From a5cee5e14266992c98d4323eae06360df56a57b1 Mon Sep 17 00:00:00 2001 From: Orange <2314753575@qq.com> Date: Thu, 23 Jul 2026 14:51:51 +0800 Subject: [PATCH] =?UTF-8?q?vlm=E5=92=8Ctts?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- master_launch_使用指南.md | 227 + must_know.md | 3 + src/my_robot_bringup/launch/master_launch.py | 24 +- src/origincar_description/CMakeLists.txt | 4 - src/origincar_msg/CMakeLists.txt | 1 + src/origincar_msg/srv/Speak.srv | 4 + src/planner/config/odom_hybrid_astar.yaml | 3 +- src/planner/config/odom_pure_pursuit.yaml | 24 +- src/planner/config/real_hybrid_astar.yaml | 1 + src/planner/config/real_pure_pursuit.yaml | 20 +- .../launch/odom_hybrid_astar.launch.py | 86 +- .../launch/real_hybrid_astar.launch.py | 100 + .../ackermann_cmd_bridge.cpython-313.pyc | Bin 0 -> 8688 bytes .../evaluate_navigation_test.cpython-313.pyc | Bin 0 -> 8157 bytes .../navigation_test_recorder.cpython-313.pyc | Bin 0 -> 31161 bytes .../__pycache__/odom_map_tf.cpython-313.pyc | Bin 0 -> 13033 bytes ...topology_pure_pursuit_node.cpython-313.pyc | Bin 0 -> 50793 bytes .../scripts/goal_reach_debug_collector.py | 36 +- src/planner/scripts/preflight_check.py | 2 +- src/planner/scripts/send_goal.py | 4 +- .../scripts/topology_pure_pursuit_node.py | 338 +- src/vlm_detect/config/vlm_detect.yaml | 18 - src/vlm_detect/launch/vlm_detect.launch.py | 80 +- src/vlm_detect/setup.py | 2 + .../test_publisher.cpython-310.pyc | Bin 2810 -> 2834 bytes .../__pycache__/tts_node.cpython-310.pyc | Bin 2551 -> 2421 bytes .../__pycache__/vlm_node.cpython-310.pyc | Bin 4263 -> 4282 bytes src/vlm_detect/vlm_detect/qr_tts_bridge.py | 66 + src/vlm_detect/vlm_detect/test_publisher.py | 2 +- src/vlm_detect/vlm_detect/tts_node.py | 70 +- src/vlm_detect/vlm_detect/tts_server.py | 90 + src/vlm_detect/vlm_detect/vlm_node.py | 46 +- .../goal_reach_debug_20260722_202420.json | 11585 ++++++++++++++++ tf_bag/metadata.yaml | 26 + tf_bag/tf_bag_0.db3 | Bin 0 -> 311296 bytes 35 files changed, 12694 insertions(+), 168 deletions(-) create mode 100644 master_launch_使用指南.md create mode 100644 src/origincar_msg/srv/Speak.srv create mode 100644 src/planner/scripts/__pycache__/ackermann_cmd_bridge.cpython-313.pyc create mode 100644 src/planner/scripts/__pycache__/evaluate_navigation_test.cpython-313.pyc create mode 100644 src/planner/scripts/__pycache__/navigation_test_recorder.cpython-313.pyc create mode 100644 src/planner/scripts/__pycache__/odom_map_tf.cpython-313.pyc create mode 100644 src/planner/scripts/__pycache__/topology_pure_pursuit_node.cpython-313.pyc create mode 100644 src/vlm_detect/vlm_detect/qr_tts_bridge.py create mode 100644 src/vlm_detect/vlm_detect/tts_server.py create mode 100644 test_results/goal_reach_debug_20260722_202420.json create mode 100644 tf_bag/metadata.yaml create mode 100644 tf_bag/tf_bag_0.db3 diff --git a/master_launch_使用指南.md b/master_launch_使用指南.md new file mode 100644 index 0000000..dc8ccf7 --- /dev/null +++ b/master_launch_使用指南.md @@ -0,0 +1,227 @@ +# master_launch.py 使用指南 + +## 启动顺序 + +``` +t=0s 底盘驱动 + EKF + TF + IMU (origincar_bringup) +t=2s 激光雷达 (lslidar_driver) +t=5s SLAM 建图 (slam_toolbox) +t=8s Nav2 导航栈 +t=10s VLM 图生文 + TTS 语音播报 +``` + +每个阶段依赖前一个阶段就绪，属于**严格时间线启动**，不可调换。 + +--- + +## 参数一览 + +| 参数 | 默认值 | 说明 | +|---|---|---| +| `use_base` | true | 底盘驱动 + EKF + TF | +| `use_lidar` | true | 激光雷达 (lsn10) | +| `use_slam` | true | slam_toolbox 建图 | +| `use_nav2` | true | Nav2 导航栈 | +| `use_vlm` | true | VLM 图生文 + TTS | +| `use_tts` | true | TTS 语音播报开关 | +| `akmcar` | true | 阿克曼底盘 (false=差速) | +| `carto_slam` | false | 使用 Cartographer 替代 EKF | +| `vlm_host` | http://192.168.10.189:8000 | VLM 推理服务地址 | +| `use_sim_time` | false | 使用仿真时间 | + +--- + +## 常用命令 + +### 全部启动 +```bash +ros2 launch my_robot_bringup master_launch.py +``` + +### 只调试底盘 +```bash +ros2 launch my_robot_bringup master_launch.py use_lidar:=false use_slam:=false use_nav2:=false use_vlm:=false +``` + +### 只建图（底盘 + 雷达 + SLAM） +```bash +ros2 launch my_robot_bringup master_launch.py use_nav2:=false use_vlm:=false +``` + +### 只启动 VLM（调试图生文） +```bash +ros2 launch my_robot_bringup master_launch.py use_base:=false use_lidar:=false use_slam:=false use_nav2:=false +``` + +### 底盘 + 雷达 + SLAM + 导航（不加 VLM） +```bash +ros2 launch my_robot_bringup master_launch.py use_vlm:=false use_tts:=false +``` + +### 更换 VLM 服务地址 +```bash +ros2 launch my_robot_bringup master_launch.py vlm_host:=http://192.168.10.200:8000 +``` + +### 差分底盘模式 +```bash +ros2 launch my_robot_bringup master_launch.py akmcar:=false +``` + +### 使用 Cartographer 替代 EKF +```bash +ros2 launch my_robot_bringup master_launch.py carto_slam:=true +``` + +### 使用自定义 SLAM 参数 +```bash +ros2 launch my_robot_bringup master_launch.py slam_params_file:=/path/to/my_slam.yaml +``` + +### 使用自定义 Nav2 参数 +```bash +ros2 launch my_robot_bringup master_launch.py nav2_params_file:=/path/to/my_nav2.yaml +``` + +--- + +## 前置条件 + +1. **VLM 服务** — WSL 中先启动 `python vlm_server.py`（如需使用 VLM） +2. **Portproxy 转发** — Windows 上管理员 PowerShell 执行 `setup_vlm_forward.ps1`（仅需一次，IP 不变则不用重跑） +3. **重刷环境** — 启动前清理残留进程： + ```bash + pkill -f ros2; pkill -f espeak; pkill -f ffplay + ``` + +--- + +## 网络架构（VLM 相关） + +``` +机器人 (192.168.10.x) + ↓ http://192.168.10.189:8000 +Windows 宿主机 (IP 需固定) + ↓ netsh portproxy → 127.0.0.1:8000 +WSL2 vlm_server.py +``` + +- Windows IP 不变 → 一切正常 +- Windows IP 变化 → 重跑 `setup_vlm_forward.ps1`，启动时传 `vlm_host:=http://新IP:8000` + + +## 改动的地方 + master_launch.py 变更内容 + + 阶段: 1 (t=0s) + 原来: 底盘 + EKF + TF + IMU + 现在: 不变 + ──────────────────────────────────────── + 阶段: 2 (t=2s) + 原来: 激光雷达 + 现在: 不变 + ──────────────────────────────────────── + 阶段: 3 (t=4s) + 原来: — + 现在: 障碍物检测 + (obstacle_scanner.launch.py) + ──────────────────────────────────────── + 阶段: 4 (t=5s) + 原来: SLAM Toolbox + 现在: Map Server + AMCL 定位 (预建地图替代 + SLAM) + ──────────────────────────────────────── + 阶段: 5 (t=7s) + 原来: Nav2 导航栈 + 现在: Hybrid A* 路径规划 + Pure Pursuit + 轨迹跟随 + ──────────────────────────────────────── + 阶段: 6 (t=10s) + +● Bash(rm -f /c/Users/DHQ/master_launch_new.py) + ⎿  Done + +● 修改完成。以下是改动总结： + + master_launch.py 变更内容 + + ┌───────────┬───────────────────────┬────────────────────────────────────────────┐ + │ 阶段 │ 原来 │ 现在 │ + ├───────────┼───────────────────────┼────────────────────────────────────────────┤ + │ 1 (t=0s) │ 底盘 + EKF + TF + IMU │ 不变 │ + ├───────────┼───────────────────────┼────────────────────────────────────────────┤ + │ 2 (t=2s) │ 激光雷达 │ 不变 │ + ├───────────┼───────────────────────┼────────────────────────────────────────────┤ + │ 3 (t=4s) │ — │ 障碍物检测 (obstacle_scanner.launch.py) │ + ├───────────┼───────────────────────┼────────────────────────────────────────────┤ + │ 4 (t=5s) │ SLAM Toolbox │ Map Server + AMCL 定位 (预建地图替代 SLAM) │ + ├───────────┼───────────────────────┼────────────────────────────────────────────┤ + │ 5 (t=7s) │ Nav2 导航栈 │ Hybrid A* 路径规划 + Pure Pursuit 轨迹跟随 │ + ├───────────┼───────────────────────┼────────────────────────────────────────────┤ + │ 6 (t=10s) │ VLM + TTS │ 不变 │ + └───────────┴───────────────────────┴────────────────────────────────────────────┘ + + 具体改动点 + + 1. 移除：cyy_slamtoolbox、gc_navigation2_slamtoolbox、slam_toolbox 节点、nav2_bringup launch + 2. 新增：obstacle_scanner 节点（发布 /obstacles） + 3. 新增：map_server + amcl + lifecycle_manager 用于定位 + 4. 新增：grid_astar_theta_node（路径规划，发布 /plan） + 5. 新增：topology_pure_pursuit_node.py（轨迹跟随，发布 /cmd_vel） + 6. 