用 + map_yaml_path = LaunchConfiguration('map', default=os.path.join( + pkg_dir, 'maps', 'my_map.yaml')) + + # nav2_param_path: Nav2 导航栈参数文件（不含 AMCL，含 slam_toolbox） + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam.yaml')) + + # slam_params_file: slam_toolbox 定位模式的参数文件 + # mode: localization — 只定位不建图 + # 包含 solver 配置、激光匹配参数、TF 帧定义等 + slam_params_file = os.path.join( + pkg_dir, 'config', 'mapper_params_localization.yaml') + + # posegraph_path: slam_toolbox 定位所需的序列化地图文件 + # .posegraph 文件保存了 slam_toolbox 建图时的位姿图 + # 配合 .data 文件，slam_toolbox 可以还原完整地图用于激光匹配 + posegraph_path = os.path.join( + pkg_dir, 'maps', 'my_map.posegraph') + + # =============================3.slam_toolbox 定位模式（替代 AMCL）========================================= + # localization_slam_toolbox_node: + # - 加载 .posegraph 序列化地图用于激光扫描匹配 + # - 发布 map→odom 坐标变换（替代 AMCL 的粒子滤波定位） + # - 发布 /pose 话题（当前定位位姿） + # + # ⚠️ 关键：将 slam_toolbox 的 /map 重映射为 /slam_map + # 避免覆盖 map_server 发布到 /map 的全量静态地图 + # 确保 global_costmap 的 static_layer 能获取完整地图边界 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, + {'use_sim_time': True, + 'map_file_name': posegraph_path}], + remappings=[('/map', '/slam_map')], + ) + + # =============================4.map_server 提供全量静态地图给 global_costmap ============================= + # map_server: + # - 加载 my_map.yaml + my_map.pgm 格式的传统静态地图 + # - 发布完整地图到 /map 话题（199×266 像素，分辨率 0.05 m） + # - 这是 global_costmap 静态层的唯一数据来源 + # - 是 lifecycle 节点，需要 lifecycle_manager 激活 + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, + 'use_sim_time': True}], + ) + + # lifecycle_manager: 管理 map_server 的生命周期（configure → activate） + # autostart=True 表示启动后自动激活 map_server + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': True, + 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================5.仅启动 nav2 navigation（不含 localization）================================= + # 为什么用 navigation_launch 而不是 bringup_launch？ + # bringup_launch 包含 localization_launch（AMCL + map_server） + # 由于 slam_toolbox 已经替代了 AMCL，只需 navigation_launch 的： + # - planner_server — 全局/局部路径规划 + # - controller_server — 路径跟踪控制（MPPI） + # - behavior_server — 行为树（spin/backup/wait 恢复） + # - bt_navigator — 行为树导航编排 + # - costmap 层 — global_costmap + local_costmap + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path}.items(), + ) + + # =============================6.Gazebo仿真设置========================================================== + # robot_name_in_model: Gazebo 中机器人的模型名称，需与 URDF 中一致 + robot_name_in_model = 'mycar' + + # default_model_path: 机器人 URDF 模型文件路径 + # 使用 xacro 预处理生成最终的 URDF + default_model_path = os.path.join( + origincar_urdf_dir, "urdf", "origincar.urdf") + + # 声明 model 启动参数，支持命令行覆盖 URDF 路径 + model = DeclareLaunchArgument( + name="model", default_value=default_model_path) + + # Gazebo 世界文件路径 + gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world') + + # 启动 Gazebo 仿真器 + # --verbose: 详细日志输出 + # -s libgazebo_ros_init.so: 加载 ROS-Gazebo 初始化插件 + # -s libgazebo_ros_factory.so: 加载模型生成插件 + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', gazebo_world_path], + output='screen') + + # 在 Gazebo 中生成机器人模型 + # -entity: 模型实例名称 + # -file: URDF 模型文件 + spawn_entity_cmd = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=['-entity', robot_name_in_model, + '-file', default_model_path], + output='screen' + ) + + # robot_description: 将 URDF/XACRO 模型转换为 ROS 参数 + # robot_state_publisher 订阅此参数发布 TF 树 + robot_description = ParameterValue( + Command(["xacro ", LaunchConfiguration("model")]), value_type=str) + + # robot_state_publisher: 发布机器人各连杆的 TF 变换 + # base_link → laser_link, wheel_link 等关节状态 + # publish_frequency=30Hz 保证平滑的 TF 更新 + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[{"robot_description": robot_description, + 'use_sim_time': True, 'publish_frequency': 30.0}] + ) + + # =============================7.将所有 Action 添加到 LaunchDescription ================================== + # 启动顺序由 Launch 系统自动管理依赖 + ld.add_action(model) # 1. 声明模型参数 + ld.add_action(start_gazebo_cmd) # 2. 启动 Gazebo 仿真器 + ld.add_action(spawn_entity_cmd) # 3. 生成机器人模型 + ld.add_action(robot_state_publisher) # 4. 发布 TF 树 + ld.add_action(map_server_node) # 5. 加载全量静态地图 → /map + ld.add_action(map_server_lifecycle) # 6. 激活 map_server + ld.add_action(slam_toolbox_node) # 7. 启动 SLAM 定位 → map→odom TF + ld.add_action(navigation_launch) # 8. 启动 Nav2 导航栈 + + return ld + + diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py new file mode 100644 index 0000000..c2020d6 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py @@ -0,0 +1,181 @@ +# ============================================================================ +# gc_nav2_with_slam_online.launch.py +# 功能：已知全局地图 + SLAM 在线更新 + 导航 +# +# 架构： +# ┌─ /map（全量静态地图，199×266） +# map_server ──────────┤ +# └─ 来自 my_map.yaml + my_map.pgm +# +# ┌─ map→odom TF（激光扫描匹配定位） +# slam_toolbox ────────┤ +# (async mapping) └─ /slam_map（实时建图结果，重映射避免冲突） +# +# navigation ┌─ global_costmap/static_layer ← /map（全量地图） +# ├─ local_costmap/obstacle_layer ← /scan（实时避障） +# └─ planner + controller + behavior +# +# 关键设计： +# 1. map_server 提供全量静态底图 → Foxglove 中看到完整房间布局 +# 2. slam_toolbox 定位 + 实时建图，/slam_map 可单独查看更新效果 +# 3. 实时避障通过 costmap 的 obstacle_layer 实现（不依赖地图更新） +# 4. 定期调用 /slam_toolbox/serialize_map 保存更新后的地图 +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, SetEnvironmentVariable +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command +from launch.actions import ExecuteProcess + + +def generate_launch_description(): + """启动 Gazebo + 已知全局地图 + SLAM 在线定位建图 + Nav2 导航""" + ld = LaunchDescription() + + # =============================1.包路径================================================================ + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + origincar_urdf_dir = get_package_share_directory('origincar_description') + + # =============================2.参数================================================================== + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + map_yaml_path = os.path.join(pkg_dir, 'maps', 'zhihui.yaml') + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam.yaml')) + slam_params_file = os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml') + posegraph_path = os.path.join(pkg_dir, 'maps', 'zhihui.posegraph') + + # =============================3.map_server：全量静态地图（Foxglove 看到的全局地图）======================== + map_server_node = Node( + package='nav2_map_server', + executable='map_server', + name='map_server', + output='screen', + parameters=[{'yaml_filename': map_yaml_path, 'use_sim_time': True}], + ) + map_server_lifecycle = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_map', + output='screen', + parameters=[{'use_sim_time': True, 'autostart': True, + 'node_names': ['map_server']}], + ) + + # =============================4.slam_toolbox：定位 + 实时建图============================================= + # ⚠️ /map 重映射到 /slam_map，避免覆盖 map_server 的全量地图 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, {'use_sim_time': True}], + remappings=[('/map', '/slam_map')], + ) + + # =============================5.加载已有序列化地图======================================================= + # 通过 ros2 service call 在 slam_toolbox 启动后加载 + import launch + load_map_cmd = ExecuteProcess( + cmd=[ + 'bash', '-c', + # 等待 slam_toolbox 服务就绪后加载地图 + 'sleep 8 && ' + 'ros2 service call /slam_toolbox/deserialize_map ' + 'slam_toolbox/srv/DeserializePoseGraph ' + "'{filename: \"%s\", match_type: 1}'" % posegraph_path, + ], + output='screen', + ) + + # =============================6.Nav2 导航栈============================================================ + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # =============================7.Gazebo 仿真============================================================ + robot_name_in_model = 'mycar' + default_model_path = os.path.join(origincar_urdf_dir, 'urdf', 'origincar.urdf') + model = DeclareLaunchArgument(name='model', default_value=default_model_path) + gazebo_world_path = os.path.join(origincar_urdf_dir, 'world', 'zhihui.world') + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', + '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', + gazebo_world_path], + output='screen', + ) + + # =============================7a.