Compare commits
2 Commits
7c4ff06d3b
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8aaae2f323
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Bug
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8aaae2f323 | |
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Bug
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322ad4a4b2 |
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@ -0,0 +1,15 @@
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# Python dependencies (installed on-demand)
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.site-packages/
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# ROS2 build artifacts
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build/
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install/
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log/
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logs/
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# Python cache
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__pycache__/
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*.pyc
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*.pyo
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@ -3,4 +3,4 @@
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# 浏览器使用镜像内 foundation 已在 /opt/gzweb（8000）起的页面；本脚本仍起 gz sim、websocket.sdf(9002)、Nav2 等。
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# 浏览器使用镜像内 foundation 已在 /opt/gzweb（8000）起的页面；本脚本仍起 gz sim、websocket.sdf(9002)、Nav2 等。
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set -euo pipefail
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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exec bash "${ROOT}/run_all.sh" mapping --gzweb --no-gzweb-vite
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exec bash "${ROOT}/run_all.sh" mapping --explore --gzweb --no-gzweb-vite --vision
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@ -5,10 +5,10 @@
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costmap_topic: map
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costmap_topic: map
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costmap_updates_topic: map_updates
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costmap_updates_topic: map_updates
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visualize: true
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visualize: true
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planner_frequency: 0.2 #0.15
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planner_frequency: 1.0 #0.15
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progress_timeout: 40.0
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progress_timeout: 40.0
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potential_scale: 1.0 #3.0
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potential_scale: 1.0 #3.0
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orientation_scale: 0.0
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orientation_scale: 0.0
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gain_scale: 3.0 #1.0
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gain_scale: 3.0 #1.0
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transform_tolerance: 0.3
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transform_tolerance: 0.3
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min_frontier_size: 0.5 #0.75
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min_frontier_size: 0.3 #0.75
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@ -0,0 +1,350 @@
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amcl:
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ros__parameters:
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use_sim_time: True
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alpha1: 0.2
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alpha2: 0.2
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alpha3: 0.2
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alpha4: 0.2
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alpha5: 0.2
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base_frame_id: "base_footprint"
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beam_skip_distance: 0.5
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beam_skip_error_threshold: 0.9
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beam_skip_threshold: 0.3
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do_beamskip: false
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global_frame_id: "map"
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lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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laser_max_range: 100.0
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laser_min_range: -1.0
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laser_model_type: "likelihood_field"
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max_beams: 60
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max_particles: 2000
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min_particles: 500
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odom_frame_id: "odom"
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pf_err: 0.05
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pf_z: 0.99
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recovery_alpha_fast: 0.0
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recovery_alpha_slow: 0.0
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resample_interval: 1
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robot_model_type: "nav2_amcl::DifferentialMotionModel"
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save_pose_rate: 0.5
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sigma_hit: 0.2
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tf_broadcast: true
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transform_tolerance: 1.0
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update_min_a: 0.2
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update_min_d: 0.25
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z_hit: 0.5
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z_max: 0.05
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z_rand: 0.5
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z_short: 0.05
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scan_topic: scan
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bt_navigator:
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ros__parameters:
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use_sim_time: True
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global_frame: map
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robot_base_frame: base_link
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odom_topic: /odom
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bt_loop_duration: 10
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default_server_timeout: 20
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wait_for_service_timeout: 1000
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# 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
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# nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
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# nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
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# They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_smooth_path_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_assisted_teleop_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_drive_on_heading_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_globally_updated_goal_condition_bt_node
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- nav2_is_path_valid_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_truncate_path_local_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_path_expiring_timer_condition
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_goal_updated_controller_bt_node
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- nav2_is_battery_low_condition_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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- nav2_controller_cancel_bt_node
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- nav2_path_longer_on_approach_bt_node
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- nav2_wait_cancel_bt_node
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- nav2_spin_cancel_bt_node
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- nav2_back_up_cancel_bt_node
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- nav2_assisted_teleop_cancel_bt_node
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- nav2_drive_on_heading_cancel_bt_node
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- nav2_is_battery_charging_condition_bt_node
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bt_navigator_navigate_through_poses_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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bt_navigator_navigate_to_pose_rclcpp_node:
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ros__parameters:
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use_sim_time: True
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controller_server:
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ros__parameters:
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use_sim_time: True
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controller_frequency: 20.0
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min_x_velocity_threshold: 0.001
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min_y_velocity_threshold: 0.5
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min_theta_velocity_threshold: 0.001
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failure_tolerance: 0.3
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progress_checker_plugin: "progress_checker"
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goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
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controller_plugins: ["FollowPath"]
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# Progress checker parameters
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progress_checker:
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plugin: "nav2_controller::SimpleProgressChecker"
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required_movement_radius: 0.5
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movement_time_allowance: 10.0
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# Goal checker parameters
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#precise_goal_checker:
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# plugin: "nav2_controller::SimpleGoalChecker"
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# xy_goal_tolerance: 0.25
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# yaw_goal_tolerance: 0.25
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# stateful: True
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general_goal_checker:
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stateful: True
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plugin: "nav2_controller::SimpleGoalChecker"
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xy_goal_tolerance: 0.25
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yaw_goal_tolerance: 0.25
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# DWB parameters
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FollowPath:
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plugin: "dwb_core::DWBLocalPlanner"
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debug_trajectory_details: True
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min_vel_x: 0.0
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min_vel_y: 0.0
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max_vel_x: 0.5
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max_vel_y: 0.0
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max_vel_theta: 1.0
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min_speed_xy: 0.0
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max_speed_xy: 0.5
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min_speed_theta: 0.0
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# Add high threshold velocity for turtlebot 3 issue.
