From 4ad97ba5d89827890020d97a454db5c6ac9ba033 Mon Sep 17 00:00:00 2001 From: chyoo Date: Tue, 22 Sep 2026 11:11:54 +0900 Subject: [PATCH] feat: integrate Yahboom with shared Nav2 modules and CAD visuals --- .autonomy-studio-module.json | 1 + README.md | 5 +- src/yahboom_vehicle/CMakeLists.txt | 2 +- src/yahboom_vehicle/launch/vehicle.launch.py | 4 +- src/yahboom_vehicle/meshes/pi5/body.dae | 1401 +++++++++++++++++ .../meshes/pi5/conversion.json | 37 + src/yahboom_vehicle/meshes/pi5/front_left.dae | 125 ++ .../meshes/pi5/front_right.dae | 125 ++ src/yahboom_vehicle/meshes/pi5/rear_left.dae | 125 ++ src/yahboom_vehicle/meshes/pi5/rear_right.dae | 125 ++ src/yahboom_vehicle/package.xml | 1 + src/yahboom_vehicle/scripts/vehicle_config.py | 38 + src/yahboom_vehicle/urdf/simulation.py | 11 + 13 files changed, 1997 insertions(+), 3 deletions(-) create mode 100644 src/yahboom_vehicle/meshes/pi5/body.dae create mode 100644 src/yahboom_vehicle/meshes/pi5/conversion.json create mode 100644 src/yahboom_vehicle/meshes/pi5/front_left.dae create mode 100644 src/yahboom_vehicle/meshes/pi5/front_right.dae create mode 100644 src/yahboom_vehicle/meshes/pi5/rear_left.dae create mode 100644 src/yahboom_vehicle/meshes/pi5/rear_right.dae create mode 100644 src/yahboom_vehicle/scripts/vehicle_config.py diff --git a/.autonomy-studio-module.json b/.autonomy-studio-module.json index 80550f3..3d6f339 100644 --- a/.autonomy-studio-module.json +++ b/.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" diff --git a/README.md b/README.md index fe4526b..4cad5d6 100644 --- a/README.md +++ b/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 diff --git a/src/yahboom_vehicle/CMakeLists.txt b/src/yahboom_vehicle/CMakeLists.txt index 3a8cecc..13db149 100644 --- a/src/yahboom_vehicle/CMakeLists.txt +++ b/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() diff --git a/src/yahboom_vehicle/launch/vehicle.launch.py b/src/yahboom_vehicle/launch/vehicle.launch.py index 242411f..db8f540 100644 --- a/src/yahboom_vehicle/launch/vehicle.launch.py +++ b/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), ]) diff --git a/src/yahboom_vehicle/meshes/pi5/body.dae b/src/yahboom_vehicle/meshes/pi5/body.dae new file mode 100644 index 0000000..70a68cc --- /dev/null +++ b/src/yahboom_vehicle/meshes/pi5/body.dae @@ -0,0 +1,1401 @@ + + + + + Blender User + Blender 3.0.1 + + 2026-09-22T10:44:01 + 2026-09-22T10:44:01 + + Z_UP + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.5972018 0.6444797 0.8631572 1 + + + 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.5711249 0.5394795 0.5088813 1 + + + 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.03433981 0.03433981 0.03433981 1 + + + 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.07227185 0.07227185 0.07227185 1 + + + 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.5647115 0.5332764 0.5028865 1 + + + 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 1 1 0 1 + + + 1 + + + 1.45 + + + + 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185 13005 185 12940 185 12957 185 12956 185 12940 185 13008 185 12957 185 12940 185 13009 185 13008 185 12940 185 12952 185 13009 185 12940 185 12953 185 12952 185 12940 185 13012 185 12953 185 12940 185 13013 185 13012 185 12940 185 12948 185 13013 185 12940 185 12949 185 12948 185 12940 185 13016 185 12949 185 12940 185 13017 185 13016 185 13064 7035 13026 7035 13025 7035 13064 185 13063 185 13026 185 13066 185 13026 185 13063 185 13065 185 13064 185 13025 185 13067 185 13066 185 13065 185 13067 185 13026 185 13066 185 13068 185 13067 185 13065 185 13068 185 13065 185 13025 185 13070 185 13026 185 13067 185 13069 185 13068 185 13025 185 13059 185 13026 185 13070 185 13060 185 13059 185 13070 185 13060 185 13069 185 13025 185 13060 185 13070 185 13069 185 13062 185 13026 185 13059 185 13071 185 13026 185 13062 185 13072 185 13071 185 13062 185 13072 185 13062 185 13061 185 13074 185 13026 185 13071 185 13055 185 13026 185 13074 185 13055 185 13074 185 13073 185 13056 185 13055 185 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47948 132200 47948 132202 47949 132203 47949 132204 47949 132205 47950 132202 47950 132204 47950 132210 47951 132207 47951 132206 47951 132210 47952 132206 47952 132208 47952 132211 47953 132210 47953 132208 47953 132211 47954 132208 47954 132209 47954 132286 185 132278 185 