feat: add lms-nav2-gazebo-map module

.gitignore

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+build/
+install/
+log/
+.colcon/
+*.log

build.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
+exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$(basename "$MODULE_PATH")" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}"

run.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
+FOLDER_NAME="$(basename "$MODULE_PATH")"
+CONTAINER_NAME="${FOLDER_NAME#\[}"; CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
+exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" "$@"

src/map_pkg/config/map_2d.yaml

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+# File: map.yaml
+# Description: Map server parameters
+
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    yaml_filename: ""    # overridden at launch time via map_yaml arg
+
+map_saver:
+  ros__parameters:
+    use_sim_time: True
+    map_subscribe_transient_local: True
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65

src/map_pkg/config/map_3d_fr09.yaml

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+icp_odometry:
+  ros__parameters:
+    odom_frame_id: icp_odom
+    guess_frame_id: odom
+    OdomF2M/ScanSubtractRadius: '0.0'
+    OdomF2M/ScanMaxSize: '10000'
+
+
+    frame_id: base_link
+    wait_for_transform: 5.0
+
+    approx_sync: true
+    topic_queue_size: 30
+    sync_queue_size: 30
+
+    Reg/Strategy: "1"
+    Reg/Force3DoF: "true"
+    Mem/NotLinkedNodesKept: "false"
+
+    Icp/VoxelSize: "0.03"
+    Icp/MaxCorrespondenceDistance: "0.2"
+    Icp/PointToPlaneGroundNormalsUp: "0.9"
+    Icp/RangeMin: "0.0"
+    Icp/MaxTranslation: "1.0"
+    Icp/MaxRotation: "0.5"                    # 한 번의 odometry 업데이트 최대 회전 제한. 크면 오정합 발생. 작으면 계산량 증가. default: 0.78rad
+
+    Icp/PointToPlaneMinComplexity: "0.03"
+    Icp/PointToPlaneLowComplexityStrategy: "1"
+    Icp/OutlierRatio: "0.6"
+    Icp/Force4DoF: "true"
+    Icp/CorrespondenceRatio: "0.02"
+    Icp/GuessFromTf: "true"
+
+    Odom/GuessMotion: "false"
+
+rtabmap:
+  ros__parameters:
+    subscribe_rgb: false
+    subscribe_depth: false
+    subscribe_scan_cloud: true
+    use_action_for_goal: true
+    odom_sensor_sync: true
+
+    approx_sync: true
+    topic_queue_size: 30
+    sync_queue_size: 30
+
+    Mem/NotLinkedNodesKept: "false"
+    Grid/RangeMin: "0.0"
+    Grid/NormalsSegmentation: "false"
+    Grid/MaxGroundHeight: "-0.8"
+    Grid/MinGroundHeight: "-1.3"
+    Grid/MaxObstacleHeight: "1.0"
+    Grid/RayTracing: "false"
+    Grid/3D: "false"
+    Grid/Sensor: "0"
+    RGBD/OptimizeMaxError: "0.5"
+
+    RGBD/LinearUpdate: "0.05"
+    RGBD/AngularUpdate: "0.05"
+    RGBD/ProximityPathMaxNeighbors: "1"
+    Grid/RangeMax: "25.0"
+    Mem/LaserScanVoxelSize: "0.01"
+    Odom/FilteringStrategy: "1"
+    Odom/ScanKeyFrameThr: "0.9"
+    Odom/GuessMotion: "false"
+
+    Grid/CellSize: "0.2"
+    Grid/MinClusterSize: "10"
+    Grid/FlatObstacleDetected: "false"
+
+    RGBD/StartAtOrigin: "true"
+    RGBD/LocalizationPriorError: "2.0"
+    RGBD/LocalizationSmoothing: "false"
+    Icp/GuessFromTf: "true"
+
+
+    frame_id: base_link
+    wait_for_transform: 5.0
+
+    Reg/Strategy: "1"
+    Reg/Force3DoF: "true"
+
+    Icp/VoxelSize: "0.03"
+    Icp/MaxCorrespondenceDistance: "0.2"
+    Icp/PointToPlaneGroundNormalsUp: "0.9"
+    Icp/RangeMin: "0.0"
+    Icp/MaxTranslation: "1.0"
+    Icp/MaxRotation: "0.78"
+
+    Icp/PointToPlaneMinComplexity: "0.03"
+    Icp/PointToPlaneLowComplexityStrategy: "1"
+    Icp/OutlierRatio: "0.6"
+    Icp/Force4DoF: "true"
+    Icp/CorrespondenceRatio: "0.2"
+
+    Odom/GuessMotion: "false"

