feat: YOLO vision 640x480 + 1s throttle, camera snapshot, Nav2 fast, explore tuning, autorun loop mode, run_all_stop

.gitignore

@@ -13,5 +13,3 @@ __pycache__/
 *.pyc
 *.pyo
 
-# YOLO model (auto-downloaded on first run)
-yolov8n.pt

run_all.sh

@@ -1,14 +1,13 @@
-#!/usr/bin/env bash
+#!/bin/bash
 set -euo pipefail
-export PYTHONPATH="/workspace/.site-packages:$PYTHONPATH"
+# Link pip deps from EFS vendor if /workspace/.site-packages is missing
-export DISPLAY=:1
+ROOT="/workspace/"
-
+if [[ ! -d "${ROOT}/.site-packages" && -d "/opt/vendor/yolov8" ]]; then
-# Auto-download YOLO model if not present
+  ln -sf /opt/vendor/yolov8 "${ROOT}/.site-packages"
-if [[ ! -f "\${ROOT}/yolov8n.pt" ]]; then
-  echo "[run_all] Downloading yolov8n.pt..."
-  wget -q -O "\${ROOT}/yolov8n.pt" https://github.com/ultralytics/assets/releases/download/v8.3.0/yolov8n.pt || \    curl -sL -o "\${ROOT}/yolov8n.pt" https://github.com/ultralytics/assets/releases/download/v8.3.0/yolov8n.pt
 fi
 
+export PYTHONPATH="${ROOT}/.site-packages:${PYTHONPATH:-}"
+export DISPLAY=:1
 
 # Unified launcher for TurtleBot3 office workflow:
 # - Terminal A: simulation / bridge / (optional SLAM) / RViz
@@ -123,6 +122,7 @@ start_bg() {
 
 cleanup() {
   echo "[run_all] stopping all processes..."
+  rm -f /workspace/.run_all_stop
   for pid in "${PIDS[@]:-}"; do
     kill "$pid" 2>/dev/null || true
   done
@@ -328,6 +328,14 @@ if [[ "$MODE" == "mapping" ]]; then
   fi
 
   if [[ "${WITH_EXPLORE}" == true && -n "${EXPLORE_PID:-}" ]]; then
+    # Loop mode: explore -> save map -> wait -> restart explore (runs forever until .run_all_stop)
+    while true; do
+      if [[ -f /workspace/.run_all_stop ]]; then
+        echo "[run_all] stop signal detected, exiting exploration loop."
+        rm -f /workspace/.run_all_stop
+        break
+      fi
+
       echo "[run_all] exploration is running (pid=${EXPLORE_PID}), waiting for stop signal (timeout=${EXPLORE_WAIT_TIMEOUT}s)..."
       if wait_for_explore_stop_log_with_timer "${EXPLORE_LOG}" "${EXPLORE_WAIT_TIMEOUT}"; then
         echo "[run_all] detected exploration stop from log, finalizing explore process..."
@@ -337,16 +345,32 @@ if [[ "$MODE" == "mapping" ]]; then
       kill "${EXPLORE_PID}" 2>/dev/null || true
       wait "${EXPLORE_PID}" 2>/dev/null || true
       echo "[run_all] explore_lite stopped, now saving map."
-  fi
 
-  if [[ "${WITH_EXPLORE}" == true ]]; then
       echo "[run_all] auto-saving map to ${MAP_BASENAME}.yaml/.pgm ..."
       ros2 run nav2_map_server map_saver_cli -f "$MAP_BASENAME" --ros-args -p use_sim_time:="$USE_SIM_TIME"
       echo "[run_all] map saved successfully:"
       echo "  - ${MAP_BASENAME}.yaml"
       echo "  - ${MAP_BASENAME}.pgm"
-    echo "[run_all] mapping workflow completed, exiting now."
+
-    exit 0
+      if [[ -f /workspace/.run_all_stop ]]; then
+        echo "[run_all] stop signal detected, exiting exploration loop."
+        rm -f /workspace/.run_all_stop
+        break
+      fi
+
+      echo "[run_all] waiting 30s before restarting exploration (loop mode)..."
+      sleep 30
+
+      start_bg "C_explore" ros2 launch explore_lite explore.launch.py use_sim_time:="$USE_SIM_TIME"
+      last_index=$(( ${#PIDS[@]} - 1 ))
+      EXPLORE_PID="${PIDS[$last_index]}"
+      EXPLORE_LOG="${LOG_DIR}/C_explore.log"
+      echo "[run_all] exploration restarted (pid=${EXPLORE_PID})."
+    done
+  fi
+
+  if [[ "${WITH_EXPLORE}" == true ]]; then
+    echo "[run_all] exploration loop ended. Final map saved."
   fi
 
   cat <<EOF

run_all_stop.sh

@@ -1,35 +1,13 @@
 #!/usr/bin/env bash
 set -euo pipefail
+# run_all_stop.sh — send stop signal to run_all.sh loop mode
 
-# Stop all processes started by run_all.sh / run_ab.sh style workflow.
+touch /workspace/.run_all_stop
+echo "[run_all_stop] stop signal sent. run_all.sh will exit after current exploration cycle."
 
