feat: enable hybrid local and remote module execution
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@@ -25,10 +25,12 @@ from nav_msgs.msg import OccupancyGrid, Odometry, Path as NavPath
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from nav2_msgs.action import NavigateToPose
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from pydantic import BaseModel
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from rclpy.action import ActionClient
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from rclpy.duration import Duration
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from rclpy.executors import MultiThreadedExecutor
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from rclpy.node import Node
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from rclpy.parameter import Parameter
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from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy, qos_profile_sensor_data
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from rclpy.time import Time
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from sensor_msgs.msg import LaserScan, PointCloud2
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from tf2_msgs.msg import TFMessage
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import uvicorn
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@@ -149,6 +151,7 @@ class SlamNode(Node):
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self.odom_topic = os.environ.get("ODOM_TOPIC", "/odom")
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self.scan_topic = os.environ.get("SCAN_TOPIC", "/scan")
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self.amcl_pose_topic = os.environ.get("AMCL_POSE_TOPIC", "/amcl_pose")
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self.point_cloud_topic = os.environ.get("POINT_CLOUD_TOPIC", "/cloud_map")
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self.fallback_point_cloud_topic = os.environ.get("FALLBACK_POINT_CLOUD_TOPIC", "/lidar_filtered")
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self.icp_odom_topic = os.environ.get("ICP_ODOM_TOPIC", "/icp_odom")
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@@ -181,6 +184,7 @@ class SlamNode(Node):
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self._odom: Optional[Odometry] = None
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self._scan: Optional[LaserScan] = None
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self._amcl_pose: Optional[PoseWithCovarianceStamped] = None
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self._point_cloud: Optional[PointCloud2] = None
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self._fallback_point_cloud: Optional[PointCloud2] = None
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self._icp_odom: Optional[Odometry] = None
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@@ -189,6 +193,7 @@ class SlamNode(Node):
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self._tf = {}
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self._odom_count = 0
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self._scan_count = 0
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self._amcl_pose_count = 0
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self._point_cloud_count = 0
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self._fallback_point_cloud_count = 0
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self._icp_odom_count = 0
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@@ -196,10 +201,15 @@ class SlamNode(Node):
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self._tf_count = 0
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self._last_odom_wall_time = None
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self._last_scan_wall_time = None
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self._last_amcl_pose_wall_time = None
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self._last_point_cloud_wall_time = None
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self._last_fallback_point_cloud_wall_time = None
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self._last_icp_odom_wall_time = None
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self._last_map_wall_time = None
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self._plan_count = 0
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self._last_plan_wall_time = None
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self._topic_status_cache = {}
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self._topic_status_last_refresh = 0.0
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self._navigation = {"status": "idle", "goal_id": None}
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self._active_goal_handle = None
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self._lock = threading.Lock()
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@@ -208,6 +218,8 @@ class SlamNode(Node):
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self.create_subscription(Odometry, self.odom_topic, self._on_odom, best_effort_qos)
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self.create_subscription(LaserScan, self.scan_topic, self._on_scan, qos_profile_sensor_data)
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self.create_subscription(LaserScan, self.scan_topic, self._on_scan, reliable_qos)
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self.create_subscription(PoseWithCovarianceStamped, self.amcl_pose_topic, self._on_amcl_pose, reliable_qos)
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self.create_subscription(PoseWithCovarianceStamped, self.amcl_pose_topic, self._on_amcl_pose, best_effort_qos)
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self.create_subscription(PointCloud2, self.point_cloud_topic, self._on_point_cloud, map_qos)
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if self.fallback_point_cloud_topic != self.point_cloud_topic:
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self.create_subscription(PointCloud2, self.fallback_point_cloud_topic, self._on_fallback_point_cloud, qos_profile_sensor_data)
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@@ -233,8 +245,19 @@ class SlamNode(Node):
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self._last_odom_wall_time = time.time()
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def publish_initial_pose(self, x: float, y: float, yaw: float = 0.0, frame_id: str = "map") -> None:
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# AMCL transforms the initial pose at the message timestamp. On a real
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# platform the bridge clock can be a few milliseconds ahead of the
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# latest odom/TF sample, which makes AMCL reject the pose as a future
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# extrapolation. Anchor it to the latest received odometry instead.
