feat: integrate Yahboom with shared Nav2 modules and CAD visuals

.autonomy-studio-module.json

@@ -2,6 +2,7 @@
   "sourceType": "GIT",
   "name": "NAV2-Yahboom",
   "category": "Vehicle",
+  "defaultParameters": ["sim_mode:=true"],
   "dockerImage": "future-nav2:humble-yahboom",
   "packageName": "yahboom_vehicle",
   "launchFile": "vehicle.launch.py"

README.md

@@ -6,7 +6,7 @@ LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-vehic
 - 런치: `vehicle.launch.py`
 - 이미지: `future-nav2:humble-yahboom` (실차 기본)
 - 로컬 시뮬레이션: 빌드 전에 `sim_mode:=true`를 설정하면 LMS가
-  `future-nav2-gazebo:humble`을 사용합니다. 기본값은 `false`입니다.
+  `future-nav2-gazebo:humble`을 사용합니다. 기본값은 `true`이며 실차에서는 `sim_mode:=false`를 명시합니다.
 - 시뮬레이션에서는 기존 NAV2-Gazebo에 `platform:=yahboom`을 설정하고
   NAV2-Yahboom 차량 모듈을 함께 실행합니다. 실차 Agent/Camera는 실행하지 않습니다.
 - 앱의 야붐 실행기 지원이 반영되어야 합니다.
@@ -15,6 +15,9 @@ LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-vehic
 - ROS_DOMAIN_ID는 ESP32 설정과 일치시킵니다. GPU 가속은 끕니다.
 - 컨테이너 장치: 없음
 - SLAM과 Localization은 동시에 실행하지 않습니다.
+- `/vehicle_config`를 발행합니다 (`robot=yahboom`, `level=2d`, `sim_mode`).
+  야붐 설정이 추가된 공통 NAV2-SLAM, NAV2-Map, NAV2-Localization,
+  NAV2-Planning, NAV2-Control을 사용합니다. 전용 Yahboom 주행 모듈과 중복 실행하지 않습니다.
 - 실차 검증 전 소스입니다. 바퀴를 띄우고 비상정지와 명령 타임아웃을 확인하세요.
 
 원본 소스: https://github.com/KingKiser/hkit_yahboom_ws

src/yahboom_vehicle/CMakeLists.txt

@@ -2,5 +2,5 @@ cmake_minimum_required(VERSION 3.8)
 project(yahboom_vehicle)
 find_package(ament_cmake REQUIRED)
 install(DIRECTORY launch urdf meshes DESTINATION share/${PROJECT_NAME})
-install(PROGRAMS scripts/odom_bridge.py DESTINATION lib/${PROJECT_NAME})
+install(PROGRAMS scripts/odom_bridge.py scripts/vehicle_config.py DESTINATION lib/${PROJECT_NAME})
 ament_package()

src/yahboom_vehicle/launch/vehicle.launch.py

@@ -16,6 +16,8 @@ def launch_vehicle(context):
     if simulation:
         description = runpy.run_path(os.path.join(share, "urdf", "simulation.py"))["simulation_description"](share)
     actions = [
+        Node(package="yahboom_vehicle", executable="vehicle_config.py",
+             parameters=[{"sim_mode": simulation}], output="screen"),
         Node(package="robot_state_publisher", executable="robot_state_publisher",
              parameters=[{"robot_description": description, "use_sim_time": simulation}],
              remappings=[("robot_description", "/yahboom/robot_description")] if simulation else [],
@@ -30,7 +32,7 @@ def launch_vehicle(context):
 
 def generate_launch_description():
     return LaunchDescription([
-        DeclareLaunchArgument("sim_mode", default_value="false", choices=["true", "false"]),
+        DeclareLaunchArgument("sim_mode", default_value="true", choices=["true", "false"]),
         DeclareLaunchArgument("publish_odom_tf", default_value="true"),
         OpaqueFunction(function=launch_vehicle),
     ])

src/yahboom_vehicle/meshes/pi5/conversion.json

@@ -0,0 +1,37 @@
+{
+  "bounds_ros_m": [
+    [
+      -0.16315217316150665,
+      -0.07669481635093689,
+      -9.201839566230774e-05
+    ],
+    [
+      0.12379159778356552,
+      0.07669482380151749,
+      0.13575001060962677
+    ]
+  ],
+  "parts": {
+    "yahboom_body": {
+      "vertices": 151771,
+      "faces": 91337
+    },
+    "yahboom_front_left": {
+      "vertices": 2606,
+      "faces": 2266
+    },
+    "yahboom_front_right": {
+      "vertices": 2607,
+      "faces": 2267
+    },
+    "yahboom_rear_left": {
+      "vertices": 2610,
+      "faces": 2267
+    },
+    "yahboom_rear_right": {
+      "vertices": 2608,
+      "faces": 2266
+    }
+  },
+  "alignment": "STEP Z-up: rotate Z pi, translate X -0.002m; base_footprint Z offset 0.04525m"
+}

src/yahboom_vehicle/package.xml

@@ -10,6 +10,7 @@
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

src/yahboom_vehicle/scripts/vehicle_config.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+"""Publish the shared NAV2 module configuration, including for late subscribers."""
+import json
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, DurabilityPolicy, ReliabilityPolicy
+from std_msgs.msg import String
+
+
+class VehicleConfig(Node):
+    def __init__(self):
+        super().__init__('yahboom_vehicle_config')
+        self.declare_parameter('sim_mode', True)
+        qos = QoSProfile(depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL,
+                         reliability=ReliabilityPolicy.RELIABLE)
+        self.publisher = self.create_publisher(String, '/vehicle_config', qos)
+        config = {'robot': 'yahboom', 'platform': 'yahboom', 'level': '2d',
+                  'sim_mode': self.get_parameter('sim_mode').value}
+        self.publisher.publish(String(data=json.dumps(config)))
+        self.get_logger().info(f'Published vehicle configuration: {config}')
+
+
+def main():
+    rclpy.init()
+    node = VehicleConfig()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/yahboom_vehicle/urdf/simulation.py

@@ -5,6 +5,17 @@ import xml.etree.ElementTree as ET
 
 def simulation_description(share):
     root = ET.parse(Path(share) / "urdf" / "yahboom.urdf").getroot()
+    # Only replace visuals. Keep the validated collision/inertial/sensor model.
+    visuals = {"base_link": "body", "zq_Link": "front_left", "yq_Link": "front_right",
+               "zh_Link": "rear_left", "yh_Link": "rear_right"}
+    for link in root.findall("link"):
+        for visual in link.findall("visual"):
+            link.remove(visual)
+        part = visuals.get(link.get("name"))
+        if part:
+            visual = ET.SubElement(link, "visual")
+            geometry = ET.SubElement(visual, "geometry")
+            ET.SubElement(geometry, "mesh", filename=f"package://yahboom_vehicle/meshes/pi5/{part}.dae")
     for mesh in root.findall(".//mesh"):
         mesh.set("filename", (Path(share) / mesh.get("filename").split("package://yahboom_vehicle/")[1]).as_uri())
     for joint in root.findall("joint"):