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# Also send SIGTERM to run_all.sh directly (excluding this script)
-
+PIDS=$(ps aux | grep -E "run_all\.sh" | grep -v grep | grep -v run_all_stop | awk '{print $2}' || true)
-echo "[run_all_stop] stopping ROS/Gazebo workflow processes..."
+if [[ -n "$PIDS" ]]; then
-
+  echo "[run_all_stop] sending SIGTERM to run_all.sh pids: $PIDS"
-# Launches / nodes
+  kill $PIDS 2>/dev/null || true
-pkill -f "turtlebot3_office_gz.launch.py" 2>/dev/null || true
-pkill -f "nav2_bringup navigation_launch.py" 2>/dev/null || true
-pkill -f "nav2_bringup bringup_launch.py" 2>/dev/null || true
-pkill -f "explore_lite explore.launch.py" 2>/dev/null || true
-pkill -f "nav2_map_server map_saver_cli" 2>/dev/null || true
-
-# Gazebo websocket and frontend
-pkill -f "${ROOT}/websocket.sdf" 2>/dev/null || true
-pkill -f "vite --host 0.0.0.0 --port 5173" 2>/dev/null || true
-pkill -f "npm run dev:host" 2>/dev/null || true
-
-# Gazebo processes usually started by ros_gz_sim / gz sim
-pkill -f "ros_gz_sim" 2>/dev/null || true
-pkill -f "gz sim" 2>/dev/null || true
-
-# Free common ports if still occupied
-for port in 5173 9002; do
-  pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u)"
-  if [[ -n "${pids}" ]]; then
-    echo "[run_all_stop] killing processes on port ${port}: ${pids}"
-    kill ${pids} 2>/dev/null || true
 fi
-done
-
-echo "[run_all_stop] done."

src/vision_yolo/vision_yolo/detector.py

@@ -5,34 +5,42 @@ from vision_msgs.msg import Detection2DArray, Detection2D, ObjectHypothesisWithP
 from cv_bridge import CvBridge
 from ultralytics import YOLO
 import cv2
+import time
 
 class YoloDetector(Node):
     def __init__(self):
-        super().__init__('yolo_detector')
+        super().__init__("yolo_detector")
         self.bridge = CvBridge()
-        self.get_logger().info('Loading YOLOv8n model...')
+        self.get_logger().info("Loading YOLOv8n model...")
-        self.model = YOLO('yolov8n.pt')
+        self.model = YOLO("yolov8n.pt")
-        self.get_logger().info('YOLOv8n model loaded')
+        self.get_logger().info("YOLOv8n model loaded")
 
         self.sub = self.create_subscription(
-            Image, '/camera/image_raw', self.on_image, 10)
+            Image, "/camera/image_raw", self.on_image, 10)
         self.pub = self.create_publisher(
-            Detection2DArray, '/vision/detections', 10)
+            Detection2DArray, "/vision/detections", 10)
         self.pub_vis = self.create_publisher(
-            Image, '/vision/image_annotated', 10)
+            Image, "/vision/image_annotated", 10)
 
-        self.get_logger().info('YOLO detector node started, subscribing to /camera/image_raw')
+        self.last_infer_time = 0.0
+        self.infer_interval = 1.0
+        self.get_logger().info("YOLO detector node started, subscribing to /camera/image_raw")
 
     def on_image(self, msg):
+        now = time.time()
+        if now - self.last_infer_time < self.infer_interval:
+            return
+        self.last_infer_time = now
+
         try:
-            cv_img = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
+            cv_img = self.bridge.imgmsg_to_cv2(msg, "bgr8")
-            # CPU 降采样加速
+            cv_img = cv2.resize(cv_img, (640, 480))
-            cv_img = cv2.resize(cv_img, (320, 240))
+            cv2.imwrite("/workspace/camera_latest.jpg", cv_img)
         except Exception as e:
-            self.get_logger().error(f'cv_bridge failed: {e}')
+            self.get_logger().error(f"cv_bridge failed: {e}")
             return
 
-        results = self.model(cv_img, verbose=False, imgsz=320)
+        results = self.model(cv_img, verbose=False, imgsz=640)
         dets = Detection2DArray()
         dets.header = msg.header
 
@@ -41,7 +49,6 @@ class YoloDetector(Node):
                 cls_id = int(box.cls[0])
                 conf = float(box.conf[0])
                 label = self.model.names[cls_id]
-
                 x1, y1, x2, y2 = map(float, box.xyxy[0])
 
                 det = Detection2D()
@@ -58,14 +65,15 @@ class YoloDetector(Node):
                 dets.detections.append(det)
 
                 cv2.rectangle(cv_img, (int(x1), int(y1)), (int(x2), int(y2)), (0, 255, 0), 2)
-                cv2.putText(cv_img, f'{label} {conf:.2f}', (int(x1), int(y1) - 10),
+                cv2.putText(cv_img, f"{label} {conf:.2f}", (int(x1), int(y1) - 10),
                             cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
 
         self.pub.publish(dets)
         if dets.detections:
-            self.get_logger().info(f'Detected: {[d.results[0].hypothesis.class_id for d in dets.detections]}')
+            classes = [d.results[0].hypothesis.class_id for d in dets.detections]
+            self.get_logger().info(f"Detected: {classes}")
 
-        vis_msg = self.bridge.cv2_to_imgmsg(cv_img, 'bgr8')
+        vis_msg = self.bridge.cv2_to_imgmsg(cv_img, "bgr8")
         vis_msg.header = msg.header
         self.pub_vis.publish(vis_msg)
 
@@ -79,5 +87,5 @@ def main(args=None):
     node.destroy_node()
     rclpy.shutdown()
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     main()