132277 185 132281 47955 132277 47955 132276 47955 132281 47956 132286 47956 132277 47956 132285 47957 132278 47957 132286 47957 132279 47958 132278 47958 132285 47958 132284 47959 132279 47959 132285 47959 132283 47960 132282 47960 132268 47960 132280 47961 132279 47961 132284 47961 132275 47962 132263 47962 132269 47962 132267 47963 132283 47963 132268 47963 132270 47964 132283 47964 132267 47964 132280 47965 132284 47965 132283 47965 132280 47966 132283 47966 132270 47966 132264 47967 132263 47967 132275 47967 132271 47968 132270 47968 132267 47968 132266 47969 132271 47969 132267 47969 132274 47970 132264 47970 132275 47970 132274 47971 132265 47971 132264 47971 132272 47972 132271 47972 132266 47972 132273 47973 132265 47973 132274 47973 132273 47974 132266 47974 132265 47974 132273 47975 132272 47975 132266 47975 132292 185 132291 185 132290 185 132292 185 132294 185 132293 185 132289 185 132292 185 132290 185 132287 185 132289 185 132288 185 132287 185 132294 185 132292 185 132287 185 132292 185 132289 185 132305 47976 132304 47976 132306 47976 132307 47977 132305 47977 132306 47977 132319 47978 132318 47978 132322 47978 132319 185 132322 185 132321 185 132320 185 132319 185 132321 185 132320 185 132321 185 132324 185 132325 185 132324 185 132323 185 132325 185 132320 185 132324 185 132356 47979 132348 47979 132349 47979 132356 47980 132357 47980 132348 47980 132343 214 132344 214 132354 214 132347 214 132357 214 132354 214 132347 214 132354 214 132344 214 132355 214 132343 214 132354 214 132345 214 132347 214 132344 214 132346 214 132347 214 132345 214 132342 214 132343 214 132355 214 132341 214 132342 214 132355 214 132337 214 132338 214 132339 214 132337 47981 132339 47981 132340 47981 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132367 47995 132366 214 132374 214 132375 214 132366 214 132375 214 132376 214 132366 214 132367 214 132374 214 132378 47996 132373 47996 132367 47996 132377 214 132378 214 132367 214 132379 214 132376 214 132373 214 132379 47997 132366 47997 132376 47997 132379 214 132373 214 132378 214 132380 214 132366 214 132379 214 132381 214 132380 214 132377 214 132381 47998 132377 47998 132367 47998 132382 214 132380 214 132381 214 132386 214 132383 214 132384 214 132386 214 132384 214 132385 214 132369 214 132387 214 132388 214 132368 47999 132384 47999 132381 47999 132368 48000 132388 48000 132385 48000 132368 48001 132385 48001 132384 48001 132368 214 132381 214 132367 214 132368 48002 132369 48002 132388 48002 132370 40412 132386 40412 132387 40412 132370 214 132387 214 132369 214 132370 214 132383 214 132386 214 132372 48003 132369 48003 132368 48003 132365 48004 132370 48004 132371 48004 132365 214 132371 214 132372 214 132365 214 132372 214 132368 214 132365 48005 132366 48005 132370 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214 132694 214 132695 214 132701 48090 132698 48090 132700 48090 132701 48091 132695 48091 132698 48091 132705 214 132702 214 132703 214 132705 214 132703 214 132704 214 132708 214 132706 214 132707 214 132708 214 132709 214 132706 214 132712 48092 132710 48092 132711 48092 132712 48093 132713 48093 132710 48093 132717 48094 132714 48094 132715 48094 132716 48095 132717 48095 132715 48095 132718 48096 132719 48096 132720 48096 132718 48097 132720 48097 132721 48097 132727 48098 132729 48098 132730 48098 132727 48099 132728 48099 132729 48099 132726 48100 132727 48100 132730 48100 132726 48101 132730 48101 132731 48101 132725 48102 132726 48102 132731 48102 132724 48103 132731 48103 132732 48103 132724 48104 132725 48104 132731 48104 132723 48105 132732 48105 132722 48105 132723 48106 132724 48106 132732 48106 132734 703 132735 703 132736 703 132734 703 132736 703 132733 703 132744 48107 132737 48107 132738 48107 132743 48108 132744 48108 132738 48108 132743 48109 132738 48109 132739 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132994 48167 132995 48167 133115 416 133116 416 133118 416 133121 416 133122 416 133124 416 133130 416 133125 416 133127 416 133133 416 133137 416 133134 416 133186 48168 133184 48168 133185 48168 133186 48169 133187 48169 133184 48169 133188 48170 133191 48170 133190 48170 133188 48171 133189 48171 133191 48171 133192 48172 133194 48172 133193 48172 133209 48173 133206 48173 133207 48173 133208 48174 133209 48174 133207 48174 133205 48175 133209 48175 133208 48175