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# https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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decel_lim_x: -2.5
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decel_lim_y: 0.0
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decel_lim_theta: -3.2
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vx_samples: 20
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vy_samples: 5
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vtheta_samples: 20
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sim_time: 1.7
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linear_granularity: 0.05
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angular_granularity: 0.025
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transform_tolerance: 0.2
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xy_goal_tolerance: 0.25
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trans_stopped_velocity: 0.25
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short_circuit_trajectory_evaluation: True
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stateful: True
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critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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BaseObstacle.scale: 0.02
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PathAlign.scale: 32.0
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PathAlign.forward_point_distance: 0.1
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GoalAlign.scale: 24.0
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GoalAlign.forward_point_distance: 0.1
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PathDist.scale: 32.0
|
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GoalDist.scale: 24.0
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RotateToGoal.scale: 32.0
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RotateToGoal.slowing_factor: 5.0
|
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RotateToGoal.lookahead_time: -1.0
|
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|
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local_costmap:
|
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local_costmap:
|
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ros__parameters:
|
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update_frequency: 5.0
|
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publish_frequency: 2.0
|
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global_frame: odom
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robot_base_frame: base_link
|
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use_sim_time: True
|
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rolling_window: true
|
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width: 3
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height: 3
|
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|
resolution: 0.05
|
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robot_radius: 0.22
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plugins: ["voxel_layer", "inflation_layer"]
|
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inflation_layer:
|
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plugin: "nav2_costmap_2d::InflationLayer"
|
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cost_scaling_factor: 3.0
|
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inflation_radius: 0.55
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voxel_layer:
|
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plugin: "nav2_costmap_2d::VoxelLayer"
|
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enabled: True
|
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publish_voxel_map: True
|
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origin_z: 0.0
|
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z_resolution: 0.05
|
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z_voxels: 16
|
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max_obstacle_height: 2.0
|
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mark_threshold: 0
|
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observation_sources: scan
|
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|
scan:
|
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topic: /scan
|
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max_obstacle_height: 2.0
|
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|
clearing: True
|
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marking: True
|
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data_type: "LaserScan"
|
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|
raytrace_max_range: 3.0
|
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|
raytrace_min_range: 0.0
|
||||||
|
obstacle_max_range: 2.5
|
||||||
|
obstacle_min_range: 0.0
|
||||||
|
static_layer:
|
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plugin: "nav2_costmap_2d::StaticLayer"
|
||||||
|
map_subscribe_transient_local: True
|
||||||
|
always_send_full_costmap: True
|
||||||
|
|
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|
global_costmap:
|
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global_costmap:
|
||||||
|
ros__parameters:
|
||||||
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update_frequency: 1.0
|
||||||
|
publish_frequency: 1.0
|
||||||
|
global_frame: map
|
||||||
|
robot_base_frame: base_link
|
||||||
|
use_sim_time: True
|
||||||
|
robot_radius: 0.22
|
||||||
|
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
|
||||||
|
|
||||||
|
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: 0.1
|
||||||
|
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: [0.5, 0.0, 1.0]
|
||||||
|
min_velocity: [-0.5, 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
|
||||||
|
|
@ -0,0 +1,6 @@
|
||||||
|
# YOLO vision 依赖（安装到 /workspace/.site-packages 以持久化）
|
||||||
|
# 使用方法：pip install -r requirements.txt -t /workspace/.site-packages
|
||||||
|
|
||||||
|
ultralytics
|
||||||
|
opencv-python
|
||||||
|
numpy<2
|
||||||
|
|
@ -0,0 +1,24 @@
|
||||||
|
#!/usr/bin/env bash
|
||||||
|
source /opt/ros/humble/setup.bash
|
||||||
|
source /workspace/install/setup.bash
|
||||||
|
|
||||||
|
echo "[restart] Killing old processes..."
|
||||||
|
pkill -f "explore_lite/lib/explore_lite" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_smoother/smoother_server" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_behaviors/behavior_server" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_waypoint_follower/waypoint_follower" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_velocity_smoother/velocity_smoother" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_controller/controller_server" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_planner/planner_server" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_bt_navigator/bt_navigator" 2>/dev/null || true
|
||||||
|
pkill -f "nav2_lifecycle_manager/lifecycle_manager" 2>/dev/null || true
|
||||||
|
sleep 2
|
||||||
|
|
||||||
|
echo "[restart] Starting Nav2 with fast params..."
|
||||||
|
nohup ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true params_file:=/workspace/nav2_params_fast.yaml > /tmp/nav2.log 2>&1 &
|
||||||
|
|
||||||
|
echo "[restart] Starting explore_lite with fast params..."
|
