From 765173676fff6b1c7cc90d81299396659dd748bc Mon Sep 17 00:00:00 2001 From: eastzio <3156045992@qq.com> Date: Mon, 27 Jul 2026 17:38:59 +0800 Subject: [PATCH] =?UTF-8?q?[real]=20=E6=95=B4=E7=90=86=20ROS=202=20v2=20?= =?UTF-8?q?=E9=87=8C=E7=A8=8B=E8=AE=A1=E5=AF=BC=E8=88=AA=E8=81=94=E8=B0=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 01_doc/version_history.md | 9 + 05_software/README.md | 2 +- 05_software/real/README.md | 2 + 05_software/real/sim2real_ros2_v2/README.md | 11 +- .../real/sim2real_ros2_v2/map/A_min.pcd | 227980 ++++++++++++ 05_software/real/sim2real_ros2_v2/map/C.pcd | 289707 +++++++++++++++ .../real/sim2real_ros2_v2/map/README.md | 15 +- .../map/routes/A_min/A_min_route.json | 276 + .../policies/NEWmodel_1900.onnx | Bin 777597 -> 0 bytes .../policies/NEWmodel_1900_fp16.engine | Bin 811012 -> 0 bytes .../real/sim2real_ros2_v2/policies/README.md | 18 +- .../sim2real_ros2_v2/policies/model_9600.onnx | Bin 0 -> 777597 bytes .../policies/model_9600_fp16.engine | Bin 0 -> 811012 bytes .../config/control_command.yaml | 4 +- .../config/deployment_contract.yaml | 2 +- .../src/sim2real_bringup/config/runtime.yaml | 24 +- .../sim2real_common/deployment_contract.hpp | 8 +- .../sim2real_hw/hardware_bridge_node.hpp | 3 +- .../sim2real_hw/src/hardware_bridge_node.cpp | 56 +- .../src/sim2real_runtime/package.xml | 1 + .../src/policy_runtime_node.cpp | 1 - .../src/web_udp_bridge_node.py | 325 +- .../sim2real_ros2_v2/tools/pcd_nav_pygame.py | 1502 + .../tools/run_a_min_route_editor.bat | 7 + .../tools/run_pcd_nav_map.bat | 7 + .../tools/semantic_overlay_example.json | 52 + .../tools/win_web_debug/server.py | 3 + .../tools/win_web_debug/static/app.js | 106 +- .../tools/win_web_debug/static/index.html | 7 +- .../tools/win_web_debug/static/style.css | 1 + README.md | 2 +- 31 files changed, 520049 insertions(+), 82 deletions(-) create mode 100644 05_software/real/sim2real_ros2_v2/map/A_min.pcd create mode 100644 05_software/real/sim2real_ros2_v2/map/C.pcd create mode 100644 05_software/real/sim2real_ros2_v2/map/routes/A_min/A_min_route.json delete mode 100644 05_software/real/sim2real_ros2_v2/policies/NEWmodel_1900.onnx delete mode 100644 05_software/real/sim2real_ros2_v2/policies/NEWmodel_1900_fp16.engine create mode 100644 05_software/real/sim2real_ros2_v2/policies/model_9600.onnx create mode 100644 05_software/real/sim2real_ros2_v2/policies/model_9600_fp16.engine create mode 100644 05_software/real/sim2real_ros2_v2/tools/pcd_nav_pygame.py create mode 100644 05_software/real/sim2real_ros2_v2/tools/run_a_min_route_editor.bat create mode 100644 05_software/real/sim2real_ros2_v2/tools/run_pcd_nav_map.bat create mode 100644 05_software/real/sim2real_ros2_v2/tools/semantic_overlay_example.json diff --git a/01_doc/version_history.md b/01_doc/version_history.md index c771db4..50da4c2 100644 --- a/01_doc/version_history.md +++ b/01_doc/version_history.md @@ -18,6 +18,7 @@ | `v0.10.0` | ROS 2/C++ 初版 | 50 Hz C++ 推理、200 Hz CAN 热路径和 ROS 2 系统集成 | | `v0.11.0` | ROS 2 导航原型 | 简单导航、PCD 交互定位、任务点和 Web 导航调试 | | `v0.11.1` | Odin 与站姿调参 | 完整 Odin 驱动、TensorRT、多策略切换和调参站姿 | +| `v0.12.0` | 里程计导航联调 | 纯里程计 fallback、A_min 路线、TF 冲突保护和 model_9600 | > 原先临时归档为 `v0.9.0` 的最终 ROS 2/C++ 比赛部署已保存在 `backup/final-ros2-v0.9.0` 分支和 `backup-v0.9.0-ros2-final` 标签中，重排完成后将正式归入 `v1.0.0`。 @@ -53,6 +54,14 @@ - `map_b.pcd` 从 1,080,047 点确定性抽样为 270,012 点，并保留原始和抽样哈希。 - 排除嵌套 Git、Odin 运行日志、缓存、开发草稿和未被配置引用的候选策略。 +## `v0.12.0` 的里程计导航联调 + +- 归档 `real/sim2real_ros2_v2(odom)`，继续沿用 `sim2real_ros2_v2` 目录的线性演进。 +- 将 Rough 策略切换为 `model_9600`，默认站姿恢复为髋俯仰 `0.550`、膝关节 `-1.125`。 +- Odin `custom_map_mode` 固定为纯里程计，加入 odom 新鲜度、外部 map/odom TF 冲突和任务结束交接保护。 +- 增加 A_min 路线、PCD 地图编辑工具和三份抽样点云；原始大 PCD 不直接进入 Git。 +- 保留完整 Odin 驱动、标定参数和 SDK 静态库；未找到的 `map_a.bin` 仍不伪造，重定位闭环不在本 Tag 声称已复现。 + ## `v0.4.0` 的模型变化 - 机械 CAD 不变。 diff --git a/05_software/README.md b/05_software/README.md index ed20372..7c124d7 100644 --- a/05_software/README.md +++ b/05_software/README.md @@ -33,7 +33,7 @@ MJCF + mjlab task IK real --------------------------------> 电机 ``` -`rc_mjlab` 是自包含工程。训练、MJCF、MuJoCo、Sim2Sim、导航工具和策略权重通过相对路径绑定，因此保留其内部布局，没有为了目录外观拆散。第一代完整闭环见 `v0.3.0`，第一份新版 MJCF 与训练框架见 `v0.4.0`，随机化增强版见 `v0.5.0`，比赛最终训练架构见 `v0.6.0`，后期 MuJoCo 工具集见 `v0.7.0`，后期 Sim2Sim 与比赛 Rough 策略见 `v0.8.0`，完整导航打点工具见 `v0.8.1`，Python Sim2Real v2 对应 `v0.9.0`，ROS 2/C++ 初版对应 `v0.10.0`，简单导航原型对应 `v0.11.0`，完整 Odin/TensorRT 与站姿调参对应 `v0.11.1`。 +`rc_mjlab` 是自包含工程。训练、MJCF、MuJoCo、Sim2Sim、导航工具和策略权重通过相对路径绑定，因此保留其内部布局，没有为了目录外观拆散。第一代完整闭环见 `v0.3.0`，第一份新版 MJCF 与训练框架见 `v0.4.0`，随机化增强版见 `v0.5.0`，比赛最终训练架构见 `v0.6.0`，后期 MuJoCo 工具集见 `v0.7.0`，后期 Sim2Sim 与比赛 Rough 策略见 `v0.8.0`，完整导航打点工具见 `v0.8.1`，Python Sim2Real v2 对应 `v0.9.0`，ROS 2/C++ 初版对应 `v0.10.0`，简单导航原型对应 `v0.11.0`，完整 Odin/TensorRT 与站姿调参对应 `v0.11.1`，纯里程计导航联调对应 `v0.12.0`。 详细说明见： diff --git a/05_software/real/README.md b/05_software/real/README.md index 768a88f..a4d07e7 100644 --- a/05_software/real/README.md +++ b/05_software/real/README.md @@ -38,6 +38,8 @@ ROS 2 Sim2Real v2 导航原型，在初版基础上增加简单导航节点、PC `v0.11.1` 在同一目录继续演进，首次随工程归档完整 Odin 驱动、TensorRT、多策略切换和硬件诊断，并使用 `hip=0.670`、`knee=-1.390` 的调参站姿。各 Tag 可恢复对应阶段，当前目录说明见 [`sim2real_ros2_v2/README.md`](sim2real_ros2_v2/README.md)。 +`v0.12.0` 继续在同一目录保存 odom 快照，固定纯里程计模式，加入 odom fallback 的 TF 冲突保护、A_min 路线和多地图工具；默认 Rough 策略为 `model_9600`，默认站姿回到比赛站姿。 + ## 实机记录 [![第一代 Sim2Real 真机验证](../../06_assets/images/early_sim2real_preview.jpg)](../../06_assets/videos/early_sim2real.mp4) diff --git a/05_software/real/sim2real_ros2_v2/README.md b/05_software/real/sim2real_ros2_v2/README.md index 25ba69d..26febb3 100644 --- a/05_software/real/sim2real_ros2_v2/README.md +++ b/05_software/real/sim2real_ros2_v2/README.md @@ -1,6 +1,6 @@ -# ROS 2 Sim2Real v2：Odin、TensorRT 与站姿调参 +# ROS 2 Sim2Real v2：里程计导航联调 -本目录在 `v0.11.0` 导航原型基础上归档 `real/sim2real_ros2_v2(z=0.380 hip=0.670 knee=-1.390)`，对应重排主线的 `v0.11.1`。虽然源目录以站姿参数命名，但该阶段同时首次完整加入 Odin 驱动、TensorRT、多策略切换、事件日志和更完整的硬件诊断。 +本目录归档 `real/sim2real_ros2_v2(odom)`，对应重排主线的 `v0.12.0`。该阶段在 `v0.11.1` 的 Odin/TensorRT 与站姿调参基础上，固定纯里程计模式，增加 odom fallback 的 TF 冲突保护、A_min 路线和地图工具。 本工程保留当前 `sim2real` 已验证的部署契约，同时将运行时热路径迁移到 C++： @@ -70,8 +70,7 @@ Nav2 / cmd_vel ------------------------------> sim2real_runtime - Windows 仅作为编辑环境使用。 - 观测顺序、动作缩放、默认站姿、电机映射不得独立修改， 除非训练与部署同步更新。 -- Rough 默认策略为 `NEWmodel_1900`，优先使用比赛机生成的 TensorRT engine；Crawl 保留 ONNX，但运行配置使用 IK 后端。 -- 默认 Rough 站姿为髋俯仰 `0.670`、膝关节 `-1.390`，源目录名中的 `z=0.380` 记录该阶段的机身高度配置意图。 -- `map_b.pcd` 已确定性抽样到 10 MB 以下，点数和哈希见 [`map/README.md`](map/README.md)。 +- 默认 Rough 策略为 `model_9600`，默认站姿回到比赛站姿髋俯仰 `0.550`、膝关节 `-1.125`。 +- Odin `custom_map_mode` 固定为 `0`（纯里程计），避免没有 `map_a.bin` 时产生 map/odom TF 冲突。 +- `A_min.pcd`、`C.pcd` 和 `map_b.pcd` 均为确定性抽样预览，点数和哈希见 [`map/README.md`](map/README.md)。 - TensorRT engine 与 JetPack、TensorRT 版本及 GPU 架构有关，其他机器应从 ONNX 重新生成。 -- 源配置引用的 Odin `map_a.bin` 不在该备份中；使用 Relocalization 前必须从设备或建图备份补回真实文件并填写绝对路径，缺失时只能验证软件链路或使用后续 odom 配置。 diff --git 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-11.026853 2.0352325 +9.6233282 -11.171481 2.4182682 +15.852315 -11.28478 1.4541023 +16.297255 -11.283158 1.238113 +12.478291 -11.208621 1.2255414 +13.938406 -11.246032 0.99829215 +13.937902 -11.236793 0.85102695 +15.104667 -11.212398 0.26772368 +11.888608 -11.208661 1.1596338 +11.445065 -11.190694 0.87016839 diff --git a/05_software/real/sim2real_ros2_v2/map/README.md b/05_software/real/sim2real_ros2_v2/map/README.md index 92f4566..1329097 100644 --- a/05_software/real/sim2real_ros2_v2/map/README.md +++ b/05_software/real/sim2real_ros2_v2/map/README.md @@ -1,10 +1,9 @@ -# `v0.11.1` 导航点云 +# `v0.12.0` 里程计导航点云 -原始 `map_b.pcd` 为 ASCII PCD，共 1,080,047 点、34,720,771 字节。为避免大文件进入 Git 历史，使用 `tools/nav_tools/downsample_ascii_pcd.py` 以步长 4 做确定性抽样。 +本阶段使用三份 ASCII PCD 进行路线和里程计导航联调。原始文件均使用 `tools/nav_tools/downsample_ascii_pcd.py` 确定性等步长抽样，抽样文件仅用于可视化、路线编辑和软件回归，不等价于原始高密度地图。 -- 抽样点数：270,012 -- 抽样大小：8,680,283 字节 -- 原始 SHA-256：`F17FC7E188C772D48E8D3FE20E3A934AFCDF59357C27BCCDCAC3C7E9AD1D1CB7` -- 抽样 SHA-256：`F3052431F217DE8FFFE87726F8E547A59C65048B0285F02AF4803C5F4E4C1B42` - -抽样文件适合路线编辑和代码演示，不等价于原始高密度点云；需要复现实机导航精度时应恢复原始 PCD 并核对哈希。 +| 文件 | 原始点数 | 步长 | 抽样点数 | 抽样大小 | 原始 SHA-256 | 抽样 SHA-256 | +| --- | ---: | ---: | ---: | ---: | --- | --- | +| `map_b.pcd` | 1,080,047 | 4 | 270,012 | 8,680,283 B | `F17FC7E188C772D48E8D3FE20E3A934AFCDF59357C27BCCDCAC3C7E9AD1D1CB7` | `F3052431F217DE8FFFE87726F8E547A59C65048B0285F02AF4803C5F4E4C1B42` | +| `A_min.pcd` | 683,908 | 3 | 227,969 | 7,300,173 B | `77C884B17D78C4D157F84093BFEA0729FA25382C70E706C4BA12913A3C90ED20` | `CC4556D472BE6E5B232B9BFEE43F5F337D710F88E88D9B90994368C580327DC1` | +| `C.pcd` | 3,186,653 | 11 | 289,696 | 9,040,786 B | `C5C7E60B06A0FFEA15E55C14B8CFAFBC8525371C8C3AC9C72821AB736AED8A6C` | `1FC4124642D934460811DBF62EBE9C5C9CF30668BC42E4782B18F3C002ED1A25` | diff --git a/05_software/real/sim2real_ros2_v2/map/routes/A_min/A_min_route.json b/05_software/real/sim2real_ros2_v2/map/routes/A_min/A_min_route.json new file mode 100644 index 0000000..e8b3285 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/map/routes/A_min/A_min_route.json @@ -0,0 +1,276 @@ +{ + "name": "A_min_route", + "map": "A_min", + "frame_id": "map", + "createdAt": "2026-07-04T00:40:56", + "segments": [ + { + "name": "segment_1", + "obstacle": "slalom", + "waypoints": [ + { + "id": 1, + "x": 9.3549, + "y": 0.9079, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 2, + "x": 11.1136, + "y": 0.8621, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 3, + "x": 13.0, + "y": 0.75, + "yawDeg": 88.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 4, + "x": 12.9102, + "y": 2.611, + "yawDeg": 90.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 5, + "x": 12.9102, + "y": 4.88, + "yawDeg": 190.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 6, + "x": 11.94, + "y": 4.6203, + "yawDeg": 178.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 7, + "x": 10.65, + "y": 4.65, + "yawDeg": 178.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 8, + "x": 9.3997, + "y": 4.649, + "yawDeg": -95.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 9, + "x": 9.3092, + "y": 3.8864, + "yawDeg": 180.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 10, + "x": 7.9263, + "y": 4.0028, + "yawDeg": 150.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 11, + "x": 6.8148, + "y": 4.6619, + "yawDeg": 170.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 12, + "x": 5.0054, + "y": 5.0, + "yawDeg": 180.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 13, + "x": 3.2994, + "y": 5.04, + "yawDeg": 185.0, + "speed": 0.7, + "policy": "crawl", + "tolerance": 0.15 + }, + { + "id": 14, + "x": 1.8838, + "y": 4.8455, + "yawDeg": 190.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 15, + "x": 1.06, + "y": 4.45, + "yawDeg": 270.0, + "speed": 0.35, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 16, + "x": 1.0561, + "y": 3.9, + "yawDeg": -90.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 17, + "x": 1.04, + "y": 2.79, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 18, + "x": 1.552, + "y": 2.77, + "yawDeg": -90.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 19, + "x": 1.519, + "y": 1.6677, + "yawDeg": 180.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 20, + "x": 0.4708, + "y": 1.6677, + "yawDeg": -90.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 21, + "x": 0.4552, + "y": 0.5, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 22, + "x": 1.2783, + "y": 0.5, + "yawDeg": 90.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 23, + "x": 1.2628, + "y": 1.6211, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 24, + "x": 2.3576, + "y": 1.5978, + "yawDeg": -90.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 25, + "x": 2.3265, + "y": 0.5, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 26, + "x": 3.12, + "y": 0.5, + "yawDeg": 45.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 27, + "x": 3.8639, + "y": 0.9844, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 28, + "x": 6.8222, + "y": 0.9145, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 29, + "x": 9.5321, + "y": 0.9223, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "tolerance": 0.15 + } + ] + } + ], + "yawToleranceDegDefault": 30.0 +} \ No newline at end of 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      @@ -56,6 +56,7 @@
      active goal--
      goal count--
      route align--
      +
      odom fallback--
      @@ -70,6 +71,8 @@

      PCD 2D Nav

      + + @@ -121,6 +124,6 @@
      - + diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css index 9cadd72..46baae0 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css @@ -105,6 +105,7 @@ body { .btn-remote { background: rgba(48,209,88,0.2); border-color: rgba(48,209,88,0.4); color: #8deda7; } .btn-web { background: rgba(10,132,255,0.2); border-color: rgba(10,132,255,0.4); color: #82c4ff; } .btn-nav { background: rgba(255,214,10,0.2); border-color: rgba(255,214,10,0.4); color: #ffe680; } +.btn-odom { background: rgba(255,159,10,0.22); border-color: rgba(255,159,10,0.45); color: #ffd199; } .btn.active-mode { box-shadow: 0 0 0 2px white; } .route-select { diff --git a/README.md b/README.md index 90f007a..c2e0f7b 100644 --- a/README.md +++ b/README.md @@ -39,7 +39,7 @@ RC_WheelLeg/ - [x] 整理后期 MuJoCo 姿态、IK、动力学和 MPC 工具 - [x] 整理后期 Sim2Sim、路线检查与比赛 Rough ONNX 策略 - [x] 整理导航地图、打点工具、路线迭代和抽样 PCD -- [x] 整理 Python Sim2Real v2、ROS 2/C++ 初版、导航原型与 Odin/TensorRT 调参版 +- [x] 整理 Python Sim2Real v2、ROS 2/C++ 初版、导航原型、Odin/TensorRT 调参版与 odom 联调版 - [ ] 核对比赛机械与仿真模型参数 - [ ] 整理 URDF/MJCF 机器人描述 - [ ] 整理后续统一训练、ROS 2 和比赛版本

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z6Qp`meb$FBp_m7%uX=HMxccXIY`IEOzA!G*z~0`#ZxjxiP>#ye>-w1x#^M$5?L~7S zN22G&2CCNca)fJjY+l?zN+I;HQg05&RCg1qaV{I9U}KRN?fZRhW}Pp~>~9pf8^wpBLoQh)I^>mxp kDefaultDofPos = { - 0.0f, 0.670f, -1.390f, - 0.0f, 0.670f, -1.390f, - 0.0f, 0.670f, -1.390f, - 0.0f, 0.670f, -1.390f, + 0.0f, 0.550f, -1.125f, + 0.0f, 0.550f, -1.125f, + 0.0f, 0.550f, -1.125f, + 0.0f, 0.550f, -1.125f, 0.0f, 0.0f, 0.0f, 0.0f }; }; diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp index dc740bd..eb630a3 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp @@ -124,7 +124,8 @@ private: bool readCanFrame(int fd, void* frame, int timeout_us); bool enableMotor(int fd, int motor_id); - bool disableMotor(int fd, int motor_id); + bool disableMotor(int fd, int motor_id, bool clear_fault = false); + bool writeParameterInt(int fd, int motor_id, std::uint16_t param_id, std::uint32_t value); bool setModeRaw(int fd, int motor_id, std::int8_t mode); bool readParameter(int fd, int motor_id, std::uint16_t param_id); bool writeLimit(int fd, int motor_id, std::uint16_t param_id, float limit); diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_hw/src/hardware_bridge_node.cpp b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/src/hardware_bridge_node.cpp index 888e89b..045b99d 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_hw/src/hardware_bridge_node.cpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/src/hardware_bridge_node.cpp @@ -35,7 +35,7 @@ const std::uint32_t COMM_SET_ZERO_POSITION = 6; const std::uint16_t PARAM_MODE = 0x7005; const std::uint16_t PARAM_VELOCITY_LIMIT = 0x7017; const std::uint16_t PARAM_TORQUE_LIMIT = 0x700B; -const std::uint16_t PARAM_CAN_TIMEOUT = 0x200C; +const std::uint16_t PARAM_CAN_TIMEOUT = 0x7028; const std::uint16_t PARAM_VBUS = 0x3007; const std::uint16_t PARAM_DRV_FAULT = 0x3022; const std::uint16_t PARAM_DRV_FAULT_DETAIL_1 = 0x3024; @@ -852,10 +852,21 @@ bool HardwareBridgeNode::startMotorRecoverySequence( } bool step_ok = true; - step_ok = enableMotor(fd, motors_[index].id) && step_ok; + logMotorPowerEvent(index, "reset_before_enable", + "trigger=" + trigger + ", recovery_attempt=" + std::to_string(attempt_number)); + step_ok = disableMotor(fd, motors_[index].id, true) && step_ok; + state.fault_code = 0; + state.fault_detail_1 = 0; + state.fault_detail_2 = 0; + state.fault_code_reported = false; + std::this_thread::sleep_for(30ms); step_ok = setModeRaw(fd, motors_[index].id, 0) && step_ok; + std::this_thread::sleep_for(30ms); + step_ok = enableMotor(fd, motors_[index].id) && step_ok; + std::this_thread::sleep_for(20ms); step_ok = writeLimit(fd, motors_[index].id, PARAM_VELOCITY_LIMIT, 20.0f) && step_ok; step_ok = writeLimit(fd, motors_[index].id, PARAM_TORQUE_LIMIT, 17.0f) && step_ok; + step_ok = writeParameterInt(fd, motors_[index].id, PARAM_CAN_TIMEOUT, 0) && step_ok; if (!step_ok) { logMotorDiagnosticEvent(index, "motor_init_retry", @@ -979,10 +990,21 @@ bool HardwareBridgeNode::initializeMotor(std::size_t index, const std::string & for (int attempt = 1; attempt <= max_attempts; ++attempt) { state.init_attempt_count++; bool step_ok = true; - step_ok = enableMotor(fd, motors_[index].id) && step_ok; + logMotorPowerEvent(index, "reset_before_enable", + "reason=" + reason + ", attempt=" + std::to_string(attempt)); + step_ok = disableMotor(fd, motors_[index].id, true) && step_ok; + state.fault_code = 0; + state.fault_detail_1 = 0; + state.fault_detail_2 = 0; + state.fault_code_reported = false; + std::this_thread::sleep_for(30ms); step_ok = setModeRaw(fd, motors_[index].id, 0) && step_ok; + std::this_thread::sleep_for(30ms); + step_ok = enableMotor(fd, motors_[index].id) && step_ok; + std::this_thread::sleep_for(20ms); step_ok = writeLimit(fd, motors_[index].id, PARAM_VELOCITY_LIMIT, 20.0f) && step_ok; step_ok = writeLimit(fd, motors_[index].id, PARAM_TORQUE_LIMIT, 17.0f) && step_ok; + step_ok = writeParameterInt(fd, motors_[index].id, PARAM_CAN_TIMEOUT, 0) && step_ok; if (step_ok) { success = waitForMotorFeedback(index, std::chrono::milliseconds(kMotorInitConfirmTimeoutMs)); @@ -1766,13 +1788,15 @@ void HardwareBridgeNode::onWriteLoop() bool HardwareBridgeNode::enableMotor(int fd, int motor_id) { std::uint32_t ext_id = (COMM_ENABLE << 24) | (HOST_ID << 8) | motor_id; - return sendCanFrame(fd, ext_id, nullptr, 0); + std::uint8_t data[8] = {0}; + return sendCanFrame(fd, ext_id, data, 8); } -bool HardwareBridgeNode::disableMotor(int fd, int motor_id) +bool HardwareBridgeNode::disableMotor(int fd, int motor_id, bool clear_fault) { std::uint32_t ext_id = (COMM_DISABLE << 24) | (HOST_ID << 8) | motor_id; std::uint8_t data[8] = {0}; + data[0] = clear_fault ? 1 : 0; return sendCanFrame(fd, ext_id, data, 8); } @@ -1787,12 +1811,7 @@ bool HardwareBridgeNode::readParameter(int fd, int motor_id, std::uint16_t param bool HardwareBridgeNode::setModeRaw(int fd, int motor_id, std::int8_t mode) { - std::uint32_t ext_id = (COMM_WRITE_PARAMETER << 24) | (HOST_ID << 8) | motor_id; - std::uint8_t data[8] = {0}; - data[0] = PARAM_MODE & 0xFF; - data[1] = (PARAM_MODE >> 8) & 0xFF; - data[4] = static_cast(mode); - return sendCanFrame(fd, ext_id, data, 8); + return writeParameterInt(fd, motor_id, PARAM_MODE, static_cast(mode)); } bool HardwareBridgeNode::writeLimit(int fd, int motor_id, std::uint16_t param_id, float limit) @@ -1805,6 +1824,16 @@ bool HardwareBridgeNode::writeLimit(int fd, int motor_id, std::uint16_t param_id return sendCanFrame(fd, ext_id, data, 8); } +bool HardwareBridgeNode::writeParameterInt(int fd, int motor_id, std::uint16_t param_id, std::uint32_t value) +{ + std::uint32_t ext_id = (COMM_WRITE_PARAMETER << 24) | (HOST_ID << 8) | motor_id; + std::uint8_t data[8] = {0}; + data[0] = param_id & 0xFF; + data[1] = (param_id >> 8) & 0xFF; + std::memcpy(&data[4], &value, sizeof(std::uint32_t)); + return sendCanFrame(fd, ext_id, data, 8); +} + bool HardwareBridgeNode::writeOperationFrame(int fd, int motor_id, double pos, double vel, double kp_val, double kd_val, double torque) { const double P_LIMIT = 4.0 * M_PI; @@ -1839,8 +1868,6 @@ bool HardwareBridgeNode::initCan(const std::string& ifname, int& fd) { struct sockaddr_can addr; struct ifreq ifr; - std::memset(&addr, 0, sizeof(addr)); - std::memset(&ifr, 0, sizeof(ifr)); if ((fd = ::socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { RCLCPP_ERROR(get_logger(), "Failed to create SocketCAN socket for %s", ifname.c_str()); @@ -1857,7 +1884,6 @@ bool HardwareBridgeNode::initCan(const std::string& ifname, int& fd) } std::strncpy(ifr.ifr_name, ifname.c_str(), IFNAMSIZ - 1); - ifr.ifr_name[IFNAMSIZ - 1] = '\0'; if (::ioctl(fd, SIOCGIFINDEX, &ifr) < 0) { RCLCPP_ERROR(get_logger(), "Failed to ioctl SIOCGIFINDEX for %s", ifname.c_str()); ::close(fd); @@ -1868,7 +1894,7 @@ bool HardwareBridgeNode::initCan(const std::string& ifname, int& fd) addr.can_family = AF_CAN; addr.can_ifindex = ifr.ifr_ifindex; - if (::bind(fd, reinterpret_cast(&addr), sizeof(addr)) < 0) { + if (::bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) { RCLCPP_ERROR(get_logger(), "Failed to bind SocketCAN socket for %s", ifname.c_str()); ::close(fd); fd = -1; diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/package.xml b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/package.xml index 372c1e6..00ea0e8 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/package.xml +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/package.xml @@ -12,6 +12,7 @@ nav_msgs rclcpp std_msgs + tf2_msgs tf2_ros sim2real_common sim2real_interfaces diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/policy_runtime_node.cpp b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/policy_runtime_node.cpp index 7ea36e1..6e2477b 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/policy_runtime_node.cpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/policy_runtime_node.cpp @@ -235,7 +235,6 @@ PolicyRuntimeNode::PolicyRuntimeNode() run_log_dir_.c_str()); logEvent("INFO", "node_start", "Policy runtime node started."); initializeDebugTrace(); - // Initialize StandBalanceController stand_balance_ = std::make_unique(0.02); const float rough_hip_mean = diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py index 723467b..cb96609 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py @@ -13,12 +13,13 @@ from urllib.parse import urlparse import rclpy import yaml -from geometry_msgs.msg import Twist +from geometry_msgs.msg import TransformStamped, Twist from rclpy.executors import ExternalShutdownException from rclpy.node import Node from sim2real_interfaces.msg import RuntimeState, RuntimeTarget from std_msgs.msg import Bool, String -from tf2_ros import Buffer, TransformException, TransformListener +from tf2_msgs.msg import TFMessage +from tf2_ros import Buffer, TransformBroadcaster, TransformException, TransformListener class WebUdpBridgeNode(Node): @@ -42,6 +43,7 @@ class WebUdpBridgeNode(Node): self.http_port = int(self.declare_parameter("web_http_port", 18080).value) self.web_static_dir = str(self.declare_parameter("web_static_dir", "").value) self.nav_map_frame = str(self.declare_parameter("nav_map_frame", "map").value) + self.nav_odom_frame = str(self.declare_parameter("nav_odom_frame", "odom").value) self.nav_base_frame = str(self.declare_parameter("nav_base_frame", "base_link").value) self.nav_goals_file = str(self.declare_parameter("nav_goals_file", "").value) self.nav_missions_file = str(self.declare_parameter("nav_missions_file", "").value) @@ -68,9 +70,40 @@ class WebUdpBridgeNode(Node): 0.05, float(self.declare_parameter("nav_route_align_search_radius", 0.35).value), ) + self.odom_fallback_require_odom_fresh = bool( + self.declare_parameter("odom_fallback_require_odom_fresh", True).value + ) + self.odom_fallback_max_odom_age_ms = max( + 0.0, + float(self.declare_parameter("odom_fallback_max_odom_age_ms", 500.0).value), + ) + self.odom_fallback_block_existing_map_odom_tf = bool( + self.declare_parameter("odom_fallback_block_existing_map_odom_tf", True).value + ) + self.odom_fallback_tf_conflict_window_s = max( + 0.0, + float(self.declare_parameter("odom_fallback_tf_conflict_window_s", 1.0).value), + ) + self.odom_fallback_tf_conflict_xy_tolerance = max( + 0.0, + float(self.declare_parameter("odom_fallback_tf_conflict_xy_tolerance", 0.05).value), + ) + self.odom_fallback_tf_conflict_yaw_tolerance = math.radians( + max(0.0, float(self.declare_parameter("odom_fallback_tf_conflict_yaw_tolerance_deg", 2.0).value)) + ) + self.odom_fallback_stop_on_external_tf = bool( + self.declare_parameter("odom_fallback_stop_on_external_tf", False).value + ) self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) + self.tf_broadcaster = TransformBroadcaster(self) + self.odom_fallback_active = False + self.odom_fallback_transform: Optional[TransformStamped] = None + self.odom_fallback_anchor: dict[str, Any] = {} + self.odom_fallback_handoff_pending = False + self.odom_fallback_handoff_info: dict[str, Any] = {} + self.last_external_map_odom_tf: Optional[dict[str, Any]] = None self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.sock.setblocking(False) @@ -122,6 +155,7 @@ class WebUdpBridgeNode(Node): self.create_subscription(String, "control/mux_status", self.on_mux_status, 10) self.create_subscription(String, "simple_nav/status", self.on_nav_status, 10) self.create_subscription(String, "simple_nav/path", self.on_nav_path, 10) + self.create_subscription(TFMessage, "/tf", self.on_tf, 50) self.map_points = self.load_filtered_pcd(Path(self.pcd_nav_file)) if self.pcd_nav_file else [] self.goal_specs: list[dict[str, Any]] = [] @@ -145,6 +179,7 @@ class WebUdpBridgeNode(Node): self.on_state_timer, ) self.guard_timer = self.create_timer(0.05, self.on_guard_timer) + self.odom_fallback_timer = self.create_timer(0.05, self.on_odom_fallback_timer) self.get_logger().info(f"Web UDP bridge listening on {self.listen_host}:{self.listen_port}") self.get_logger().info(f"Web HTTP UI serving on http://{self.http_host}:{self.http_port}") @@ -673,22 +708,12 @@ class WebUdpBridgeNode(Node): self.http_thread.start() def build_map_packet(self) -> dict[str, Any]: - goal_lookup = {goal["name"]: goal for goal in self.goal_specs if goal.get("name")} - default_goals: list[dict[str, Any]] = [] - if self.default_mission_name: - for mission in self.mission_specs: - if mission["name"] != self.default_mission_name: - continue - default_goals = [ - goal_lookup[goal_name] - for goal_name in mission.get("goals", []) - if goal_name in goal_lookup - ] - break + default_goals = self.get_default_mission_goals() return { "points": self.map_points, "map_frame": self.nav_map_frame, "base_frame": self.nav_base_frame, + "odom_frame": self.nav_odom_frame, "pose": self.lookup_pose(), "route_source_file": self.get_route_source_file(), "goal_specs": self.goal_specs, @@ -696,6 +721,12 @@ class WebUdpBridgeNode(Node): "default_mission_name": self.default_mission_name, "default_mission_goals": default_goals, "route_alignment": self.route_alignment_info, + "odom_fallback": { + "active": self.odom_fallback_active, + "handoff_pending": self.odom_fallback_handoff_pending, + "handoff": dict(self.odom_fallback_handoff_info), + **self.odom_fallback_anchor, + }, "nav_path": dict(self.latest_nav_path), } @@ -713,6 +744,8 @@ class WebUdpBridgeNode(Node): "nav_cmd", "go_to", "go_rel", + "odom_task", + "odom_stop", "model_toggle", "model_cmd", }: @@ -758,6 +791,61 @@ class WebUdpBridgeNode(Node): self.latest_nav_status = msg.data if msg.data.startswith("reloaded goals="): self.reload_nav_task_config() + elif msg.data.startswith("navigation stopped:") and self.odom_fallback_active: + self.stop_odom_fallback(msg.data.removeprefix("navigation stopped:").strip(), stop_nav=False) + + def on_tf(self, msg: TFMessage) -> None: + for transform in msg.transforms: + parent = transform.header.frame_id.strip("/") + child = transform.child_frame_id.strip("/") + map_frame = self.nav_map_frame.strip("/") + odom_frame = self.nav_odom_frame.strip("/") + if parent == map_frame and child == odom_frame: + self.handle_map_odom_tf(transform, "map_to_odom") + elif parent == odom_frame and child == map_frame: + self.handle_map_odom_tf(transform, "odom_to_map") + + def handle_map_odom_tf(self, transform: TransformStamped, direction: str) -> None: + if not self.odom_fallback_active: + self.last_external_map_odom_tf = { + "direction": direction, + "stamp": self.stamp_to_sec(transform.header.stamp), + } + return + + if direction == "odom_to_map": + self.on_external_tf_during_odom_fallback( + direction, + "external odom->map TF detected, likely Odin relocalization recovered", + ) + return + + if not self.is_own_odom_fallback_tf(transform): + self.on_external_tf_during_odom_fallback( + direction, + "external map->odom TF conflict detected", + ) + + def on_external_tf_during_odom_fallback(self, direction: str, reason: str) -> None: + if self.odom_fallback_stop_on_external_tf: + self.stop_odom_fallback(reason, stop_nav=True) + return + self.mark_odom_fallback_handoff_pending(direction, reason) + + def mark_odom_fallback_handoff_pending(self, direction: str, reason: str) -> None: + first_notice = not self.odom_fallback_handoff_pending + self.odom_fallback_handoff_pending = True + self.odom_fallback_handoff_info = { + "pending": True, + "direction": direction, + "reason": reason, + "stamp": round(self.now_sec(), 3), + } + if first_notice: + self.latest_nav_status = f"odom fallback handoff pending: {reason}" + self.get_logger().warn( + f"{self.latest_nav_status}; keeping pure odom task active until mission ends or Exit odom" + ) def on_nav_path(self, msg: String) -> None: try: @@ -842,6 +930,8 @@ class WebUdpBridgeNode(Node): command = str(payload.get("command", "")).strip() if command: self.set_control_mode("NAV") + if command.lower() == "stop" and self.odom_fallback_active: + self.stop_odom_fallback("nav stop requested", stop_nav=False) self.nav_cmd_pub.publish(String(data=command)) elif msg_type == "go_to": x = float(payload.get("x", 0.0)) @@ -853,6 +943,10 @@ class WebUdpBridgeNode(Node): dy = float(payload.get("dy", 0.0)) self.set_control_mode("NAV") self.nav_cmd_pub.publish(String(data=f"go_rel {dx:.3f} {dy:.3f}")) + elif msg_type == "odom_task": + self.start_odom_fallback_task() + elif msg_type == "odom_stop": + self.stop_odom_fallback("manual stop", stop_nav=True) elif msg_type == "model_toggle": self.model_cmd_pub.publish(String(data="toggle")) elif msg_type == "model_cmd": @@ -876,6 +970,195 @@ class WebUdpBridgeNode(Node): self.remote_enabled_pub.publish(Bool(data=mode == "REMOTE")) self.nav_enabled_pub.publish(Bool(data=mode == "NAV")) + def get_default_mission_goals(self) -> list[dict[str, Any]]: + goal_lookup = {goal["name"]: goal for goal in self.goal_specs if goal.get("name")} + if not self.default_mission_name: + return [] + for mission in self.mission_specs: + if mission["name"] != self.default_mission_name: + continue + return [ + goal_lookup[goal_name] + for goal_name in mission.get("goals", []) + if goal_name in goal_lookup + ] + return [] + + def start_odom_fallback_task(self) -> None: + self.reload_nav_task_config() + default_goals = self.get_default_mission_goals() + if not self.default_mission_name or not default_goals: + raise ValueError("odom task unavailable: no default mission loaded") + + anchor_goal = default_goals[0] + yaw_deg = anchor_goal.get("yaw_deg") + if yaw_deg is None: + yaw_deg = 0.0 + self.activate_odom_fallback( + float(anchor_goal["x"]), + float(anchor_goal["y"]), + math.radians(float(yaw_deg)), + str(anchor_goal.get("name", "route_p01")), + ) + self.set_control_mode("NAV") + self.nav_cmd_pub.publish(String(data="reload")) + self.nav_cmd_pub.publish(String(data=f"run {self.default_mission_name}")) + + def activate_odom_fallback(self, map_x: float, map_y: float, map_yaw: float, anchor_name: str) -> None: + self.validate_odom_fallback_preconditions() + try: + odom_to_base = self.tf_buffer.lookup_transform( + self.nav_odom_frame, + self.nav_base_frame, + rclpy.time.Time(), + ) + except TransformException as exc: + raise ValueError( + f"odom fallback failed: missing TF {self.nav_odom_frame}->{self.nav_base_frame}: {exc}" + ) from exc + + t = odom_to_base.transform.translation + q = odom_to_base.transform.rotation + odom_x = float(t.x) + odom_y = float(t.y) + odom_yaw = self.quaternion_to_yaw(q.x, q.y, q.z, q.w) + + map_to_odom_yaw = self.normalize_angle(map_yaw - odom_yaw) + cos_yaw = math.cos(map_to_odom_yaw) + sin_yaw = math.sin(map_to_odom_yaw) + map_to_odom_x = map_x - (cos_yaw * odom_x - sin_yaw * odom_y) + map_to_odom_y = map_y - (sin_yaw * odom_x + cos_yaw * odom_y) + + transform = TransformStamped() + transform.header.frame_id = self.nav_map_frame + transform.child_frame_id = self.nav_odom_frame + transform.transform.translation.x = map_to_odom_x + transform.transform.translation.y = map_to_odom_y + transform.transform.translation.z = 0.0 + transform.transform.rotation.z = math.sin(map_to_odom_yaw * 0.5) + transform.transform.rotation.w = math.cos(map_to_odom_yaw * 0.5) + + self.odom_fallback_transform = transform + self.odom_fallback_active = True + self.odom_fallback_handoff_pending = False + self.odom_fallback_handoff_info = {} + self.odom_fallback_anchor = { + "anchor": anchor_name, + "map_pose": { + "x": round(map_x, 3), + "y": round(map_y, 3), + "yaw_deg": round(math.degrees(map_yaw), 3), + }, + "odom_pose_at_init": { + "x": round(odom_x, 3), + "y": round(odom_y, 3), + "yaw_deg": round(math.degrees(odom_yaw), 3), + }, + "map_to_odom": { + "x": round(map_to_odom_x, 3), + "y": round(map_to_odom_y, 3), + "yaw_deg": round(math.degrees(map_to_odom_yaw), 3), + }, + } + self.broadcast_odom_fallback() + self.latest_nav_status = ( + f"odom fallback active: {anchor_name} -> " + f"map({map_x:.2f},{map_y:.2f},{math.degrees(map_yaw):.1f}deg)" + ) + self.get_logger().info(self.latest_nav_status) + + def validate_odom_fallback_preconditions(self) -> None: + if self.odom_fallback_require_odom_fresh: + state = self.latest_state + if state is None: + raise ValueError("odom fallback failed: runtime/state unavailable, cannot verify odom freshness") + odom_age_ms = float(state.odom_age_ms) + if not bool(state.odom_fresh): + raise ValueError(f"odom fallback failed: odom is not fresh (age={odom_age_ms:.1f}ms)") + if self.odom_fallback_max_odom_age_ms > 0.0 and odom_age_ms > self.odom_fallback_max_odom_age_ms: + raise ValueError( + "odom fallback failed: " + f"odom age {odom_age_ms:.1f}ms > {self.odom_fallback_max_odom_age_ms:.1f}ms" + ) + + if self.odom_fallback_block_existing_map_odom_tf and not self.odom_fallback_active: + if self.recent_external_map_odom_tf_exists(): + direction = str(self.last_external_map_odom_tf.get("direction", "map<->odom")) + raise ValueError( + f"odom fallback failed: recent external {direction} TF detected. " + "Disable Odin relocalization/map TF before starting pure odom fallback." + ) + try: + existing = self.tf_buffer.lookup_transform( + self.nav_map_frame, + self.nav_odom_frame, + rclpy.time.Time(), + ) + except TransformException: + return + age_s = self.transform_age_s(existing) + if age_s is not None and age_s > self.odom_fallback_tf_conflict_window_s: + return + raise ValueError( + "odom fallback failed: existing map<->odom TF detected. " + "Disable Odin relocalization/map TF before starting pure odom fallback." + ) + + def recent_external_map_odom_tf_exists(self) -> bool: + if not self.last_external_map_odom_tf: + return False + stamp = self.last_external_map_odom_tf.get("stamp") + if not isinstance(stamp, (int, float)): + return False + return self.now_sec() - float(stamp) <= self.odom_fallback_tf_conflict_window_s + + def transform_age_s(self, transform: TransformStamped) -> Optional[float]: + stamp = self.stamp_to_sec(transform.header.stamp) + if stamp <= 0.0: + return None + return max(0.0, self.now_sec() - stamp) + + def is_own_odom_fallback_tf(self, transform: TransformStamped) -> bool: + expected = self.odom_fallback_transform + if expected is None: + return False + t = transform.transform.translation + e = expected.transform.translation + xy_error = math.hypot(float(t.x) - float(e.x), float(t.y) - float(e.y)) + q = transform.transform.rotation + eq = expected.transform.rotation + yaw = self.quaternion_to_yaw(q.x, q.y, q.z, q.w) + expected_yaw = self.quaternion_to_yaw(eq.x, eq.y, eq.z, eq.w) + yaw_error = abs(self.normalize_angle(yaw - expected_yaw)) + return ( + xy_error <= self.odom_fallback_tf_conflict_xy_tolerance + and yaw_error <= self.odom_fallback_tf_conflict_yaw_tolerance + ) + + def stop_odom_fallback(self, reason: str, stop_nav: bool = True) -> None: + was_active = self.odom_fallback_active + self.odom_fallback_active = False + self.odom_fallback_transform = None + self.odom_fallback_anchor = {} + self.odom_fallback_handoff_pending = False + self.odom_fallback_handoff_info = {} + if stop_nav: + self.nav_cmd_pub.publish(String(data="stop")) + status = f"odom fallback stopped: {reason}" if was_active else f"odom fallback already inactive: {reason}" + self.latest_nav_status = status + self.get_logger().info(status) + + def on_odom_fallback_timer(self) -> None: + if self.odom_fallback_active: + self.broadcast_odom_fallback() + + def broadcast_odom_fallback(self) -> None: + if self.odom_fallback_transform is None: + return + transform = self.odom_fallback_transform + transform.header.stamp = self.get_clock().now().to_msg() + self.tf_broadcaster.sendTransform(transform) + def parse_twist(self, payload: dict[str, Any]) -> Twist: cmd = Twist() linear = payload.get("linear", {}) or {} @@ -918,7 +1201,14 @@ class WebUdpBridgeNode(Node): "pose": self.lookup_pose(), "map_frame": self.nav_map_frame, "base_frame": self.nav_base_frame, + "odom_frame": self.nav_odom_frame, "path": dict(self.latest_nav_path), + "odom_fallback": { + "active": self.odom_fallback_active, + "handoff_pending": self.odom_fallback_handoff_pending, + "handoff": dict(self.odom_fallback_handoff_info), + **self.odom_fallback_anchor, + }, }, "model": dict(self.latest_model_status), } @@ -975,6 +1265,13 @@ class WebUdpBridgeNode(Node): def now_sec(self) -> float: return self.get_clock().now().nanoseconds / 1.0e9 + @staticmethod + def stamp_to_sec(stamp: Any) -> float: + try: + return float(stamp.sec) + float(stamp.nanosec) / 1.0e9 + except Exception: + return 0.0 + @staticmethod def twist_to_dict(msg: Twist) -> dict[str, Any]: return { diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_nav_pygame.py b/05_software/real/sim2real_ros2_v2/tools/pcd_nav_pygame.py new file mode 100644 index 0000000..a154f09 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_nav_pygame.py @@ -0,0 +1,1502 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +import json +import math +import socket +import struct +import time +import xml.etree.ElementTree as ET +from dataclasses import dataclass +from pathlib import Path +from typing import Any, Optional + +import pygame + + +COLOR_BG = (10, 15, 30) +COLOR_GRID = (22, 29, 48) +COLOR_AXIS = (45, 61, 94) +COLOR_PANEL = (18, 24, 42) +COLOR_PANEL_BORDER = (38, 52, 84) +COLOR_TEXT = (236, 241, 248) +COLOR_MUTED = (148, 163, 184) +COLOR_CYAN = (6, 182, 212) +COLOR_GREEN = (16, 185, 129) +COLOR_GOLD = (234, 179, 8) +COLOR_ROSE = (244, 63, 94) +COLOR_PURPLE = (139, 92, 246) +COLOR_PCD_LOW = (61, 112, 138) +COLOR_PCD_MID = (112, 165, 121) +COLOR_PCD_HIGH = (214, 166, 78) +COLOR_WALL = (244, 63, 94) +COLOR_LOW_BAR = (245, 158, 11) +COLOR_STAIRS = (234, 179, 8) +COLOR_RAMP = (16, 185, 129) +COLOR_ROUGH = (139, 92, 246) +COLOR_STRUCTURE = (148, 163, 184) + + +@dataclass +class PointXYZ: + x: float + y: float + z: float + + +@dataclass +class Waypoint: + x: float + y: float + id: int = 0 + yaw_deg: Optional[float] = None + speed: float = 0.35 + policy: str = "rough" + tolerance: float = 0.15 + yaw_tolerance_deg: Optional[float] = None + require_yaw: Optional[bool] = None + pre_dock_distance: Optional[float] = None + pre_dock_tolerance: Optional[float] = None + obstacle: str = "flat" + obstacle_name: str = "" + name: str = "" + + +@dataclass +class Pose2D: + x: float + y: float + yaw: float + + +@dataclass +class SemanticElement: + kind: str + label: str + x: float + y: float + yaw: float + hx: float = 0.0 + hy: float = 0.0 + radius: float = 0.0 + color: tuple[int, int, int] = COLOR_STRUCTURE + name: str = "" + + +@dataclass +class RouteMeta: + name: str = "route" + map_name: str = "" + frame_id: str = "map" + segment_name: str = "segment_1" + segment_obstacle: str = "flat" + yaw_tolerance_default: Optional[float] = 30.0 + require_yaw_default: Optional[bool] = None + pre_dock_distance_default: Optional[float] = None + pre_dock_tolerance_default: Optional[float] = None + created_at: str = "" + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description="Pygame top-down nav-style viewer for PCD maps." + ) + parser.add_argument("--pcd", default="map/map_b.pcd", help="Input PCD file.") + parser.add_argument("--route", default="", help="Optional route JSON/YAML-like JSON file.") + parser.add_argument("--save-route", default="", help="Route JSON output path.") + parser.add_argument("--route-name", default="", help="Exported route name.") + parser.add_argument("--route-map", default="", help="Exported route map