feat: add Yahboom planning module for LMS
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{
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"sourceType": "GIT",
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"name": "NAV2-Yahboom-Planning",
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"category": "Planning",
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"dockerImage": "future-nav2:humble-yahboom",
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"packageName": "yahboom_planning",
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"launchFile": "planning.launch.py"
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}
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build/
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install/
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log/
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__pycache__/
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# NAV2-Yahboom-Planning
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LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-planning]yahboom_planning_v1.0.0_ws`
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- 패키지: `yahboom_planning`
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- 런치: `planning.launch.py`
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- 이미지: `future-nav2:humble-yahboom`
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- 앱의 야붐 실행기 지원이 반영되어야 합니다.
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- 서버 과정의 야붐 전용 환경에 이 모듈과 이미지 아티팩트를 등록한 후
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LMS에서 설치 -> 빌드 -> 실행합니다.
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- ROS_DOMAIN_ID는 ESP32 설정과 일치시킵니다. GPU 가속은 끕니다.
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- 컨테이너 장치: 없음
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- SLAM과 Localization은 동시에 실행하지 않습니다.
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- 실차 검증 전 소스입니다. 바퀴를 띄우고 비상정지와 명령 타임아웃을 확인하세요.
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원본 소스: https://github.com/KingKiser/hkit_yahboom_ws
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작성자 박승휘, 원본 package.xml 저작자 Leo Cho, 원본 라이선스 표기 Apache 2.0.
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재배포 전 자산 라이선스를 확인하세요.
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#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
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FOLDER_NAME="$(basename "$MODULE_PATH")"
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IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2:humble-yahboom}"
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exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "$IMAGE" "${ROS_DOMAIN_ID:-20}"
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#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
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FOLDER_NAME="$(basename "$MODULE_PATH")"
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IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2:humble-yahboom}"
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ROS_PARAM=''
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CONTAINER_NAME="${FOLDER_NAME#\[}"
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CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
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CONTAINER_NAME="${CONTAINER_NAME%_ws}"
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read -r -a DEFAULT_ARGS <<< "$ROS_PARAM"
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exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "$IMAGE" "${ROS_DOMAIN_ID:-20}" "${GPU_ENABLED:-false}" "${DEFAULT_ARGS[@]}" "$@"
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cmake_minimum_required(VERSION 3.8)
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project(yahboom_planning)
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY launch params DESTINATION share/${PROJECT_NAME})
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ament_package()
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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share = get_package_share_directory("yahboom_planning")
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params = os.path.join(share, "params", "planning.yaml")
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nodes = [["nav2_planner","planner_server","planner_server"],["nav2_bt_navigator","bt_navigator","bt_navigator"],["nav2_waypoint_follower","waypoint_follower","waypoint_follower"]]
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actions = []
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for package, executable, name in nodes:
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actions.append(Node(
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package=package, executable=executable, name=name, output="screen",
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parameters=[params],
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remappings=[("odom", "/odom")],
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))
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actions.append(Node(
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package="nav2_lifecycle_manager", executable="lifecycle_manager",
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name="lifecycle_manager_yahboom_planning", output="screen",
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parameters=[{"use_sim_time": False, "autostart": True,
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"node_names": [name for _, _, name in nodes]}],
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))
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return LaunchDescription(actions)
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<?xml version="1.0"?>
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<package format="3">
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<name>yahboom_planning</name>
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<version>1.0.0</version>
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<description>Yahboom LMS planning module, adapted from hkit_yahboom_ws.</description>
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<maintainer email="support@futuredrive.net">FutureDrive</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>ament_index_python</exec_depend>
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<exec_depend>nav2_bringup</exec_depend>
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<export><build_type>ament_cmake</build_type></export>
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</package>
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planner_server:
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ros__parameters:
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expected_planner_frequency: 20.0
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use_sim_time: false
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planner_plugins:
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- GridBased
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GridBased:
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plugin: nav2_navfn_planner/NavfnPlanner
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tolerance: 0.5
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use_astar: false
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allow_unknown: true
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global_costmap:
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global_costmap:
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ros__parameters:
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update_frequency: 1.0
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publish_frequency: 1.0
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global_frame: map
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robot_base_frame: base_footprint
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use_sim_time: false
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robot_radius: 0.1
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resolution: 0.05
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track_unknown_space: true
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plugins:
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- static_layer