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with self._lock:
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odom_stamp = self._odom.header.stamp if self._odom is not None else None
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message = PoseWithCovarianceStamped()
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message.header.stamp = self.get_clock().now().to_msg()
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if odom_stamp:
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# The odom callback can lead the TF buffer by a few milliseconds.
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# Keep a small margin so AMCL can always transform map -> odom.
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message.header.stamp = (Time.from_msg(odom_stamp) - Duration(seconds=0.1)).to_msg()
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else:
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message.header.stamp = self.get_clock().now().to_msg()
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message.header.frame_id = frame_id
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message.pose.pose.position.x = x
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message.pose.pose.position.y = y
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@@ -355,6 +378,12 @@ class SlamNode(Node):
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self._scan_count += 1
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self._last_scan_wall_time = time.time()
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def _on_amcl_pose(self, msg: PoseWithCovarianceStamped):
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with self._lock:
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self._amcl_pose = msg
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self._amcl_pose_count += 1
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self._last_amcl_pose_wall_time = time.time()
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def _on_point_cloud(self, msg: PointCloud2):
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with self._lock:
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self._point_cloud = msg
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@@ -393,6 +422,51 @@ class SlamNode(Node):
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def _on_plan(self, msg: NavPath):
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with self._lock:
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self._plan = msg
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self._plan_count += 1
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self._last_plan_wall_time = time.time()
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def topic_status(self) -> dict:
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now = time.time()
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with self._lock:
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if now - self._topic_status_last_refresh < 1.0:
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return dict(self._topic_status_cache)
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scan_last = self._last_scan_wall_time
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odom_last = self._last_odom_wall_time
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amcl_pose_last = self._last_amcl_pose_wall_time
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point_cloud_last = self._last_point_cloud_wall_time
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fallback_point_cloud_last = self._last_fallback_point_cloud_wall_time
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map_count = self._map_count
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plan_count = self._plan_count
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def received_recently(last_received: Optional[float]) -> bool:
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return last_received is not None and now - last_received <= 3.0
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try:
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plan_available = plan_count > 0 or self.count_publishers(self.plan_topic) > 0
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cmd_vel_available = self.count_subscribers(self.cmd_vel_topic) > 0
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navigation_available = self._navigate_to_pose_client.server_is_ready()
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except Exception:
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plan_available = plan_count > 0
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cmd_vel_available = False
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navigation_available = False
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status = {
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"scan": {"name": self.scan_topic, "available": received_recently(scan_last)},
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"odom": {"name": self.odom_topic, "available": received_recently(odom_last)},
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"map": {"name": self.map_topic, "available": map_count > 0},
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"amcl_pose": {"name": self.amcl_pose_topic, "available": received_recently(amcl_pose_last)},
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"point_cloud": {
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"name": self.point_cloud_topic,
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"available": received_recently(point_cloud_last) or received_recently(fallback_point_cloud_last),
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},
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"plan": {"name": self.plan_topic, "available": plan_available},
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"cmd_vel": {"name": self.cmd_vel_topic, "available": cmd_vel_available},
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"navigate_to_pose": {"name": self.navigate_to_pose_action, "available": navigation_available},
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}
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with self._lock:
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self._topic_status_cache = status
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self._topic_status_last_refresh = now
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return dict(status)
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@staticmethod
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def _has_populated_map(grid: Optional[OccupancyGrid]) -> bool:
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@@ -738,6 +812,7 @@ class SlamNode(Node):
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"map_to_odom": resolve_2d_transform(tf_snapshot, "map", "odom"),
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},
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"navigation": navigation,
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"topic_status": self.topic_status(),
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"plan": {
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"frame_id": plan.header.frame_id,
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"poses": [
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@@ -904,6 +979,7 @@ def health():
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"has_point_cloud": bool(snap.get("point_cloud")),
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"has_map": bool(snap.get("map")),
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"topics": snap.get("topics", {}),
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"topic_status": snap.get("topic_status", {}),
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}
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