From f60521dabd78b9ea292ae65398f01290972b3364 Mon Sep 17 00:00:00 2001 From: chyoo Date: Tue, 22 Sep 2026 09:48:31 +0900 Subject: [PATCH] feat: add Yahboom planning module for LMS --- .autonomy-studio-module.json | 8 ++ .gitignore | 4 + README.md | 18 +++ build.sh | 7 + run.sh | 12 ++ src/yahboom_planning/CMakeLists.txt | 5 + .../launch/planning.launch.py | 25 ++++ src/yahboom_planning/package.xml | 14 ++ src/yahboom_planning/params/planning.yaml | 127 ++++++++++++++++++ stop.sh | 10 ++ 10 files changed, 230 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_planning/CMakeLists.txt create mode 100644 src/yahboom_planning/launch/planning.launch.py create mode 100644 src/yahboom_planning/package.xml create mode 100644 src/yahboom_planning/params/planning.yaml create mode 100755 stop.sh diff --git a/.autonomy-studio-module.json b/.autonomy-studio-module.json new file mode 100644 index 0000000..d81c96d --- /dev/null +++ b/.autonomy-studio-module.json @@ -0,0 +1,8 @@ +{ + "sourceType": "GIT", + "name": "NAV2-Yahboom-Planning", + "category": "Planning", + "dockerImage": "future-nav2:humble-yahboom", + "packageName": "yahboom_planning", + "launchFile": "planning.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..ad8b734 --- /dev/null +++ b/README.md @@ -0,0 +1,18 @@ +# NAV2-Yahboom-Planning + +LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-planning]yahboom_planning_v1.0.0_ws` + +- 패키지: `yahboom_planning` +- 런치: `planning.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_planning/CMakeLists.txt b/src/yahboom_planning/CMakeLists.txt new file mode 100644 index 0000000..2f665ac --- /dev/null +++ b/src/yahboom_planning/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 3.8) +project(yahboom_planning) +find_package(ament_cmake REQUIRED) +install(DIRECTORY launch params DESTINATION share/${PROJECT_NAME}) +ament_package() diff --git a/src/yahboom_planning/launch/planning.launch.py b/src/yahboom_planning/launch/planning.launch.py new file mode 100644 index 0000000..82f2389 --- /dev/null +++ b/src/yahboom_planning/launch/planning.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_planning") + params = os.path.join(share, "params", "planning.yaml") + nodes = [["nav2_planner","planner_server","planner_server"],["nav2_bt_navigator","bt_navigator","bt_navigator"],["nav2_waypoint_follower","waypoint_follower","waypoint_follower"]] + 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_planning", output="screen", + parameters=[{"use_sim_time": False, "autostart": True, + "node_names": [name for _, _, name in nodes]}], + )) + return LaunchDescription(actions) diff --git a/src/yahboom_planning/package.xml b/src/yahboom_planning/package.xml new file mode 100644 index 0000000..e7df19c --- /dev/null +++ b/src/yahboom_planning/package.xml @@ -0,0 +1,14 @@ + + + yahboom_planning + 1.0.0 + Yahboom LMS planning module, adapted from hkit_yahboom_ws. + FutureDrive + Apache-2.0 + ament_cmake + launch + launch_ros + ament_index_python + nav2_bringup + ament_cmake + diff --git a/src/yahboom_planning/params/planning.yaml b/src/yahboom_planning/params/planning.yaml new file mode 100644 index 0000000..84126ee --- /dev/null +++ b/src/yahboom_planning/params/planning.yaml @@ -0,0 +1,127 @@ +planner_server: + ros__parameters: + expected_planner_frequency: 20.0 + use_sim_time: false + planner_plugins: + - GridBased + GridBased: + plugin: nav2_navfn_planner/NavfnPlanner + tolerance: 0.5 + use_astar: false + allow_unknown: true +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_footprint + use_sim_time: false + robot_radius: 0.1 + resolution: 0.05 + track_unknown_space: true + plugins: + - static_layer + - obstacle_layer + - voxel_layer + - inflation_layer + 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 + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + 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: + plugin: nav2_costmap_2d::StaticLayer + map_subscribe_transient_local: true + inflation_layer: + plugin: nav2_costmap_2d::InflationLayer + cost_scaling_factor: 5.0 + inflation_radius: 0.6 + always_send_full_costmap: true + global_costmap_client: + ros__parameters: + use_sim_time: false + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: false +bt_navigator: + ros__parameters: + use_sim_time: false + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + enable_groot_monitoring: true + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: wait_at_waypoint + wait_at_waypoint: + plugin: nav2_waypoint_follower::WaitAtWaypoint + enabled: true + waypoint_pause_duration: 200 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"