机器人初始位姿参数===================================================== + # 通过命令行参数覆盖，例如： + # ros2 launch ... spawn_x:=1.0 spawn_y:=-2.0 spawn_yaw:=1.57 + spawn_x = LaunchConfiguration('spawn_x', default='-4.311092') + spawn_y = LaunchConfiguration('spawn_y', default='-4.299756') + spawn_z = LaunchConfiguration('spawn_z', default='0.0') + spawn_yaw = LaunchConfiguration('spawn_yaw', default='0.0') + + set_spawn_x = SetEnvironmentVariable('SPAWN_X', spawn_x) + set_spawn_y = SetEnvironmentVariable('SPAWN_Y', spawn_y) + set_spawn_z = SetEnvironmentVariable('SPAWN_Z', spawn_z) + set_spawn_yaw = SetEnvironmentVariable('SPAWN_YAW', spawn_yaw) + + # =============================7b.在 Gazebo 中生成机器人================================================= + # 通过 bash 读取环境变量，确保位姿参数正确传递 + spawn_entity_cmd = ExecuteProcess( + cmd=['bash', '-c', + 'ros2 run gazebo_ros spawn_entity.py ' + '-entity mycar ' + f'-file {default_model_path} ' + '-x $SPAWN_X -y $SPAWN_Y -z $SPAWN_Z -Y $SPAWN_YAW'], + output='screen', + ) + + robot_description = ParameterValue( + Command(['xacro ', LaunchConfiguration('model')]), value_type=str, + ) + robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': robot_description, + 'use_sim_time': True, 'publish_frequency': 30.0}], + ) + + # =============================8.组装================================================================== + ld.add_action(model) + ld.add_action(DeclareLaunchArgument( + 'spawn_x', default_value='-4.311092', + description='机器人初始 x 坐标（m）')) + ld.add_action(DeclareLaunchArgument( + 'spawn_y', default_value='-4.299756', + description='机器人初始 y 坐标（m）')) + ld.add_action(DeclareLaunchArgument( + 'spawn_z', default_value='0.0', + description='机器人初始 z 坐标（m）')) + ld.add_action(DeclareLaunchArgument( + 'spawn_yaw', default_value='0.0', + description='机器人初始偏航角（rad）')) + ld.add_action(start_gazebo_cmd) + ld.add_action(set_spawn_x) + ld.add_action(set_spawn_y) + ld.add_action(set_spawn_z) + ld.add_action(set_spawn_yaw) + ld.add_action(spawn_entity_cmd) + ld.add_action(robot_state_publisher) + ld.add_action(map_server_node) + ld.add_action(map_server_lifecycle) + ld.add_action(slam_toolbox_node) + ld.add_action(load_map_cmd) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py new file mode 100644 index 0000000..24d1221 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py @@ -0,0 +1,56 @@ +# ============================================================================ +# gc_nav2_with_slam_online_real.launch.py +# 功能：真机实时建图 — slam_toolbox 从零建图 + Nav2 导航 +# 依赖：需先启动 origincar_bringup（底盘驱动 + EKF） +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + """真机实时建图：slam_toolbox 从零建图 + Nav2 导航""" + ld = LaunchDescription() + + # === 1. 包路径 === + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + + # === 2. 参数 === + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + pkg_dir, 'params', 'gc_navigation_slam.yaml')) + slam_params_file = os.path.join(pkg_dir, 'config', 'slam_toolbox_mapping.yaml') + + # === 3. slam_toolbox：实时建图 → 发布 map→odom === + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[slam_params_file, + {'use_sim_time': use_sim_time}], + ) + + # === 4. Nav2 导航栈 === + navigation_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/navigation_launch.py']), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path, + }.items(), + ) + + # === 5. TF 树由底盘启动文件（origincar_base）提供，此处不再重复发布 === + + # === 6. 组装 === + ld.add_action(slam_toolbox_node) + ld.add_action(navigation_launch) + + return ld diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py new file mode 100644 index 0000000..f1f8042 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + + +def generate_launch_description(): + # 获取参数文件路径 + pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox') + params_file = os.path.join( + pkg_share, 'config', 'mapper_params_lifelong.yaml') + + # 创建SLAM Toolbox节点 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + return LaunchDescription([ + slam_toolbox_node + ]) diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py new file mode 100644 index 0000000..63f180e --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + + +def generate_launch_description(): + # 获取参数文件路径 + pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox') + params_file = os.path.join( + pkg_share, 'config', 'mapper_params_localization.yaml') + + # 创建SLAM Toolbox节点 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='localization_slam_toolbox_node', # 或 sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + return LaunchDescription([ + slam_toolbox_node + ]) diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py new file mode 100644 index 0000000..6f6ccfb --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +import os + + +def generate_launch_description(): + # 获取参数文件路径 + pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox') + params_file = os.path.join( + pkg_share, 'config', 'mapper_params_online_async.yaml') + + # 创建SLAM Toolbox节点 + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', # 或 sync_slam_toolbox_node + name='slam_toolbox', + output='screen', + parameters=[params_file] + ) + + return LaunchDescription([ + slam_toolbox_node + ]) diff --git a/src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py b/src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py new file mode 100644 index 0000000..1247175 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py @@ -0,0 +1,196 @@ +#!/usr/bin/env python3 +# ============================================================================ +# gc_slam_mapping.launch.py +# 功能：Gazebo 仿真环境 + SLAM 建图启动文件 +# +# 适用场景： +# - 在 Gazebo 仿真中遥控机器人建立环境地图 +# - 在已有地图基础上增量更新 +# - 单独调试 slam_toolbox 建图参数 +# +# 架构： +# Gazebo 仿真器 — 加载 zhihui.world（智慧楼墙体环境） +# spawn_entity — 在 Gazebo 中生成机器人模型 +# robot_state_publisher — 发布机器人 TF 树（URDF 模型） +# joint_state_publisher — 发布关节状态 +# async_slam_toolbox_node — 激光 SLAM 建图（mapping 模式） +# 发布 map→odom TF +# 发布 /map 话题（实时地图） +# +# 使用方式： +# ros2 launch gc_navigation2_slamtoolbox gc_slam_mapping.launch.py +# +# 保存地图： +# ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph \ +# "{filename: '/home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map'}" +# ros2 run nav2_map_server map_saver_cli -f +# ============================================================================ + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, ExecuteProcess, SetEnvironmentVariable +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue +from launch.substitutions import Command + + +def generate_launch_description(): + """生成 LaunchDescription，启动 Gazebo + slam_toolbox 建图""" + + # ============================ 1. 包路径 ========================================= + pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox') + origincar_urdf_dir = get_package_share_directory('origincar_description') + + # ============================ 2. 声明启动参数 ==================================== + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # slam_params_file: slam_toolbox 配置文件 + slam_params_file = LaunchConfiguration( + 'slam_params_file', + default=os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml')) + + # map_file_name: 可选，加载已有序列化地图继续建图 + map_file_name = LaunchConfiguration('map_file_name', default='') + + # model: 机器人 URDF 模型路径（用于 xacro 处理） + # origincar.urdf 是纯 URDF（不含 xacro 宏），xacro 会原样透传 + default_model_path = os.path.join( + origincar_urdf_dir, 'urdf', 'origincar.urdf') + model = DeclareLaunchArgument( + name='model', default_value=default_model_path) + + # spawn_model: Gazebo 中生成机器人用的 URDF（不含 xacro 宏） + spawn_model_path = os.path.join( + origincar_urdf_dir, 'urdf', 'origincar.urdf') + + # ============================ 3. 设置 GAZEBO_MODEL_PATH ========================== + # 让 Gazebo 能找到 zhihui 模型，同时保留标准模型路径 + gazebo_model_path = os.path.join(pkg_dir, 'world') + existing_gazebo_path = os.environ.get('GAZEBO_MODEL_PATH', '') + if existing_gazebo_path: + full_gazebo_path = f'{gazebo_model_path}:{existing_gazebo_path}' + else: + full_gazebo_path = gazebo_model_path + set_gazebo_model_path = SetEnvironmentVariable( + name='GAZEBO_MODEL_PATH', + value=full_gazebo_path + ) + + # ============================ 4. 