feat: add NAV2 perception3D 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:-$HOME/autonomy-studio/runtime/nav2}"
+
+exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" \
+  "lms-nav2-perception3d" \
+  "$(dirname "$MODULE_PATH")" \
+  "$(basename "$MODULE_PATH")" \
+  "${NAV2_DOCKER_IMAGE:-future-nav2:humble}" \
+  "${ROS_DOMAIN_ID:-0}" \
+  sim_mode:=false robot:=mkmini

src/perception3d_pkg/config/3d_fr09.yaml

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+
+
+odometry:
+  ros__parameters:
+    odom_topic: "/vehicle_odom"
+    odom_frame: "odom"
+    base_frame: "base_link"
+
+pcd_crop:
+  ros__parameters:
+    input_topic: "/raw/lidar"
+    output_topic: "/lidar_filtered"
+    min_z: -5.0
+    max_z: 0.5
+    # min_z: -10.0
+    # max_z: 10.0
+    min_radius: 1.0
+    max_radius: 50.0
+    # min_angle: -1.570796
+    # max_angle: 2.356194

src/perception3d_pkg/config/3d_mkmini.yaml

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+
+
+odometry:
+  ros__parameters:
+    odom_topic: "/vehicle_odom"
+    odom_frame: "odom"
+    base_frame: "base_link"
+
+pcd_crop:
+  ros__parameters:
+    input_topic: "/raw/lidar"
+    output_topic: "/lidar_filtered"
+    min_z: -2.5
+    max_z: 1.5
+    min_radius: 2.0
+    max_radius: 30.0

src/perception3d_pkg/config/tf_fr09-carla.yaml

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+
+lidar:
+  x: 0.456
+  y: 0.0
+  z: 1.135
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+  frame_id: base_link
+  child_frame_id: os_lidar
+
+imu:
+  x: 0.0
+  y: 0.0
+  z: 0.5
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+  frame_id: base_link
+  child_frame_id: os_imu
+
+rgb_front:
+  x: 0.56331
+  y: 0.56343
+  z: 0.80703
+  roll: -0.025
+  pitch: 0.315
+  yaw: 1.035
+  frame_id: base_link
+  child_frame_id: hero/rgb_front
+

src/perception3d_pkg/config/tf_fr09-real.yaml

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+
+lidar:
+  x: 0.0
+  y: 0.0
+  z: 0.03618
+  roll: 0.0
+  pitch: 0.0
+  yaw: 2.356194
+  frame_id: base_link
+  child_frame_id: os_lidar
+
+imu:
+  x: 0.006253
+  y: -0.011775
+  z: 0.007645
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+  frame_id: base_link
+  child_frame_id: os_imu
+

src/perception3d_pkg/config/tf_fr09.yaml

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+
+lidar:
+  x: 0.456
+  y: 0.0
+  z: 1.135
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+  frame_id: base_link
+  child_frame_id: os_lidar
+
+imu:
+  x: 0.0
+  y: 0.0
+  z: 0.5
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+  frame_id: base_link
+  child_frame_id: os_imu
+
+rgb_front:
+  x: 0.56331
+  y: 0.56343
+  z: 0.80703
+  roll: -0.025
+  pitch: 0.315
+  yaw: 1.035
+  frame_id: base_link
+  child_frame_id: hero/rgb_front
+

src/perception3d_pkg/config/tf_mkmini.yaml

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+
+lidar:
+  x: 0.1
+  y: 0.0
+  z: 0.6
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+  frame_id: base_link
+  child_frame_id: os_lidar
+
+imu:
+  x: 0.0
+  y: 0.0
+  z: 0.5
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+  frame_id: base_link
+  child_frame_id: os_imu
+
+rgb_front:
+  x: 0.10731
+  y: 0.56343
+  z: -0.27697
+  roll: -0.025
+  pitch: 0.315
+  yaw: 1.035
+  frame_id: base_link
+  child_frame_id: hero/rgb_front
+