话题对齐：planner 的 obstacles_topic 参数覆盖为 /obstacles（与 obstacle_scanner 发布的 topic 一致） + 7. 原文件已备份为 master_launch.py.bak + + 常用命令 + source /opt/ros/humble/setup.bash + source ~/yiliao_ws/install/setup.bash + 全部启动 + + ros2 launch my_robot_bringup master_launch.py + + 只调试底盘 + + ros2 launch my_robot_bringup master_launch.py use_lidar:=false use_obstacle:=false use_planner:=false use_vlm:=false + + 底盘 + 雷达 + 定位 + 规划跟踪（不开障碍物检测和 VLM） + + ros2 launch my_robot_bringup master_launch.py use_obstacle:=false use_vlm:=false + + 只启动 VLM（调试图生文） + + ros2 launch my_robot_bringup master_launch.py use_base:=false use_lidar:=false use_obstacle:=false use_planner:=false + + 底盘 + 雷达 + 障碍物检测 + 规划跟踪（不加 VLM） + + ros2 launch my_robot_bringup master_launch.py use_vlm:=false use_tts:=false + + 只做障碍物检测（不开规划不开 VLM） + + ros2 launch my_robot_bringup master_launch.py use_planner:=false use_vlm:=false + + 只做路径规划+跟踪（不开障碍物检测，靠预建地图） + + ros2 launch my_robot_bringup master_launch.py use_obstacle:=false use_vlm:=false + + 更换 VLM 服务地址 + + ros2 launch my_robot_bringup master_launch.py vlm_host:=http://192.168.10.200:8000 + + 差分底盘模式 + + ros2 launch my_robot_bringup master_launch.py akmcar:=false + + 使用 Cartographer 替代 EKF + + ros2 launch my_robot_bringup master_launch.py carto_slam:=true + + 更换地图文件 + + ros2 launch my_robot_bringup master_launch.py map_file:=/path/to/my_map.yaml + + 更换规划器/跟踪器/AMCL 参数文件 + + ros2 launch my_robot_bringup master_launch.py planner_params_file:=/path/to/planner.yaml + ros2 launch my_robot_bringup master_launch.py tracker_params_file:=/path/to/tracker.yaml + ros2 launch my_robot_bringup master_launch.py amcl_params_file:=/path/to/amcl.yaml + + diff --git a/must_know.md b/must_know.md index 8d88d6f..044959a 100644 --- a/must_know.md +++ b/must_know.md @@ -236,4 +236,7 @@ cd /home/sunrise/yiliao_ws && colcon build --packages-select gc_navigation2_slam # 查看完整提交历史 cd /home/sunrise/yiliao_ws && git log --oneline 436e8a2..HEAD + +# 启动图生文 + ``` diff --git a/src/my_robot_bringup/launch/master_launch.py b/src/my_robot_bringup/launch/master_launch.py index ee5e81c..722bdf6 100755 --- a/src/my_robot_bringup/launch/master_launch.py +++ b/src/my_robot_bringup/launch/master_launch.py @@ -130,21 +130,21 @@ def generate_launch_description(): # ================================================================ # 阶段 4: USB 摄像头 + 二维码识别 (t=4s) - # usb_cam: 驱动 USB 摄像头，发布 /image_raw + # car_usb_cam: 使用 hobot_usb_cam 驱动 USB 摄像头，发布 /image_raw # qr_detect: 订阅 /image_raw，识别二维码，发布 qr_results # ================================================================ - usb_camera = Node( - package='usb_cam', - executable='usb_cam_node_exe', - name='usb_cam', - output='screen', + usb_camera = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + FindPackageShare('car_usb_cam'), '/launch', '/hobot_usb_cam.launch.py' + ]), condition=IfCondition(use_qr), - parameters=[{ - 'video_device': camera_device, - 'image_size': [640, 480], - 'pixel_format': 'YUYV', - 'framerate': 30.0, - }], + launch_arguments={ + 'usb_video_device': camera_device, + 'usb_image_width': '640', + 'usb_image_height': '480', + 'usb_framerate': '30', + 'usb_pixel_format': 'yuyv2rgb', + }.items(), ) qr_detect = Node( diff --git a/src/origincar_description/CMakeLists.txt b/src/origincar_description/CMakeLists.txt index 5bc73fc..21934a5 100644 --- a/src/origincar_description/CMakeLists.txt +++ b/src/origincar_description/CMakeLists.txt @@ -22,11 +22,7 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) install( -<<<<<<< HEAD DIRECTORY launch urdf rviz meshes world -======= - DIRECTORY launch urdf rviz meshes world ->>>>>>> mo_new DESTINATION share/${PROJECT_NAME} ) diff --git a/src/origincar_msg/CMakeLists.txt b/src/origincar_msg/CMakeLists.txt index 8697fbf..d64086a 100644 --- a/src/origincar_msg/CMakeLists.txt +++ b/src/origincar_msg/CMakeLists.txt @@ -25,6 +25,7 @@ find_package(std_msgs REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "msg/Data.msg" "msg/Sign.msg" + "srv/Speak.srv" DEPENDENCIES std_msgs ADD_LINTER_TESTS ) diff --git a/src/origincar_msg/srv/Speak.srv b/src/origincar_msg/srv/Speak.srv new file mode 100644 index 0000000..57fc17e --- /dev/null +++ b/src/origincar_msg/srv/Speak.srv @@ -0,0 +1,4 @@ +string text +--- +bool success +string message diff --git a/src/planner/config/odom_hybrid_astar.yaml b/src/planner/config/odom_hybrid_astar.yaml index d3c7ce3..0f0537c 100644 --- a/src/planner/config/odom_hybrid_astar.yaml +++ b/src/planner/config/odom_hybrid_astar.yaml @@ -46,9 +46,10 @@ grid_astar_theta_planner: yaw_bins: 36 primitive_length: 0.12 collision_sample_step: 0.03 - goal_xy_tolerance: 0.06 + goal_xy_tolerance: 0.10 goal_yaw_tolerance: 0.174533 require_goal_yaw: false + snap_final_xy_to_goal: true use_grid_heuristic: true heuristic_weight: 1.35 goal_yaw_heuristic_weight: 0.0 diff --git a/src/planner/config/odom_pure_pursuit.yaml b/src/planner/config/odom_pure_pursuit.yaml index d411b26..ebd9e07 100644 --- a/src/planner/config/odom_pure_pursuit.yaml +++ b/src/planner/config/odom_pure_pursuit.yaml @@ -14,18 +14,28 @@ topology_pure_pursuit: cancel_topic: /navigation_cancel control_rate: 20.0 - lookahead_distance: 0.40 + lookahead_distance: 0.28 + min_lookahead_distance: 0.10 + lookahead_curvature_gain: 0.80 + lookahead_error_gain: 2.00 + heading_correction_gain: 0.80 + cross_track_correction_gain: 1.20 + cross_track_speed_gain: 1.80 + min_tracking_speed_ratio: 0.35 + path_reacquire_distance: 0.45 goal_tolerance: 0.06 goal_yaw_tolerance: 0.174533 align_goal_yaw: false final_alignment_offset: 0.25 final_alignment_speed: 0.06 - linear_speed: 0.60 - min_linear_speed: 0.08 - reverse_speed: 0.25 - slowdown_distance: 0.35 - curvature_slowdown_gain: 0.10 - max_angular_speed: 2.80 + linear_speed: 0.45 + min_linear_speed: 0.06 + reverse_speed: 0.18 + slowdown_distance: 0.45 + curvature_slowdown_gain: 0.06 + min_curvature_speed_ratio: 0.70 + min_goal_slowdown_ratio: 0.35 + max_angular_speed: 3.20 min_turning_radius: 0.25 latency_compensation: true diff --git a/src/planner/config/real_hybrid_astar.yaml b/src/planner/config/real_hybrid_astar.yaml index 4ded55e..3d64e9f 100644 --- a/src/planner/config/real_hybrid_astar.yaml +++ b/src/planner/config/real_hybrid_astar.yaml @@ -47,6 +47,7 @@ grid_astar_theta_planner: # Point navigation does not require the car to finish at a specific yaw. # Set true when final docking orientation is required. require_goal_yaw: false + snap_final_xy_to_goal: true use_grid_heuristic: true heuristic_weight: 1.25 goal_yaw_heuristic_weight: 0.0 diff --git a/src/planner/config/real_pure_pursuit.yaml b/src/planner/config/real_pure_pursuit.yaml index a479cf2..63ac86a 100644 --- a/src/planner/config/real_pure_pursuit.yaml +++ b/src/planner/config/real_pure_pursuit.yaml @@ -14,16 +14,26 @@ topology_pure_pursuit: cancel_topic: /navigation_cancel control_rate: 20.0 - lookahead_distance: 0.45 + lookahead_distance: 0.30 + min_lookahead_distance: 0.12 + lookahead_curvature_gain: 0.70 + lookahead_error_gain: 1.60 + heading_correction_gain: 0.70 + cross_track_correction_gain: 1.00 + cross_track_speed_gain: 1.50 + min_tracking_speed_ratio: 0.35 + path_reacquire_distance: 0.45 goal_tolerance: 0.15 goal_yaw_tolerance: 0.174533 align_goal_yaw: false - linear_speed: 0.20 + linear_speed: 0.18 min_linear_speed: 0.06 - reverse_speed: 0.10 + reverse_speed: 0.08 slowdown_distance: 0.70 - curvature_slowdown_gain: 0.25 - max_angular_speed: 1.20 + curvature_slowdown_gain: 0.12 + min_curvature_speed_ratio: 0.65 + min_goal_slowdown_ratio: 0.35 + max_angular_speed: 1.50 min_turning_radius: 0.40 latency_compensation: true diff --git a/src/planner/launch/odom_hybrid_astar.launch.py b/src/planner/launch/odom_hybrid_astar.launch.py index 84313e0..408ce16 100644 --- a/src/planner/launch/odom_hybrid_astar.launch.py +++ b/src/planner/launch/odom_hybrid_astar.launch.py @@ -41,11 +41,21 @@ def generate_launch_description(): planner_min_turning_radius = LaunchConfiguration("planner_min_turning_radius") tracker_min_turning_radius = LaunchConfiguration("tracker_min_turning_radius") lookahead_distance = LaunchConfiguration("lookahead_distance") + min_lookahead_distance = LaunchConfiguration("min_lookahead_distance") + lookahead_curvature_gain = LaunchConfiguration("lookahead_curvature_gain") + lookahead_error_gain = LaunchConfiguration("lookahead_error_gain") + heading_correction_gain = LaunchConfiguration("heading_correction_gain") + cross_track_correction_gain = LaunchConfiguration("cross_track_correction_gain") + cross_track_speed_gain = LaunchConfiguration("cross_track_speed_gain") + min_tracking_speed_ratio = LaunchConfiguration("min_tracking_speed_ratio") + path_reacquire_distance = LaunchConfiguration("path_reacquire_distance") linear_speed = LaunchConfiguration("linear_speed") min_linear_speed = LaunchConfiguration("min_linear_speed") reverse_speed = LaunchConfiguration("reverse_speed") slowdown_distance = LaunchConfiguration("slowdown_distance") curvature_slowdown_gain = LaunchConfiguration("curvature_slowdown_gain") + min_curvature_speed_ratio = LaunchConfiguration("min_curvature_speed_ratio") + min_goal_slowdown_ratio = LaunchConfiguration("min_goal_slowdown_ratio") max_angular_speed = LaunchConfiguration("max_angular_speed") goal_tolerance = LaunchConfiguration("goal_tolerance") goal_yaw_tolerance = LaunchConfiguration("goal_yaw_tolerance") @@ -54,6 +64,7 @@ def generate_launch_description(): final_alignment_speed = LaunchConfiguration("final_alignment_speed") require_goal_yaw = LaunchConfiguration("require_goal_yaw") planner_goal_xy_tolerance = LaunchConfiguration("planner_goal_xy_tolerance") + snap_final_xy_to_goal = LaunchConfiguration("snap_final_xy_to_goal") use_grid_heuristic = LaunchConfiguration("use_grid_heuristic") heuristic_weight = LaunchConfiguration("heuristic_weight") goal_yaw_heuristic_weight = LaunchConfiguration("goal_yaw_heuristic_weight") @@ -83,6 +94,30 @@ def generate_launch_description(): tracker_min_turning_radius, value_type=float ) lookahead_distance_value = ParameterValue(lookahead_distance, value_type=float) + min_lookahead_distance_value = ParameterValue( + min_lookahead_distance, value_type=float + ) + lookahead_curvature_gain_value = ParameterValue( + lookahead_curvature_gain, value_type=float + ) + lookahead_error_gain_value = ParameterValue( + lookahead_error_gain, value_type=float + ) + heading_correction_gain_value = ParameterValue( + heading_correction_gain, value_type=float + ) + cross_track_correction_gain_value = ParameterValue( + cross_track_correction_gain, value_type=float + ) + cross_track_speed_gain_value = ParameterValue( + cross_track_speed_gain, value_type=float + ) + min_tracking_speed_ratio_value = ParameterValue( + min_tracking_speed_ratio, value_type=float + ) + path_reacquire_distance_value = ParameterValue( + path_reacquire_distance, value_type=float + ) linear_speed_value = ParameterValue(linear_speed, value_type=float) min_linear_speed_value = ParameterValue(min_linear_speed, value_type=float) reverse_speed_value = ParameterValue(reverse_speed, value_type=float) @@ -90,6 +125,12 @@ def generate_launch_description(): curvature_slowdown_gain_value = ParameterValue( curvature_slowdown_gain, value_type=float ) + min_curvature_speed_ratio_value = ParameterValue( + min_curvature_speed_ratio, value_type=float + ) + min_goal_slowdown_ratio_value = ParameterValue( + min_goal_slowdown_ratio, value_type=float + ) max_angular_speed_value = ParameterValue(max_angular_speed, value_type=float) goal_tolerance_value = ParameterValue(goal_tolerance, value_type=float) goal_yaw_tolerance_value = ParameterValue(goal_yaw_tolerance, value_type=float) @@ -104,6 +145,9 @@ def generate_launch_description(): planner_goal_xy_tolerance_value = ParameterValue( planner_goal_xy_tolerance, value_type=float ) + snap_final_xy_to_goal_value = ParameterValue( + snap_final_xy_to_goal, value_type=bool + ) use_grid_heuristic_value = ParameterValue(use_grid_heuristic, value_type=bool) heuristic_weight_value = ParameterValue(heuristic_weight, value_type=float) goal_yaw_heuristic_weight_value = ParameterValue( @@ -225,6 +269,7 @@ def generate_launch_description(): "min_turning_radius": planner_min_turning_radius_value, "require_goal_yaw": require_goal_yaw_value, "goal_xy_tolerance": planner_goal_xy_tolerance_value, + "snap_final_xy_to_goal": snap_final_xy_to_goal_value, "use_grid_heuristic": use_grid_heuristic_value, "heuristic_weight": heuristic_weight_value, "goal_yaw_heuristic_weight": goal_yaw_heuristic_weight_value, @@ -251,11 +296,21 @@ def generate_launch_description(): "cmd_vel_topic": "/planner_cmd_vel", "min_turning_radius": tracker_min_turning_radius_value, "lookahead_distance": lookahead_distance_value, + "min_lookahead_distance": min_lookahead_distance_value, + "lookahead_curvature_gain": lookahead_curvature_gain_value, + "lookahead_error_gain": lookahead_error_gain_value, + "heading_correction_gain": heading_correction_gain_value, + "cross_track_correction_gain": cross_track_correction_gain_value, + "cross_track_speed_gain": cross_track_speed_gain_value, + "min_tracking_speed_ratio": min_tracking_speed_ratio_value, + "path_reacquire_distance": path_reacquire_distance_value, "linear_speed": linear_speed_value, "min_linear_speed": min_linear_speed_value, "reverse_speed": reverse_speed_value, "slowdown_distance": slowdown_distance_value, "curvature_slowdown_gain": curvature_slowdown_gain_value, + "min_curvature_speed_ratio": min_curvature_speed_ratio_value, + "min_goal_slowdown_ratio": min_goal_slowdown_ratio_value, "max_angular_speed": max_angular_speed_value, "goal_tolerance": goal_tolerance_value, "goal_yaw_tolerance": goal_yaw_tolerance_value, @@ -308,15 +363,25 @@ def generate_launch_description(): ), DeclareLaunchArgument( "lookahead_distance", - default_value="0.40", + default_value="0.28", description="Pure Pursuit lookahead in meters.", ), - DeclareLaunchArgument("linear_speed", default_value="0.60"), - DeclareLaunchArgument("min_linear_speed", default_value="0.08"), - DeclareLaunchArgument("reverse_speed", default_value="0.25"), - DeclareLaunchArgument("slowdown_distance", default_value="0.35"), - DeclareLaunchArgument("curvature_slowdown_gain", default_value="0.10"), - DeclareLaunchArgument("max_angular_speed", default_value="2.80"), + DeclareLaunchArgument("min_lookahead_distance", default_value="0.10"), + DeclareLaunchArgument("lookahead_curvature_gain", default_value="0.80"), + DeclareLaunchArgument("lookahead_error_gain", default_value="2.00"), + DeclareLaunchArgument("heading_correction_gain", default_value="0.80"), + DeclareLaunchArgument("cross_track_correction_gain", default_value="1.20"), + DeclareLaunchArgument("cross_track_speed_gain", default_value="1.80"), + DeclareLaunchArgument("min_tracking_speed_ratio", default_value="0.35"), + DeclareLaunchArgument("path_reacquire_distance", default_value="0.45"), + DeclareLaunchArgument("linear_speed", default_value="0.45"), + DeclareLaunchArgument("min_linear_speed", default_value="0.06"), + DeclareLaunchArgument("reverse_speed", default_value="0.18"), + DeclareLaunchArgument("slowdown_distance", default_value="0.45"), + DeclareLaunchArgument("curvature_slowdown_gain", default_value="0.06"), + DeclareLaunchArgument("min_curvature_speed_ratio", default_value="0.70"), + DeclareLaunchArgument("min_goal_slowdown_ratio", default_value="0.35"), + DeclareLaunchArgument("max_angular_speed", default_value="3.20"), DeclareLaunchArgument("goal_tolerance", default_value="0.06"), DeclareLaunchArgument("goal_yaw_tolerance", default_value="0.174533"), DeclareLaunchArgument("align_goal_yaw", default_value="false"), @@ -329,9 +394,14 @@ def generate_launch_description(): ), DeclareLaunchArgument( "planner_goal_xy_tolerance", - default_value="0.06", + default_value="0.10", description="Hybrid A* final XY tolerance in meters.", ), + DeclareLaunchArgument( + "snap_final_xy_to_goal", + default_value="true", + description="Publish the final path XY exactly at the requested goal XY without forcing yaw.", + ), DeclareLaunchArgument( "use_grid_heuristic", default_value="true", diff --git a/src/planner/launch/real_hybrid_astar.launch.py b/src/planner/launch/real_hybrid_astar.launch.py index 89f8dc0..b69ee38 100644 --- a/src/planner/launch/real_hybrid_astar.launch.py +++ b/src/planner/launch/real_hybrid_astar.launch.py @@ -32,9 +32,27 @@ def generate_launch_description(): enable_motion = LaunchConfiguration("enable_motion") wheelbase = LaunchConfiguration("wheelbase") max_steering_angle = LaunchConfiguration("max_steering_angle") + lookahead_distance = LaunchConfiguration("lookahead_distance") + min_lookahead_distance = LaunchConfiguration("min_lookahead_distance") + lookahead_curvature_gain = LaunchConfiguration("lookahead_curvature_gain") + lookahead_error_gain = LaunchConfiguration("lookahead_error_gain") + heading_correction_gain = LaunchConfiguration("heading_correction_gain") + cross_track_correction_gain = LaunchConfiguration("cross_track_correction_gain") + cross_track_speed_gain = LaunchConfiguration("cross_track_speed_gain") + min_tracking_speed_ratio = LaunchConfiguration("min_tracking_speed_ratio") + path_reacquire_distance = LaunchConfiguration("path_reacquire_distance") + linear_speed = LaunchConfiguration("linear_speed") + min_linear_speed = LaunchConfiguration("min_linear_speed") + reverse_speed = LaunchConfiguration("reverse_speed") + slowdown_distance = LaunchConfiguration("slowdown_distance") + curvature_slowdown_gain = LaunchConfiguration("curvature_slowdown_gain") + min_curvature_speed_ratio = LaunchConfiguration("min_curvature_speed_ratio") + min_goal_slowdown_ratio = LaunchConfiguration("min_goal_slowdown_ratio") + max_angular_speed = LaunchConfiguration("max_angular_speed") use_grid_heuristic = LaunchConfiguration("use_grid_heuristic") heuristic_weight = LaunchConfiguration("heuristic_weight") goal_yaw_heuristic_weight = LaunchConfiguration("goal_yaw_heuristic_weight") + snap_final_xy_to_goal = LaunchConfiguration("snap_final_xy_to_goal") state_log_period = LaunchConfiguration("state_log_period") search_progress_log_period_ms = LaunchConfiguration("search_progress_log_period_ms") use_sim_time = LaunchConfiguration("use_sim_time") @@ -42,11 +60,53 @@ def generate_launch_description(): enable_motion_value = ParameterValue(enable_motion, value_type=bool) wheelbase_value = ParameterValue(wheelbase, value_type=float) max_steering_angle_value = ParameterValue(max_steering_angle, value_type=float) + lookahead_distance_value = ParameterValue(lookahead_distance, value_type=float) + min_lookahead_distance_value = ParameterValue( + min_lookahead_distance, value_type=float + ) + lookahead_curvature_gain_value = ParameterValue( + lookahead_curvature_gain, value_type=float + ) + lookahead_error_gain_value = ParameterValue( + lookahead_error_gain, value_type=float + ) + heading_correction_gain_value = ParameterValue( + heading_correction_gain, value_type=float + ) + cross_track_correction_gain_value = ParameterValue( + cross_track_correction_gain, value_type=float + ) + cross_track_speed_gain_value = ParameterValue( + cross_track_speed_gain, value_type=float + ) + min_tracking_speed_ratio_value = ParameterValue( + min_tracking_speed_ratio, value_type=float + ) + path_reacquire_distance_value = ParameterValue( + path_reacquire_distance, value_type=float + ) + linear_speed_value = ParameterValue(linear_speed, value_type=float) + min_linear_speed_value = ParameterValue(min_linear_speed, value_type=float) + reverse_speed_value = ParameterValue(reverse_speed, value_type=float) + slowdown_distance_value = ParameterValue(slowdown_distance, value_type=float) + curvature_slowdown_gain_value = ParameterValue( + curvature_slowdown_gain, value_type=float + ) + min_curvature_speed_ratio_value = ParameterValue( + min_curvature_speed_ratio, value_type=float + ) + min_goal_slowdown_ratio_value = ParameterValue( + min_goal_slowdown_ratio, value_type=float + ) + max_angular_speed_value = ParameterValue(max_angular_speed, value_type=float) use_grid_heuristic_value = ParameterValue(use_grid_heuristic, value_type=bool) heuristic_weight_value = ParameterValue(heuristic_weight, value_type=float) goal_yaw_heuristic_weight_value = ParameterValue( goal_yaw_heuristic_weight, value_type=float ) + snap_final_xy_to_goal_value = ParameterValue( + snap_final_xy_to_goal, value_type=bool + ) state_log_period_value = ParameterValue(state_log_period, value_type=float) search_progress_log_period_ms_value = ParameterValue( search_progress_log_period_ms, value_type=float @@ -168,6 +228,7 @@ def generate_launch_description(): "use_grid_heuristic": use_grid_heuristic_value, "heuristic_weight": heuristic_weight_value, "goal_yaw_heuristic_weight": goal_yaw_heuristic_weight_value, + "snap_final_xy_to_goal": snap_final_xy_to_goal_value, "state_log_period": state_log_period_value, "search_progress_log_period_ms": search_progress_log_period_ms_value, }], @@ -182,6 +243,23 @@ def generate_launch_description(): "use_sim_time": use_sim_time_value, "publish_cmd_vel": enable_motion_value, "cmd_vel_topic": "/planner_cmd_vel", + "lookahead_distance": lookahead_distance_value, + "min_lookahead_distance": min_lookahead_distance_value, + "lookahead_curvature_gain": lookahead_curvature_gain_value, + "lookahead_error_gain": lookahead_error_gain_value, + "heading_correction_gain": heading_correction_gain_value, + "cross_track_correction_gain": cross_track_correction_gain_value, + "cross_track_speed_gain": cross_track_speed_gain_value, + "min_tracking_speed_ratio": min_tracking_speed_ratio_value, + "path_reacquire_distance": path_reacquire_distance_value, + "linear_speed": linear_speed_value, + "min_linear_speed": min_linear_speed_value, + "reverse_speed": reverse_speed_value, + "slowdown_distance": slowdown_distance_value, + "curvature_slowdown_gain": curvature_slowdown_gain_value, + "min_curvature_speed_ratio": min_curvature_speed_ratio_value, + "min_goal_slowdown_ratio": min_goal_slowdown_ratio_value, + "max_angular_speed": max_angular_speed_value, "state_log_period": state_log_period_value, }], ) @@ -211,6 +289,23 @@ def