||||||
|
nohup ros2 launch explore_lite explore.launch.py use_sim_time:=true > /tmp/explore.log 2>&1 &
|
||||||
|
|
||||||
|
echo "[restart] Done. Logs: /tmp/nav2.log /tmp/explore.log"
|
||||||
|
echo "[restart] Verify in 5s with: ros2 node list | grep -E \"explore|nav2\""
|
||||||
715
run_all.sh
715
run_all.sh
|
|
@ -1,347 +1,368 @@
|
||||||
#!/usr/bin/env bash
|
#!/usr/bin/env bash
|
||||||
set -euo pipefail
|
set -euo pipefail
|
||||||
export DISPLAY=:1
|
# Link pip deps from EFS vendor if /workspace/.site-packages is missing
|
||||||
|
if [[ ! -d "${ROOT}/.site-packages" && -d "/opt/vendor/yolov8" ]]; then
|
||||||
# Unified launcher for TurtleBot3 office workflow:
|
ln -sf /opt/vendor/yolov8 "${ROOT}/.site-packages"
|
||||||
# - Terminal A: simulation / bridge / (optional SLAM) / RViz
|
fi
|
||||||
# - Terminal B: Nav2
|
|
||||||
# - Optional C: explore_lite
|
export PYTHONPATH="${ROOT}/.site-packages:$PYTHONPATH"
|
||||||
# - Optional websocket + gzweb-demo frontend
|
export DISPLAY=:1
|
||||||
#
|
|
||||||
# Modes:
|
# Auto-download YOLO model if not present
|
||||||
# mapping : online SLAM mapping
|
if [[ ! -f "\${ROOT}/yolov8n.pt" ]]; then
|
||||||
# localization : map-based localization/navigation
|
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
|
||||||
# Mapping mode interactive commands:
|
fi
|
||||||
# s : save map and switch to localization mode
|
|
||||||
# q : stop all
|
|
||||||
#
|
# Unified launcher for TurtleBot3 office workflow:
|
||||||
# Examples:
|
# - Terminal A: simulation / bridge / (optional SLAM) / RViz
|
||||||
# ./run_all.sh mapping --explore --gzweb
|
# - Terminal B: Nav2
|
||||||
# ./run_all.sh localization --gzweb --map /abs/path/office_map.yaml
|
# - Optional C: explore_lite
|
||||||
|
# - Optional websocket + gzweb-demo frontend
|
||||||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
#
|
||||||
MODE="${1:-mapping}"
|
# Modes:
|
||||||
shift || true
|
# mapping : online SLAM mapping
|
||||||
|
# localization : map-based localization/navigation
|
||||||
ROBOT_MODEL="${ROBOT_MODEL:-waffle}"
|
#
|
||||||
USE_SIM_TIME="${USE_SIM_TIME:-true}"
|
# Mapping mode interactive commands:
|
||||||
GZ_PARTITION="${GZ_PARTITION:-tb3_office_gz}"
|
# s : save map and switch to localization mode
|
||||||
WORLD_PATH_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf"
|
# q : stop all
|
||||||
MAP_YAML_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml"
|
#
|
||||||
MAP_BASENAME_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map"
|
# Examples:
|
||||||
SLEEP_NAV2="${SLEEP_NAV2:-18}"
|
# ./run_all.sh mapping --explore --gzweb
|
||||||
EXPLORE_WAIT_TIMEOUT="${EXPLORE_WAIT_TIMEOUT:-420}"
|
# ./run_all.sh localization --gzweb --map /abs/path/office_map.yaml
|
||||||
|
|
||||||
WORLD_PATH="${WORLD_PATH:-$WORLD_PATH_DEFAULT}"
|
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||||
MAP_YAML="${NAV2_MAP_PATH:-$MAP_YAML_DEFAULT}"
|
MODE="${1:-mapping}"
|
||||||
MAP_BASENAME="${MAP_BASENAME:-$MAP_BASENAME_DEFAULT}"
|
shift || true
|
||||||
|
|
||||||
WITH_EXPLORE=false
|
ROBOT_MODEL="${ROBOT_MODEL:-waffle}"
|
||||||
WITH_GZWE=false
|
USE_SIM_TIME="${USE_SIM_TIME:-true}"
|
||||||
NO_RVIZ=false
|
GZ_PARTITION="${GZ_PARTITION:-tb3_office_gz}"
|
||||||
# 与 --gzweb 同用：只起 gz websocket(9002) 等资源，不起 office 内 npm run dev；页面用镜像内 /opt/gzweb（foundation）
|
WORLD_PATH_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf"
|
||||||
NO_GZWEB_VITE=false
|
MAP_YAML_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml"
|
||||||
|
MAP_BASENAME_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map"
|
||||||
|
SLEEP_NAV2="${SLEEP_NAV2:-18}"
|
||||||
while [[ $# -gt 0 ]]; do
|
EXPLORE_WAIT_TIMEOUT="${EXPLORE_WAIT_TIMEOUT:-420}"
|
||||||
case "$1" in
|
|
||||||
--explore) WITH_EXPLORE=true; shift ;;
|
WORLD_PATH="${WORLD_PATH:-$WORLD_PATH_DEFAULT}"
|
||||||
--gzweb) WITH_GZWEB=true; shift ;;
|
MAP_YAML="${NAV2_MAP_PATH:-$MAP_YAML_DEFAULT}"
|
||||||
--no-gzweb-vite) NO_GZWEB_VITE=true; shift ;;
|
MAP_BASENAME="${MAP_BASENAME:-$MAP_BASENAME_DEFAULT}"
|
||||||
--no-rviz) NO_RVIZ=true; shift ;;
|
|
||||||
--map) MAP_YAML="$2"; shift 2 ;;
|
WITH_EXPLORE=false
|
||||||
--world) WORLD_PATH="$2"; shift 2 ;;
|
WITH_VISION=false
|
||||||
--help|-h)
|
WITH_GZWE=false
|
||||||
cat <<'EOF'
|
NO_RVIZ=false
|
||||||
Usage:
|
# 与 --gzweb 同用：只起 gz websocket(9002) 等资源，不起 office 内 npm run dev；页面用镜像内 /opt/gzweb（foundation）
|
||||||
./run_all.sh mapping [--explore] [--gzweb] [--no-gzweb-vite] [--no-rviz] [--world PATH]
|
NO_GZWEB_VITE=false
|
||||||
./run_all.sh localization [--gzweb] [--no-gzweb-vite] [--no-rviz] [--map PATH] [--world PATH]
|
|
||||||
|
while [[ $# -gt 0 ]]; do
|
||||||
--no-gzweb-vite 需与 --gzweb 同时使用：不启动 workspace 内 gzweb-demo 的 Vite；浏览器用 /opt/gzweb（8000）。
|
case "$1" in
|
||||||
EOF
|
--explore) WITH_EXPLORE=true; shift ;;
|
||||||
exit 0
|
--vision) WITH_VISION=true; shift ;;
|
||||||
;;
|
--gzweb) WITH_GZWEB=true; shift ;;
|
||||||
*)
|
--no-gzweb-vite) NO_GZWEB_VITE=true; shift ;;
|
||||||
echo "[run_all] unknown argument: $1" >&2
|
--no-rviz) NO_RVIZ=true; shift ;;
|
||||||
exit 1
|
--map) MAP_YAML="$2"; shift 2 ;;
|
||||||
;;
|
--world) WORLD_PATH="$2"; shift 2 ;;
|
||||||
esac
|
--help|-h)
|
||||||
done
|
cat <<'EOF'
|
||||||
|
Usage:
|
||||||
if [[ "$MODE" != "mapping" && "$MODE" != "localization" ]]; then
|
./run_all.sh mapping [--explore] [--gzweb] [--no-gzweb-vite] [--no-rviz] [--world PATH]
|
||||||
echo "[run_all] mode must be mapping or localization" >&2
|
./run_all.sh localization [--gzweb] [--no-gzweb-vite] [--no-rviz] [--map PATH] [--world PATH]
|
||||||
exit 1
|
|
||||||
fi
|
--no-gzweb-vite 需与 --gzweb 同时使用：不启动 workspace 内 gzweb-demo 的 Vite；浏览器用 /opt/gzweb（8000）。
|
||||||
|
EOF
|
||||||
if [[ ! -f "$WORLD_PATH" ]]; then
|
exit 0
|
||||||
echo "[run_all] world not found: $WORLD_PATH" >&2
|
;;
|
||||||
exit 1
|
*)
|
||||||
fi
|
echo "[run_all] unknown argument: $1" >&2
|
||||||
|
exit 1
|
||||||
if [[ "$MODE" == "localization" && ! -f "$MAP_YAML" ]]; then
|
;;
|
||||||
echo "[run_all] map yaml not found: $MAP_YAML" >&2
|
esac
|
||||||
exit 1
|
done
|
||||||
fi
|
|
||||||
|
if [[ "$MODE" != "mapping" && "$MODE" != "localization" ]]; then
|
||||||
set +u
|
echo "[run_all] mode must be mapping or localization" >&2
|
||||||
source /opt/ros/humble/setup.bash
|
exit 1
|
||||||
|
fi
|
||||||
# 仅在 install 目录缺失时构建（避免每次启动都重复构建，同时修复未 source ROS 环境导致的 ament_cmake 找不到）
|
|
||||||
if [[ ! -d "${ROOT}/install" ]]; then
|
if [[ ! -f "$WORLD_PATH" ]]; then
|
||||||
colcon build --symlink-install
|
echo "[run_all] world not found: $WORLD_PATH" >&2
|
||||||
fi
|
exit 1
|
||||||
|
fi
|
||||||
source "${ROOT}/install/setup.bash"
|
|
||||||
set -u
|
if [[ "$MODE" == "localization" && ! -f "$MAP_YAML" ]]; then
|
||||||
export TURTLEBOT3_MODEL="$ROBOT_MODEL"
|
echo "[run_all] map yaml not found: $MAP_YAML" >&2
|
||||||
|
exit 1
|
||||||
LOG_DIR="${ROOT}/logs/run_all_$(date +%Y%m%d_%H%M%S)"
|
fi
|
||||||
mkdir -p "$LOG_DIR"
|
|
||||||
mkdir -p "$(dirname "$MAP_BASENAME")"
|
set +u
|
||||||
|
source /opt/ros/humble/setup.bash
|
||||||
PIDS=()
|
|
||||||
|
# 仅在 install 目录缺失时构建（避免每次启动都重复构建，同时修复未 source ROS 环境导致的 ament_cmake 找不到）
|
||||||
start_bg() {
|
if [[ ! -d "${ROOT}/install" ]]; then
|
||||||
local name="$1"; shift
|
colcon build --symlink-install
|
||||||
local logfile="${LOG_DIR}/${name}.log"
|
fi
|
||||||
echo "[run_all] starting ${name} ..."
