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update

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hq 2026-08-13 11:01:21 +08:00
parent 8f0f859f48
commit b07527e208
6 changed files with 23 additions and 13 deletions
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2
src/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py
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@ -25,7 +25,7 @@ def generate_launch_description():
position_y = LaunchConfiguration("position_y")
orientation_yaw = LaunchConfiguration("orientation_yaw")
camera_enabled = LaunchConfiguration("camera_enabled", default=True)
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
odometry_source = LaunchConfiguration("odometry_source", default="world")
robot_namespace = LaunchConfiguration("robot_namespace", default='bcr_bot')

2
src/bcr_bot/launch/bcr_bot_gz_spawn.launch.py
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@ -23,7 +23,7 @@ def generate_launch_description():
position_y = LaunchConfiguration("position_y")
orientation_yaw = LaunchConfiguration("orientation_yaw")
camera_enabled = LaunchConfiguration("camera_enabled", default=True)
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
odometry_source = LaunchConfiguration("odometry_source")

2
src/bcr_bot/launch/bcr_bot_ign_spawn.launch.py
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@ -23,7 +23,7 @@ def generate_launch_description():
position_y = LaunchConfiguration("position_y")
orientation_yaw = LaunchConfiguration("orientation_yaw")
camera_enabled = LaunchConfiguration("camera_enabled", default=True)
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
odometry_source = LaunchConfiguration("odometry_source")

2
src/bcr_bot/urdf/bcr_bot.xacro
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@ -38,7 +38,7 @@
<xacro:arg name="robot_namespace" default=""/>
<xacro:arg name="wheel_odom_topic" default="odom" />
<xacro:arg name="camera_enabled" default="false" />
<xacro:arg name="stereo_camera_enabled" default="false" />
<xacro:arg name="stereo_camera_enabled" default="true" />
<xacro:arg name="two_d_lidar_enabled" default="false" />
<xacro:arg name="publish_wheel_odom_tf" default="true" />
<xacro:arg name="conveyor_enabled" default="false"/>

8
src/ros_viz_adapter/README.md
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@ -6,10 +6,10 @@ YAML 配置文件。节点自动发现 `sensor_msgs/msg/Image` 和
## 输出
- RGB：直接加载 `image_transport/compressed_pub`，只发布其
`/viz/<source>/rgb/compressed` 传输 topic，不创建 raw base topic。
- 深度：直接加载 `image_transport/compressedDepth_pub`，只发布其
`/viz/<source>/depth/compressedDepth` 传输 topic，不创建 raw base topic。
- RGB：直接加载 `image_transport/compressed_pub`，插件发布
`/viz/<source>/rgb/compressed`，不创建 raw base topic。
- 深度：直接加载 `image_transport/compressedDepth_pub`，插件发布
`/viz/<source>/depth/compressedDepth`，不创建 raw base topic。
- 点云：`/viz/<source>/points`，消息仍为 `sensor_msgs/msg/PointCloud2`，但只保留
`x/y/z`，去除 NaN，执行体素降采样、最大点数限制和限频。

18
src/ros_viz_adapter/src/adapter.cpp
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@ -56,7 +56,10 @@ private:
std::string e = encoding;
std::transform(e.begin(), e.end(), e.begin(), [](unsigned char c) { return std::tolower(c); });
if (e == "16uc1" || e == "32fc1" || e == "mono16" || e == "32sc1") return ImageKind::DEPTH;
if (e == "rgb8" || e == "bgr8" || e == "rgba8" || e == "bgra8" || e == "mono8") return ImageKind::RGB;
if (e == "rgb8" || e == "bgr8" || e == "rgba8" || e == "bgra8" ||
e == "mono8" || e == "8uc3" || e == "8uc4" || e == "r8g8b8" ||
e == "b8g8r8" || e == "rgb_int8" || e == "rgba_int8" ||
e == "bgr_int8" || e == "bgra_int8") return ImageKind::RGB;
return ImageKind::UNKNOWN;
}
@ -77,6 +80,7 @@ private:
if (subscriptions_.count(topic) || cloud_subscriptions_.count(topic)) continue;
const auto & types = entry.second;
if (std::find(types.begin(), types.end(), "sensor_msgs/msg/Image") != types.end()) {
RCLCPP_INFO(get_logger(), "Discovered image topic: %s", topic.c_str());
subscriptions_[topic] = create_subscription<Image>(topic, qos_, [this, topic](Image::ConstSharedPtr msg) { on_image(topic, msg); });
} else if (std::find(types.begin(), types.end(), "sensor_msgs/msg/PointCloud2") != types.end()) {
cloud_subscriptions_[topic] = create_subscription<PointCloud2>(topic, qos_, [this, topic](PointCloud2::ConstSharedPtr msg) { on_cloud(topic, msg); });
@ -87,7 +91,11 @@ private:
void on_image(const std::string & topic, Image::ConstSharedPtr msg) {
if (!due(topic, input_fps_, false)) return;
const auto kind = classify(msg->encoding);
if (kind == ImageKind::UNKNOWN) return;
if (kind == ImageKind::UNKNOWN) {
RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000, "Ignoring image topic %s with encoding '%s'", topic.c_str(), msg->encoding.c_str());
return;
}
RCLCPP_INFO_ONCE(get_logger(), "Classified image topic %s as %s (encoding=%s)", topic.c_str(), kind == ImageKind::RGB ? "RGB" : "DEPTH", msg->encoding.c_str());
std::lock_guard<std::mutex> lock(data_mutex_);
auto & slot = kind == ImageKind::RGB ? rgb_latest_ : depth_latest_;
slot[topic] = msg;
@ -105,7 +113,8 @@ private:
}
std::string image_topic(const std::string & topic, bool depth) const {
return (output_ns_.empty() ? "/viz" : output_ns_) + "/" + safe_name(topic) + (depth ? "/depth/compressedDepth" : "/rgb/compressed");
// Publisher plugins append their own transport suffix.
return (output_ns_.empty() ? "/viz" : output_ns_) + "/" + safe_name(topic) + (depth ? "/depth" : "/rgb");
}
void image_loop(std::unordered_map<std::string, Image::ConstSharedPtr> & slots, bool depth) {
@ -126,9 +135,10 @@ private:
try {
auto plugin = image_loader_->createSharedInstance(lookup);
plugin->advertise(this, image_topic(item.first, depth), qos_.get_rmw_qos_profile());
RCLCPP_INFO(get_logger(), "Loaded %s -> %s", lookup, plugin->getTopic().c_str());
it = image_publishers_.emplace(key, std::move(plugin)).first;
} catch (const pluginlib::PluginlibException & ex) {
RCLCPP_ERROR(get_logger(), "Cannot load image_transport plugin %s: %s", lookup, ex.what());
RCLCPP_ERROR(get_logger(), "Cannot load image_transport plugin %s for %s: %s", lookup, item.first.c_str(), ex.what());
continue;
}
}