启动 Gazebo 仿真器 ============================== + gazebo_world_path = os.path.join(pkg_dir, 'world', 'zhihui.world') + start_gazebo_cmd = ExecuteProcess( + cmd=['gazebo', '--verbose', + '-s', 'libgazebo_ros_init.so', + '-s', 'libgazebo_ros_factory.so', + gazebo_world_path], + output='screen' + ) + + # ============================ 5. 机器人初始位姿参数 ============================== + # 通过命令行参数覆盖，例如： + # ros2 launch ... spawn_x:=1.0 spawn_y:=-2.0 spawn_yaw:=1.57 + spawn_x = LaunchConfiguration('spawn_x', default='-4.311092') + spawn_y = LaunchConfiguration('spawn_y', default='-4.299756') + spawn_z = LaunchConfiguration('spawn_z', default='0.0') + spawn_yaw = LaunchConfiguration('spawn_yaw', default='0.0') + + # 将位姿参数设为环境变量，供 spawn 命令使用 + set_spawn_x = SetEnvironmentVariable('SPAWN_X', spawn_x) + set_spawn_y = SetEnvironmentVariable('SPAWN_Y', spawn_y) + set_spawn_z = SetEnvironmentVariable('SPAWN_Z', spawn_z) + set_spawn_yaw = SetEnvironmentVariable('SPAWN_YAW', spawn_yaw) + + # ============================ 6. 在 Gazebo 中生成机器人 ========================== + # 通过 bash 读取环境变量，确保位姿参数正确传递 + robot_name_in_model = 'mycar' + spawn_entity_cmd = ExecuteProcess( + cmd=['bash', '-c', + 'ros2 run gazebo_ros spawn_entity.py ' + '-entity mycar ' + f'-file {spawn_model_path} ' + '-x $SPAWN_X -y $SPAWN_Y -z $SPAWN_Z -Y $SPAWN_YAW'], + output='screen' + ) + + # ============================ 7. robot_state_publisher =========================== + robot_description = ParameterValue( + Command(['xacro ', LaunchConfiguration('model')]), + value_type=str + ) + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{ + 'robot_description': robot_description, + 'use_sim_time': True, + 'publish_frequency': 30.0, + }], + ) + + # ============================ 8. joint_state_publisher =========================== + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher', + output='screen', + parameters=[{'use_sim_time': use_sim_time}], + ) + + # ============================ 9. slam_toolbox 建图节点 ============================ + slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + output='screen', + parameters=[ + slam_params_file, + { + 'use_sim_time': use_sim_time, + 'map_file_name': map_file_name, + }, + ], + ) + + # ============================ 10. 组装 LaunchDescription ========================= + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='使用仿真时间（Gazebo=true, 实车=false)'), + DeclareLaunchArgument( + 'slam_params_file', + default_value=os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml'), + description='slam_toolbox 参数配置文件路径'), + DeclareLaunchArgument( + 'map_file_name', + default_value='', + description='已有序列化地图路径（.posegraph），留空则从零开始建图'), + DeclareLaunchArgument( + 'spawn_x', default_value='-4.311092', + description='机器人初始 x 坐标（m）'), + DeclareLaunchArgument( + 'spawn_y', default_value='-4.299756', + description='机器人初始 y 坐标（m）'), + DeclareLaunchArgument( + 'spawn_z', default_value='0.0', + description='机器人初始 z 坐标（m）'), + DeclareLaunchArgument( + 'spawn_yaw', default_value='0.0', + description='机器人初始偏航角（rad）'), + model, + + set_gazebo_model_path, + set_spawn_x, + set_spawn_y, + set_spawn_z, + set_spawn_yaw, + start_gazebo_cmd, + spawn_entity_cmd, + robot_state_publisher_node, + joint_state_publisher_node, + slam_toolbox_node, + ]) diff --git a/src/gc_navigation2_slamtoolbox/maps/my_map.data b/src/gc_navigation2_slamtoolbox/maps/my_map.data new file mode 100644 index 0000000000000000000000000000000000000000..68c09b69dc3bf5b5cfa9e564f2a8bdf86cfec9d8 GIT binary patch literal 1400948 zcmeF42|QKb-v5tz9+IR&$C#lcDHPTsLx~0?rE(~#j2W6khSEr-P~oJ0%_^Ei+NTmK z5y>3KOfoxW$A4M7e)rzrz4!Uw=RUvtJa=$juXEn#yY}8|ul-%$wa(uAeAe1h6!PWg z>buj~W9I>9|DE1mOO`nMZr!nSkE;ZQo1dGX1FbUg{=@4}EtHNECO)Koth6k^&)?gV zYU=8@)pw_h>o%&@&TY=VKXc%wO#kuK-PzaQd&v?jXH)Hb^POJXTzzqVoIh8` z#7SJ}D?hn6ZuFJs=NbY(zaR=y+I?3@9JytGr`->Roe(>$oq3c!5?2% zZ{P0c>c0l9@pH)^C|G*U$58Ml_(KZ$O_Vb0N7Bz7{9%v&PTRZ#Ts&OK-SMIIgnz7S zz0+%_XMiU@>K{oHV6IJj2}IFR{?VGw`~K3J6Kgv1Ao^i>#&QD*!|`b(~I@%Hv09VLR+692L03crPmwM<>zd|h2}ocu_hSV8iy zWM<|S;EC&ZqEz^c82U01G7~Sm{XT!@9m=nfK(0giHGvG}iPVWaCSJ?E-2?V}JFT;^ zaMIGTa+rw1-!8JVc3P-qR>o1rH 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z009U<00Izz00bZa0SG_<0uX=z1Rwwb2tWV=5P$##AOHafKmY;|fB*y_009U<;QzEw z?=EtcVI0R_jgIenPhz~q%P}V27r`bFM4|>8W1|sEIqnWRBxYe|VIZUaC2Ld1$ZIJdhe|UXwas^V-yp8BEcMCzxihf=>(J)HWj>XFp%Rgb3rta>cf>)-Nt z>PXcSsbf|7nTR((Lz`|mwCQF;n{G6;=_W&)ZZNdz@S#ly4{bVhXw!j1n-04?|2ggW z>FJ5N^8J-hkq2m!`(Hmmn}=t5on_l++4P<*@7eI4?cT~}_dFCm8{M + + + gc_navigation2_slamtoolbox + 0.0.0 + TODO: Package description + guoch + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml new file mode 100644 index 0000000..867a16a --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml @@ -0,0 +1,413 @@ +amcl: + ros__parameters: + use_sim_time: True + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 10.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: True + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 20 + default_server_timeout: 20 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 30.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.0 + wz_max: 1.9 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + # Option to replace Cost and use Obstacles instead + # ObstaclesCritic: + # enabled: true + # cost_power: 1 + # repulsion_weight: 1.5 + # critical_weight: 20.0 + # consider_footprint: false + # collision_cost: 10000.0 + # collision_margin_distance: 0.1 + # near_goal_distance: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + # VelocityDeadbandCritic: + # enabled: true + # cost_power: 1 + # cost_weight: 35.0 + # deadband_velocities: [0.05, 0.05, 0.05] + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: True + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: True + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: True + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +map_server: + ros__parameters: + use_sim_time: True + yaml_filename: "turtlebot3_world.yaml" + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: True + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false # whether or not to downsample the map + downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) + tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found. + allow_unknown: true # allow traveling in unknown space + max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable + max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution + max_planning_time: 5.0 # max time in s for planner to plan, smooth + motion_model_for_search: "REEDS_SHEPP" # or REEDS_SHEPP 可以倒车 + angle_quantization_bins: 72 # Number of angle bins for search + analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. + analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting + minimum_turning_radius: 0.40 # minimum turning radius in m of path / vehicle + reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1 + change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 + non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1 + cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. + retrospective_penalty: 0.015 + lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. + cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. + viz_expansions: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance. + smooth_path: True # If true, does a simple and quick smoothing post-processing to the path + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +smoother_server: + ros__parameters: + use_sim_time: True + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + # drive_on_heading: + # plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.5 + use_sim_time: True + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: True + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml new file mode 100644 index 0000000..cbcdef5 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml @@ -0,0 +1,343 @@ +slam_toolbox: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 50 + default_server_timeout: 20 + # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待 + default_nav_to_pose_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 20.