|
|
||||||
"$@" >"$logfile" 2>&1 &
|
source "${ROOT}/install/setup.bash"
|
||||||
local pid=$!
|
set -u
|
||||||
PIDS+=("$pid")
|
export TURTLEBOT3_MODEL="$ROBOT_MODEL"
|
||||||
echo "[run_all] ${name} pid=${pid}, log=${logfile}"
|
|
||||||
}
|
LOG_DIR="${ROOT}/logs/run_all_$(date +%Y%m%d_%H%M%S)"
|
||||||
|
mkdir -p "$LOG_DIR"
|
||||||
cleanup() {
|
mkdir -p "$(dirname "$MAP_BASENAME")"
|
||||||
echo "[run_all] stopping all processes..."
|
|
||||||
for pid in "${PIDS[@]:-}"; do
|
PIDS=()
|
||||||
kill "$pid" 2>/dev/null || true
|
|
||||||
done
|
start_bg() {
|
||||||
}
|
local name="$1"; shift
|
||||||
trap cleanup EXIT INT TERM
|
local logfile="${LOG_DIR}/${name}.log"
|
||||||
|
echo "[run_all] starting ${name} ..."
|
||||||
wait_for_topic() {
|
"$@" >"$logfile" 2>&1 &
|
||||||
local topic="$1"
|
local pid=$!
|
||||||
local timeout="${2:-60}"
|
PIDS+=("$pid")
|
||||||
local i=0
|
echo "[run_all] ${name} pid=${pid}, log=${logfile}"
|
||||||
while (( i < timeout )); do
|
}
|
||||||
if ros2 topic list 2>/dev/null | grep -Fxq "${topic}"; then
|
|
||||||
return 0
|
cleanup() {
|
||||||
fi
|
echo "[run_all] stopping all processes..."
|
||||||
sleep 1
|
for pid in "${PIDS[@]:-}"; do
|
||||||
((i+=1))
|
kill "$pid" 2>/dev/null || true
|
||||||
done
|
done
|
||||||
return 1
|
}
|
||||||
}
|
trap cleanup EXIT INT TERM
|
||||||
|
|
||||||
wait_for_port() {
|
wait_for_topic() {
|
||||||
local port="$1"
|
local topic="$1"
|
||||||
local timeout="${2:-30}"
|
local timeout="${2:-60}"
|
||||||
local i=0
|
local i=0
|
||||||
while (( i < timeout )); do
|
while (( i < timeout )); do
|
||||||
if ss -ltn 2>/dev/null | grep -q ":${port} "; then
|
if ros2 topic list 2>/dev/null | grep -Fxq "${topic}"; then
|
||||||
return 0
|
return 0
|
||||||
fi
|
fi
|
||||||
sleep 1
|
sleep 1
|
||||||
((i+=1))
|
((i+=1))
|
||||||
done
|
done
|
||||||
return 1
|
return 1
|
||||||
}
|
}
|
||||||
|
|
||||||
wait_for_explore_stop_log() {
|
wait_for_port() {
|
||||||
local logfile="$1"
|
local port="$1"
|
||||||
local timeout="${2:-900}"
|
local timeout="${2:-30}"
|
||||||
local i=0
|
local i=0
|
||||||
while (( i < timeout )); do
|
while (( i < timeout )); do
|
||||||
if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
|
if ss -ltn 2>/dev/null | grep -q ":${port} "; then
|
||||||
return 0
|
return 0
|
||||||
fi
|
fi
|
||||||
sleep 1
|
sleep 1
|
||||||
((i+=1))
|
((i+=1))
|
||||||
done
|
done
|
||||||
return 1
|
return 1
|
||||||
}
|
}
|
||||||
|
|
||||||
wait_for_explore_stop_log_with_timer() {
|
wait_for_explore_stop_log() {
|
||||||
local logfile="$1"
|
local logfile="$1"
|
||||||
local timeout="${2:-900}"
|
local timeout="${2:-900}"
|
||||||
local start_ts
|
local i=0
|
||||||
start_ts="$(date +%s)"
|
while (( i < timeout )); do
|
||||||
local i=0
|
if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
|
||||||
while (( i < timeout )); do
|
return 0
|
||||||
if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
|
fi
|
||||||
return 0
|
sleep 1
|
||||||
fi
|
((i+=1))
|
||||||
if (( i % 10 == 0 )); then
|
done
|
||||||
local now_ts elapsed
|
return 1
|
||||||
now_ts="$(date +%s)"
|
}
|
||||||
elapsed=$(( now_ts - start_ts ))
|
|
||||||
echo "[run_all] explore elapsed: ${elapsed}s"
|
wait_for_explore_stop_log_with_timer() {
|
||||||
fi
|
local logfile="$1"
|
||||||
sleep 1
|
local timeout="${2:-900}"
|
||||||
((i+=1))
|
local start_ts
|
||||||
done
|
start_ts="$(date +%s)"
|
||||||
return 1
|
local i=0
|
||||||
}
|
while (( i < timeout )); do
|
||||||
|
if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
|
||||||
kill_port_listeners() {
|
return 0
|
||||||
local port="$1"
|
fi
|
||||||
local pids
|
if (( i % 10 == 0 )); then
|
||||||
pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
|
local now_ts elapsed
|
||||||
if [[ -n "${pids}" ]]; then
|
now_ts="$(date +%s)"
|
||||||
echo "[run_all] port ${port} already in use, killing: ${pids}"
|
elapsed=$(( now_ts - start_ts ))
|
||||||
kill ${pids} 2>/dev/null || true
|
echo "[run_all] explore elapsed: ${elapsed}s"
|
||||||
sleep 1
|
fi
|
||||||
fi
|
sleep 1
|
||||||
}
|
((i+=1))
|
||||||
|
done
|
||||||
show_rviz_arg="show_rviz:=true"
|
return 1
|
||||||
if [[ "$NO_RVIZ" == true ]]; then
|
}
|
||||||
show_rviz_arg="show_rviz:=false"
|
|
||||||
fi
|
kill_port_listeners() {
|
||||||
|
local port="$1"
|
||||||
if [[ "$MODE" == "mapping" ]]; then
|
local pids
|
||||||
start_bg "A_sim" \
|
pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
|
||||||
ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
|
if [[ -n "${pids}" ]]; then
|
||||||
robot_model:="$ROBOT_MODEL" \
|
echo "[run_all] port ${port} already in use, killing: ${pids}"
|
||||||
use_sim_time:="$USE_SIM_TIME" \
|
kill ${pids} 2>/dev/null || true
|
||||||
start_slam:=true \
|
sleep 1
|
||||||
"$show_rviz_arg" \
|
fi
|
||||||
gz_partition:="$GZ_PARTITION" \
|
}
|
||||||
gz_world_name:=default \
|
|
||||||
world:="$WORLD_PATH"