generate_launch_description(): ), DeclareLaunchArgument("wheelbase", default_value="0.143"), DeclareLaunchArgument("max_steering_angle", default_value="0.60"), + DeclareLaunchArgument("lookahead_distance", default_value="0.30"), + DeclareLaunchArgument("min_lookahead_distance", default_value="0.12"), + DeclareLaunchArgument("lookahead_curvature_gain", default_value="0.70"), + DeclareLaunchArgument("lookahead_error_gain", default_value="1.60"), + DeclareLaunchArgument("heading_correction_gain", default_value="0.70"), + DeclareLaunchArgument("cross_track_correction_gain", default_value="1.00"), + DeclareLaunchArgument("cross_track_speed_gain", default_value="1.50"), + DeclareLaunchArgument("min_tracking_speed_ratio", default_value="0.35"), + DeclareLaunchArgument("path_reacquire_distance", default_value="0.45"), + DeclareLaunchArgument("linear_speed", default_value="0.18"), + DeclareLaunchArgument("min_linear_speed", default_value="0.06"), + DeclareLaunchArgument("reverse_speed", default_value="0.08"), + DeclareLaunchArgument("slowdown_distance", default_value="0.70"), + DeclareLaunchArgument("curvature_slowdown_gain", default_value="0.12"), + DeclareLaunchArgument("min_curvature_speed_ratio", default_value="0.65"), + DeclareLaunchArgument("min_goal_slowdown_ratio", default_value="0.35"), + DeclareLaunchArgument("max_angular_speed", default_value="1.50"), DeclareLaunchArgument( "use_grid_heuristic", default_value="true", @@ -226,6 +321,11 @@ def generate_launch_description(): default_value="0.0", description="Weight for final yaw guidance in the Hybrid A* heuristic.", ), + DeclareLaunchArgument( + "snap_final_xy_to_goal", + default_value="true", + description="Publish the final path XY exactly at the requested goal XY without forcing yaw.", + ), DeclareLaunchArgument( "state_log_period", default_value="1.0", diff --git a/src/planner/scripts/__pycache__/ackermann_cmd_bridge.cpython-313.pyc b/src/planner/scripts/__pycache__/ackermann_cmd_bridge.cpython-313.pyc new file mode 100644 index 0000000000000000000000000000000000000000..a4c0cd6100a8da81701a06188ce3d0ba6dc320c5 GIT binary patch literal 8688 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zp&JUNcXOrO&?Abbq%!2_Up`+->L4gXIg^5374e0p|)HpEkNtOcQreRe7! zWt{XcoS*UW6DI<=Gl8Fh zPsx1AHx=OjGd%wdY9mPVKW21u$`=McH?Z9QLvucMl`r+*HKthdHy!1oqjJf-iQQ1@ z7gLuz=pIWe_P0>K$4*`*9$cjF4e)#bpZ>-4_pN!q{K(GPitlptthf)ibKh%EJ;Is3*JC_l;=b2s!29<(6W+gXI(VedMAIM@4Rc#DRi#@> z9vhpO8OOH;g=KVcC^iP=WP0j6kD@~`jcO=k(m#Vah+iPxi@_#Rz-T5<3oOY7Em@j7 z^>Lp^(|=;c3v2Yy`e0xZ 0: + receive_age = max(0.0, (now_ns - self.latest_odom_received_ns) * 1e-9) if msg.header.stamp.sec == 0 and msg.header.stamp.nanosec == 0: - age = 0.0 + stamp_age = None else: - age = (self.get_clock().now() - stamp).nanoseconds * 1e-9 - if age < 0.0: - age = 0.0 - if age > self.max_odom_age: + stamp = Time.from_msg(msg.header.stamp) + stamp_age = max(0.0, (self.get_clock().now() - stamp).nanoseconds * 1e-9) + if receive_age is not None and receive_age > self.max_odom_age: return { "available": False, "reason": "odom_too_old", - "age_sec": age, + "odom_receive_age_sec": receive_age, + "odom_stamp_age_sec": stamp_age, } source_frame = msg.header.frame_id or self.map_frame @@ -381,7 +386,8 @@ class GoalReachDebugCollector(Node): "x": x, "y": y, "yaw": yaw, - "odom_age_sec": age, + "odom_receive_age_sec": receive_age, + "odom_stamp_age_sec": stamp_age, "odom_linear_x": msg.twist.twist.linear.x, "odom_angular_z": msg.twist.twist.angular.z, } @@ -448,6 +454,7 @@ class GoalReachDebugCollector(Node): "goal_xy_tolerance", "goal_yaw_tolerance", "require_goal_yaw", + "snap_final_xy_to_goal", "resolution", "yaw_bins", "primitive_length", @@ -467,11 +474,21 @@ class GoalReachDebugCollector(Node): "publish_cmd_vel", "cmd_vel_topic", "lookahead_distance", + "min_lookahead_distance", + "lookahead_curvature_gain", + "lookahead_error_gain", + "heading_correction_gain", + "cross_track_correction_gain", + "cross_track_speed_gain", + "min_tracking_speed_ratio", + "path_reacquire_distance", "linear_speed", "min_linear_speed", "reverse_speed", "slowdown_distance", "curvature_slowdown_gain", + "min_curvature_speed_ratio", + "min_goal_slowdown_ratio", "min_turning_radius", "max_angular_speed", ], @@ -628,8 +645,9 @@ class GoalReachDebugCollector(Node): planner_xy = planner.get("goal_xy_tolerance") tracker_xy = tracker.get("goal_tolerance") + snap_xy = bool(planner.get("snap_final_xy_to_goal")) if isinstance(planner_xy, (int, float)) and isinstance(tracker_xy, (int, float)): - if planner_xy > tracker_xy: + if planner_xy > tracker_xy and not snap_xy: hints.append( "planner 的 goal_xy_tolerance 大于 tracker 的 goal_tolerance；" "planner 可能发布一个离原始目标较远的路径终点。" diff --git a/src/planner/scripts/preflight_check.py b/src/planner/scripts/preflight_check.py index 345d2d9..8859fa8 100755 --- a/src/planner/scripts/preflight_check.py +++ b/src/planner/scripts/preflight_check.py @@ -32,7 +32,7 @@ class PreflightCheck(Node): self.declare_parameter("map_topic", "/map") self.declare_parameter("odom_topic", "/odom_combined") self.declare_parameter("scan_topic", "/scan") - self.declare_parameter("cmd_vel_topic", "/cmd_vel") + self.declare_parameter("cmd_vel_topic", "/planner_cmd_vel") self.declare_parameter("expected_scan_frame", "laser_link") self.declare_parameter("tf_wait_sec", 3.0) self.declare_parameter("drive_command_topic", "/ackermann_cmd") diff --git a/src/planner/scripts/send_goal.py b/src/planner/scripts/send_goal.py index 3859919..1e9d586 100755 --- a/src/planner/scripts/send_goal.py +++ b/src/planner/scripts/send_goal.py @@ -39,8 +39,8 @@ def main(): parser.add_argument("yaw", type=float, nargs="?", default=0.0) parser.add_argument("--topic", default="/goal_pose") parser.add_argument("--frame", default="map") - parser.add_argument("--timeout", type=float, default=5.0) - parser.add_argument("--repeat", type=int, default=1) + parser.add_argument("--timeout", type=float, default=8.0) + parser.add_argument("--repeat", type=int, default=3) args = parser.parse_args() rclpy.init() diff --git a/src/planner/scripts/topology_pure_pursuit_node.py b/src/planner/scripts/topology_pure_pursuit_node.py index 54086d6..045e173 100755 --- a/src/planner/scripts/topology_pure_pursuit_node.py +++ b/src/planner/scripts/topology_pure_pursuit_node.py @@ -62,12 +62,22 @@ class TopologyPurePursuit(Node): self.declare_parameter("path_resolution", 0.10) self.declare_parameter("nearest_node_max_distance", 2.0) self.declare_parameter("lookahead_distance", 0.55) + self.declare_parameter("min_lookahead_distance", 0.16) + self.declare_parameter("lookahead_curvature_gain", 0.50) + self.declare_parameter("lookahead_error_gain", 1.20) + self.declare_parameter("heading_correction_gain", 0.55) + self.declare_parameter("cross_track_correction_gain", 0.80) + self.declare_parameter("cross_track_speed_gain", 1.20) + self.declare_parameter("min_tracking_speed_ratio", 0.40) + self.declare_parameter("path_reacquire_distance", 0.50) self.declare_parameter("goal_tolerance", 0.25) self.declare_parameter("linear_speed", 0.30) self.declare_parameter("min_linear_speed", 0.08) self.declare_parameter("reverse_speed", 0.12) self.declare_parameter("slowdown_distance", 0.80) self.declare_parameter("curvature_slowdown_gain", 0.18) + self.declare_parameter("min_curvature_speed_ratio", 0.35) + self.declare_parameter("min_goal_slowdown_ratio", 