src/perception3d_pkg/launch/perception.launch.py

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+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+from nav2_common.launch import RewrittenYaml
+from launch.actions import OpaqueFunction
+from launch.substitutions import PythonExpression
+from launch.conditions import IfCondition
+
+import os
+import yaml
+
+
+ARGUMENTS = [
+    DeclareLaunchArgument('use_sim_time', default_value='true'),
+    DeclareLaunchArgument('sim_mode', default_value='true'),
+    DeclareLaunchArgument('robot', default_value='fr09', choices=['mkmini', 'fr09']),
+]
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    robot = LaunchConfiguration('robot')
+    
+    remappings = [('/tf', 'tf'),
+                  ('/tf_static', 'tf_static')]
+    
+    # Directories
+    pkg_perception = get_package_share_directory(
+        'perception3d_pkg')
+    
+    params_file = PathJoinSubstitution([
+        pkg_perception,
+        'config',
+        PythonExpression(["'3d_' + '", robot, "' + '.yaml'"])])
+    param_substitutions = {
+        'use_sim_time': use_sim_time,
+    }
+    configured_params = ParameterFile(
+        RewrittenYaml(
+            source_file=params_file,
+            param_rewrites=param_substitutions,
+            convert_types=True),
+        allow_substs=True)
+    
+    load_nodes = GroupAction(
+        actions=[
+            Node(
+                package='perception3d_pkg',
+                executable='pcd_crop',
+                name='pcd_crop',
+                output='screen',
+                parameters=[configured_params],
+                remappings=remappings
+            )
+        ],
+    )
+
+    # Create launch description and add actions
+    ld = LaunchDescription(ARGUMENTS)
+    ld.add_action(load_nodes)
+    
+    return ld

src/perception3d_pkg/package.xml

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+<?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>perception3d_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/perception3d_pkg/perception3d_pkg/odometry.py

