feat: add Yahboom vehicle module for LMS

.autonomy-studio-module.json

@@ -0,0 +1,8 @@
+{
+  "sourceType": "GIT",
+  "name": "NAV2-Yahboom",
+  "category": "Vehicle",
+  "dockerImage": "future-nav2:humble-yahboom",
+  "packageName": "yahboom_vehicle",
+  "launchFile": "vehicle.launch.py"
+}

.gitignore

@@ -0,0 +1,4 @@
+build/
+install/
+log/
+__pycache__/

README.md

@@ -0,0 +1,18 @@
+# NAV2-Yahboom
+
+LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-vehicle]yahboom_vehicle_v1.0.0_ws`
+
+- 패키지: `yahboom_vehicle`
+- 런치: `vehicle.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.

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}"

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}" "${DEFAULT_ARGS[@]}" "$@"

src/yahboom_vehicle/CMakeLists.txt

@@ -0,0 +1,6 @@
+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})
+ament_package()

src/yahboom_vehicle/launch/vehicle.launch.py

@@ -0,0 +1,22 @@
+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
+
+from launch_ros.parameter_descriptions import ParameterValue
+
+def generate_launch_description():
+    share = get_package_share_directory("yahboom_vehicle")
+    with open(os.path.join(share, "urdf", "yahboom.urdf"), encoding="utf-8") as stream:
+        description = stream.read()
+    return LaunchDescription([
+        DeclareLaunchArgument("publish_odom_tf", default_value="true"),
+        Node(package="robot_state_publisher", executable="robot_state_publisher",
+             parameters=[{"robot_description": description, "use_sim_time": False}],
+             output="screen"),
+        Node(package="yahboom_vehicle", executable="odom_bridge.py", output="screen",
+             parameters=[{"publish_odom_tf": ParameterValue(
+                 LaunchConfiguration("publish_odom_tf"), value_type=bool)}]),
+    ])

src/yahboom_vehicle/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>yahboom_vehicle</name>
+  <version>1.0.0</version>
+  <description>Yahboom LMS vehicle 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>rclpy</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>

src/yahboom_vehicle/scripts/odom_bridge.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+# Adapted from hkit_yahboom_ws/amr_server/odom_tf_broadcaster.py.
+import copy
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import TransformStamped
+from tf2_ros import TransformBroadcaster
+
+
+class OdomBridge(Node):
+    def __init__(self):
+        super().__init__("yahboom_odom_bridge")
+        self.publish_tf = self.declare_parameter("publish_odom_tf", True).value
+        self.source_frame = self.declare_parameter("source_frame", "odom_frame").value
+        self.source_child = self.declare_parameter("source_child", "base_footprint").value
+        self.tf = TransformBroadcaster(self)
+        self.publisher = self.create_publisher(Odometry, "/odom", 10)
+        self.subscription = self.create_subscription(
+            Odometry, "/odom_raw", self.on_odom, qos_profile_sensor_data)
+
+    def on_odom(self, incoming):
+        if (incoming.header.frame_id != self.source_frame
+                or incoming.child_frame_id != self.source_child):
+            self.get_logger().warning(
+                "Unexpected /odom_raw frames; check source_frame/source_child",
+                throttle_duration_sec=5.0)
+            return
+        message = copy.deepcopy(incoming)
+        # Rename the known wheel-odometry frame consistently for LMS and Nav2.
+        message.header.frame_id = "odom"
+        message.child_frame_id = "base_footprint"
+        self.publisher.publish(message)
+        if self.publish_tf:
+            transform = TransformStamped()
+            transform.header = message.header
+            transform.child_frame_id = message.child_frame_id
+            transform.transform.translation.x = message.pose.pose.position.x
+            transform.transform.translation.y = message.pose.pose.position.y
+            transform.transform.translation.z = message.pose.pose.position.z
+            transform.transform.rotation = message.pose.pose.orientation
+            self.tf.sendTransform(transform)
+
+
+def main():
+    rclpy.init()
+    node = OdomBridge()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