|
show_rviz_arg="show_rviz:=true"
|
||||||
else
|
if [[ "$NO_RVIZ" == true ]]; then
|
||||||
start_bg "A_sim" \
|
show_rviz_arg="show_rviz:=false"
|
||||||
ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
|
fi
|
||||||
robot_model:="$ROBOT_MODEL" \
|
|
||||||
use_sim_time:="$USE_SIM_TIME" \
|
if [[ "$MODE" == "mapping" ]]; then
|
||||||
start_slam:=false \
|
start_bg "A_sim" \
|
||||||
"$show_rviz_arg" \
|
ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
|
||||||
gz_partition:="$GZ_PARTITION" \
|
robot_model:="$ROBOT_MODEL" \
|
||||||
gz_world_name:=default \
|
use_sim_time:="$USE_SIM_TIME" \
|
||||||
world:="$WORLD_PATH"
|
start_slam:=true \
|
||||||
fi
|
"$show_rviz_arg" \
|
||||||
|
gz_partition:="$GZ_PARTITION" \
|
||||||
# --gzweb：gz launch(9002) + 可选 office 内 gzweb-demo 的 Vite（5173）。
|
gz_world_name:=default \
|
||||||
# --gzweb --no-gzweb-vite：不起 office Vite；页面用 foundation 已在 /opt/gzweb:8000 起的实例（见 run_all_fix.sh）。
|
world:="$WORLD_PATH"
|
||||||
if [[ "$WITH_GZWEB" == true ]]; then
|
else
|
||||||
export GZ_PARTITION
|
start_bg "A_sim" \
|
||||||
OFFICE_MODEL_ROOT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office"
|
ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
|
||||||
RESOURCE_PATHS=(
|
robot_model:="$ROBOT_MODEL" \
|
||||||
"${HOME}/.gazebo/models"
|
use_sim_time:="$USE_SIM_TIME" \
|
||||||
"${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models"
|
start_slam:=false \
|
||||||
"${OFFICE_MODEL_ROOT}"
|
"$show_rviz_arg" \
|
||||||
)
|
gz_partition:="$GZ_PARTITION" \
|
||||||
for d in "${OFFICE_MODEL_ROOT}"/*/materials/scripts "${OFFICE_MODEL_ROOT}"/*/materials/textures; do
|
gz_world_name:=default \
|
||||||
[[ -d "${d}" ]] && RESOURCE_PATHS+=("${d}")
|
world:="$WORLD_PATH"
|
||||||
done
|
fi
|
||||||
RESOURCE_PATH_JOINED="$(IFS=:; echo "${RESOURCE_PATHS[*]}")"
|
|
||||||
export GZ_SIM_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
|
# --gzweb：gz launch(9002) + 可选 office 内 gzweb-demo 的 Vite（5173）。
|
||||||
# Keep compatibility with components resolving textures via legacy lookup vars.
|
# --gzweb --no-gzweb-vite：不起 office Vite；页面用 foundation 已在 /opt/gzweb:8000 起的实例（见 run_all_fix.sh）。
|
||||||
export GZ_FILE_PATH="${RESOURCE_PATH_JOINED}"
|
if [[ "$WITH_GZWEB" == true ]]; then
|
||||||
export GAZEBO_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
|
export GZ_PARTITION
|
||||||
|
OFFICE_MODEL_ROOT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office"
|
||||||
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
RESOURCE_PATHS=(
|
||||||
if [[ ! -d "${ROOT}/gzweb-demo/gzweb-demo/node_modules/gzweb" ]]; then
|
"${HOME}/.gazebo/models"
|
||||||
echo "[run_all] gzweb demo dependencies missing, running npm install once..."
|
"${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models"
|
||||||
bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm install"
|
"${OFFICE_MODEL_ROOT}"
|
||||||
fi
|
)
|
||||||
else
|
for d in "${OFFICE_MODEL_ROOT}"/*/materials/scripts "${OFFICE_MODEL_ROOT}"/*/materials/textures; do
|
||||||
echo "[run_all] --no-gzweb-vite: skipping office gzweb-demo npm install; use /opt/gzweb (port 8000) for UI."
|
[[ -d "${d}" ]] && RESOURCE_PATHS+=("${d}")
|
||||||
fi
|
done
|
||||||
|
RESOURCE_PATH_JOINED="$(IFS=:; echo "${RESOURCE_PATHS[*]}")"
|
||||||
kill_port_listeners 9002
|
export GZ_SIM_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
|
||||||
kill_port_listeners 5173
|
# Keep compatibility with components resolving textures via legacy lookup vars.
|
||||||
|
export GZ_FILE_PATH="${RESOURCE_PATH_JOINED}"
|
||||||
echo "[run_all] waiting for /clock before websocket..."
|
export GAZEBO_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
|
||||||
if wait_for_topic "/clock" 25; then
|
|
||||||
start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
|
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
||||||
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
if [[ ! -d "${ROOT}/gzweb-demo/gzweb-demo/node_modules/gzweb" ]]; then
|
||||||
start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
|
echo "[run_all] gzweb demo dependencies missing, running npm install once..."
|
||||||
echo "[run_all] office gzweb-demo Vite: http://localhost:5173"
|
bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm install"
|
||||||
fi
|
fi
|
||||||
else
|
else
|
||||||
echo "[run_all] WARN: /clock not detected in time; starting websocket (and optional frontend) anyway."
|
echo "[run_all] --no-gzweb-vite: skipping office gzweb-demo npm install; use /opt/gzweb (port 8000) for UI."
|
||||||
start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
|
fi
|
||||||
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
|
||||||
start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
|
kill_port_listeners 9002
|
||||||
fi
|
kill_port_listeners 5173
|
||||||
fi
|
|
||||||
|
echo "[run_all] waiting for /clock before websocket..."
