From 6234b86e9e16733680c886cf52073a653e7553eb Mon Sep 17 00:00:00 2001
From: chyoo <chyoo@futuredrive.net>
Date: Tue, 22 Sep 2026 09:48:31 +0900
Subject: [PATCH] feat: add Yahboom localization module for LMS

---
 .autonomy-studio-module.json                  |  8 ++++
 .gitignore                                    |  4 ++
 README.md                                     | 18 +++++++++
 build.sh                                      |  7 ++++
 run.sh                                        | 12 ++++++
 src/yahboom_localization/CMakeLists.txt       |  5 +++
 .../launch/localization.launch.py             | 25 ++++++++++++
 src/yahboom_localization/package.xml          | 14 +++++++
 .../params/localization.yaml                  | 40 +++++++++++++++++++
 stop.sh                                       | 10 +++++
 10 files changed, 143 insertions(+)
 create mode 100644 .autonomy-studio-module.json
 create mode 100644 .gitignore
 create mode 100644 README.md
 create mode 100755 build.sh
 create mode 100755 run.sh
 create mode 100644 src/yahboom_localization/CMakeLists.txt
 create mode 100644 src/yahboom_localization/launch/localization.launch.py
 create mode 100644 src/yahboom_localization/package.xml
 create mode 100644 src/yahboom_localization/params/localization.yaml
 create mode 100755 stop.sh

diff --git a/.autonomy-studio-module.json b/.autonomy-studio-module.json
new file mode 100644
index 0000000..cfa43b7
--- /dev/null
+++ b/.autonomy-studio-module.json
@@ -0,0 +1,8 @@
+{
+  "sourceType": "GIT",
+  "name": "NAV2-Yahboom-Localization",
+  "category": "Localization",
+  "dockerImage": "future-nav2:humble-yahboom",
+  "packageName": "yahboom_localization",
+  "launchFile": "localization.launch.py"
+}
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ecbae9e
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+build/
+install/
+log/
+__pycache__/
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..8559e85
--- /dev/null
+++ b/README.md
@@ -0,0 +1,18 @@
+# NAV2-Yahboom-Localization
+
+LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-localization]yahboom_localization_v1.0.0_ws`
+
+- 패키지: `yahboom_localization`
+- 런치: `localization.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.
diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..7d66537
--- /dev/null
+++ b/build.sh
@@ -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}"
diff --git a/run.sh b/run.sh
new file mode 100755
index 0000000..ef2acf7
--- /dev/null
+++ b/run.sh
@@ -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}" "${DEFAULT_ARGS[@]}" "$@"
diff --git a/src/yahboom_localization/CMakeLists.txt b/src/yahboom_localization/CMakeLists.txt
new file mode 100644
index 0000000..4a64da2
--- /dev/null
+++ b/src/yahboom_localization/CMakeLists.txt
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.8)
+project(yahboom_localization)
+find_package(ament_cmake REQUIRED)
+install(DIRECTORY launch params DESTINATION share/${PROJECT_NAME})
+ament_package()
diff --git a/src/yahboom_localization/launch/localization.launch.py b/src/yahboom_localization/launch/localization.launch.py
new file mode 100644
index 0000000..18c3228
--- /dev/null
+++ b/src/yahboom_localization/launch/localization.launch.py
@@ -0,0 +1,25 @@
+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_localization")
+    params = os.path.join(share, "params", "localization.yaml")
+    nodes = [["nav2_amcl","amcl","amcl"]]
+    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_localization", output="screen",
+        parameters=[{"use_sim_time": False, "autostart": True,
+                     "node_names": [name for _, _, name in nodes]}],
+    ))
+    return LaunchDescription(actions)
diff --git a/src/yahboom_localization/package.xml b/src/yahboom_localization/package.xml
new file mode 100644
index 0000000..7eaf16d
--- /dev/null
+++ b/src/yahboom_localization/package.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>yahboom_localization</name>
+  <version>1.0.0</version>
+  <description>Yahboom LMS localization 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>
diff --git a/src/yahboom_localization/params/localization.yaml b/src/yahboom_localization/params/localization.yaml
new file mode 100644
index 0000000..515bc50
--- /dev/null
+++ b/src/yahboom_localization/params/localization.yaml
@@ -0,0 +1,40 @@
+amcl:
+  ros__parameters:
+    use_sim_time: false
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: base_footprint
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: map
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 8.0
+    laser_min_range: 0.12
+    laser_model_type: likelihood_field
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: odom
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    robot_model_type: nav2_amcl::DifferentialMotionModel
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 1.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
diff --git a/stop.sh b/stop.sh
new file mode 100755
index 0000000..f439c76
--- /dev/null
+++ b/stop.sh
@@ -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"