feat: add yolov8n.pt to git, link /opt/vendor/yolov8 for pip deps

- Include yolov8n.pt model in repo (6.5MB)
- Add symlink logic in run_all.sh: if /workspace/.site-packages missing
  and /opt/vendor/yolov8 exists (EFS), auto-link before setting PYTHONPATH

.gitignore

@@ -0,0 +1,15 @@
+
+# Python dependencies (installed on-demand)
+.site-packages/
+
+# ROS2 build artifacts
+build/
+install/
+log/
+logs/
+
+# Python cache
+__pycache__/
+*.pyc
+*.pyo
+

autorun.sh

@@ -3,4 +3,4 @@
 # 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。
 set -euo pipefail
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-exec bash "${ROOT}/run_all.sh" mapping --gzweb --no-gzweb-vite
+exec bash "${ROOT}/run_all.sh" mapping --explore --gzweb --no-gzweb-vite --vision

m-explore-ros2/explore/config/params.yaml

@@ -5,10 +5,10 @@
     costmap_topic: map
     costmap_updates_topic: map_updates
     visualize: true
-    planner_frequency: 0.2 #0.15
+    planner_frequency: 1.0 #0.15
     progress_timeout: 40.0
     potential_scale: 1.0 #3.0
     orientation_scale: 0.0
     gain_scale: 3.0  #1.0
     transform_tolerance: 0.3
-    min_frontier_size: 0.5 #0.75
+    min_frontier_size: 0.3 #0.75

nav2_params_fast.yaml

@@ -0,0 +1,350 @@
+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    wait_for_service_timeout: 1000
+    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
+    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
+    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
+    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_assisted_teleop_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_goal_updated_controller_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_assisted_teleop_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+      - nav2_is_battery_charging_condition_bt_node
+
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 0.5
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.5
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 2.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      robot_radius: 0.22
+      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

requirements.txt

@@ -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

restart_nav2_explore.sh

@@ -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\""

run_all.sh

@@ -1,7 +1,20 @@
 #!/usr/bin/env bash
 set -euo pipefail
+# Link pip deps from EFS vendor if /workspace/.site-packages is missing
+if [[ ! -d "${ROOT}/.site-packages" && -d "/opt/vendor/yolov8" ]]; then
+  ln -sf /opt/vendor/yolov8 "${ROOT}/.site-packages"
+fi
+
+export PYTHONPATH="${ROOT}/.site-packages:$PYTHONPATH"
 export DISPLAY=:1
 
+# Auto-download YOLO model if not present
+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
+
+
 # Unified launcher for TurtleBot3 office workflow:
 # - Terminal A: simulation / bridge / (optional SLAM) / RViz
 # - Terminal B: Nav2
@@ -38,15 +51,16 @@ MAP_YAML="${NAV2_MAP_PATH:-$MAP_YAML_DEFAULT}"
 MAP_BASENAME="${MAP_BASENAME:-$MAP_BASENAME_DEFAULT}"
 
 WITH_EXPLORE=false
+WITH_VISION=false
 WITH_GZWE=false
 NO_RVIZ=false
 # 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）
 NO_GZWEB_VITE=false
 
-
 while [[ $# -gt 0 ]]; do
   case "$1" in
     --explore) WITH_EXPLORE=true; shift ;;
+    --vision) WITH_VISION=true; shift ;;
     --gzweb) WITH_GZWEB=true; shift ;;
     --no-gzweb-vite) NO_GZWEB_VITE=true; shift ;;
     --no-rviz) NO_RVIZ=true; shift ;;
@@ -279,10 +293,10 @@ echo "[run_all] waiting ${SLEEP_NAV2}s before starting Nav2..."
 sleep "$SLEEP_NAV2"
 
 if [[ "$MODE" == "mapping" ]]; then
-  start_bg "B_nav2" ros2 launch nav2_bringup navigation_launch.py use_sim_time:="$USE_SIM_TIME"
+  start_bg "B_nav2" ros2 launch nav2_bringup navigation_launch.py use_sim_time:="$USE_SIM_TIME" params_file:=/workspace/nav2_params_fast.yaml
 else
   start_bg "B_nav2" \
-    ros2 launch nav2_bringup bringup_launch.py \
+    ros2 launch nav2_bringup bringup_launch.py params_file:=/workspace/nav2_params_fast.yaml \
       use_sim_time:="$USE_SIM_TIME" \
       map:="$MAP_YAML" \
       slam:=false
@@ -296,6 +310,13 @@ if [[ "$WITH_EXPLORE" == true && "$MODE" == "mapping" ]]; then
 fi
 
 echo
+if [[ "$WITH_VISION" == true ]]; then
+  start_bg "D_vision_yolo" ros2 run vision_yolo detector
+  last_index=$(( ${#PIDS[@]} - 1 ))
+  VISION_PID="${PIDS[$last_index]}"
+  VISION_LOG="${LOG_DIR}/D_vision_yolo.log"
+fi
+
 echo "[run_all] started. Mode: ${MODE}"
 echo "[run_all] logs: ${LOG_DIR}"
 echo

src/vision_yolo/package.xml

@@ -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>

src/vision_yolo/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/vision_yolo
+[install]
+install_scripts=$base/lib/vision_yolo

src/vision_yolo/setup.py

@@ -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',
+        ],
+    },
+)

src/vision_yolo/test/test_copyright.py

@@ -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'

src/vision_yolo/test/test_flake8.py

@@ -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)

src/vision_yolo/test/test_pep257.py

@@ -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'

src/vision_yolo/vision_yolo/detector.py

@@ -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()

turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_office_gz.launch.py

@@ -113,12 +113,16 @@ def _launch_setup(context, *args, **kwargs):
             f'{joint_gz}@sensor_msgs/msg/JointState[gz.msgs.Model',
             f'{tf_topic}@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V',
             '/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=[
             (joint_gz, '/joint_states'),
             (tf_topic, '/tf'),
             (cmd_topic, '/cmd_vel'),
             (odom_topic, '/odom'),
+            ('/camera', '/camera/image_raw'),
+            ('/camera_info', '/camera/camera_info'),
         ],
         parameters=[{
             f'qos_overrides.{cmd_topic}.subscriber.reliability': 'reliable',

turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_waffle/model_gz.sdf

@@ -432,10 +432,6 @@
       </axis>
     </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">
       <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>
 
+      <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>
 </sdf>
 

update_requirements.sh

@@ -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"