src/map_pkg/config/map_3d_mkmini.yaml

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+icp_odometry:
+  ros__parameters:
+    odom_frame_id: icp_odom
+    guess_frame_id: odom
+    OdomF2M/ScanSubtractRadius: '0.0'
+    OdomF2M/ScanMaxSize: '10000'
+
+
+    frame_id: base_link
+    wait_for_transform: 2.0
+
+    approx_sync: true
+    topic_queue_size: 30
+    sync_queue_size: 30
+
+    Reg/Strategy: "1"
+    Reg/Force3DoF: "true"
+    Mem/NotLinkedNodesKept: "false"
+
+    Icp/VoxelSize: "0.03"
+    Icp/MaxCorrespondenceDistance: "0.2"
+    Icp/PointToPlaneGroundNormalsUp: "0.9"
+    Icp/RangeMin: "0.0"
+    Icp/MaxTranslation: "1.0"
+    Icp/MaxRotation: "0.78"
+
+    Icp/PointToPlaneMinComplexity: "0.03"
+    Icp/PointToPlaneLowComplexityStrategy: "1"
+    Icp/OutlierRatio: "0.6"
+    Icp/Force4DoF: "true"
+    Icp/CorrespondenceRatio: "0.02"
+    Icp/GuessFromTf: "false"
+
+    Odom/GuessMotion: "false"
+
+rtabmap:
+  ros__parameters:
+    subscribe_rgb: false
+    subscribe_depth: false
+    subscribe_scan_cloud: true
+    use_action_for_goal: true
+    odom_sensor_sync: true
+
+    approx_sync: true
+    topic_queue_size: 30
+    sync_queue_size: 30
+
+    Mem/NotLinkedNodesKept: "false"
+    Grid/RangeMin: "0.0"
+    Grid/NormalsSegmentation: "false"
+    Grid/MaxGroundHeight: "0.1"
+    Grid/MinGroundHeight: "-0.2"
+    Grid/MaxObstacleHeight: "1.0"
+    Grid/RayTracing: "false"
+    Grid/3D: "false"
+    RGBD/OptimizeMaxError: "0.5"
+
+    RGBD/LinearUpdate: "0.05"
+    RGBD/AngularUpdate: "0.05"
+    RGBD/ProximityPathMaxNeighbors: "1"
+    Grid/RangeMax: "10.0"
+    Mem/LaserScanVoxelSize: "0.01"
+    Odom/FilteringStrategy: "1"
+    Odom/ScanKeyFrameThr: "0.9"
+    Odom/GuessMotion: "false"
+
+    Grid/CellSize: "0.2"
+    Grid/MinClusterSize: "10"
+    Grid/FlatObstacleDetected: "true"
+
+    RGBD/StartAtOrigin: "true"
+    RGBD/LocalizationPriorError: "5.0"
+    RGBD/LocalizationSmoothing: "false"
+    Icp/GuessFromTf: "false"
+
+
+    frame_id: base_link
+    wait_for_transform: 2.0
+
+    Reg/Strategy: "1"
+    Reg/Force3DoF: "true"
+
+    Icp/VoxelSize: "0.03"
+    Icp/MaxCorrespondenceDistance: "0.2"
+    Icp/PointToPlaneGroundNormalsUp: "0.9"
+    Icp/RangeMin: "0.0"
+    Icp/MaxTranslation: "1.0"
+    Icp/MaxRotation: "0.78"
+
+    Icp/PointToPlaneMinComplexity: "0.03"
+    Icp/PointToPlaneLowComplexityStrategy: "1"
+    Icp/OutlierRatio: "0.6"
+    Icp/Force4DoF: "true"
+    Icp/CorrespondenceRatio: "0.02"
+
+    Odom/GuessMotion: "false"

src/map_pkg/launch/gazebo_map.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    default_map = [FindPackageShare('map_pkg'), '/map/gazebo/turtlebot3_world.yaml']
+    selected_map = LaunchConfiguration('map')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('map', default_value=default_map),
+        DeclareLaunchArgument('use_sim_time', default_value='true'),
+        Node(
+            package='map_pkg',
+            executable='pub_map_config',
+            name='pub_map_config',
+            output='screen',
+            parameters=[{'level': '2d'}],
+        ),
+        Node(
+            package='nav2_map_server',
+            executable='map_server',
+            name='map_server',
+            output='screen',
+            parameters=[{
+                'use_sim_time': LaunchConfiguration('use_sim_time'),
+                'yaml_filename': selected_map,
+            }],
+        ),
+        Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='map_server_lifecycle_manager',
+            output='screen',
+            condition=IfCondition(PythonExpression(["'", selected_map, "' != ''"])),
+            parameters=[{
+                'use_sim_time': LaunchConfiguration('use_sim_time'),
+                'autostart': True,
+                'node_names': ['map_server'],
+            }],
+        ),
+    ])