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 20 + model_dt: 0.05 + batch_size: 200 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.0 + wz_max: 1.9 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom + robot_base_frame: base_link + use_sim_time: False + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.2 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: False + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: False + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.2 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: False + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false + downsampling_factor: 1 + tolerance: 0.25 + allow_unknown: true + max_iterations: 100000 + max_on_approach_iterations: 1000 + max_planning_time: 5.0 + motion_model_for_search: "REEDS_SHEPP" + angle_quantization_bins: 72 + analytic_expansion_ratio: 3.5 + analytic_expansion_max_length: 3.0 + minimum_turning_radius: 0.40 + reverse_penalty: 1.3 # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车） + change_penalty: 0.0 + non_straight_penalty: 1.2 + cost_penalty: 2.0 + retrospective_penalty: 0.015 + lookup_table_size: 5.0 + cache_obstacle_heuristic: false + viz_expansions: false + smooth_path: True + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +smoother_server: + ros__parameters: + use_sim_time: False + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" # 需保留以匹配默认 BT XML + backup: + plugin: "nav2_behaviors/BackUp" + backup_dist: 0.8 + backup_speed: 0.18 + wait: + plugin: "nav2_behaviors/Wait" + wait_duration: 0.5 + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.5 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: False + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file mode 100644 index 0000000..31f37c5 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak @@ -0,0 +1,343 @@ +slam_toolbox: + ros__parameters: + use_sim_time: True + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 50 + default_server_timeout: 20 + # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待 + default_nav_to_pose_bt_xml: /home/guoch/test_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 20.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 36 + model_dt: 0.05 + batch_size: 1000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.0 + wz_max: 1.9 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + transform_tolerance: 0.5 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: True + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: True + transform_tolerance: 0.5 + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: True + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: True + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false + downsampling_factor: 1 + tolerance: 0.25 + allow_unknown: true + max_iterations: 1000000 + max_on_approach_iterations: 1000 + max_planning_time: 5.0 + motion_model_for_search: "REEDS_SHEPP" + angle_quantization_bins: 72 + analytic_expansion_ratio: 3.5 + analytic_expansion_max_length: 3.0 + minimum_turning_radius: 0.40 + reverse_penalty: 1.3 # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车） + change_penalty: 0.0 + non_straight_penalty: 1.2 + cost_penalty: 2.0 + retrospective_penalty: 0.015 + lookup_table_size: 20.0 + cache_obstacle_heuristic: false + viz_expansions: false + smooth_path: True + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +smoother_server: + ros__parameters: + use_sim_time: True + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors/Spin" # 需保留以匹配默认 BT XML + backup: + plugin: "nav2_behaviors/BackUp" + backup_dist: 0.8 + backup_speed: 0.18 + wait: + plugin: "nav2_behaviors/Wait" + wait_duration: 0.5 + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.5 + use_sim_time: True + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + loop_rate: 20 + use_sim_time: True + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation2_slamtoolbox/world/zhihui/model.config b/src/gc_navigation2_slamtoolbox/world/zhihui/model.config new file mode 100644 index 0000000..70585d9 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/world/zhihui/model.config @@ -0,0 +1,11 @@ + + + zhihui + 1.0 + model.sdf + + + + + + diff --git a/src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf b/src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf new file mode 100644 index 0000000..e1ef463 --- /dev/null +++ b/src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf @@ -0,0 +1,471 @@ + + + + -2.11635 -1.73906 0 0 -0 0 + + + + + 1.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -1.61999 -0.744014 0 0 -0 0 + + + + + + 2.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 1.62754 -0.744014 0 0 -0 0 + + + + + + 1 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.827543 -0.3078 0 0 -0 1.5708 + + + + + + 1 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 0.327543 -0.319014 0 0 -0 1.5708 + + + + + + 5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 0.062177 -2.89677 0 0 -0 0 + + + + + + 3.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.305988 0.758719 0 0 -0 0 + + + + + + 3.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.300519 2.09188 0 0 -0 0 + + + + + + 1.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 1.65085 1.41824 0 0 -0 -1.5708 + + + + + + 2.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.75 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 2.3125 1.40828 0 0 -0 1.5708 + + + + + + 5.25 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5.25 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -0.19189 2.74413 0 0 -0 3.14159 + + + + + + 2 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 2.6265 -1.8264 0 0 -0 1.5708 + + + + + + 1.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.5 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -2.25486 1.43754 0 0 -0 -1.5708 + + + + + + 3 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -2.89932 1.47176 0 0 -0 -1.5708 + + + + + + 2.25 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.25 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -1.87754 0.1172 0 0 -0 3.14159 + + + + + + 2.13496 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2.13496 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + 1.32002 0.107134 0 0 -0 0.001157 + + + + + + 2 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 2 0.15 2.5 + + + + + 1 1 1 1 + + + 0 + + + -2.50971 -1.81518 0 0 -0 1.5708 + + 1 + + diff --git a/src/gc_navigation_fish/CMakeLists.txt b/src/gc_navigation_fish/CMakeLists.txt new file mode 100644 index 0000000..21e4ee1 --- /dev/null +++ b/src/gc_navigation_fish/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.8) +project(gc_navigation_fish) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +install( + DIRECTORY launch param maps + DESTINATION share/${PROJECT_NAME} +) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/gc_navigation_fish/launch/gc_navigation.launch.py b/src/gc_navigation_fish/launch/gc_navigation.launch.py new file mode 100644 index 0000000..2419737 --- /dev/null +++ b/src/gc_navigation_fish/launch/gc_navigation.launch.py @@ -0,0 +1,34 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # =============================1.定位到包的地址============================================================= + gc_navigation_fish_dir = get_package_share_directory( + 'gc_navigation_fish') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') + + # =============================2.