src/yahboom_vehicle/urdf/yahboom.urdf

@@ -0,0 +1,247 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="micro4.0">
+  <link name="base_footprint" />
+  <joint name="base_footprint_to_base_link" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="base_footprint" />
+    <child link="base_link" />
+  </joint>
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.0038187037800903 -0.000532399212617988 -0.00668209865413972" rpy="0 0 0" />
+      <mass value="0.222555109690442" />
+      <inertia ixx="0.000160582675692647" ixy="-8.18530574494391E-07" ixz="-2.74575507729664E-06" iyy="0.000176217109527607" iyz="1.64721285063183E-07" izz="0.000302441932451338" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="zq_Link">
+    <inertial>
+      <origin xyz="2.84786462870987E-05 0.00150864010556555 -6.41979491855862E-06" rpy="0 0 0" />
+      <mass value="0.0141019725825625" />
+      <inertia ixx="2.6630099758609E-06" ixy="1.26357217848149E-10" ixz="3.48142402253186E-10" iyy="4.6848091087889E-06" iyz="1.13495192666687E-11" izz="2.66447797487454E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/zq_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/zq_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zq_Joint" type="fixed">
+    <origin xyz="0.0455 0.0675 -0.02125" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="zq_Link" />
+  </joint>
+  <link name="yq_Link">
+    <inertial>
+      <origin xyz="2.46503405071305E-05 -0.00150864013768208 1.56400066804556E-05" rpy="0 0 0" />
+      <mass value="0.0141019726622963" />
+      <inertia ixx="2.66339752604607E-06" ixy="-1.22792569566631E-10" ixz="-7.34799731138498E-10" iyy="4.68480910880912E-06" iyz="-3.18889570074274E-11" izz="2.66409042506092E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/yq_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/yq_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="yq_Joint" type="fixed">
+    <origin xyz="0.0455 -0.0675 -0.02125" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="yq_Link" />
+  </joint>
+  <link name="yh_Link">
+    <inertial>
+      <origin xyz="-3.70764732487289E-06 -0.00150864010086474 -2.89569007898387E-05" rpy="0 0 0" />
+      <mass value="0.0141019725703797" />
+      <inertia ixx="2.66453003257312E-06" ixy="5.38819271008195E-11" ixz="-2.05112988374728E-10" iyy="4.68480910877904E-06" iyz="1.14855312609176E-10" izz="2.66295791816006E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/yh_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/yh_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="yh_Joint" type="fixed">
+    <origin xyz="-0.0495 -0.0675 -0.02125" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="yh_Link" />
+  </joint>
+  <link name="zh_Link">
+    <inertial>
+      <origin xyz="2.71005454374126E-05 0.00150864011455075 -1.08539409463503E-05" rpy="0 0 0" />
+      <mass value="0.0141019726113614" />
+      <inertia ixx="2.66315588150881E-06" ixy="1.26558270834104E-10" ixz="5.60449660674614E-10" iyy="4.68480910884624E-06" iyz="-8.82832301592923E-12" izz="2.66433206935428E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/zh_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/zh_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zh_Joint" type="fixed">
+    <origin xyz="-0.0495 0.0675 -0.02125" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="zh_Link" />
+  </joint>
+  <link name="imu_frame">
+    <inertial>
+      <origin xyz="-0.0316761324986627 0.00132159782250217 -0.000479349648167576" rpy="0 0 0" />
+      <mass value="0.0132101454078263" />
+      <inertia ixx="2.09255982058915E-06" ixy="-1.5860144299643E-08" ixz="-3.27485068549135E-10" iyy="4.73790359695282E-06" iyz="-2.29375131893769E-10" izz="6.79434472621533E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/imu_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.149019607843137 0.149019607843137 0.149019607843137 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/imu_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="imu_fixed_joint" type="fixed">
+    <origin xyz="-0.002999 -0.0030001 0.031701" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="imu_frame" />
+  </joint>
+  <link name="laser_frame">
+    <inertial>
+      <origin xyz="2.50028066700073E-05 9.8943368066196E-05 -0.0175251744352531" rpy="0 0 0" />
+      <mass value="0.0384696758414604" />
+      <inertia ixx="8.81880784590578E-06" ixy="-1.66165059019566E-07" ixz="-1.11024960466139E-07" iyy="1.44967275960782E-05" iyz="-3.88415222298422E-08" izz="2.24335777017028E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/radar_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.180392156862745 0.180392156862745 0.180392156862745 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/radar_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="laser_fixed_joint" type="fixed">
+    <origin xyz="0 0 0.078933557468359" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="laser_frame" />
+  </joint>
+  <link name="jq1_Link">
+    <inertial>
+      <origin xyz="0.0110585433790032 -0.00605208841063553 0.015781881952638" rpy="0 0 0" />
+      <mass value="0.0115074341427154" />
+      <inertia ixx="1.61581689683415E-06" ixy="1.00926034806027E-09" ixz="-2.6905085628935E-07" iyy="9.62368700578607E-07" iyz="7.36350494885753E-09" izz="1.35577194148353E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/jq1_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.776470588235294 0.756862745098039 0.737254901960784 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/jq1_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="jq1_Joint" type="fixed">
+    <origin xyz="0.064 0 0.014" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="jq1_Link" />
+  </joint>
+  <link name="jq2_Link">
+    <inertial>
+      <origin xyz="0.0135058163511177 0.000857671482029795 0.00288177408889561" rpy="0 0 0" />
+      <mass value="0.0133313425901211" />
+      <inertia ixx="1.96303534926057E-06" ixy="3.68224074620386E-09" ixz="2.60821852145315E-07" iyy="1.5250310537691E-06" iyz="5.421881574463E-09" izz="1.9926579435283E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/jq2_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://yahboom_vehicle/meshes/jq2_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="jq2_Joint" type="fixed">
+    <origin xyz="0.016864 8.4892E-05 0.023959" rpy="0 0 0" />
+    <parent link="jq1_Link" />
+    <child link="jq2_Link" />
+  </joint>
+</robot>

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"