0.25) self.declare_parameter("max_angular_speed", 1.5) self.declare_parameter("min_turning_radius", 0.35) self.declare_parameter("goal_yaw_tolerance", 0.10) @@ -99,6 +109,35 @@ class TopologyPurePursuit(Node): self.lookahead_distance = float( self.get_parameter("lookahead_distance").value ) + self.min_lookahead_distance = max( + 0.05, + min( + self.lookahead_distance, + float(self.get_parameter("min_lookahead_distance").value), + ), + ) + self.lookahead_curvature_gain = max( + 0.0, float(self.get_parameter("lookahead_curvature_gain").value) + ) + self.lookahead_error_gain = max( + 0.0, float(self.get_parameter("lookahead_error_gain").value) + ) + self.heading_correction_gain = max( + 0.0, float(self.get_parameter("heading_correction_gain").value) + ) + self.cross_track_correction_gain = max( + 0.0, float(self.get_parameter("cross_track_correction_gain").value) + ) + self.cross_track_speed_gain = max( + 0.0, float(self.get_parameter("cross_track_speed_gain").value) + ) + self.min_tracking_speed_ratio = max( + 0.0, + min(1.0, float(self.get_parameter("min_tracking_speed_ratio").value)), + ) + self.path_reacquire_distance = max( + 0.0, float(self.get_parameter("path_reacquire_distance").value) + ) self.goal_tolerance = float(self.get_parameter("goal_tolerance").value) self.linear_speed = float(self.get_parameter("linear_speed").value) self.min_linear_speed = float(self.get_parameter("min_linear_speed").value) @@ -107,6 +146,14 @@ class TopologyPurePursuit(Node): self.curvature_slowdown_gain = float( self.get_parameter("curvature_slowdown_gain").value ) + self.min_curvature_speed_ratio = max( + 0.0, + min(1.0, float(self.get_parameter("min_curvature_speed_ratio").value)), + ) + self.min_goal_slowdown_ratio = max( + 0.0, + min(1.0, float(self.get_parameter("min_goal_slowdown_ratio").value)), + ) self.max_angular_speed = float( self.get_parameter("max_angular_speed").value ) @@ -151,6 +198,7 @@ class TopologyPurePursuit(Node): self.tf_listener = TransformListener(self.tf_buffer, self) self.latest_odom = None + self.latest_odom_received_ns = 0 self.active_path = [] self.active_node_path = [] self.active_goal_node = "" @@ -162,9 +210,11 @@ class TopologyPurePursuit(Node): self.last_cmd_linear = 0.0 self.last_cmd_angular = 0.0 - self.plan_pub = self.create_publisher( - NavPath, self.get_parameter("plan_topic").value, 10 - ) + self.plan_pub = None + if self.enable_topology_planning: + self.plan_pub = self.create_publisher( + NavPath, self.get_parameter("plan_topic").value, 10 + ) self.cmd_pub = self.create_publisher( Twist, self.get_parameter("cmd_vel_topic").value, 10 ) @@ -272,6 +322,7 @@ class TopologyPurePursuit(Node): def _odom_callback(self, msg): self.latest_odom = msg + self.latest_odom_received_ns = self.get_clock().now().nanoseconds if ( self.enable_topology_planning and self.autoplan_default_goal @@ -462,6 +513,8 @@ class TopologyPurePursuit(Node): return updated def _publish_path(self): + if self.plan_pub is None: + return path_msg = NavPath() path_msg.header.frame_id = self.map_frame path_msg.header.stamp = self.get_clock().now().to_msg() @@ -474,6 +527,12 @@ class TopologyPurePursuit(Node): def _current_pose(self, compensate=True): if self.latest_odom is None: return None + now_ns = self.get_clock().now().nanoseconds + if self.latest_odom_received_ns <= 0: + return None + age = max(0.0, (now_ns - self.latest_odom_received_ns) * 1e-9) + if age > self.max_odom_age: + return None msg = self.latest_odom source_frame = msg.header.frame_id or self.map_frame @@ -483,16 +542,6 @@ class TopologyPurePursuit(Node): vx = msg.twist.twist.linear.x wz = msg.twist.twist.angular.z - stamp = Time.from_msg(msg.header.stamp) - if msg.header.stamp.sec == 0 and msg.header.stamp.nanosec == 0: - age = 0.0 - else: - age = (self.get_clock().now() - stamp).nanoseconds * 1e-9 - if age < 0.0: - age = 0.0 - if age > self.max_odom_age: - return None - if compensate and self.latency_compensation: horizon = min(age, self.max_latency_compensation) if abs(wz) < 1e-4: @@ -587,28 +636,53 @@ class TopologyPurePursuit(Node): ) return - nearest_index = self._nearest_path_index(x, y) + projection = self._nearest_path_projection(x, y) + nearest_index = projection["index"] self.current_path_index = nearest_index - target_index = self._lookahead_index(x, y, nearest_index) - target_x, target_y, target_path_yaw = self.active_path[target_index] - nearest_x, nearest_y, _ = self.active_path[nearest_index] - cross_track_error = math.hypot(nearest_x - x, nearest_y - y) + cross_track_signed = projection["signed_error"] + cross_track_error = abs(cross_track_signed) + path_curvature = self._path_curvature(nearest_index) + lookahead_threshold = self._adaptive_lookahead( + path_curvature, cross_track_error, goal_distance + ) + target = self._path_target_from_projection(projection, lookahead_threshold) + target_index = target["index"] + target_x = target["x"] + target_y = target["y"] + target_path_yaw = target["yaw"] dx = target_x - x dy = target_y - y - path_heading = self._segment_heading(target_index, x, y) + path_heading = target["path_heading"] reverse = math.cos(normalize_angle(target_path_yaw - path_heading)) < 0.0 control_yaw = normalize_angle(yaw + math.pi) if reverse else yaw + # Track the XY curve. The path pose yaw is still used to detect reverse + # segments, but heading correction should follow the segment tangent so + # a noisy or intentionally ignored goal yaw does not pull the vehicle + # away from the planned line. + heading_error = normalize_angle(path_heading - control_yaw) local_x = math.cos(control_yaw) * dx + math.sin(control_yaw) * dy local_y = -math.sin(control_yaw) * dx + math.cos(control_yaw) * dy lookahead = max(0.05, math.hypot(local_x, local_y)) curvature = 2.0 * local_y / (lookahead * lookahead) + curvature += ( + self.heading_correction_gain + * math.sin(heading_error) + / max(self.min_lookahead_distance, lookahead) + ) + curvature += ( + -self.cross_track_correction_gain + * cross_track_signed + / max(self.min_lookahead_distance * self.min_lookahead_distance, lookahead * lookahead) + ) if self.min_turning_radius > 1e-3: max_curvature = 1.0 / self.min_turning_radius curvature = max(-max_curvature, min(max_curvature, curvature)) - speed = self._target_speed(abs(curvature), goal_distance, reverse) + speed = self._target_speed( + abs(curvature), goal_distance, reverse, cross_track_error + ) angular = speed * curvature angular = max(-self.max_angular_speed, min(self.max_angular_speed, angular)) self._publish_cmd(speed, angular) @@ -620,9 +694,13 @@ class TopologyPurePursuit(Node): nearest_index=nearest_index, target_index=target_index, cross_track_error=cross_track_error, + cross_track_signed=cross_track_signed, reverse=reverse, curvature=curvature, lookahead=lookahead, + lookahead_threshold=lookahead_threshold, + path_curvature=path_curvature, + heading_error=heading_error, ) def _align_final_yaw(self, x, y, yaw, goal_x, goal_y, goal_yaw, goal_yaw_error): @@ -670,15 +748,177 @@ class TopologyPurePursuit(Node): best_dist = dist return best_index - def _lookahead_index(self, x, y, start_index): + def _nearest_path_projection(self, x, y): + if len(self.active_path) < 2: + px, py, pyaw = self.active_path[0] + return { + "index": 0, + "t": 0.0, + "x": px, + "y": py, + "yaw": pyaw, + "path_heading": pyaw, + "signed_error": 0.0, + "distance": math.hypot(x - px, y - py), + } + + if