|
||||||
if wait_for_port 9002 12; then
|
if wait_for_topic "/clock" 25; then
|
||||||
echo "[run_all] websocket server ready on ws://localhost:9002"
|
start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
|
||||||
else
|
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
||||||
echo "[run_all] ERROR: websocket server failed on 9002; check ${LOG_DIR}/D_websocket.log"
|
start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
|
||||||
fi
|
echo "[run_all] office gzweb-demo Vite: http://localhost:5173"
|
||||||
fi
|
fi
|
||||||
|
else
|
||||||
echo "[run_all] waiting ${SLEEP_NAV2}s before starting Nav2..."
|
echo "[run_all] WARN: /clock not detected in time; starting websocket (and optional frontend) anyway."
|
||||||
sleep "$SLEEP_NAV2"
|
start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
|
||||||
|
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
||||||
if [[ "$MODE" == "mapping" ]]; then
|
start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
|
||||||
start_bg "B_nav2" ros2 launch nav2_bringup navigation_launch.py use_sim_time:="$USE_SIM_TIME"
|
fi
|
||||||
else
|
fi
|
||||||
start_bg "B_nav2" \
|
|
||||||
ros2 launch nav2_bringup bringup_launch.py \
|
if wait_for_port 9002 12; then
|
||||||
use_sim_time:="$USE_SIM_TIME" \
|
echo "[run_all] websocket server ready on ws://localhost:9002"
|
||||||
map:="$MAP_YAML" \
|
else
|
||||||
slam:=false
|
echo "[run_all] ERROR: websocket server failed on 9002; check ${LOG_DIR}/D_websocket.log"
|
||||||
fi
|
fi
|
||||||
|
fi
|
||||||
if [[ "$WITH_EXPLORE" == true && "$MODE" == "mapping" ]]; then
|
|
||||||
start_bg "C_explore" ros2 launch explore_lite explore.launch.py use_sim_time:="$USE_SIM_TIME"
|
echo "[run_all] waiting ${SLEEP_NAV2}s before starting Nav2..."
|
||||||
last_index=$(( ${#PIDS[@]} - 1 ))
|
sleep "$SLEEP_NAV2"
|
||||||
EXPLORE_PID="${PIDS[$last_index]}"
|
|
||||||
EXPLORE_LOG="${LOG_DIR}/C_explore.log"
|
if [[ "$MODE" == "mapping" ]]; then
|
||||||
fi
|
start_bg "B_nav2" ros2 launch nav2_bringup navigation_launch.py use_sim_time:="$USE_SIM_TIME" params_file:=/workspace/nav2_params_fast.yaml
|
||||||
|
else
|
||||||
echo
|
start_bg "B_nav2" \
|
||||||
echo "[run_all] started. Mode: ${MODE}"
|
ros2 launch nav2_bringup bringup_launch.py params_file:=/workspace/nav2_params_fast.yaml \
|
||||||
echo "[run_all] logs: ${LOG_DIR}"
|
use_sim_time:="$USE_SIM_TIME" \
|
||||||
echo
|
map:="$MAP_YAML" \
|
||||||
|
slam:=false
|
||||||
if [[ "$MODE" == "mapping" ]]; then
|
fi
|
||||||
if [[ "$WITH_GZWEB" == true ]]; then
|
|
||||||
if [[ "$NO_GZWEB_VITE" == true ]]; then
|
if [[ "$WITH_EXPLORE" == true && "$MODE" == "mapping" ]]; then
|
||||||
echo "[run_all] UI: foundation /opt/gzweb on port 8000 (no office Vite)."
|
start_bg "C_explore" ros2 launch explore_lite explore.launch.py use_sim_time:="$USE_SIM_TIME"
|
||||||
elif wait_for_port 5173 25; then
|
last_index=$(( ${#PIDS[@]} - 1 ))
|
||||||
echo "[run_all] office gzweb-demo ready: http://localhost:5173"
|
EXPLORE_PID="${PIDS[$last_index]}"
|
||||||
else
|
EXPLORE_LOG="${LOG_DIR}/C_explore.log"
|
||||||
echo "[run_all] WARN: office gzweb frontend not ready yet, check ${LOG_DIR}/E_gzweb_frontend.log"
|
fi
|
||||||
fi
|
|
||||||
fi
|
echo
|
||||||
|
if [[ "$WITH_VISION" == true ]]; then
|
||||||
if [[ "${WITH_EXPLORE}" == true && -n "${EXPLORE_PID:-}" ]]; then
|
start_bg "D_vision_yolo" ros2 run vision_yolo detector
|
||||||
echo "[run_all] exploration is running (pid=${EXPLORE_PID}), waiting for stop signal (timeout=${EXPLORE_WAIT_TIMEOUT}s)..."
|
last_index=$(( ${#PIDS[@]} - 1 ))
|
||||||
if wait_for_explore_stop_log_with_timer "${EXPLORE_LOG}" "${EXPLORE_WAIT_TIMEOUT}"; then
|
VISION_PID="${PIDS[$last_index]}"
|
||||||
echo "[run_all] detected exploration stop from log, finalizing explore process..."
|
VISION_LOG="${LOG_DIR}/D_vision_yolo.log"
|
||||||
else
|
fi
|
||||||
echo "[run_all] WARN: explore stop not detected within timeout; forcing stop and saving current map."
|
|
||||||
fi
|
echo "[run_all] started. Mode: ${MODE}"
|
||||||
kill "${EXPLORE_PID}" 2>/dev/null || true
|
echo "[run_all] logs: ${LOG_DIR}"
|
||||||
wait "${EXPLORE_PID}" 2>/dev/null || true
|
echo
|
||||||
echo "[run_all] explore_lite stopped, now saving map."
|
|
||||||
fi
|
if [[ "$MODE" == "mapping" ]]; then
|
||||||
|
if [[ "$WITH_GZWEB" == true ]]; then
|
||||||
if [[ "${WITH_EXPLORE}" == true ]]; then
|
if [[ "$NO_GZWEB_VITE" == true ]]; then
|
||||||
echo "[run_all] auto-saving map to ${MAP_BASENAME}.yaml/.pgm ..."
|
echo "[run_all] UI: foundation /opt/gzweb on port 8000 (no office Vite)."
|
||||||
ros2 run nav2_map_server map_saver_cli -f "$MAP_BASENAME" --ros-args -p use_sim_time:="$USE_SIM_TIME"
|
elif wait_for_port 5173 25; then
|
||||||
echo "[run_all] map saved successfully:"
|
echo "[run_all] office gzweb-demo ready: http://localhost:5173"
|
||||||
echo " - ${MAP_BASENAME}.yaml"
|
else
|
||||||
echo " - ${MAP_BASENAME}.pgm"
|
echo "[run_all] WARN: office gzweb frontend not ready yet, check ${LOG_DIR}/E_gzweb_frontend.log"
|
||||||
echo "[run_all] mapping workflow completed, exiting now."