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+
+#!/usr/bin/env python3
+import math
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import Float32
+from sensor_msgs.msg import Imu
+from rosgraph_msgs.msg import Clock
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Quaternion, TransformStamped
+from tf2_ros import TransformBroadcaster
+
+
+def quat_to_yaw(x: float, y: float, z: float, w: float) -> float:
+    siny_cosp = 2.0 * (w * z + x * y)
+    cosy_cosp = 1.0 - 2.0 * (y * y + z * z)
+    return math.atan2(siny_cosp, cosy_cosp)
+
+
+def yaw_to_quaternion(yaw: float) -> Quaternion:
+    q = Quaternion()
+    q.x = 0.0
+    q.y = 0.0
+    q.z = math.sin(yaw * 0.5)
+    q.w = math.cos(yaw * 0.5)
+    return q
+
+
+def normalize_angle(angle: float) -> float:
+    while angle > math.pi:
+        angle -= 2.0 * math.pi
+    while angle < -math.pi:
+        angle += 2.0 * math.pi
+    return angle
+
+
+def stamp_to_sec(stamp) -> float:
+    return float(stamp.sec) + float(stamp.nanosec) * 1e-9
+
+
+class SpeedImuOdomNode(Node):
+    def __init__(self):
+        super().__init__('speed_imu_odom_node')
+
+        # Parameters
+        self.declare_parameter('odom_topic', '/vehicle_odom')
+        self.declare_parameter('odom_frame', 'odom')
+        self.declare_parameter('base_frame', 'base_link')
+        
+        self.odom_topic = self.get_parameter('odom_topic').value
+        self.odom_frame = self.get_parameter('odom_frame').value
+        self.base_frame = self.get_parameter('base_frame').value
+        
+        self.declare_parameter('pose_cov_x', 0.5)
+        self.declare_parameter('pose_cov_y', 0.5)
+        self.declare_parameter('pose_cov_yaw', 0.2)
+        self.declare_parameter('twist_cov_vx', 0.2)
+        self.declare_parameter('twist_cov_vy', 0.2)
+        self.declare_parameter('twist_cov_wz', 0.1)
+        
+        self.pose_cov_x = self.get_parameter('pose_cov_x').get_parameter_value().double_value
+        self.pose_cov_y = self.get_parameter('pose_cov_y').get_parameter_value().double_value
+        self.pose_cov_yaw = self.get_parameter('pose_cov_yaw').get_parameter_value().double_value
+        self.twist_cov_vx = self.get_parameter('twist_cov_vx').get_parameter_value().double_value
+        self.twist_cov_vy = self.get_parameter('twist_cov_vy').get_parameter_value().double_value
+        self.twist_cov_wz = self.get_parameter('twist_cov_wz').get_parameter_value().double_value
+
+        self.x = 0.0
+        self.y = 0.0
+        self.yaw = 0.0
+
+        self.max_dt = 0.1
+
+        # State
+        self.speed_mps: float = 0.0
+        self.current_yaw: Optional[float] = None
+        self.last_yaw: Optional[float] = None
+        self.last_pub_time: Optional[float] = None
+
+        self.x = 0.0
+        self.y = 0.0
+
+        self.has_speed = False
+        self.has_imu = False
+
+        self.ground_truth_odom: Optional[Odometry] = None
+
+        # Pub/Sub
+        self.odom_pub = self.create_publisher(Odometry, self.odom_topic, 50)
+        self.tf_broadcaster = TransformBroadcaster(self)
+
+        self.create_subscription(Float32, '/raw/speed', self.speed_cb, 50)
+        self.create_subscription(Imu, '/raw/imu', self.imu_cb, 50)
+
+        self.get_logger().info('SpeedImuOdomNode started')
+        self.get_logger().info(f'odom_topic:  {self.odom_topic}')
+
+    def speed_cb(self, msg: Float32):
+        self.speed_mps = float(msg.data)
+        self.has_speed = True
+
+    def imu_cb(self, msg: Imu):
+        self.has_imu = True
+
+        # speed가 아직 없으면 선택적으로 skip
+        if not self.has_speed:
+            return
+
+        # IMU timestamp 우선 사용
+        stamp = msg.header.stamp
+        now_sec = stamp_to_sec(stamp)
+
+        omega = float(msg.angular_velocity.z)
+
+        if self.last_pub_time is None:
+            self.last_pub_time = now_sec
+            self.current_yaw = self.yaw
+            self.last_yaw = self.yaw
+            # 첫 샘플은 dt가 없으므로 현재 yaw로 publish
+            self.publish_odom(stamp, self.yaw, self.speed_mps, omega)
+            return
+
+        dt = now_sec - self.last_pub_time
+        if dt <= 0.0:
+            # 시간 역전/동일시간이면 적분하지 않고 현재 yaw만 publish
+            self.publish_odom(stamp, self.yaw, self.speed_mps, omega)
+            return
+
+        # 긴 공백은 과적분 방지
+        if dt > self.max_dt:
+            dt = self.max_dt
+
+        # angular velocity integration
+        self.yaw += omega * dt
+        self.yaw = normalize_angle(self.yaw)
+
+        # position integration
+        self.x += self.speed_mps * math.cos(self.yaw) * dt
+        self.y += self.speed_mps * math.sin(self.yaw) * dt
+
+        self.current_yaw = self.yaw
+        self.last_yaw = self.yaw
+        self.last_pub_time = now_sec
+
+        self.publish_odom(stamp, self.yaw, self.speed_mps, omega)
+
+    def publish_odom(self, stamp, yaw: float, v: float, omega: float):
+        odom = Odometry()
+        odom.header.stamp = stamp
+        odom.header.frame_id = self.odom_frame
+        odom.child_frame_id = self.base_frame
+
+        odom.pose.pose.position.x = self.x
+        odom.pose.pose.position.y = self.y
+        odom.pose.pose.position.z = 0.0
+        odom.pose.pose.orientation = yaw_to_quaternion(yaw)
+
+        odom.twist.twist.linear.x = v
+        odom.twist.twist.linear.y = 0.0
+        odom.twist.twist.linear.z = 0.0
+        odom.twist.twist.angular.x = 0.0
+        odom.twist.twist.angular.y = 0.0
+        odom.twist.twist.angular.z = omega
+
+        odom.pose.covariance = [
+            self.pose_cov_x, 0.0,  0.0,  0.0,  0.0,  0.0,
+            0.0,  self.pose_cov_y, 0.0,  0.0,  0.0,  0.0,
+            0.0,  0.0,  999.0,0.0,  0.0,  0.0,
+            0.0,  0.0,  0.0,  999.0,0.0,  0.0,
+            0.0,  0.0,  0.0,  0.0,  999.0,0.0,
+            0.0,  0.0,  0.0,  0.0,  0.0,  self.pose_cov_yaw
+        ]
+
+        odom.twist.covariance = [
+            self.twist_cov_vx, 0.0,  0.0,  0.0,  0.0,  0.0,
+            0.0,  self.twist_cov_vy,  0.0,  0.0,  0.0,  0.0,
+            0.0,  0.0,  999.0,0.0,  0.0,  0.0,
+            0.0,  0.0,  0.0,  999.0,0.0,  0.0,
+            0.0,  0.0,  0.0,  0.0,  999.0,0.0,
+            0.0,  0.0,  0.0,  0.0,  0.0,  self.twist_cov_wz
+        ]
+
+        self.odom_pub.publish(odom)
+
+        tf_msg = TransformStamped()
+        tf_msg.header.stamp = stamp
+        tf_msg.header.frame_id = self.odom_frame
+        tf_msg.child_frame_id = self.base_frame
+        tf_msg.transform.translation.x = self.x
+        tf_msg.transform.translation.y = self.y
+        tf_msg.transform.translation.z = 0.0
+        tf_msg.transform.rotation = yaw_to_quaternion(yaw)
+        self.tf_broadcaster.sendTransform(tf_msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = SpeedImuOdomNode()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/perception3d_pkg/perception3d_pkg/pcd_crop.py