self.path_reacquire_distance > 0.0: + nearest_vertex = self._nearest_path_index(x, y) + vx, vy, _ = self.active_path[nearest_vertex] + vertex_error = math.hypot(vx - x, vy - y) + if vertex_error > self.path_reacquire_distance: + start = 0 + else: + start = max(0, self.current_path_index - 8) + else: + start = max(0, self.current_path_index - 8) + + best = None + best_dist_sq = float("inf") + for index in range(start, len(self.active_path) - 1): + x0, y0, yaw0 = self.active_path[index] + x1, y1, yaw1 = self.active_path[index + 1] + dx = x1 - x0 + dy = y1 - y0 + seg_len_sq = dx * dx + dy * dy + if seg_len_sq <= 1e-10: + continue + t = ((x - x0) * dx + (y - y0) * dy) / seg_len_sq + t = max(0.0, min(1.0, t)) + px = x0 + t * dx + py = y0 + t * dy + err_x = x - px + err_y = y - py + dist_sq = err_x * err_x + err_y * err_y + if dist_sq >= best_dist_sq: + continue + seg_len = math.sqrt(seg_len_sq) + ux = dx / seg_len + uy = dy / seg_len + signed_error = ux * err_y - uy * err_x + heading = math.atan2(dy, dx) + yaw = yaw0 if t < 0.5 else yaw1 + best = { + "index": index, + "t": t, + "x": px, + "y": py, + "yaw": yaw, + "path_heading": heading, + "signed_error": signed_error, + "distance": math.sqrt(dist_sq), + } + best_dist_sq = dist_sq + + if best is not None: + return best + + index = min(max(0, self.current_path_index), len(self.active_path) - 1) + px, py, pyaw = self.active_path[index] + return { + "index": index, + "t": 0.0, + "x": px, + "y": py, + "yaw": pyaw, + "path_heading": pyaw, + "signed_error": 0.0, + "distance": math.hypot(x - px, y - py), + } + + def _path_target_from_projection(self, projection, lookahead_distance): + remaining = max(0.05, float(lookahead_distance)) + index = min(projection["index"], len(self.active_path) - 2) + t = max(0.0, min(1.0, projection.get("t", 0.0))) + + while index < len(self.active_path) - 1: + x0, y0, yaw0 = self.active_path[index] + x1, y1, yaw1 = self.active_path[index + 1] + dx = x1 - x0 + dy = y1 - y0 + seg_len = math.hypot(dx, dy) + if seg_len <= 1e-9: + index += 1 + t = 0.0 + continue + available = (1.0 - t) * seg_len + if remaining <= available: + ratio = t + remaining / seg_len + x = x0 + ratio * dx + y = y0 + ratio * dy + heading = math.atan2(dy, dx) + yaw = yaw0 if ratio < 0.5 else yaw1 + return { + "index": index + 1, + "x": x, + "y": y, + "yaw": yaw, + "path_heading": heading, + } + remaining -= available + index += 1 + t = 0.0 + + x, y, yaw = self.active_path[-1] + heading = self._segment_heading(len(self.active_path) - 1) + return { + "index": len(self.active_path) - 1, + "x": x, + "y": y, + "yaw": yaw, + "path_heading": heading, + } + + def _lookahead_index(self, x, y, start_index, lookahead_distance=None): + threshold = ( + self.lookahead_distance + if lookahead_distance is None + else max(0.05, float(lookahead_distance)) + ) target_index = len(self.active_path) - 1 for index in range(start_index, len(self.active_path)): px, py, _ = self.active_path[index] - if math.hypot(px - x, py - y) >= self.lookahead_distance: + if math.hypot(px - x, py - y) >= threshold: target_index = index break return target_index + def _adaptive_lookahead(self, path_curvature, cross_track_error, goal_distance): + scale = ( + 1.0 + + self.lookahead_curvature_gain * abs(path_curvature) + + self.lookahead_error_gain * max(0.0, cross_track_error) + ) + lookahead = self.lookahead_distance / max(1.0, scale) + if goal_distance < self.lookahead_distance: + lookahead = min(lookahead, max(self.min_lookahead_distance, goal_distance)) + return max(self.min_lookahead_distance, min(self.lookahead_distance, lookahead)) + + def _path_curvature(self, index): + if len(self.active_path) < 3: + return 0.0 + i0 = max(0, index - 1) + i1 = max(0, min(index, len(self.active_path) - 1)) + i2 = min(len(self.active_path) - 1, index + 1) + if i0 == i1: + i2 = min(len(self.active_path) - 1, i1 + 2) + if i1 == i2: + i0 = max(0, i1 - 2) + if i0 == i1 or i1 == i2: + return 0.0 + + x0, y0, _ = self.active_path[i0] + x1, y1, _ = self.active_path[i1] + x2, y2, _ = self.active_path[i2] + a = math.hypot(x1 - x0, y1 - y0) + b = math.hypot(x2 - x1, y2 - y1) + c = math.hypot(x2 - x0, y2 - y0) + denominator = a * b * c + if denominator <= 1e-6: + return 0.0 + cross = (x1 - x0) * (y2 - y0) - (y1 - y0) * (x2 - x0) + return 2.0 * cross / denominator + def _segment_heading(self, index, current_x=None, current_y=None): if len(self.active_path) < 2: return 0.0 @@ -716,9 +956,13 @@ class TopologyPurePursuit(Node): nearest_index=None, target_index=None, cross_track_error=None, + cross_track_signed=None, reverse=False, curvature=None, lookahead=None, + lookahead_threshold=None, + path_curvature=None, + heading_error=None, ): if self.state_log_period <= 0.0: return @@ -731,10 +975,34 @@ class TopologyPurePursuit(Node): parts = [f"tracker_state mode={mode}"] if pose is None: parts.append("pose=unavailable") + if self.latest_odom is None: + parts.append("odom=none") + elif self.latest_odom_received_ns > 0: + receive_age = max( + 0.0, + (now_ns - self.latest_odom_received_ns) * 1e-9, + ) + parts.append(f"odom_receive_age={receive_age:.3f}") else: x, y, yaw, vx, wz = pose parts.append(f"pose=({x:.3f},{y:.3f},{yaw:.3f})") parts.append(f"odom_twist=({vx:.3f},{wz:.3f})") + if self.latest_odom_received_ns > 0: + receive_age = max( + 0.0, + (now_ns - self.latest_odom_received_ns) * 1e-9, + ) + parts.append(f"odom_receive_age={receive_age:.3f}") + if self.latest_odom is not None: + stamp = Time.from_msg(self.latest_odom.header.stamp) + if ( + self.latest_odom.header.stamp.sec != 0 + or self.latest_odom.header.stamp.nanosec != 0 + ): + stamp_age = max( + 0.0, (self.get_clock().now() - stamp).nanoseconds * 1e-9 + ) + parts.append(f"odom_stamp_age={stamp_age:.3f}") parts.append(f"path_points={len(self.active_path)}") parts.append(f"completed={self.completed}") @@ -748,21 +1016,41 @@ class TopologyPurePursuit(Node): parts.append(f"target_index={target_index}") if cross_track_error is not None: parts.append(f"cross_track={cross_track_error:.3f}") + if cross_track_signed is not None: + parts.append(f"cross_track_signed={cross_track_signed:.3f}") if curvature is not None: parts.append(f"curvature={curvature:.3f}") if lookahead is not None: parts.append(f"lookahead={lookahead:.3f}") + if lookahead_threshold is not None: + parts.append(f"lookahead_threshold={lookahead_threshold:.3f}") + if path_curvature is not None: + parts.append(f"path_curvature={path_curvature:.3f}") + if heading_error is not None: + parts.append(f"heading_error={heading_error:.3f}") parts.append(f"reverse={reverse}") parts.append(f"cmd=({self.last_cmd_linear:.3f},{self.last_cmd_angular:.3f})") self.get_logger().info(" ".join(parts)) - def _target_speed(self, abs_curvature, goal_distance, reverse): + def _target_speed(self, abs_curvature, goal_distance, reverse, cross_track_error=0.0): base_speed = self.reverse_speed if reverse else self.linear_speed speed = base_speed - speed *= max(0.35, 1.0 - self.curvature_slowdown_gain * abs_curvature) + speed *= max( + self.min_curvature_speed_ratio, + 1.0 - self.curvature_slowdown_gain * abs_curvature, + ) if goal_distance < self.slowdown_distance: - ratio = max(0.25, goal_distance / max(0.05, self.slowdown_distance)) + ratio = max( + self.min_goal_slowdown_ratio, + goal_distance / max(0.05, self.slowdown_distance), + ) speed *= ratio + if cross_track_error > 