From 84074f21c1df593c616f31be5d8390a54864ec4d Mon Sep 17 00:00:00 2001 From: chyoo Date: Wed, 29 Jul 2026 11:26:38 +0900 Subject: [PATCH] chore: sync NAV2 module sources --- run.sh | 4 ++- .../config/platforms/platform_mkmini.yaml | 33 ------------------- .../config/sensor_bridge_mkmini.yaml | 13 -------- src/vehicle_pkg/config/vehicle_mkmini.yaml | 29 ---------------- 4 files changed, 3 insertions(+), 76 deletions(-) delete mode 100755 src/vehicle_pkg/config/platforms/platform_mkmini.yaml delete mode 100755 src/vehicle_pkg/config/sensor_bridge_mkmini.yaml delete mode 100755 src/vehicle_pkg/config/vehicle_mkmini.yaml diff --git a/run.sh b/run.sh index b0fc3a4..af62647 100755 --- a/run.sh +++ b/run.sh @@ -5,4 +5,6 @@ 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}" "${ROS_DOMAIN_ID:-0}" sim_mode:=true platform:=turtlebot3 level:=2d "$@" +ROS_PARAM='sim_mode:=true platform:=turtlebot3 robot:=turtlebot3 level:=2d' +read -r -a ROS_ARGS <<< "$ROS_PARAM" +exec bash "$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}" "${ROS_ARGS[@]}" "$@" diff --git a/src/vehicle_pkg/config/platforms/platform_mkmini.yaml b/src/vehicle_pkg/config/platforms/platform_mkmini.yaml deleted file mode 100755 index 5a65343..0000000 --- a/src/vehicle_pkg/config/platforms/platform_mkmini.yaml +++ /dev/null @@ -1,33 +0,0 @@ -# Platform profile — MK-Mini -# -# 진입점 프로파일: 물리 제원 + 기본/시뮬 드라이버 *선언*. (요구 4·5) -# 값은 기존 vehicle_mkmini.yaml / sensor_bridge_{mkmini,carla}.yaml 에서 그대로 이전 -# (신규 하드코딩 도입 없음). -# -# Phase 1 Step 2: dormant — 아직 vehicle.launch.py 가 읽지 않음. -# Step 4 에서 launch 인터프리터가 이 파일을 읽어 driver/adapter 를 동적 spawn. -platform: - name: mkmini - display_name: MK-mini # DB Platform.name 과 byte-일치 - modes: [sim, real] - drive_type: ackermann # ackermann | differential - - # 물리 제원 - wheelbase: 0.6 # m (= 기존 vehicle_mkmini.yaml cmd_vel_to_*.wheelbase) - max_steering_angle: 0.5 # rad - max_speed: 0.6 # m/s (sim 상한; 실차 안전상한은 vehicle_driver 프로파일) - track_width: # m — 미측정 (현재 odom/TF 미사용). 측정 후 기입 - wheel_radius: # m — 미측정 (현재 미사용) - - # 드라이버 선택 (선택 source = 이 데이터. registry.py 는 이름→노드만) - default_vehicle_driver: yhs_can # 실차 (sim_mode=false) - default_sensor_driver: vanjee # 실차 (sim_mode=false) - sim_vehicle_driver: carla_ackermann # sim_mode=true - sim_sensor_driver: carla_lidar # sim_mode=true - sim_lidar: vanjee # CARLA 스폰 blueprint 정체성 (차량↔라이다 고정 페어링) - - # cross-workspace 규칙 키 (기존 {robot} 컨벤션 보존 — 다운스트림 무수정) - perception_profile: mkmini # → perception_{...}.yaml, tf_{...}.yaml, control_*_{...}.yaml - scan_topic: /scan - odom_topic: /odom_custom - lidar_frame: os_lidar diff --git a/src/vehicle_pkg/config/sensor_bridge_mkmini.yaml b/src/vehicle_pkg/config/sensor_bridge_mkmini.yaml deleted file mode 100755 index 0fca155..0000000 --- a/src/vehicle_pkg/config/sensor_bridge_mkmini.yaml +++ /dev/null @@ -1,13 +0,0 @@ - -sensor_bridge: - ros__parameters: - input_lidar_topic: "/vanjee_points720_32" - output_lidar_topic: "/raw/lidar" - lidar_frame: "os_lidar" - - input_imu_topic: "/vanjee_lidar_imu_packets" - output_imu_topic: "/raw/imu" - imu_frame: "os_imu" - - input_speed_topic: "/chassis_info_fb" - output_speed_topic: "/raw/speed" diff --git a/src/vehicle_pkg/config/vehicle_mkmini.yaml b/src/vehicle_pkg/config/vehicle_mkmini.yaml deleted file mode 100755 index 2208360..0000000 --- a/src/vehicle_pkg/config/vehicle_mkmini.yaml +++ /dev/null @@ -1,29 +0,0 @@ -# File: vehicle_mkmini.yaml -# Description: Vehicle interface parameters for MK-Mini -# -# sim_mode=true → cmd_vel_to_ackermann 노드가 이 파일의 cmd_vel_to_ackermann 섹션 참조 -# sim_mode=false → cmd_vel_to_tod 노드가 이 파일의 cmd_vel_to_tod 섹션 참조 - -# cmd_vel (linear + angular) → AckermannDrive [시뮬용] -cmd_vel_to_ackermann: - ros__parameters: - input_topic: /cmd_vel - output_topic: /carla/hero/ackermann_cmd - wheelbase: 0.6 # 축간 거리 (m) - max_steering_angle: 0.5 # 최대 조향각 (rad) - angular_deadband: 0.06 - min_speed_for_steer: 0.15 - max_speed: 0.6 - acceleration: 0.0 - jerk: 0.0 - -# cmd_vel (linear + angular) → /tod_cmd (Float64MultiArray) [실차용] -cmd_vel_to_tod: - ros__parameters: - input_topic: /cmd_vel - output_topic: /tod_cmd - wheelbase: 0.6 # 축간 거리 (m) - max_steering_angle: 0.5 # 최대 조향각 (rad) - angular_deadband: 0.06 - min_speed_for_steer: 0.15 - max_speed: 0.3 # 실차 안전 속도 상한 (m/s)