|
fi
|
||||||
exit 0
|
fi
|
||||||
fi
|
|
||||||
|
if [[ "${WITH_EXPLORE}" == true && -n "${EXPLORE_PID:-}" ]]; then
|
||||||
cat <<EOF
|
echo "[run_all] exploration is running (pid=${EXPLORE_PID}), waiting for stop signal (timeout=${EXPLORE_WAIT_TIMEOUT}s)..."
|
||||||
[run_all] Mapping mode notes:
|
if wait_for_explore_stop_log_with_timer "${EXPLORE_LOG}" "${EXPLORE_WAIT_TIMEOUT}"; then
|
||||||
- RViz 'Localization: inactive' is normal during SLAM mapping.
|
echo "[run_all] detected exploration stop from log, finalizing explore process..."
|
||||||
- You did not enable --explore, so auto-save/auto-exit is disabled.
|
else
|
||||||
- Press Ctrl+C when you want to stop all.
|
echo "[run_all] WARN: explore stop not detected within timeout; forcing stop and saving current map."
|
||||||
EOF
|
fi
|
||||||
wait
|
kill "${EXPLORE_PID}" 2>/dev/null || true
|
||||||
else
|
wait "${EXPLORE_PID}" 2>/dev/null || true
|
||||||
echo "[run_all] Localization mode: RViz Localization should become active after initial pose."
|
echo "[run_all] explore_lite stopped, now saving map."
|
||||||
echo "[run_all] Keep this terminal running; Ctrl+C to stop all."
|
fi
|
||||||
wait
|
|
||||||
fi
|
if [[ "${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 " - ${MAP_BASENAME}.pgm"
|
||||||
|
echo "[run_all] mapping workflow completed, exiting now."
|
||||||
|
exit 0
|
||||||
|
fi
|
||||||
|
|
||||||
|
cat <<EOF
|
||||||
|
[run_all] Mapping mode notes:
|
||||||
|
- RViz 'Localization: inactive' is normal during SLAM mapping.
|
||||||
|
- You did not enable --explore, so auto-save/auto-exit is disabled.
|
||||||
|
- Press Ctrl+C when you want to stop all.
|
||||||
|
EOF
|
||||||
|
wait
|
||||||
|
else
|
||||||
|
echo "[run_all] Localization mode: RViz Localization should become active after initial pose."
|
||||||
|
echo "[run_all] Keep this terminal running; Ctrl+C to stop all."
|
||||||
|
wait
|
||||||
|
fi
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,23 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
|
<package format="3">
|
||||||
|
<name>vision_yolo</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>TODO: Package description</description>
|
||||||
|
<maintainer email="devuser@todo.todo">devuser</maintainer>
|
||||||
|
<license>TODO: License declaration</license>
|
||||||
|
|
||||||
|
<depend>rclpy</depend>
|
||||||
|
<depend>sensor_msgs</depend>
|
||||||
|
<depend>vision_msgs</depend>
|
||||||
|
<depend>std_msgs</depend>
|
||||||
|
|
||||||
|
<test_depend>ament_copyright</test_depend>
|
||||||
|
<test_depend>ament_flake8</test_depend>
|
||||||
|
<test_depend>ament_pep257</test_depend>
|
||||||
|
<test_depend>python3-pytest</test_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_python</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
|
|
@ -0,0 +1,4 @@
|
||||||
|
[develop]
|
||||||
|
script_dir=$base/lib/vision_yolo
|
||||||
|
[install]
|
||||||
|
install_scripts=$base/lib/vision_yolo
|
||||||
|
|
@ -0,0 +1,30 @@
|
||||||
|
from setuptools import find_packages, setup
|
||||||
|
|
||||||
|
package_name = 'vision_yolo'
|
||||||
|
|
||||||
|
setup(
|
||||||
|
name=package_name,
|
||||||
|
version='0.0.0',
|
||||||
|
packages=find_packages(exclude=['test']),
|
||||||
|
data_files=[
|
||||||
|
('share/ament_index/resource_index/packages',
|
||||||
|
['resource/' + package_name]),
|
||||||
|
('share/' + package_name, ['package.xml']),
|
||||||
|
],
|
||||||
|
install_requires=['setuptools'],
|
||||||
|
zip_safe=True,
|
||||||
|
maintainer='devuser',
|
||||||
|
maintainer_email='devuser@todo.todo',
|
||||||
|
description='YOLOv8 vision detector for TurtleBot3',
|
||||||
|
license='MIT',
|
||||||
|
extras_require={
|
||||||
|
'test': [
|
||||||
|
'pytest',
|
||||||
|
],
|
||||||
|
},
|
||||||
|
entry_points={
|
||||||
|
'console_scripts': [
|
||||||
|
'detector = vision_yolo.detector:main',
|
||||||
|
],
|
||||||
|
},
|
||||||
|
)
|
||||||
|
|
@ -0,0 +1,25 @@
|
||||||
|
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
from ament_copyright.main import main
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
# Remove the `skip` decorator once the source file(s) have a copyright header
|
||||||
|
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
|
||||||
|
@pytest.mark.copyright
|
||||||
|
@pytest.mark.linter
|
||||||
|
def test_copyright():
|
||||||
|
rc = main(argv=['.', 'test'])
|
||||||
|
assert rc == 0, 'Found errors'
|
||||||
|
|
@ -0,0 +1,25 @@
|
||||||
|
# Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
from ament_flake8.main import main_with_errors
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.flake8
|
||||||
|
@pytest.mark.linter
|
||||||
|
def test_flake8():
|
||||||
|
rc, errors = main_with_errors(argv=[])
|
||||||
|
assert rc == 0, \
|
||||||
|
'Found %d code style errors / warnings:\n' % len(errors) + \
|
||||||
|
'\n'.join(errors)
|
||||||
|
|
@ -0,0 +1,23 @@
|
||||||
|
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
from ament_pep257.main import main
|
||||||
|
import pytest
|
||||||
|
|
||||||
|
|
||||||
|
@pytest.mark.linter
|
||||||
|
@pytest.mark.pep257
|
||||||
|
def test_pep257():
|
||||||
|
rc = main(argv=['.', 'test'])
|
||||||
|
assert rc == 0, 'Found code style errors / warnings'
|
||||||
|
|
@ -0,0 +1,83 @@
|
||||||
|
import rclpy
|
||||||
|
from rclpy.node import Node
|
||||||
|
from sensor_msgs.msg import Image
|
||||||
|
from vision_msgs.msg import Detection2DArray, Detection2D, ObjectHypothesisWithPose
|
||||||
|
from cv_bridge import CvBridge
|
||||||
|
from ultralytics import YOLO
|
||||||
|
import cv2
|
||||||
|
|
||||||
|
class YoloDetector(Node):
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__('yolo_detector')
|
||||||
|
self.bridge = CvBridge()
|
||||||
|
self.get_logger().info('Loading YOLOv8n model...')