src/map_pkg/launch/map.launch.py

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+# File: map.launch.py
+# Description:
+#     맵 서버 — map_server (2D) 또는 rtabmap (3D)
+#     /nav2_ws/selected_map/ 폴더 자동 스캔 → *.yaml 면 2D, *.db 면 3D 분기
+#     사용자 UI 가 선택한 map 을 그 폴더에 cp 해두면 launch 가 자동 처리.
+#     Publishes : /map
+#     Note: localization(AMCL)보다 먼저 실행되어야 함
+
+import glob
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import PythonExpression
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.descriptions import ParameterFile
+from nav2_common.launch import RewrittenYaml
+
+
+SELECTED_MAP_DIR = '/nav2_ws/selected_map'
+
+ARGUMENTS = [
+    DeclareLaunchArgument('robot', default_value='fr09', choices=['mkmini', 'fr09']),
+]
+
+
+def _detect_level_and_file():
+    """selectedMap 폴더 스캔: *.yaml → 2D, *.db → 3D. 우선순위 yaml > db (둘 다 있을 때)."""
+    yaml_files = sorted(glob.glob(os.path.join(SELECTED_MAP_DIR, '*.yaml')))
+    db_files = sorted(glob.glob(os.path.join(SELECTED_MAP_DIR, '*.db')))
+    if yaml_files:
+        return '2d', yaml_files[0]
+    if db_files:
+        return '3d', db_files[0]
+    raise RuntimeError(
+        f"No map file found in {SELECTED_MAP_DIR}. "
+        f"Expected *.yaml (2D) or *.db (3D). "
+        f"User must select a map in the UI which copies the file to selectedMap/."
+    )
+
+
+def launch_setup(context, *args, **kwargs):
+    robot = LaunchConfiguration('robot').perform(context)
+
+    level, map_file = _detect_level_and_file()
+    print(f"[map.launch.py] auto-detected level={level} map={map_file}")
+
+    if level == '2d':
+        lifecycle_nodes = ['map_server']
+
+        configured_params = ParameterFile(
+            RewrittenYaml(
+                source_file=PathJoinSubstitution([
+                    FindPackageShare('map_pkg'), 'config', 'map_2d.yaml'
+                ]),
+                param_rewrites={
+                    'use_sim_time': 'true',
+                    'yaml_filename': map_file,
+                },
+                convert_types=True,
+            ),
+            allow_substs=True,
+        )
+
+        load_nodes = GroupAction(
+            actions=[
+                Node(
+                    package='map_pkg',
+                    executable='pub_map_config',
+                    name='pub_map_config',
+                    output='screen',
+                    parameters=[{'level': level}]
+                ),
+                Node(
+                    package='nav2_map_server',
+                    executable='map_server',
+                    name='map_server',
+                    output='screen',
+                    parameters=[configured_params],
+                ),
+                Node(
+                    package='nav2_lifecycle_manager',
+                    executable='lifecycle_manager',
+                    name='lifecycle_manager_map',
+                    output='screen',
+                    parameters=[{
+                        'use_sim_time': True,
+                        'autostart': True,
+                        'node_names': lifecycle_nodes,
+                    }],
+                ),
+            ],
+        )
+    else:  # 3d
+        configured_params = ParameterFile(
+            RewrittenYaml(
+                source_file=PathJoinSubstitution([
+                    FindPackageShare('map_pkg'),
+                    'config',
+                    PythonExpression(["'map_", level, "_", robot, ".yaml'"])
+                ]),
+                param_rewrites={
+                    'use_sim_time': 'true',
+                    'Mem/IncrementalMemory': 'False',
+                    'Mem/InitWMWithAllNodes': 'True',
+                },
+                convert_types=True,
+            ),
+            allow_substs=True,
+        )
+
+        remappings = [
+            ('/tf', 'tf'),
+            ('/tf_static', 'tf_static'),
+            ('odom', 'icp_odom'),
+            ('scan_cloud', '/lidar_filtered'),
+            ('rgb/image', '/carla/hero/rgb_front/image'),
+            ('rgb/camera_info', '/carla/hero/rgb_front/camera_info'),
+        ]
+
+        load_nodes = GroupAction(
+            actions=[
+                Node(
+                    package='map_pkg',
+                    executable='pub_map_config',
+                    name='pub_map_config',
+                    output='screen',
+                    parameters=[{'level': level}]
+                ),
+                Node(
+                    package='rtabmap_slam',
+                    executable='rtabmap',
+                    name='rtabmap',
+                    output='screen',
+                    parameters=[configured_params,
+                                {'Mem/IncrementalMemory': 'False',
+                                 'Mem/InitWMWithAllNodes': 'True',
+                                 'use_sim_time': True,
+                                 'database_path': map_file}],
+                    remappings=remappings,
+                )
+            ],
+        )
+
+    return [load_nodes]
+
+
+def generate_launch_description():
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(OpaqueFunction(function=launch_setup))
+    return ld

