feat: add Yahboom control module for LMS

2026-09-22 09:48:32 +09:00
commit 74f568d5c9
10 changed files with 254 additions and 0 deletions
@@ -0,0 +1,8 @@
+{
+  "sourceType": "GIT",
+  "name": "NAV2-Yahboom-Control",
+  "category": "Control",
+  "dockerImage": "future-nav2:humble-yahboom",
+  "packageName": "yahboom_control",
+  "launchFile": "control.launch.py"
+}
@@ -0,0 +1,4 @@
+build/
+install/
+log/
+__pycache__/
@@ -0,0 +1,18 @@
+# NAV2-Yahboom-Control
+
+LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-control]yahboom_control_v1.0.0_ws`
+
+- 패키지: `yahboom_control`
+- 런치: `control.launch.py`
+- 이미지: `future-nav2:humble-yahboom`
+- 앱의 야붐 실행기 지원이 반영되어야 합니다.
+- 서버 과정의 야붐 전용 환경에 이 모듈과 이미지 아티팩트를 등록한 후
+  LMS에서 설치 -> 빌드 -> 실행합니다.
+- ROS_DOMAIN_ID는 ESP32 설정과 일치시킵니다. GPU 가속은 끕니다.
+- 컨테이너 장치: 없음
+- SLAM과 Localization은 동시에 실행하지 않습니다.
+- 실차 검증 전 소스입니다. 바퀴를 띄우고 비상정지와 명령 타임아웃을 확인하세요.
+
+원본 소스: https://github.com/KingKiser/hkit_yahboom_ws
+작성자 박승휘, 원본 package.xml 저작자 Leo Cho, 원본 라이선스 표기 Apache 2.0.
+재배포 전 자산 라이선스를 확인하세요.
@@ -0,0 +1,7 @@
+#!/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 "$MODULE_PATH")"
+IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2:humble-yahboom}"
+exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "$IMAGE" "${ROS_DOMAIN_ID:-20}"
@@ -0,0 +1,12 @@
+#!/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 "$MODULE_PATH")"
+IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2:humble-yahboom}"
+ROS_PARAM=''
+CONTAINER_NAME="${FOLDER_NAME#\[}"
+CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
+CONTAINER_NAME="${CONTAINER_NAME%_ws}"
+read -r -a DEFAULT_ARGS <<< "$ROS_PARAM"
+exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "$IMAGE" "${ROS_DOMAIN_ID:-20}" "${GPU_ENABLED:-false}" "${DEFAULT_ARGS[@]}" "$@"
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.8)
+project(yahboom_control)
+find_package(ament_cmake REQUIRED)
+install(DIRECTORY launch params DESTINATION share/${PROJECT_NAME})
+ament_package()
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+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    share = get_package_share_directory("yahboom_control")
+    params = os.path.join(share, "params", "control.yaml")
+    nodes = [["nav2_controller","controller_server","controller_server"],["nav2_behaviors","behavior_server","behavior_server"]]
+    actions = []
+    for package, executable, name in nodes:
+        actions.append(Node(
+            package=package, executable=executable, name=name, output="screen",
+            parameters=[params],
+            remappings=[("odom", "/odom")],
+        ))
+    actions.append(Node(
+        package="nav2_lifecycle_manager", executable="lifecycle_manager",
+        name="lifecycle_manager_yahboom_control", output="screen",
+        parameters=[{"use_sim_time": False, "autostart": True,
+                     "node_names": [name for _, _, name in nodes]}],
+    ))
+    return LaunchDescription(actions)
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>yahboom_control</name>
+  <version>1.0.0</version>
+  <description>Yahboom LMS control module, adapted from hkit_yahboom_ws.</description>
+  <maintainer email="support@futuredrive.net">FutureDrive</maintainer>
+  <license>Apache-2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>nav2_bringup</exec_depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>
@@ -0,0 +1,151 @@
+controller_server:
+  ros__parameters:
+    use_sim_time: false
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.001
+    min_theta_velocity_threshold: 0.001
+    progress_checker_plugin: progress_checker
+    controller_plugins:
+    - FollowPath
+    progress_checker:
+      plugin: nav2_controller::SimpleProgressChecker
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    goal_checker:
+      plugin: nav2_controller::SimpleGoalChecker
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+      stateful: true
+    FollowPath:
+      plugin: dwb_core::DWBLocalPlanner
+      debug_trajectory_details: true
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 0.2
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.2
+      min_speed_theta: 0.0
+      acc_lim_x: 2.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.01
+      short_circuit_trajectory_evaluation: true
+      stateful: true
+      critics:
+      - RotateToGoal
+      - Oscillation
+      - BaseObstacle
+      - GoalAlign
+      - PathAlign
+      - PathDist
+      - GoalDist
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+    goal_checker_plugins:
+    - goal_checker
+    odom_topic: /odom
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: false
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.1
+      plugins:
+      - obstacle_layer
+      - voxel_layer
+      - inflation_layer
+      inflation_layer:
+        plugin: nav2_costmap_2d::InflationLayer
+        cost_scaling_factor: 5.0
+        inflation_radius: 0.6
+      obstacle_layer:
+        plugin: nav2_costmap_2d::ObstacleLayer
+        enabled: true
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: true
+          marking: true
+          data_type: LaserScan
+      voxel_layer:
+        plugin: nav2_costmap_2d::VoxelLayer
+        enabled: true
+        publish_voxel_map: true
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: true
+          marking: true
+          data_type: LaserScan
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        map_subscribe_transient_local: true
+      always_send_full_costmap: true
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: false
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: false
+behavior_server:
+  ros__parameters:
+    use_sim_time: false
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins:
+    - spin
+    - backup
+    - wait
+    spin:
+      plugin: nav2_behaviors/Spin
+    backup:
+      plugin: nav2_behaviors/BackUp
+    wait:
+      plugin: nav2_behaviors/Wait
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.2
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 0.2
+    min_rotational_vel: 0.0
+    rotational_acc_lim: 0.2
@@ -0,0 +1,10 @@
+#!/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")"
+IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2:humble-yahboom}"
+CONTAINER_NAME="${FOLDER_NAME#\[}"
+CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
+CONTAINER_NAME="${CONTAINER_NAME%_ws}"
+docker stop -t 10 "$CONTAINER_NAME"