|
||||||
|
self.model = YOLO('yolov8n.pt')
|
||||||
|
self.get_logger().info('YOLOv8n model loaded')
|
||||||
|
|
||||||
|
self.sub = self.create_subscription(
|
||||||
|
Image, '/camera/image_raw', self.on_image, 10)
|
||||||
|
self.pub = self.create_publisher(
|
||||||
|
Detection2DArray, '/vision/detections', 10)
|
||||||
|
self.pub_vis = self.create_publisher(
|
||||||
|
Image, '/vision/image_annotated', 10)
|
||||||
|
|
||||||
|
self.get_logger().info('YOLO detector node started, subscribing to /camera/image_raw')
|
||||||
|
|
||||||
|
def on_image(self, msg):
|
||||||
|
try:
|
||||||
|
cv_img = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
|
||||||
|
# CPU 降采样加速
|
||||||
|
cv_img = cv2.resize(cv_img, (320, 240))
|
||||||
|
except Exception as e:
|
||||||
|
self.get_logger().error(f'cv_bridge failed: {e}')
|
||||||
|
return
|
||||||
|
|
||||||
|
results = self.model(cv_img, verbose=False, imgsz=320)
|
||||||
|
dets = Detection2DArray()
|
||||||
|
dets.header = msg.header
|
||||||
|
|
||||||
|
for r in results:
|
||||||
|
for box in r.boxes:
|
||||||
|
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()
|
||||||
|
det.bbox.center.position.x = (x1 + x2) / 2.0
|
||||||
|
det.bbox.center.position.y = (y1 + y2) / 2.0
|
||||||
|
det.bbox.center.theta = 0.0
|
||||||
|
det.bbox.size_x = x2 - x1
|
||||||
|
det.bbox.size_y = y2 - y1
|
||||||
|
|
||||||
|
hyp = ObjectHypothesisWithPose()
|
||||||
|
hyp.hypothesis.class_id = label
|
||||||
|
hyp.hypothesis.score = conf
|
||||||
|
det.results.append(hyp)
|
||||||
|
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.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]}')
|
||||||
|
|
||||||
|
vis_msg = self.bridge.cv2_to_imgmsg(cv_img, 'bgr8')
|
||||||
|
vis_msg.header = msg.header
|
||||||
|
self.pub_vis.publish(vis_msg)
|
||||||
|
|
||||||
|
def main(args=None):
|
||||||
|
rclpy.init(args=args)
|
||||||
|
node = YoloDetector()
|
||||||
|
try:
|
||||||
|
rclpy.spin(node)
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
pass
|
||||||
|
node.destroy_node()
|
||||||
|
rclpy.shutdown()
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
|
|
@ -113,12 +113,16 @@ def _launch_setup(context, *args, **kwargs):
|
||||||
f'{joint_gz}@sensor_msgs/msg/JointState[gz.msgs.Model',
|
f'{joint_gz}@sensor_msgs/msg/JointState[gz.msgs.Model',
|
||||||
f'{tf_topic}@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
|
f'{tf_topic}@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
|
||||||
'/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
|
'/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
|
||||||
|
'/camera@sensor_msgs/msg/Image@gz.msgs.Image',
|
||||||
|
'/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
|
||||||
],
|
],
|
||||||
remappings=[
|
remappings=[
|
||||||
(joint_gz, '/joint_states'),
|
(joint_gz, '/joint_states'),
|
||||||
(tf_topic, '/tf'),
|
(tf_topic, '/tf'),
|
||||||
(cmd_topic, '/cmd_vel'),
|
(cmd_topic, '/cmd_vel'),
|
||||||
(odom_topic, '/odom'),
|
(odom_topic, '/odom'),
|
||||||
|
('/camera', '/camera/image_raw'),
|
||||||
|
('/camera_info', '/camera/camera_info'),
|
||||||
],
|
],
|
||||||
parameters=[{
|
parameters=[{
|
||||||
f'qos_overrides.{cmd_topic}.subscriber.reliability': 'reliable',
|
f'qos_overrides.{cmd_topic}.subscriber.reliability': 'reliable',
|
||||||
|
|
|
||||||
|
|
@ -432,10 +432,6 @@
|
||||||
</axis>
|
</axis>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="camera_joint" type="fixed">
|
|
||||||
<parent>base_link</parent>
|
|
||||||
<child>realsense_link</child>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
|
<plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
|
||||||
<left_joint>wheel_left_joint</left_joint>
|
<left_joint>wheel_left_joint</left_joint>
|
||||||
|
|
@ -458,6 +454,37 @@
|
||||||
<plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
|
<plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
|
||||||
</plugin>
|
</plugin>
|
||||||
|
|
||||||
|
<link name="camera_link">
|
||||||
|
<pose relative_to="base_link">0.064 -0.065 0.094 0 0 0</pose>
|
||||||
|
<inertial>
|
||||||
|
<mass>0.01</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.001</ixx><iyy>0.001</iyy><izz>0.001</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<sensor name="camera" type="camera">
|
||||||
|
<camera>
|
||||||
|
<horizontal_fov>1.047</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>640</width>
|
||||||
|
<height>480</height>
|
||||||
|
</image>
|
||||||
|
<clip>
|
||||||
|
<near>0.1</near>
|
||||||
|
<far>100</far>
|
||||||
|
</clip>
|
||||||
|
</camera>
|
||||||
|
<always_on>1</always_on>
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<topic>camera</topic>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="camera_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>camera_link</child>
|
||||||
|
</joint>
|
||||||
</model>
|
</model>
|
||||||
</sdf>
|
</sdf>
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,15 @@
|
||||||
|
#!/usr/bin/env bash
|
||||||
|
# 安装 vision_yolo 依赖到 /workspace/.site-packages
|
||||||
|
# 容器重启后系统盘重置，但 /workspace 是 EFS 持久化存储
|
||||||
|
set -euo pipefail
|
||||||
|
|
||||||
|
TARGET="/workspace/.site-packages"
|
||||||
|
mkdir -p "$TARGET"
|
||||||
|
|
||||||
|
pip install ultralytics opencv-python "numpy<2" \
|
||||||
|
-t "$TARGET" \
|
||||||
|
-i https://pypi.tuna.tsinghua.edu.cn/simple \
|
||||||
|
--no-cache-dir
|
||||||
|
|
||||||
|
echo "Dependencies installed to $TARGET"
|
||||||
|
echo "PYTHONPATH is already set in run_all.sh"
|
||||||
Binary file not shown.
Loading…
Reference in New Issue