声明参数，获取配置文件路径=================================================== + # use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间 + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + map_yaml_path = LaunchConfiguration('map', default=os.path.join( + gc_navigation_fish_dir, 'maps', 'test_map.yaml')) + nav2_param_path = LaunchConfiguration('params_file', default=os.path.join( + gc_navigation_fish_dir, 'param', 'gc_navigation.yaml')) + # =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件============== + nav2_bringup_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [nav2_bringup_dir, '/launch', '/bringup_launch.py']), + launch_arguments={ + 'map': map_yaml_path, + 'use_sim_time': use_sim_time, + 'params_file': nav2_param_path}.items(), + ) + + + return LaunchDescription([nav2_bringup_launch]) diff --git a/src/gc_navigation_fish/maps/test_map.pgm b/src/gc_navigation_fish/maps/test_map.pgm new file mode 100644 index 0000000000000000000000000000000000000000..079a0900a0ec172ea15efa44f0580893c0f781d1 GIT binary patch literal 57839 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0.0.0 + TODO: Package description + guoch + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + nav2_bringup + + ament_cmake + + diff --git a/src/gc_navigation_fish/param/gc_navigation.yaml b/src/gc_navigation_fish/param/gc_navigation.yaml new file mode 100644 index 0000000..0b6f53a --- /dev/null +++ b/src/gc_navigation_fish/param/gc_navigation.yaml @@ -0,0 +1,408 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 10.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: False + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_smooth_path_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_back_up_action_bt_node + - nav2_drive_on_heading_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_globally_updated_goal_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_truncate_path_local_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_path_expiring_timer_condition + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + - nav2_controller_cancel_bt_node + - nav2_path_longer_on_approach_bt_node + - nav2_wait_cancel_bt_node + - nav2_spin_cancel_bt_node + - nav2_back_up_cancel_bt_node + - nav2_drive_on_heading_cancel_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + controller_frequency: 30.0 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + vx_std: 0.2 + vy_std: 0.0 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.0 + wz_max: 1.9 + iteration_count: 1 + temperature: 0.3 + gamma: 0.015 + motion_model: "Ackermann" + visualize: false + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.4 + critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + # Option to replace Cost and use Obstacles instead + # ObstaclesCritic: + # enabled: true + # cost_power: 1 + # repulsion_weight: 1.5 + # critical_weight: 20.0 + # consider_footprint: false + # collision_cost: 10000.0 + # collision_margin_distance: 0.1 + # near_goal_distance: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: true + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + forward_preference: true + # VelocityDeadbandCritic: + # enabled: true + # cost_power: 1 + # cost_weight: 35.0 + # deadband_velocities: [0.05, 0.05, 0.05] + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: False + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: False + footprint: "[[0.14, 0.085], + [0.14, -0.085], + [-0.14, -0.085], + [-0.14, 0.085]]" + footprint_padding: 0.02 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_server: + ros__parameters: + use_sim_time: False + yaml_filename: "turtlebot3_world.yaml" + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + planner_plugins: ["GridBased"] + use_sim_time: False + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + downsample_costmap: false # whether or not to downsample the map + downsampling_factor: 1 # multiplier for the resolution of the costmap layer (e.g. 2 on a 5cm costmap would be 10cm) + tolerance: 0.25 # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found. + allow_unknown: true # allow traveling in unknown space + max_iterations: 1000000 # maximum total iterations to search for before failing (in case unreachable), set to -1 to disable + max_on_approach_iterations: 1000 # Maximum number of iterations after within tolerances to continue to try to find exact solution + max_planning_time: 5.0 # max time in s for planner to plan, smooth + motion_model_for_search: "REEDS_SHEPP" # or REEDS_SHEPP 可以倒车 + angle_quantization_bins: 72 # Number of angle bins for search + analytic_expansion_ratio: 3.5 # The ratio to attempt analytic expansions during search for final approach. + analytic_expansion_max_length: 3.0 # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting + minimum_turning_radius: 0.40 # minimum turning radius in m of path / vehicle + reverse_penalty: 2.0 # Penalty to apply if motion is reversing, must be => 1 + change_penalty: 0.0 # Penalty to apply if motion is changing directions (L to R), must be >= 0 + non_straight_penalty: 1.2 # Penalty to apply if motion is non-straight, must be => 1 + cost_penalty: 2.0 # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable. + retrospective_penalty: 0.015 + lookup_table_size: 20.0 # Size of the dubin/reeds-sheep distance window to cache, in meters. + cache_obstacle_heuristic: false # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static. + viz_expansions: false # For Hybrid nodes: Whether to publish expansions on the /expansions topic as an array of poses (the orientation has no meaning). WARNING: heavy to compute and to display, for debug only as it degrades the performance. + smooth_path: True # If true, does a simple and quick smoothing post-processing to the path + + smoother: + max_iterations: 1000 + w_smooth: 0.3 + w_data: 0.2 + tolerance: 1.0e-10 + do_refinement: true + refinement_num: 2 + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +smoother_server: + ros__parameters: + use_sim_time: False + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.1 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 diff --git a/src/gc_navigation_fish/param/navigation_test.yaml b/src/gc_navigation_fish/param/navigation_test.yaml new file mode 100644 index 0000000..86160da --- /dev/null +++ b/src/gc_navigation_fish/param/navigation_test.yaml @@ -0,0 +1,173 @@ +# ========================= +# 🚫 删除 amcl（SLAM模式不需要） +# ========================= +# ❌ 已移除 amcl 整块 +# ❌ 已移除 amcl_map_client +# ❌ 已移除 amcl_rclcpp_node + + +# ========================= +# 🚫 删除 map_server（由 slam_toolbox 提供 map） +# ========================= +# ❌ 已移除 map_server +# ❌ 已移除 map_saver + + +# ========================= +# BT Navigator +# ========================= +bt_navigator: + ros__parameters: + use_sim_time: false # ✅ 改为 false（真车） + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_is_path_valid_condition_bt_node + - nav2_navigate_to_pose_action_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: false # ✅ 改为 false + + +# ========================= +# Controller Server（保持你的MPPI） +# ========================= +controller_server: + ros__parameters: + use_sim_time: false # ✅ 改为 false + controller_frequency: 30.0 + controller_plugins: ["FollowPath"] # ✅ 确保声明插件 + + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + motion_model: "Ackermann" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + vx_max: 0.5 + vx_min: -0.35 + wz_max: 1.9 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: false # ✅ 改为 false + + +# ========================= +# Planner Server（Smac Hybrid A*） +# ========================= +planner_server: + ros__parameters: + use_sim_time: false # ✅ 改为 false + planner_plugins: ["GridBased"] + + GridBased: + plugin: "nav2_smac_planner/SmacPlannerHybrid" + motion_model_for_search: "REEDS_SHEPP" + minimum_turning_radius: 0.40 + allow_unknown: true + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: false # ✅ 改为 false + + +# ========================= +# Local Costmap +# ========================= +local_costmap: + local_costmap: + ros__parameters: + use_sim_time: false # ✅ 改为 false + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + plugins: ["voxel_layer", "inflation_layer"] + + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + observation_sources: scan + scan: + topic: /scan + data_type: "LaserScan" + marking: true + clearing: true + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + inflation_radius: 0.55 + + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: false # ✅ 改为 false + + +# ========================= +# Global Costmap +# ========================= +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: false # ✅ 改为 false + global_frame: map + robot_base_frame: base_link + resolution: 0.05 + track_unknown_space: true + plugins: ["obstacle_layer", "inflation_layer"] # ✅ 删除 static_layer（SLAM模式不需要） + + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + observation_sources: scan + scan: + topic: /scan + data_type: "LaserScan" + marking: true + clearing: true + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + inflation_radius: 0.55 + + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: false # ✅ 改为 false + + +# ========================= +# Behavior Server +# ========================= +behavior_server: + ros__parameters: + use_sim_time: false # ✅ 改为 false + global_frame: odom + robot_base_frame: base_link + behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] + + spin: + plugin: "nav2_behaviors/Spin" + backup: + plugin: "nav2_behaviors/BackUp" + drive_on_heading: + plugin: "nav2_behaviors/DriveOnHeading" + wait: + plugin: "nav2_behaviors/Wait" + + +# ========================= +# Waypoint Follower +# ========================= +waypoint_follower: + ros__parameters: + use_sim_time: false # ✅ 改为 false + loop_rate: 20 \ No newline at end of file diff --git a/src/gc_slam_toolbox_fish/CMakeLists.txt b/src/gc_slam_toolbox_fish/CMakeLists.txt new file mode 100644 index 0000000..262d40e --- /dev/null +++ b/src/gc_slam_toolbox_fish/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.8) +project(gc_slam_toolbox_fish) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) +install( + DIRECTORY config launch rviz + DESTINATION share/${PROJECT_NAME} +) +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/gc_slam_toolbox_fish/config/gc_2d.lua b/src/gc_slam_toolbox_fish/config/gc_2d.lua new file mode 100644 index 0000000..329a2ee --- /dev/null +++ b/src/gc_slam_toolbox_fish/config/gc_2d.lua @@ -0,0 +1,63 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + -- base_link改为odom,发布map到odom之间的位姿态 + published_frame = "odom", + odom_frame = "odom", + -- true改为false，不用提供里程计数据 + provide_odom_frame = false, + -- false改为true，仅发布2D位资 + publish_frame_projected_to_2d = true, + -- false改为true，使用里程计数据 + use_odometry = true, + use_nav_sat = false, + use_landmarks = false, + -- 0改为1,使用一个雷达 + num_laser_scans = 1, + -- 1改为0，不使用多波雷达 + num_multi_echo_laser_scans = 0, + -- 10改为1，1/1=1等于不分割 + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 1., + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + landmarks_sampling_ratio = 1., +} + + +-- false改为true，启动2D SLAM +MAP_BUILDER.use_trajectory_builder_2d = true + +-- 0改成0.10,比机器人半径小的都忽略 +TRAJECTORY_BUILDER_2D.min_range = 0.10 +-- 30改成3.5,限制在雷达最大扫描范围内，越小一般越精确些 +TRAJECTORY_BUILDER_2D.max_range = 3.5 +-- 5改成3,传感器数据超出有效范围最大值 +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3. +-- true改成false,不使用IMU数据，大家可以开启，然后对比下效果 +TRAJECTORY_BUILDER_2D.use_imu_data = false +-- false改成true,使用实时回环检测来进行前端的扫描匹配 +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +-- 1.0改成0.1,提高对运动的敏感度 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1) + +-- 0.55改成0.65,Fast csm的最低分数，高于此分数才进行优化。 +POSE_GRAPH.constraint_builder.min_score = 0.65 +--0.6改成0.7,全局定位最小分数，低于此分数则认为目前全局定位不准确 +POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7 + +-- 设置0可关闭全局SLAM +-- POSE_GRAPH.optimize_every_n_nodes = 0 + +return options diff --git a/src/gc_slam_toolbox_fish/launch/catograph.launch.py b/src/gc_slam_toolbox_fish/launch/catograph.launch.py new file mode 100644 index 0000000..ff51eec --- /dev/null +++ b/src/gc_slam_toolbox_fish/launch/catograph.launch.py @@ -0,0 +1,63 @@ + +import os +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + # 定位到功能包的地址 + pkg_share = FindPackageShare( + package='gc_slam_toolbox_fish').find('gc_slam_toolbox_fish') + + # =====================运行节点需要的配置======================================================================= + # 是否使用仿真时间，我们用gazebo，这里设置成true + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + # 地图的分辨率 + resolution = LaunchConfiguration('resolution', default='0.05') + # 地图的发布周期 + publish_period_sec = LaunchConfiguration( + 'publish_period_sec', default='1.0') + # 配置文件夹路径 + configuration_directory = LaunchConfiguration( + 'configuration_directory', default=os.path.join(pkg_share, 'config')) + # 配置文件 + configuration_basename = LaunchConfiguration( + 'configuration_basename', default='gc_2d.lua') + rviz_config_dir = os.path.join(pkg_share, 'config')+"/cartographer.rviz" + print(f"rviz config in {rviz_config_dir}") + + # =====================声明三个节点，cartographer/occupancy_grid_node/rviz_node================================= + cartographer_node = Node( + package='cartographer_ros', + executable='cartographer_node', + name='cartographer_node', + output='screen', + parameters=[{'use_sim_time': use_sim_time}], + arguments=['-configuration_directory', configuration_directory, + '-configuration_basename', configuration_basename]) + + cartographer_occupancy_grid_node = Node( + package='cartographer_ros', + executable='cartographer_occupancy_grid_node', + name='cartographer_occupancy_grid_node', + output='screen', + parameters=[{'use_sim_time': use_sim_time}], + arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec]) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_dir], + parameters=[{'use_sim_time': use_sim_time}], + output='screen') + + # ===============================================定义启动文件======================================================== + ld = LaunchDescription() + ld.add_action(cartographer_node) + ld.add_action(cartographer_occupancy_grid_node) + # ld.add_action(rviz_node) + + return ld diff --git a/src/gc_slam_toolbox_fish/package.xml b/src/gc_slam_toolbox_fish/package.xml new file mode 100644 index 0000000..81a27f4 --- /dev/null +++ b/src/gc_slam_toolbox_fish/package.xml @@ -0,0 +1,18 @@ + + + + gc_slam_toolbox_fish + 0.0.0 + TODO: Package description + guoch + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/ground_slam/.gitignore b/src/ground_slam/.gitignore new file mode 100755 index 0000000..f89770e --- /dev/null +++ b/src/ground_slam/.gitignore @@ -0,0 +1,51 @@ +build/ +bin/ +lib/ +debug/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE +bag + +.vscode/* +log/* +saving/* +debug/* +test/* \ No newline at end of file diff --git a/src/ground_slam/CMakeLists.txt b/src/ground_slam/CMakeLists.txt new file mode 100755 index 0000000..369b352 --- /dev/null +++ b/src/ground_slam/CMakeLists.txt @@ -0,0 +1,118 @@ +cmake_minimum_required(VERSION 3.8) +project(ground_slam) + +# Default to C++17 (ROS2 Humble standard) +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +set(CMAKE_BUILD_TYPE Release) +set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) + +# ── ROS2 packages ────────────────────────────────────── +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(visualization_msgs REQUIRED) + +# ── System dependencies ──────────────────────────────── +find_package(OpenCV 4.2 REQUIRED) +find_package(OpenMP REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(FFTW3 REQUIRED) +find_package(Ceres REQUIRED) +find_package(yaml-cpp REQUIRED) +find_package(Boost REQUIRED) +find_package(VTK REQUIRED) + +# ── Compiler flags ───────────────────────────────────── +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -Wno-reorder") +if(OPENMP_FOUND) + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") +endif() + +# ── Include directories ──────────────────────────────── +include_directories( + ${PROJECT_SOURCE_DIR}/include + ${OpenCV_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + ${FFTW3_INCLUDE_DIRS} + ${YAML_CPP_INCLUDE_DIR} + ${CERES_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} + ${VTK_INCLUDE_DIRS} +) + +# ── Core library ─────────────────────────────────────── +add_library(${PROJECT_NAME}_lib SHARED + src/optimization_2d/pose_graph_2d.cc + src/utils.cc + src/dataset.cc + src/camera.cc + src/frame.cc + src/edge.cc + src/correlation_flow.cc + src/loop_closure.cc + src/map.cc + src/map_builder.cc + src/thread_publisher.cc + src/map_stitcher.cc + src/visualization.cc + src/timer.cc +) + +target_link_libraries(${PROJECT_NAME}_lib + -lfftw3 + -lfftw3f + ${OpenCV_LIBS} + ${EIGEN3_LIBS} + ${CERES_LIBRARIES} + yaml-cpp + ${Boost_LIBRARIES} + ${VTK_LIBRARIES} +) + +# ROS2 deps (header-only via include_directories above, link where needed) +ament_target_dependencies(${PROJECT_NAME}_lib + rclcpp + geometry_msgs + nav_msgs + std_msgs + sensor_msgs + cv_bridge + tf2 + tf2_geometry_msgs + tf2_ros + visualization_msgs +) + +# ── Executable ───────────────────────────────────────── +add_executable(${PROJECT_NAME} main.cpp) +target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}_lib) + +ament_target_dependencies(${PROJECT_NAME} + rclcpp +) + +# ── Install ──────────────────────────────────────────── +install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_lib + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY configs/ + DESTINATION share/${PROJECT_NAME}/configs +) + +ament_package() diff --git a/src/ground_slam/LICENSE.md b/src/ground_slam/LICENSE.md new file mode 100644 index 0000000..1b0ab18 --- /dev/null +++ b/src/ground_slam/LICENSE.md @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + {project} Copyright (C) {year} {fullname} + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. \ No newline at end of file diff --git a/src/ground_slam/README.md b/src/ground_slam/README.md new file mode 100644 index 0000000..9c4fee8 --- /dev/null +++ b/src/ground_slam/README.md @@ -0,0 +1,138 @@ +

    GroundSLAM: A Robust Visual SLAM System for Warehouse Robots Using Ground Textures

     + +

    + 1: Centre for Advanced Robotics Technology Innovation (CARTIN), Nanyang Technological University
    + 2: Spatial AI & Robotics (SAIR) Lab, Computer Science and Engineering, University at Buffalo
    +

    + + +

    + + 🎥 [Youtube] | + 🎥 [Bilibili] + 📊 [Supplementary] + +

    + + +pipeline + +GroundSLAM is a novel **feature-free** and **ground-texture-based** SLAM system for **the warehouse robot**. Our system can provide robust pose estimation and localization in environments with many **dynamic** objects or **open spaces**, such as warehouses, which is very challenging for localization systems with a forward-facing camera or LiDAR. GroundSLAM consists of three components: feature-free visual odometry, ground-texture-based loop detection and map optimization, and map reuse. Specifically, we introduce a kernel cross-correlator for **image-level pose tracking**, loop detection, and map reuse to improve localization accuracy and robustness, and incorporate adaptive pruning strategies to enhance efficiency. Due to these specific designs, GroundSLAM more **robust** and **accurate** when dealing with ground images with **few textures** or with many **repetitive patterns** than the feature-based methods. + + + +**Video:** + + +

    + +

    + +## Test Environment +### Dependencies +* OpenCV 4.2 +* Eigen 3 +* Ceres 2.0.0 +* FFTW3 +* ROS noetic +* Boost +* yaml-cpp +* VTK + +## Build +``` + cd ~/catkin_ws/src + git clone https://github.com/sair-lab/GroundSLAM.git + cd ../ + catkin_make + source ~/catkin_ws/devel/setup.bash +``` + +## Run + +Modify the configuration file in [configs](configs) and then run + +``` +rosrun ground_slam ground_slam src/GroundSLAM/configs/your_config.yaml +``` + +## Data + +### PathTex Dataset + + pathtex_dataset + + +Our data collection platform is a modified Weston SCOUT Robot. The robot is equipped with an IDS uEye monocular camera, which is positioned at the bottom and facing downward, placed at a height of 0.1m above the ground. To ensure constant illumination, a set of LED lights are arranged around the camera. For ground truth, a prism is installed on the top of the robot, and its position is tracked by a Leica Nova MS60 MultiStation laser tracker. + +We collect the data of 10 common ground textures, including 6 $\color{lightblue}{outdoor}$ textures and 4 $\color{red}{indoor}$ textures. The table below provides detailed information and download links for each sequence. The **camera parameters** can be found [here](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQqXW2eDcXNAkBWlSGgq6bgBe2yYdjdcuSJ8HEFey3haGg?e=nOg2ym). + + + + +Sequence Name|Total Size|Total Images|Download Link +:--:|:--:|:--:|:--: +Brick_seq1|1.0g|3119|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EUMENxrPbQBFmzAQmfhMw4YB4df6_uq6ua7H1fo9A7NC7g?e=5Mzy9Q) +Brick_seq2|0.9g|5328|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EY1-hFr2taZJqjxE4k6-W6oB-XenzRAk_RW8DME6VvqUmg?e=PSQEi6) +Carpet1_seq1|1.7g|8458|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ETuQX1ePORdKmQJ_wFXT1mUBS6MqJ3LoZ-eeUsDhhXouug?e=AmMgBX) +Carpet1_seq2|1.7g|8499|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQwzCVxFMT1Hh9BMMNljwSgBM27RXd7v8gdM3KMNWm5mDQ?e=aSoH1v) +Carpet2_seq1|3.0g|15481|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EZ6Y6xsmk6xBjkkU7JNrVQIB_zTovWY8-AOPdW7AN7XJLw?e=GvlK03) +Carpet3_seq1|0.7g|4500|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EXxxHyPOvsFBh8judFQqhtEB-kI6uBzFmKcCiNDZZBzBIw?e=917b5c) +Carpet3_seq2|0.7g|4385|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQHoNL0xtpdKj6e6mhBBLyEBl-7s5N0cJ6U47jzT1tJheg?e=ot4hSH) +Carpet3_seq3|1.0g|6428|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EcE3o-HN0UJEpc57_EJM3kcBSVSIQ8M7oCjkWsZlUQRKLw?e=qG8MUM) +Coarse_asphalt_seq1|1.2g|5897|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EQbDBVemPH9Cp7bqV2ZwfFIBD_gsHQ-d3atPfSY8__6DKQ?e=ASludI) +Concrete_seq1|1.0g|5850|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EcIYh8RIhClKs7ogwgFmS_QBlflxcx-eR33BwRVerNXFgg?e=8McLDA) +Concrete_seq2|0.9g|5975|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EbNJ5FdpQSJMqK-2zyoEPNoBNCO4ZzhuzjzTL2m1AYZQKQ?e=feQNUX) +Fine_asphalt_seq1|1.1g|5119|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EY22RWOcM89ApAYEr0E5I5EB6QhINnL5iGsbgli8INjuXg?e=HArfqb) +Fine_asphalt_seq2|1.3g|11897|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ERBTClOvkpBHgNeAEc5co4sBI5E-ubQ2MqNFwlfys07mbQ?e=WDd0uP) +Granite_tiles_seq1|1.2g|7194|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ERNkKMy_nvFFmORT7LU_MxEB7TDzhAsNKEEfBf_cNG4Zbg?e=sjDkYW) +Granite_tiles_seq2|1.6g|10633|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EU-8ocb82WZDpErJuOGfR6oBbQwXEpAzR-nykA6wXk9zeg?e=Vx4P1t) +Gravel_road1_seq1|0.8g|4883|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/ERRQQR0VTCVEqSdo9pM85zwBNMQFRBcgev4VVIZtjg68Vg?e=KFxJST) +Gravel_road2_seq1|2.1g|11776|[Link](https://entuedu-my.sharepoint.com/:u:/g/personal/kuan_xu_staff_main_ntu_edu_sg/EZS9BNL-ct1Nu3_Ag1Z0YuIBt6ah02i8vojro4eHexs4ww?e=hQOLIF) + + +### Run with Your Data + +The data should be organized in the following format: +``` +dataroot +├── image_names.txt +├── rgb +│   ├── 00001.png +│   ├── 00002.png +│   ├── 00003.png +│   └── ...... +└── times.txt +``` +where `image_names.txt` contains the image names in `/dataroot/rgb` and `times.txt` contains the corresponding double type timestamps. + +## Experiments + +### Data Association + + data_association + +We compare the data association of our system with ORB and SIFT on the HD Ground dataset. The numbers of features and matching inliers are given. For our method, the correction results are projected to three coordinate axes and represent the estimation of the 3-DOF movement. The vertical axis is the confidence of estimated movement on the horizontal axis. The higher the value of the peak relative to other positions, the greater the confidence of motion estimation. The results show that the data association of our system is more stable for various ground texture images. + +### Visual Odometry +
    + + +
