feat: add Yahboom map module for LMS

.autonomy-studio-module.json

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+{
+  "sourceType": "GIT",
+  "name": "NAV2-Yahboom-Map",
+  "category": "Map",
+  "dockerImage": "future-nav2:humble-yahboom",
+  "packageName": "yahboom_map",
+  "launchFile": "map.launch.py"
+}

.gitignore

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+build/
+install/
+log/
+__pycache__/

README.md

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+# NAV2-Yahboom-Map
+
+LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-map]yahboom_map_v1.0.0_ws`
+
+- 패키지: `yahboom_map`
+- 런치: `map.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.

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:-$HOME/autonomy-studio/runtime/nav2}"
+FOLDER_NAME="$(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}"

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 "$MODULE_PATH")"
+IMAGE="${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}" "${DEFAULT_ARGS[@]}" "$@"

src/yahboom_map/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(yahboom_map)
+find_package(ament_cmake REQUIRED)
+install(DIRECTORY launch params DESTINATION share/${PROJECT_NAME})
+ament_package()

src/yahboom_map/launch/map.launch.py

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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_map")
+    params = os.path.join(share, "params", "map.yaml")
+    nodes = [["nav2_map_server","map_server","map_server"]]
+    actions = []
+    actions.append(DeclareLaunchArgument("map", description="Absolute path to a saved map YAML"))
+    for package, executable, name in nodes:
+        actions.append(Node(
+            package=package, executable=executable, name=name, output="screen",
+            parameters=[params, {"yaml_filename": LaunchConfiguration("map")}],
+            remappings=[("odom", "/odom")],
+        ))
+    actions.append(Node(
+        package="nav2_lifecycle_manager", executable="lifecycle_manager",
+        name="lifecycle_manager_yahboom_map", output="screen",
+        parameters=[{"use_sim_time": False, "autostart": True,
+                     "node_names": [name for _, _, name in nodes]}],
+    ))
+    return LaunchDescription(actions)

src/yahboom_map/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>yahboom_map</name>
+  <version>1.0.0</version>
+  <description>Yahboom LMS map 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>

src/yahboom_map/params/map.yaml

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+map_server:
+  ros__parameters:
+    use_sim_time: false
+    yaml_filename: ''

stop.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 "$MODULE_PATH")"
+IMAGE="${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"