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- obstacle_layer
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- voxel_layer
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- inflation_layer
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obstacle_layer:
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plugin: nav2_costmap_2d::ObstacleLayer
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enabled: true
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: true
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marking: true
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data_type: LaserScan
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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voxel_layer:
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plugin: nav2_costmap_2d::VoxelLayer
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enabled: true
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publish_voxel_map: true
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origin_z: 0.0
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z_resolution: 0.05
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z_voxels: 16
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max_obstacle_height: 2.0
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mark_threshold: 0
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observation_sources: scan
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scan:
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topic: /scan
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max_obstacle_height: 2.0
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clearing: true
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marking: true
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data_type: LaserScan
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raytrace_max_range: 3.0
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raytrace_min_range: 0.0
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obstacle_max_range: 2.5
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obstacle_min_range: 0.0
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static_layer:
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plugin: nav2_costmap_2d::StaticLayer
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map_subscribe_transient_local: true
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inflation_layer:
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plugin: nav2_costmap_2d::InflationLayer
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cost_scaling_factor: 5.0
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inflation_radius: 0.6
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always_send_full_costmap: true
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global_costmap_client:
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ros__parameters:
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use_sim_time: false
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global_costmap_rclcpp_node:
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ros__parameters:
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use_sim_time: false
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bt_navigator:
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ros__parameters:
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use_sim_time: false
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global_frame: map
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robot_base_frame: base_footprint
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odom_topic: /odom
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bt_loop_duration: 10
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default_server_timeout: 20
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enable_groot_monitoring: true
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groot_zmq_publisher_port: 1666
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groot_zmq_server_port: 1667
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plugin_lib_names:
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- nav2_compute_path_to_pose_action_bt_node
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- nav2_compute_path_through_poses_action_bt_node
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- nav2_follow_path_action_bt_node
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- nav2_back_up_action_bt_node
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- nav2_spin_action_bt_node
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- nav2_wait_action_bt_node
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- nav2_clear_costmap_service_bt_node
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- nav2_is_stuck_condition_bt_node
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- nav2_goal_reached_condition_bt_node
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- nav2_goal_updated_condition_bt_node
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- nav2_initial_pose_received_condition_bt_node
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- nav2_reinitialize_global_localization_service_bt_node
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- nav2_rate_controller_bt_node
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- nav2_distance_controller_bt_node
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- nav2_speed_controller_bt_node
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- nav2_truncate_path_action_bt_node
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- nav2_goal_updater_node_bt_node
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- nav2_recovery_node_bt_node
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- nav2_pipeline_sequence_bt_node
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- nav2_round_robin_node_bt_node
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- nav2_transform_available_condition_bt_node
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- nav2_time_expired_condition_bt_node
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- nav2_distance_traveled_condition_bt_node
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- nav2_single_trigger_bt_node
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- nav2_is_battery_low_condition_bt_node
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- nav2_navigate_through_poses_action_bt_node
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- nav2_navigate_to_pose_action_bt_node
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- nav2_remove_passed_goals_action_bt_node
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- nav2_planner_selector_bt_node
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- nav2_controller_selector_bt_node
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- nav2_goal_checker_selector_bt_node
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waypoint_follower:
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ros__parameters:
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loop_rate: 20
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stop_on_failure: false
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waypoint_task_executor_plugin: wait_at_waypoint
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wait_at_waypoint:
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plugin: nav2_waypoint_follower::WaitAtWaypoint
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enabled: true
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waypoint_pause_duration: 200
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#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
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FOLDER_NAME="$(basename "$MODULE_PATH")"
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IMAGE="${NAV2_DOCKER_IMAGE:-future-nav2:humble-yahboom}"
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CONTAINER_NAME="${FOLDER_NAME#\[}"
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CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
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CONTAINER_NAME="${CONTAINER_NAME%_ws}"
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docker stop -t 10 "$CONTAINER_NAME"
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