    + +This experiment is conducted on our PathTex dataset. The left figure shows the trajectories produced by our system and GT-SLAM on 4 sequences. The right figure provides the comparison of error distributions of different systems on the Gravel_road2_seq1 sequence, where the vertical axis is the proportion of pose errors that are less than the given error threshold on the horizontal axis. + +### Loop Closure + +
    + + +
    + +These two figures show the performance difference of GroundSLAM with and without loop correction on the Fine_asphalt_seq2 sequence. It is seen that the pose errors are significantly decreased after the loop correction. diff --git a/src/ground_slam/cmake/FindEigen3.cmake b/src/ground_slam/cmake/FindEigen3.cmake new file mode 100755 index 0000000..0bb8c71 --- /dev/null +++ b/src/ground_slam/cmake/FindEigen3.cmake @@ -0,0 +1,94 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") +endif(NOT Eigen3_FIND_VERSION) + +macro(_eigen3_check_version) + file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) + + string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") + set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") + set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") + set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") + + set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) + if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK FALSE) + else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK TRUE) + endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + + if(NOT EIGEN3_VERSION_OK) + + message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " + "but at least version ${Eigen3_FIND_VERSION} is required") + endif(NOT EIGEN3_VERSION_OK) +endmacro(_eigen3_check_version) + +if (EIGEN3_INCLUDE_DIR) + + # in cache already + _eigen3_check_version() + set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) + +else (EIGEN3_INCLUDE_DIR) + + # specific additional paths for some OS + if (WIN32) + set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") + endif(WIN32) + + find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library + PATHS + ${CMAKE_INSTALL_PREFIX}/include + ${EIGEN_ADDITIONAL_SEARCH_PATHS} + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + +if(EIGEN3_FOUND) + include_directories(${EIGEN3_INCLUDE_DIR}) + link_directories(${EIGEN3_LIBRARIES}) +else(EIGEN3_FOUND) + MESSAGE(FATAL_ERROR "Eigen3 library not found") +endif(EIGEN3_FOUND) \ No newline at end of file diff --git a/src/ground_slam/cmake/FindFFTW3.cmake b/src/ground_slam/cmake/FindFFTW3.cmake new file mode 100755 index 0000000..ff45261 --- /dev/null +++ b/src/ground_slam/cmake/FindFFTW3.cmake @@ -0,0 +1,18 @@ +# - Find FFTW3 +# Find the native FFTW3 includes and library +# +# FFTW3_INCLUDE_DIRS - where to find fftw3.h +# FFTW3_LIBRARIES - List of libraries when using FFTW3. +# FFTW3_FOUND - True if FFTW3 found. + +if (FFTW3_INCLUDE_DIRS) + set(FFTW3_FIND_QUIETLY TRUE) +endif() + +find_path(FFTW3_INCLUDE_DIRS fftw3.h) +find_library(FFTW3_LIBRARIES NAMES fftw3) + +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(FFTW3 DEFAULT_MSG FFTW3_LIBRARIES FFTW3_INCLUDE_DIRS) + +mark_as_advanced(FFTW3_LIBRARIES FFTW3_INCLUDE_DIRS) diff --git a/src/ground_slam/configs/config_HD.yaml b/src/ground_slam/configs/config_HD.yaml new file mode 100644 index 0000000..9749322 --- /dev/null +++ b/src/ground_slam/configs/config_HD.yaml @@ -0,0 +1,49 @@ +dataset: + camera_config: /media/zheng/xukuanssd/NTU/ground_texture/HD_ground/camera.yaml + dataroot: /media/zheng/xukuanssd/NTU/ground_texture/HD_ground/ramp_rubber/database/seq0033 + image_dir_name: rgb + +correlation_flow: + gaussian: + sigma: 0.2 + height: 1200 + kernel: 0 # {0: "polynomial", 1: "gaussian"} + lambda: 0.1 + polynomial: + offset: 0.1 + power: 3 + rotation_channel: 480 + rotation_divisor: 720 + width: 1600 + +keyframe_selection: + lower_response_thr: 30 + max_angle: 6.3 + max_distance: 0.01 + upper_response_thr: 90 + +map: + grid_scale: 0.1 # the true size of one grid + +loop_closure: + to_find_loop: true + angle_response_thr: 60 + distance_thr: 5 + frame_gap_thr: 100 + position_response_thr: 60 + +map_sticther: + cell_size: 1000 + stitch_map: true + +visualization: + frame_id: map + topic: + image: /kcc_slam/image + frame_pose: /kcc_slam/frame_pose + kcc_pose: /kcc_slam/kcc_pose + map: /kcc_slam/occupancy_map + +saving: + save_pose: true + saving_root: /home/xukuan/debug/kcc diff --git a/src/ground_slam/configs/config_geekplus.yaml b/src/ground_slam/configs/config_geekplus.yaml new file mode 100644 index 0000000..ff333d3 --- /dev/null +++ b/src/ground_slam/configs/config_geekplus.yaml @@ -0,0 +1,50 @@ +dataset: + dataroot: "/home/zheng/datasets/loopclosure/" + camera_config: "/home/zheng/datasets/loopclosure/camera.yaml" + image_dir_name: "" + +correlation_flow: + width: 448 + height: 448 + rotation_divisor: 720 #720 # Higher means higher resolution, but slower + rotation_channel: 480 #480 # Lower means faster. Too lower, e.g., less than 10, may produce error about 1/rotation_divisor*360 degrees. 64 may work well. + lambda: 0.1 # For regularization + kernel: 0 #1 # {0: "polynomial", 1: "gaussian"} + polynomial: # (X^T Y + offset).pow(power) + offset: 0.1 + power: 3 + gaussian: # exp(-(|X-Y|^2/(2*sigma^2))) + sigma: 0.2 # For Gaussian Kernel + +keyframe_selection: + to_find_loop: true + max_distance: 0.2 # in normalized plane, real size equal max_distance*camera_height + max_angle: 0.5 # rad + lower_response_thr: 30 + upper_response_thr: 60 + +map: + grid_scale: 0.1 # the true size of one grid + +loop_closure: + to_find_loop: true + position_response_thr: 60 # this should be tuned together with width and height: higher width*height -> higher threshold + angle_response_thr: 60 # this should be tuned together with rotation_divisor and rotation_channel: higher divisor*channel -> higher threshold + frame_gap_thr: 100 + distance_thr: 5 # in normalized plane, real size equal distance_thr*camera_height + +map_sticther: + stitch_map: true # whether to stitch map + cell_size: 1000 + +visualization: + frame_id: "map" + topic: + image: /kcc_slam/undistort_image + kcc_pose: "/kcc_slam/kcc_pose" + frame_pose: "/kcc_slam/frame_pose" + map: "/kcc_slam/occupancy_map" + +saving: + save_pose: true + saving_root: "/home/zheng/projects/ros_ws/src/kcc_slam/saving/experiments" \ No newline at end of file diff --git a/src/ground_slam/configs/config_ntu.yaml b/src/ground_slam/configs/config_ntu.yaml new file mode 100644 index 0000000..0678a70 --- /dev/null +++ b/src/ground_slam/configs/config_ntu.yaml @@ -0,0 +1,49 @@ +dataset: + camera_config: /media/data/datasets/ntu/NTU_Ground_Texture_Dataset/camera.yaml + dataroot: /media/data/datasets/ntu/NTU_Ground_Texture_Dataset/brick-V3 + image_dir_name: rgb + +correlation_flow: + gaussian: + sigma: 0.2 + height: 480 + kernel: 0 # {0: "polynomial", 1: "gaussian"} + lambda: 0.1 + polynomial: + offset: 0.1 + power: 3 + rotation_channel: 480 + rotation_divisor: 720 + width: 640 + +keyframe_selection: + lower_response_thr: 30 + max_angle: 0.052359877 + max_distance: 0.4 + upper_response_thr: 90 + +map: + grid_scale: 0.1 # the true size of one grid + +loop_closure: + to_find_loop: true + angle_response_thr: 60 + distance_thr: 5 + frame_gap_thr: 100 + position_response_thr: 60 + +map_sticther: + cell_size: 1000 + stitch_map: true + +visualization: + frame_id: map + topic: + image: /kcc_slam/image + frame_pose: /kcc_slam/frame_pose + kcc_pose: /kcc_slam/kcc_pose + map: /kcc_slam/occupancy_map + +saving: + save_pose: true + saving_root: /home/xukuan/debug/kcc diff --git a/src/ground_slam/figures/data_association.jpg b/src/ground_slam/figures/data_association.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b59c5b5e498bd4bce5f948e48049184eaa07e3c4 GIT binary patch literal 2787856 zcmbrlXH-*N6fKH^q7;$dMXAzz5s)a-5m1mCibxF*IuZnlqVy&$bWj25(g__T3B3qN 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    + Kuan Xu1, + Zheng Yang1, + Lihua Xie1, + Chen Wang2 +

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