src/map_pkg/map/2d/hallway.yaml

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+image: hallway.pgm
+mode: trinary
+resolution: 0.05
+origin: [-6.78, -5.39, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/map_pkg/map/2d/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-7.36, -29.4, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/map_pkg/map/2d/office.yaml

@@ -0,0 +1,7 @@
+image: office.pgm
+mode: trinary
+resolution: 0.05
+origin: [-3.44, -11.4, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/map_pkg/map/2d/parkinglot.yaml

@@ -0,0 +1,7 @@
+image: parkinglot.pgm
+mode: trinary
+resolution: 0.05
+origin: [-7.36, -29.4, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/map_pkg/map/2d/temp.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-3.78, -4.29, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/map_pkg/map/gazebo/turtlebot3_world.yaml

@@ -0,0 +1,6 @@
+image: turtlebot3_world.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

src/map_pkg/map_pkg/pub_map_config.py

@@ -0,0 +1,47 @@
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, DurabilityPolicy, ReliabilityPolicy
+from std_msgs.msg import String
+import json
+
+class ConfigPublisher(Node):
+    def __init__(self):
+        super().__init__('pub_map_config')
+        
+        self.declare_parameter('level', '2d')
+        
+        level = self.get_parameter('level').value
+
+        qos = QoSProfile(
+            depth=1,
+            durability=DurabilityPolicy.TRANSIENT_LOCAL,
+            reliability=ReliabilityPolicy.RELIABLE
+        )
+
+        self.pub = self.create_publisher(String, '/map_config', qos)
+
+        msg = {
+            "level": level
+        }
+
+        ros_msg = String()
+        ros_msg.data = json.dumps(msg)
+
+        # 약간 대기 후 1회 발행
+        self.create_timer(1.0, self.publish_once)
+
+        self.sent = False
+        self.cached_msg = ros_msg
+
+    def publish_once(self):
+        if not self.sent:
+            self.pub.publish(self.cached_msg)
+            self.get_logger().info("Published config once")
+            self.sent = True
+
+def main():
+    rclpy.init()
+    node = ConfigPublisher()
+    rclpy.spin(node)
+    rclpy.shutdown()

src/map_pkg/map_pkg/test.py

@@ -0,0 +1,6 @@
+def main():
+    print('Hi from map_pkg.')
+
+
+if __name__ == '__main__':
+    main()

src/map_pkg/package.xml

@@ -0,0 +1,18 @@
+<?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>map_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="jang1future@gmail.com">dgist</maintainer>
+  <license>TODO: License declaration</license>
+
+  <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/map_pkg/setup.cfg

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

src/map_pkg/setup.py

@@ -0,0 +1,40 @@
+
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = 'map_pkg'
+
+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']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
+        (os.path.join('share', package_name, 'map/2d'), glob('map/2d/*.yaml')),
+        (os.path.join('share', package_name, 'map/2d'), glob('map/2d/*.pgm')),
+        (os.path.join('share', package_name, 'map/gazebo'), glob('map/gazebo/*.yaml')),
+        (os.path.join('share', package_name, 'map/gazebo'), glob('map/gazebo/*.pgm')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='dgist',
+    maintainer_email='jang1future@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    entry_points={
+        'console_scripts': [
+            'test = map_pkg.test:main',
+            'pub_map_config = map_pkg.pub_map_config:main'
+        ],
+    },
+)

src/map_pkg/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/map_pkg/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/map_pkg/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'