0.0 and self.cross_track_speed_gain > 0.0: + tracking_ratio = max( + self.min_tracking_speed_ratio, + 1.0 - self.cross_track_speed_gain * cross_track_error, + ) + speed *= tracking_ratio speed = max(self.min_linear_speed, min(base_speed, speed)) return -speed if reverse else speed diff --git a/src/vlm_detect/config/vlm_detect.yaml b/src/vlm_detect/config/vlm_detect.yaml index 8c6674b..ebce0bf 100644 --- a/src/vlm_detect/config/vlm_detect.yaml +++ b/src/vlm_detect/config/vlm_detect.yaml @@ -1,36 +1,18 @@ # vlm_detect 参数配置 -# 使用: ros2 launch vlm_detect vlm_detect.launch.py vlm_node: ros__parameters: - # VLM 推理服务地址 vlm_host: "http://192.168.10.189:8000" - # 模型名称 (OpenAI 格式) vlm_model: "./OpenGVLab/InternVL3-1B/" - # 订阅的压缩图像话题 image_topic: "/image_mjpeg" - # 订阅的触发信号话题 trigger_topic: "/sign4return" - # 触发信号值 trigger_sign: 9 - # 发布结果的话题 result_topic: "/vlm_result" - # 发送给 VLM 的提示词 prompt_text: "描述图片中有一个病人的特征，字数控制在20字以内。" - # 最大输出 token 数 max_tokens: 100 tts_node: ros__parameters: - # VLM 推理服务地址 (需与 vlm_node 一致) - vlm_host: "http://192.168.10.189:8000" - # 音频输出设备 (PulseAudio sink) audio_sink: "alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo" - # 订阅 VLM 结果的话题 (需与 vlm_node 一致) result_topic: "/vlm_result" - # TTS 语音 (edge-tts 语音名) - tts_voice: "zh-CN-XiaoxiaoNeural" - # 临时 MP3 存储路径 - tmp_mp3_path: "/tmp/tts_out.mp3" - # 播放速度 (ffplay atempo, 范围 0.5~2.0) tts_speed: 1.5 diff --git a/src/vlm_detect/launch/vlm_detect.launch.py b/src/vlm_detect/launch/vlm_detect.launch.py index b45783e..dd416d5 100644 --- a/src/vlm_detect/launch/vlm_detect.launch.py +++ b/src/vlm_detect/launch/vlm_detect.launch.py @@ -1,13 +1,15 @@ #!/usr/bin/env python3 # -*- coding: utf-8 -*- """ -vlm_detect 联合启动文件 -同时启动 vlm_node (图生文) 和 tts_node (语音播报) +vlm_detect 启动文件 +同时启动 vlm_node (图生文) + tts_server (语音播报服务) + qr_tts_bridge (二维码播报) 用法: - ros2 launch vlm_detect vlm_detect.launch.py # 默认配置 - ros2 launch vlm_detect vlm_detect.launch.py vlm_host:=http://... # 覆盖 VLM 服务地址 - ros2 launch vlm_detect vlm_detect.launch.py use_tts:=false # 只启动 vlm_node + ros2 launch vlm_detect vlm_detect.launch.py # 默认全部 + ros2 launch vlm_detect vlm_detect.launch.py vlm_host:=http://... # 指定 VLM 服务地址 + ros2 launch vlm_detect vlm_detect.launch.py use_tts:=false # 关闭语音播报 + ros2 launch vlm_detect vlm_detect.launch.py use_qr_tts:=false # 关闭二维码播报桥接 + ros2 launch vlm_detect vlm_detect.launch.py use_vlm:=false # 只启动语音服务 """ import os @@ -23,7 +25,9 @@ from launch_ros.actions import Node def generate_launch_description(): # ==================== Launch 参数 ==================== + use_vlm = LaunchConfiguration('use_vlm') use_tts = LaunchConfiguration('use_tts') + use_qr_tts = LaunchConfiguration('use_qr_tts') config_file = LaunchConfiguration('config_file') @@ -37,15 +41,22 @@ def generate_launch_description(): prompt_text = LaunchConfiguration('prompt_text') max_tokens = LaunchConfiguration('max_tokens') - # tts_node 可覆盖参数 + # tts_server 可覆盖参数 audio_sink = LaunchConfiguration('audio_sink') - tts_voice = LaunchConfiguration('tts_voice') tts_speed = LaunchConfiguration('tts_speed') - # ==================== 声明参数 ==================== + # ==================== 参数声明 ==================== + declare_use_vlm = DeclareLaunchArgument( + 'use_vlm', default_value='true', + description='启动 VLM 图生文节点') + declare_use_tts = DeclareLaunchArgument( 'use_tts', default_value='true', - description='是否同时启动 TTS 语音播报节点') + description='启动 TTS 语音播报服务') + + declare_use_qr_tts = DeclareLaunchArgument( + 'use_qr_tts', default_value='true', + description='启动二维码 → TTS 桥接节点') declare_config_file = DeclareLaunchArgument( 'config_file', @@ -57,47 +68,46 @@ def generate_launch_description(): # vlm_node 参数 declare_vlm_host = DeclareLaunchArgument( 'vlm_host', default_value='http://192.168.10.189:8000', - description='VLM 推理服务地址') + description='VLM 服务器地址') declare_vlm_model = DeclareLaunchArgument( 'vlm_model', default_value='./OpenGVLab/InternVL3-1B/', description='VLM 模型名称') declare_image_topic = DeclareLaunchArgument( 'image_topic', default_value='/image_mjpeg', - description='订阅的压缩图像话题') + description='输入的压缩图像话题') declare_trigger_topic = DeclareLaunchArgument( 'trigger_topic', default_value='/sign4return', - description='订阅的触发信号话题') + description='输入的触发信号话题') declare_trigger_sign = DeclareLaunchArgument( 'trigger_sign', default_value='9', description='触发信号值 (Int32)') declare_result_topic = DeclareLaunchArgument( 'result_topic', default_value='/vlm_result', - description='发布 VLM 结果的话题') + description='输出 VLM 结果的话题') declare_prompt_text = DeclareLaunchArgument( - 'prompt_text', default_value='描述图片中有一个病人的特征，字数控制在20字以内。', + 'prompt_text', default_value='请描述这张图片的内容，用一句简短的话概括，不超过20个字。', description='发送给 VLM 的提示词') declare_max_tokens = DeclareLaunchArgument( 'max_tokens', default_value='100', - description='最大输出 token 数') + description='最大生成 token 数') - # tts_node 参数 + # tts_server 参数 declare_audio_sink = DeclareLaunchArgument( 'audio_sink', default_value='alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo', description='音频输出设备 (PulseAudio sink)') - declare_tts_voice = DeclareLaunchArgument( - 'tts_voice', default_value='zh-CN-XiaoxiaoNeural', - description='TTS 语音名称 (edge-tts)') declare_tts_speed = DeclareLaunchArgument( 'tts_speed', default_value='1.5', - description='播放速度倍率 (0.5~2.0)') + description='语速倍率 (0.5~2.0)') # ==================== 节点 ==================== + # VLM 图生文节点 (内部自带 TTS 服务客户端) vlm_node = Node( package='vlm_detect', executable='vlm_node', name='vlm_detect', output='screen', + condition=IfCondition(use_vlm), parameters=[config_file, { 'vlm_host': vlm_host, @@ -111,26 +121,35 @@ def generate_launch_description(): }], ) - tts_node = Node( + # TTS 语音播报服务端 + tts_server = Node( package='vlm_detect', - executable='tts_node', - name='tts_node', + executable='tts_server', + name='tts_server', output='screen', condition=IfCondition(use_tts), parameters=[config_file, { - 'vlm_host': vlm_host, 'audio_sink': audio_sink, - 'result_topic': result_topic, - 'tts_voice': tts_voice, 'tts_speed': tts_speed, }], ) - # ==================== 启动描述 ==================== + # 二维码 → TTS 桥接 (订阅 qr_results，调用 /tts/speak) + qr_tts_bridge = Node( + package='vlm_detect', + executable='qr_tts_bridge', + name='qr_tts_bridge', + output='screen', + condition=IfCondition(use_qr_tts), + ) + + # ==================== 组装 ==================== return LaunchDescription([ # 参数声明 + declare_use_vlm, declare_use_tts, + declare_use_qr_tts, declare_config_file, declare_vlm_host, declare_vlm_model, @@ -141,12 +160,13 @@ def generate_launch_description(): declare_prompt_text, declare_max_tokens, declare_audio_sink, - declare_tts_voice, declare_tts_speed, # 节点 LogInfo(msg=['配置文件: ', config_file]), LogInfo(msg=['VLM 服务: ', vlm_host]), - LogInfo(msg=['TTS 播报: ', use_tts]), + LogInfo(msg=['TTS 服务: ', use_tts]), + LogInfo(msg=['QR-TTS 桥接: ', use_qr_tts]), vlm_node, - tts_node, + tts_server, + qr_tts_bridge, ]) diff --git a/src/vlm_detect/setup.py b/src/vlm_detect/setup.py index 8c070ef..b4b075d 100644 --- a/src/vlm_detect/setup.py +++ b/src/vlm_detect/setup.py @@ -27,6 +27,8 @@ setup( 'vlm_node = vlm_detect.vlm_node:main', 'test_publisher = vlm_detect.test_publisher:main', 'tts_node = vlm_detect.tts_node:main', + 'tts_server = vlm_detect.tts_server:main', + 'qr_tts_bridge = vlm_detect.qr_tts_bridge:main', ], }, ) diff --git 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