+ + + + +

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+ + + + +

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1301 1300 1947 1946 693 692 658 657 669 668 1955 1954 704 703 1962 1961 284 283 1957 1956

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1300 1299 1950 1949 1945 1944 691 690 656 655 667 666 1952 1951 702 701 284 283 1954 1953

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27 788 556 852 556 787 556 788 27 851 27 852 27 785 557 786 557 855 557 785 558 855 558 856 558 789 559 850 559 851 559 789 27 851 27 788 27 784 560 785 560 856 560 784 27 856 27 857 27 777 561 865 561 776 561 762 562 763 562 825 562 836 27 837 27 792 27 864 563 865 563 777 563 820 27 870 27 871 27 826 27 762 27 825 27 793 27 836 27 792 27 819 27 820 27 871 27 835 27 836 27 793 27 872 27 819 27 871 27 794 564 835 564 793 564 818 27 819 27 872 27 834 27 835 27 794 27 873 565 818 565 872 565 778 566 864 566 777 566 761 567 762 567 826 567 795 27 834 27 794 27 863 27 864 27 778 27 833 27 834 27 795 27 817 27 818 27 873 27 827 27 761 27 826 27 874 568 817 568 873 568 796 27 833 27 795 27 796 569 832 569 833 569 816 27 817 27 874 27 875 27 816 27 874 27 797 570 832 570 796 570 797 571 831 571 832 571 815 27 875 27 876 27 815 27 816 27 875 27 862 572 863 572 778 572 877 27 815 27 876 27 779 573 862 573 778 573 760 27 761 27 827 27 828 27 760 27 827 27 798 27 760 27 828 27 861 27 862 27 779 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1301 1300 694 693 659 658 670 669 1955 1954 705 704 1962 1961 284 283 1957 1956

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1300 1299 1951 1950 1946 1945 690 689 655 654 666 665 1953 1952 701 700 282 281 1955 1954

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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/yahboom_vehicle/package.xml b/src/yahboom_vehicle/package.xml index 6dc15c7..f4d5fc2 100644 --- a/src/yahboom_vehicle/package.xml +++ b/src/yahboom_vehicle/package.xml @@ -10,6 +10,7 @@ launch_ros ament_index_python rclpy + std_msgs nav_msgs tf2_ros robot_state_publisher diff --git a/src/yahboom_vehicle/scripts/vehicle_config.py b/src/yahboom_vehicle/scripts/vehicle_config.py new file mode 100644 index 0000000..fac5c62 --- /dev/null +++ b/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() diff --git a/src/yahboom_vehicle/urdf/simulation.py b/src/yahboom_vehicle/urdf/simulation.py index 70a3388..e68a4ec 100644 --- a/src/yahboom_vehicle/urdf/simulation.py +++ b/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"):