@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+
+from sensor_msgs.msg import PointCloud2
+import sensor_msgs_py.point_cloud2 as pc2
+
+import numpy as np
+
+class PointCloudCrop(Node):
+    def __init__(self):
+        super().__init__('pcd_crop')
+
+        self.declare_parameter('min_z', -2.5)
+        self.declare_parameter('max_z', -0.5)
+        self.declare_parameter('min_radius', 5.0)   # 너무 가까운 점 제거
+        self.declare_parameter('max_radius', 30.0)  # 너무 먼 점 제거        
+        self.declare_parameter('input_topic', '/raw/lidar')
+        self.declare_parameter('output_topic', '/lidar_filtered')
+        
+        self.min_z = self.get_parameter('min_z').value
+        self.max_z = self.get_parameter('max_z').value
+        self.min_radius = self.get_parameter('min_radius').value
+        self.max_radius = self.get_parameter('max_radius').value
+
+        input_topic = self.get_parameter('input_topic').value
+        output_topic = self.get_parameter('output_topic').value
+
+        self.declare_parameter('min_angle', (-np.pi))  # rad
+        self.declare_parameter('max_angle', (np.pi))   # rad
+
+        self.min_angle = self.get_parameter('min_angle').value
+        self.max_angle = self.get_parameter('max_angle').value
+
+        self.sub = self.create_subscription(
+            PointCloud2,
+            input_topic,
+            self.callback,
+            10
+        )
+
+        self.pub = self.create_publisher(
+            PointCloud2,
+            output_topic,
+            10
+        )
+
+        self.get_logger().info(
+            f"Crop started: Z[{self.min_z}, {self.max_z}] "
+            f"Radius[{self.min_radius}, {self.max_radius}]"
+            f"Angle[{self.min_angle}, {self.max_angle}]"
+        )
+        
+    def callback(self, msg: PointCloud2):
+        pts = pc2.read_points(
+            msg,
+            field_names=("x", "y", "z"),
+            skip_nans=True
+        )
+
+        if pts.shape[0] == 0:
+            return
+
+        # structured array -> 일반 (N,3) float32 배열
+        points = np.stack(
+            (pts["x"], pts["y"], pts["z"]), axis=-1).astype(np.float32, copy=False)
+
+        x = points[:, 0]
+        y = points[:, 1]
+        z = points[:, 2]
+
+        min_r2 = self.min_radius * self.min_radius
+        max_r2 = self.max_radius * self.max_radius
+        r2 = x * x + y * y
+
+        angles = np.arctan2(-y, -x)
+
+        if self.min_angle < self.max_angle:
+            angle_mask = (angles >= self.min_angle) & (angles <= self.max_angle)
+        else:
+            angle_mask = (angles >= self.min_angle) | (angles <= self.max_angle)
+        
+        mask = (
+            (z >= self.min_z) &
+            (z <= self.max_z) &
+            (r2 >= min_r2) &
+            (r2 <= max_r2) &
+            angle_mask
+        )
+
+        filtered = points[mask]
+
+        if filtered.shape[0] == 0:
+            return
+
+        filtered_msg = pc2.create_cloud_xyz32(msg.header, filtered.tolist())
+        self.pub.publish(filtered_msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PointCloudCrop()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
+    

src/perception3d_pkg/perception3d_pkg/test.py

@@ -0,0 +1,6 @@
+def main():
+    print('Hi from perception3d_pkg.')
+
+
+if __name__ == '__main__':
+    main()

src/perception3d_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/perception3d_pkg
+[install]
+install_scripts=$base/lib/perception3d_pkg

src/perception3d_pkg/setup.py

@@ -0,0 +1,36 @@
+
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = 'perception3d_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')),
+    ],
+    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 = perception3d_pkg.test:main',
+            'pcd_crop = perception3d_pkg.pcd_crop:main'
+        ],
+    },
+)

src/perception3d_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/perception3d_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/perception3d_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'