feat: add Yahboom slam module for LMS

2026-09-22 09:48:30 +09:00
commit 54d7fd8d18
10 changed files with 164 additions and 0 deletions
@@ -0,0 +1,8 @@
+{
+  "sourceType": "GIT",
+  "name": "NAV2-Yahboom-Slam",
+  "category": "Localization",
+  "dockerImage": "future-nav2:humble-yahboom",
+  "packageName": "yahboom_slam",
+  "launchFile": "slam.launch.py"
+}
@@ -0,0 +1,4 @@
+build/
+install/
+log/
+__pycache__/
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+# NAV2-Yahboom-Slam
+
+LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-slam]yahboom_slam_v1.0.0_ws`
+
+- 패키지: `yahboom_slam`
+- 런치: `slam.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.
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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}"
@@ -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_slam)
+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_slam")
+    return LaunchDescription([
+        Node(package="cartographer_ros", executable="cartographer_node",
+             parameters=[{"use_sim_time": False}], output="screen",
+             arguments=["-configuration_directory", os.path.join(share, "params"),
+                        "-configuration_basename", "yahboom_cartographer.lua"],
+             remappings=[("scan", "/scan"), ("odom", "/odom")]),
+        Node(package="cartographer_ros", executable="cartographer_occupancy_grid_node",
+             parameters=[{"use_sim_time": False}], output="screen",
+             arguments=["-resolution", "0.05", "-publish_period_sec", "1.0"]),
+    ])
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>yahboom_slam</name>
+  <version>1.0.0</version>
+  <description>Yahboom LMS slam 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>cartographer_ros</exec_depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>
@@ -0,0 +1,67 @@
+include "map_builder.lua"
+include "trajectory_builder.lua"
+--001 
+options = {
+  map_builder = MAP_BUILDER,
+  trajectory_builder = TRAJECTORY_BUILDER,
+
+  map_frame = "map",
+
+  -- /imu의 header.frame_id
+  tracking_frame = "base_footprint",
+
+  -- 기존 wheel odometry가 odom_frame -> base_footprint를 발행하므로
+  -- Cartographer는 map -> odom_frame을 발행
+  published_frame = "odom",
+  odom_frame = "odom",
+
+  -- 기존 /odom_raw 및 TF를 사용하므로 Cartographer가
+  -- odom 프레임을 별도로 만들지 않음
+  provide_odom_frame = false,
+
+  publish_frame_projected_to_2d = true,
+
+  -- /odom_raw 사용
+  use_odometry = true,
+
+  use_nav_sat = false,
+  use_landmarks = false,
+
+  -- /scan 사용
+  num_laser_scans = 1,
+  num_multi_echo_laser_scans = 0,
+  num_subdivisions_per_laser_scan = 1,
+  num_point_clouds = 0,
+
+  lookup_transform_timeout_sec = 0.2,
+
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+  trajectory_publish_period_sec = 30e-3,
+
+  rangefinder_sampling_ratio = 1.0,
+  odometry_sampling_ratio = 1.0,
+  fixed_frame_pose_sampling_ratio = 1.0,
+  imu_sampling_ratio = 1.0,
+  landmarks_sampling_ratio = 1.0,
+}
+
+MAP_BUILDER.use_trajectory_builder_2d = true
+
+-- /scan 스펙
+TRAJECTORY_BUILDER_2D.min_range = 0.12
+TRAJECTORY_BUILDER_2D.max_range = 8.0
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.0
+
+-- /imu 사용
+TRAJECTORY_BUILDER_2D.use_imu_data = false
+
+TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
+
+TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians =
+    math.rad(0.1)
+
+POSE_GRAPH.constraint_builder.min_score = 0.65
+POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
+
+return options
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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"