name.") + parser.add_argument("--route-segment", default="segment_1", help="Exported segment name.") + parser.add_argument("--route-obstacle", default="flat", help="Exported segment obstacle label.") + parser.add_argument("--route-yaw-tol-default", type=float, default=30.0) + parser.add_argument("--route-require-yaw-default", choices=["none", "true", "false"], default="none") + parser.add_argument("--route-pre-dock-distance-default", type=float, default=-1.0) + parser.add_argument("--route-pre-dock-tolerance-default", type=float, default=-1.0) + parser.add_argument("--default-speed", type=float, default=0.35) + parser.add_argument("--default-policy", default="rough", choices=["rough", "crawl", "stand", "none"]) + parser.add_argument("--default-tolerance", type=float, default=0.15) + parser.add_argument("--floor-z-min", type=float, default=-1.6) + parser.add_argument("--floor-z-max", type=float, default=0.4) + parser.add_argument("--sample-step", type=int, default=10) + parser.add_argument("--max-points", type=int, default=180000) + parser.add_argument("--point-size", type=int, default=1) + parser.add_argument("--window-width", type=int, default=1120) + parser.add_argument("--window-height", type=int, default=760) + parser.add_argument("--map-width", type=int, default=760) + parser.add_argument("--zoom", type=float, default=35.0, help="Initial pixels per meter.") + parser.add_argument("--initial-x", type=float, default=0.0) + parser.add_argument("--initial-y", type=float, default=0.0) + parser.add_argument("--initial-yaw-deg", type=float, default=0.0) + parser.add_argument("--pose-file", default="", help="JSON pose file with x/y/yaw or yaw_deg.") + parser.add_argument("--udp-port", type=int, default=0, help="Listen for pose JSON or 'x y yaw'.") + parser.add_argument("--ros2-tf", action="store_true", help="Read robot pose from ROS2 TF.") + parser.add_argument("--map-frame", default="map") + parser.add_argument("--base-frame", default="base_link") + parser.add_argument("--mjcf", default="", help="Optional MuJoCo XML/MJCF semantic overlay.") + parser.add_argument("--overlay-json", default="", help="Optional manual semantic overlay JSON.") + parser.add_argument("--overlay-dx", type=float, default=0.0, help="Overlay x offset in map frame.") + parser.add_argument("--overlay-dy", type=float, default=0.0, help="Overlay y offset in map frame.") + parser.add_argument("--overlay-yaw-deg", type=float, default=0.0, help="Overlay rotation before drawing.") + parser.add_argument("--overlay-scale", type=float, default=1.0, help="Overlay xy scale before drawing.") + parser.add_argument("--hide-overlay", action="store_true", help="Do not draw semantic overlay.") + parser.add_argument( + "--ros2-goal-topic", + default="", + help="Optional std_msgs/String topic. Click publishes: go x y", + ) + parser.add_argument("--title", default="PCD Nav Pygame") + return parser.parse_args() + + +def color_lerp(a: tuple[int, int, int], b: tuple[int, int, int], t: float) -> tuple[int, int, int]: + t = max(0.0, min(1.0, t)) + return ( + int(a[0] + (b[0] - a[0]) * t), + int(a[1] + (b[1] - a[1]) * t), + int(a[2] + (b[2] - a[2]) * t), + ) + + +def z_color(z: float, z_min: float, z_max: float) -> tuple[int, int, int]: + t = (z - z_min) / max(1.0e-9, z_max - z_min) + if t < 0.5: + return color_lerp(COLOR_PCD_LOW, COLOR_PCD_MID, t * 2.0) + return color_lerp(COLOR_PCD_MID, COLOR_PCD_HIGH, (t - 0.5) * 2.0) + + +def parse_float_list(value: str, default: list[float]) -> list[float]: + if not value: + return list(default) + try: + return [float(v) for v in value.split()] + except ValueError: + return list(default) + + +def quat_to_yaw(quat: list[float]) -> float: + w, x, y, z = (quat + [0.0, 0.0, 0.0, 0.0])[:4] + return math.atan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (y * y + z * z)) + + +def rotate_quat_vec(quat: list[float], vec: tuple[float, float, float]) -> tuple[float, float, float]: + w, x, y, z = (quat + [0.0, 0.0, 0.0, 0.0])[:4] + vx, vy, vz = vec + tx = 2.0 * (y * vz - z * vy) + ty = 2.0 * (z * vx - x * vz) + tz = 2.0 * (x * vy - y * vx) + return ( + vx + w * tx + (y * tz - z * ty), + vy + w * ty + (z * tx - x * tz), + vz + w * tz + (x * ty - y * tx), + ) + + +def transform_overlay_xy( + x: float, + y: float, + dx: float, + dy: float, + yaw: float, + scale: float, +) -> tuple[float, float]: + x *= scale + y *= scale + c = math.cos(yaw) + s = math.sin(yaw) + return x * c - y * s + dx, x * s + y * c + dy + + +def classify_semantic(kind: str, x: float, y: float, z: float, sx: float, sy: float, sz: float, horizontal: bool) -> tuple[str, tuple[int, int, int]]: + if kind == "hfield": + return "rough_hfield", COLOR_ROUGH + if kind == "cylinder" and horizontal: + return "low_bar", COLOR_LOW_BAR + if kind == "cylinder" and y < -9.5 and sx <= 0.08: + return "slalom_pole", COLOR_CYAN + if y < -6.0 and min(sx, sy) <= 0.06 and sz >= 0.12: + return "wall", COLOR_WALL + if -5.1 <= y <= -2.0 and 1.2 <= x <= 3.4: + return "stairs", COLOR_STAIRS + if -3.8 <= y <= 0.6 and 1.2 <= x <= 6.3: + return "bridge", COLOR_GREEN + if -6.2 <= y <= -4.2 and 4.0 <= x <= 6.5: + return "ramp", COLOR_RAMP + if y < -11.0 and sx >= 0.35 and sy >= 0.35 and z < 0.2: + return "rough_pit", COLOR_ROUGH + return "structure", COLOR_STRUCTURE + + +def overlay_color(label: str) -> tuple[int, int, int]: + table = { + "wall": COLOR_WALL, + "low_bar": COLOR_LOW_BAR, + "stairs": COLOR_STAIRS, + "stairs_test": COLOR_STAIRS, + "ramp": COLOR_RAMP, + "ramp_test": COLOR_RAMP, + "bridge": COLOR_GREEN, + "rough": COLOR_ROUGH, + "rough_pit": COLOR_ROUGH, + "rough_hfield": COLOR_ROUGH, + "slalom_pole": COLOR_CYAN, + "spawn": COLOR_ROSE, + } + return table.get(label, COLOR_STRUCTURE) + + +def load_mjcf_overlay( + path: Path, + dx: float, + dy: float, + yaw_offset: float, + scale: float, +) -> list[SemanticElement]: + if not path.exists(): + raise FileNotFoundError(path) + root = ET.parse(path).getroot() + hfields: dict[str, list[float]] = {} + for hfield in root.iter("hfield"): + name = hfield.attrib.get("name", "") + size = parse_float_list(hfield.attrib.get("size", ""), []) + if name and size: + hfields[name] = size + + elements: list[SemanticElement] = [] + for index, geom in enumerate(root.iter("geom"), start=1): + name = geom.attrib.get("name", f"geom_{index}") + kind = geom.attrib.get("type", "sphere") + if kind == "plane" or name == "floor": + continue + pos = parse_float_list(geom.attrib.get("pos", ""), [0.0, 0.0, 0.0]) + quat = parse_float_list(geom.attrib.get("quat", ""), [1.0, 0.0, 0.0, 0.0]) + if kind == "hfield": + size = hfields.get(geom.attrib.get("hfield", ""), [1.0, 1.0, 0.0]) + else: + size = parse_float_list(geom.attrib.get("size", ""), [0.0, 0.0, 0.0]) + + x = pos[0] if len(pos) > 0 else 0.0 + y = pos[1] if len(pos) > 1 else 0.0 + z = pos[2] if len(pos) > 2 else 0.0 + sx = size[0] if len(size) > 0 else 0.0 + sy = size[1] if len(size) > 1 else sx + sz = size[2] if len(size) > 2 else 0.0 + local_z = rotate_quat_vec(quat, (0.0, 0.0, 1.0)) + horizontal = math.hypot(local_z[0], local_z[1]) > 0.45 + label, color = classify_semantic(kind, x, y, z, sx, sy, sz, horizontal) + tx, ty = transform_overlay_xy(x, y, dx, dy, yaw_offset, scale) + + if kind in {"box", "hfield"} and sx > 0.0 and sy > 0.0: + elements.append( + SemanticElement( + kind="rect", + label=label, + x=tx, + y=ty, + yaw=quat_to_yaw(quat) + yaw_offset, + hx=sx * scale, + hy=sy * scale, + color=color, + name=name, + ) + ) + elif kind == "cylinder" and sx > 0.0: + if horizontal and sy > 0.0: + bar_yaw = math.atan2(local_z[1], local_z[0]) + yaw_offset + elements.append( + SemanticElement( + kind="rect", + label=label, + x=tx, + y=ty, + yaw=bar_yaw, + hx=max(sy, sx) * scale, + hy=max(sx, 0.025) * scale, + color=color, + name=name, + ) + ) + else: + elements.append( + SemanticElement( + kind="circle", + label=label, + x=tx, + y=ty, + yaw=0.0, + radius=sx * scale, + color=color, + name=name, + ) + ) + return elements + + +def load_json_overlay( + path: Path, + dx: float, + dy: float, + yaw_offset: float, + scale: float, +) -> list[SemanticElement]: + if not path.exists(): + raise FileNotFoundError(path) + data = json.loads(path.read_text(encoding="utf-8")) + raw_elements = data.get("elements", data if isinstance(data, list) else []) + elements: list[SemanticElement] = [] + for index, item in enumerate(raw_elements, start=1): + if not isinstance(item, dict): + continue + kind = str(item.get("type", item.get("kind", "rect"))) + label = str(item.get("label", item.get("obstacle", kind))) + x = float(item.get("x", 0.0)) + y = float(item.get("y", 0.0)) + tx, ty = transform_overlay_xy(x, y, dx, dy, yaw_offset, scale) + yaw = math.radians(float(item.get("yawDeg", item.get("yaw_deg", 0.0)))) + yaw_offset + size = item.get("size", []) + hx = float(item.get("hx", item.get("length", 0.0))) * 0.5 + hy = float(item.get("hy", item.get("width", 0.0))) * 0.5 + if isinstance(size, list) and size: + hx = float(size[0]) + hy = float(size[1] if len(size) > 1 else size[0]) + radius = float(item.get("radius", item.get("r", 0.0))) + if kind in {"circle", "cylinder"}: + elements.append(SemanticElement("circle", label, tx, ty, yaw, radius=radius * scale, color=overlay_color(label), name=str(item.get("name", f"obj_{index}")))) + else: + elements.append(SemanticElement("rect", label, tx, ty, yaw, hx=hx * scale, hy=hy * scale, color=overlay_color(label), name=str(item.get("name", f"obj_{index}")))) + return elements + + +def rect_corners(cx: float, cy: float, hx: float, hy: float, yaw: float) -> list[tuple[float, float]]: + c = math.cos(yaw) + s = math.sin(yaw) + corners = [] + for lx, ly in [(-hx, -hy), (hx, -hy), (hx, hy), (-hx, hy)]: + corners.append((cx + lx * c - ly * s, cy + lx * s + ly * c)) + return corners + + +def parse_pcd_header(lines: list[str]) -> dict[str, Any]: + header: dict[str, Any] = {} + for raw in lines: + line = raw.strip() + if not line or line.startswith("#"): + continue + parts = line.split() + key = parts[0].upper() + values = parts[1:] + if key in {"FIELDS", "TYPE"}: + header[key] = values + elif key in {"SIZE", "COUNT"}: + header[key] = [int(v) for v in values] + elif key in {"WIDTH", "HEIGHT", "POINTS"} and values: + header[key] = int(values[0]) + elif key == "DATA" and values: + header[key] = values[0].lower() + return header + + +def pcd_struct_format(size: int, kind: str) -> str: + kind = kind.upper() + if kind == "F" and size == 4: + return "f" + if kind == "F" and size == 8: + return "d" + if kind == "I" and size == 1: + return "b" + if kind == "U" and size == 1: + return "B" + if kind == "I" and size == 2: + return "h" + if kind == "U" and size == 2: + return "H" + if kind == "I" and size == 4: + return "i" + if kind == "U" and size == 4: + return "I" + if kind == "I" and size == 8: + return "q" + if kind == "U" and size == 8: + return "Q" + raise RuntimeError(f"Unsupported PCD field type: TYPE={kind} SIZE={size}") + + +def load_pcd_points( + path: Path, + z_min: float, + z_max: float, + sample_step: int, + max_points: int, +) -> list[PointXYZ]: + if not path.exists(): + raise FileNotFoundError(path) + sample_step = max(1, int(sample_step)) + max_points = max(1, int(max_points)) + + with path.open("rb") as f: + header_lines: list[str] = [] + data_offset = 0 + while True: + raw = f.readline() + if not raw: + raise RuntimeError("PCD header has no DATA line") + data_offset = f.tell() + line = raw.decode("utf-8", errors="replace") + header_lines.append(line) + if line.strip().upper().startswith("DATA"): + break + payload = f.read() + + header = parse_pcd_header(header_lines) + fields = header.get("FIELDS", ["x", "y", "z"]) + sizes = header.get("SIZE", [4] * len(fields)) + types = header.get("TYPE", ["F"] * len(fields)) + counts = header.get("COUNT", [1] * len(fields)) + data_kind = header.get("DATA", "ascii") + point_count = int(header.get("POINTS", header.get("WIDTH", 0) * header.get("HEIGHT", 1))) + + if not {"x", "y", "z"}.issubset(set(fields)): + raise RuntimeError(f"PCD needs x/y/z fields, got: {fields}") + + points: list[PointXYZ] = [] + accepted = 0 + + if data_kind == "ascii": + text = payload.decode("utf-8", errors="replace") + x_index = fields.index("x") + y_index = fields.index("y") + z_index = fields.index("z") + need = max(x_index, y_index, z_index) + for line in text.splitlines(): + parts = line.split() + if len(parts) <= need: + continue + try: + x = float(parts[x_index]) + y = float(parts[y_index]) + z = float(parts[z_index]) + except ValueError: + continue + if z_min <= z <= z_max: + accepted += 1 + if accepted % sample_step == 0: + points.append(PointXYZ(x, y, z)) + if len(points) >= max_points: + break + return points + + if data_kind != "binary": + raise RuntimeError(f"Only ASCII and binary PCD are supported, got DATA {data_kind}") + + scalar_names: list[str] = [] + fmt_parts: list[str] = [] + for field, size, kind, count in zip(fields, sizes, types, counts): + for count_index in range(count): + scalar_names.append(field if count == 1 else f"{field}_{count_index}") + fmt_parts.append(pcd_struct_format(size, kind)) + fmt = "<" + "".join(fmt_parts) + step_bytes = struct.calcsize(fmt) + x_index = scalar_names.index("x") + y_index = scalar_names.index("y") + z_index = scalar_names.index("z") + total = point_count if point_count > 0 else len(payload) // step_bytes + total = min(total, len(payload) // step_bytes) + + for index in range(total): + row = struct.unpack_from(fmt, payload, index * step_bytes) + x = float(row[x_index]) + y = float(row[y_index]) + z = float(row[z_index]) + if z_min <= z <= z_max: + accepted += 1 + if accepted % sample_step == 0: + points.append(PointXYZ(x, y, z)) + if len(points) >= max_points: + break + return points + + +def bool_from_route_value(value: Any) -> Optional[bool]: + if value is None: + return None + if isinstance(value, bool): + return value + text = str(value).strip().lower() + if text in {"1", "true", "yes", "on"}: + return True + if text in {"0", "false", "no", "off"}: + return False + return None + + +def optional_float(value: Any) -> Optional[float]: + if value is None: + return None + try: + return float(value) + except (TypeError, ValueError): + return None + + +def infer_map_name(pcd_path: Path) -> str: + return pcd_path.stem or "map" + + +def route_meta_from_args(args: argparse.Namespace, pcd_path: Path) -> RouteMeta: + require_default = None + if args.route_require_yaw_default == "true": + require_default = True + elif args.route_require_yaw_default == "false": + require_default = False + pre_dock_distance = ( + float(args.route_pre_dock_distance_default) + if float(args.route_pre_dock_distance_default) >= 0.0 else None + ) + pre_dock_tolerance = ( + float(args.route_pre_dock_tolerance_default) + if float(args.route_pre_dock_tolerance_default) >= 0.0 else None + ) + name = str(args.route_name or f"{infer_map_name(pcd_path)}_route") + return RouteMeta( + name=name, + map_name=str(args.route_map or infer_map_name(pcd_path)), + frame_id=str(args.map_frame or "map"), + segment_name=str(args.route_segment or "segment_1"), + segment_obstacle=str(args.route_obstacle or "flat"), + yaw_tolerance_default=float(args.route_yaw_tol_default), + require_yaw_default=require_default, + pre_dock_distance_default=pre_dock_distance, + pre_dock_tolerance_default=pre_dock_tolerance, + ) + + +def load_route_file(path: Path, fallback_meta: RouteMeta) -> tuple[RouteMeta, list[Waypoint]]: + if not path.exists(): + return fallback_meta, [] + data = json.loads(path.read_text(encoding="utf-8")) + meta = RouteMeta( + name=str(data.get("name", fallback_meta.name) or fallback_meta.name), + map_name=str(data.get("map", fallback_meta.map_name) or fallback_meta.map_name), + frame_id=str(data.get("frame_id", fallback_meta.frame_id) or fallback_meta.frame_id), + segment_name=fallback_meta.segment_name, + segment_obstacle=fallback_meta.segment_obstacle, + yaw_tolerance_default=optional_float( + data.get("yawToleranceDegDefault", data.get("yaw_tolerance_deg_default")) + ), + require_yaw_default=bool_from_route_value( + data.get("requireYawDefault", data.get("require_yaw_default")) + ), + pre_dock_distance_default=optional_float( + data.get("preDockDistanceDefault", data.get("pre_dock_distance_default")) + ), + pre_dock_tolerance_default=optional_float( + data.get("preDockToleranceDefault", data.get("pre_dock_tolerance_default")) + ), + created_at=str(data.get("createdAt", data.get("created_at", "")) or ""), + ) + raw_points: list[Any] = [] + if isinstance(data.get("segments"), list): + for segment in data["segments"]: + if isinstance(segment, dict) and isinstance(segment.get("waypoints"), list): + meta.segment_name = str(segment.get("name", meta.segment_name) or meta.segment_name) + meta.segment_obstacle = str(segment.get("obstacle", meta.segment_obstacle) or meta.segment_obstacle) + raw_points.extend(segment["waypoints"]) + if not raw_points and isinstance(data.get("waypoints"), list): + raw_points = data["waypoints"] + + waypoints: list[Waypoint] = [] + for index, item in enumerate(raw_points, start=1): + if not isinstance(item, dict): + continue + try: + x = float(item["x"]) + y = float(item["y"]) + except (KeyError, TypeError, ValueError): + continue + yaw_value = item.get("yawDeg", item.get("yaw_deg")) + yaw_deg = None + if yaw_value is not None: + try: + yaw_deg = float(yaw_value) + except (TypeError, ValueError): + yaw_deg = None + point_id = item.get("id", index) + try: + point_id = int(point_id) + except (TypeError, ValueError): + point_id = index + waypoints.append( + Waypoint( + x=x, + y=y, + id=point_id, + yaw_deg=yaw_deg, + speed=float(item.get("speed", 0.35)), + policy=str(item.get("policy", "rough")), + tolerance=float(item.get("tolerance", 0.15)), + yaw_tolerance_deg=optional_float(item.get("yawToleranceDeg", item.get("yaw_tolerance_deg"))), + require_yaw=bool_from_route_value(item.get("requireYaw", item.get("require_yaw"))), + pre_dock_distance=optional_float(item.get("preDockDistance", item.get("pre_dock_distance"))), + pre_dock_tolerance=optional_float(item.get("preDockTolerance", item.get("pre_dock_tolerance"))), + obstacle=str(item.get("obstacle", "flat") or "flat"), + obstacle_name=str(item.get("obstacleName", item.get("obstacle_name", "")) or ""), + name=f"WP{point_id}", + ) + ) + return meta, waypoints + + +def waypoint_to_json(wp: Waypoint, fallback_id: int) -> dict[str, Any]: + payload: dict[str, Any] = { + "id": int(wp.id if wp.id > 0 else fallback_id), + "x": round(float(wp.x), 4), + "y": round(float(wp.y), 4), + "yawDeg": round(float(wp.yaw_deg if wp.yaw_deg is not None else 0.0), 2), + "speed": round(float(wp.speed), 3), + "policy": str(wp.policy or "rough"), + "tolerance": round(max(0.01, float(wp.tolerance)), 3), + } + if wp.yaw_tolerance_deg is not None: + payload["yawToleranceDeg"] = round(float(wp.yaw_tolerance_deg), 2) + if wp.require_yaw is not None: + payload["requireYaw"] = bool(wp.require_yaw) + if wp.pre_dock_distance is not None: + payload["preDockDistance"] = round(float(wp.pre_dock_distance), 3) + if wp.pre_dock_tolerance is not None: + payload["preDockTolerance"] = round(float(wp.pre_dock_tolerance), 3) + if wp.obstacle and wp.obstacle != "flat": + payload["obstacle"] = str(wp.obstacle) + if wp.obstacle_name: + payload["obstacleName"] = str(wp.obstacle_name) + return payload + + +def save_waypoints(path: Path, meta: RouteMeta, waypoints: list[Waypoint]) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + payload = { + "name": meta.name or path.stem, + "map": meta.map_name, + "frame_id": meta.frame_id or "map", + "createdAt": time.strftime("%Y-%m-%dT%H:%M:%S"), + "segments": [ + { + "name": meta.segment_name or "segment_1", + "obstacle": meta.segment_obstacle or "flat", + "waypoints": [waypoint_to_json(wp, index) for index, wp in enumerate(waypoints, start=1)], + } + ], + } + if meta.yaw_tolerance_default is not None: + payload["yawToleranceDegDefault"] = float(meta.yaw_tolerance_default) + if meta.require_yaw_default is not None: + payload["requireYawDefault"] = bool(meta.require_yaw_default) + if meta.pre_dock_distance_default is not None: + payload["preDockDistanceDefault"] = float(meta.pre_dock_distance_default) + if meta.pre_dock_tolerance_default is not None: + payload["preDockToleranceDefault"] = float(meta.pre_dock_tolerance_default) + path.write_text(json.dumps(payload, ensure_ascii=False, indent=2), encoding="utf-8") + + +class PoseFileSource: + def __init__(self, path: str) -> None: + self.path = Path(path) if path else None + self.last_mtime = 0.0 + + def update(self, pose: Pose2D) -> Pose2D: + if self.path is None or not self.path.exists(): + return pose + mtime = self.path.stat().st_mtime + if mtime == self.last_mtime: + return pose + self.last_mtime = mtime + try: + data = json.loads(self.path.read_text(encoding="utf-8")) + x = float(data.get("x", pose.x)) + y = float(data.get("y", pose.y)) + if "yaw_deg" in data: + yaw = math.radians(float(data["yaw_deg"])) + else: + yaw = float(data.get("yaw", pose.yaw)) + return Pose2D(x, y, yaw) + except Exception: + return pose + + +class UdpPoseSource: + def __init__(self, port: int) -> None: + self.sock: Optional[socket.socket] = None + if port > 0: + self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + self.sock.setblocking(False) + self.sock.bind(("0.0.0.0", port)) + + def update(self, pose: Pose2D) -> Pose2D: + if self.sock is None: + return pose + latest = pose + while True: + try: + data, _addr = self.sock.recvfrom(4096) + except BlockingIOError: + break + text = data.decode("utf-8", errors="replace").strip() + try: + if text.startswith("{"): + item = json.loads(text) + x = float(item.get("x", latest.x)) + y = float(item.get("y", latest.y)) + yaw = math.radians(float(item["yaw_deg"])) if "yaw_deg" in item else float(item.get("yaw", latest.yaw)) + latest = Pose2D(x, y, yaw) + else: + parts = text.replace(",", " ").split() + if len(parts) >= 3: + latest = Pose2D(float(parts[0]), float(parts[1]), float(parts[2])) + except Exception: + continue + return latest + + +class Ros2PoseSource: + def __init__(self, enabled: bool, map_frame: str, base_frame: str, goal_topic: str) -> None: + self.enabled = False + self.node = None + self.rclpy = None + self.buffer = None + self.publisher = None + self.String = None + self.map_frame = map_frame + self.base_frame = base_frame + if not enabled and not goal_topic: + return + try: + import rclpy + from rclpy.node import Node + from rclpy.time import Time + from std_msgs.msg import String + from tf2_ros import Buffer, TransformException, TransformListener + except Exception as exc: + print(f"[ros2] unavailable: {exc}") + return + + if not rclpy.ok(): + rclpy.init(args=None) + node = Node("pcd_nav_pygame") + self.rclpy = rclpy + self.node = node + self.Time = Time + self.String = String + self.TransformException = TransformException + if enabled: + self.buffer = Buffer() + self.listener = TransformListener(self.buffer, node) + self.enabled = True + if goal_topic: + self.publisher = node.create_publisher(String, goal_topic, 10) + + def update(self, pose: Pose2D) -> Pose2D: + if self.node is None or self.rclpy is None: + return pose + self.rclpy.spin_once(self.node, timeout_sec=0.0) + if not self.enabled or self.buffer is None: + return pose + try: + transform = self.buffer.lookup_transform( + self.map_frame, + self.base_frame, + self.Time(), + ) + except Exception: + return pose + t = transform.transform.translation + q = transform.transform.rotation + yaw = math.atan2( + 2.0 * (q.w * q.z + q.x * q.y), + 1.0 - 2.0 * (q.y * q.y + q.z * q.z), + ) + return Pose2D(float(t.x), float(t.y), yaw) + + def publish_goal(self, x: float, y: float) -> None: + if self.publisher is None or self.String is None: + return + msg = self.String() + msg.data = f"go {x:.3f} {y:.3f}" + self.publisher.publish(msg) + + def close(self) -> None: + if self.node is not None: + self.node.destroy_node() + + +class Viewer: + def __init__( + self, + args: argparse.Namespace, + points: list[PointXYZ], + waypoints: list[Waypoint], + semantic_elements: list[SemanticElement], + route_meta: RouteMeta, + save_route_path: Path, + ) -> None: + self.args = args + self.points = points + self.waypoints = waypoints + self.semantic_elements = semantic_elements + self.route_meta = route_meta + self.save_route_path = save_route_path + self.show_overlay = not bool(args.hide_overlay) + self.selected_wp_index: Optional[int] = 0 if waypoints else None + self.command_mode = False + self.command_text = "" + self.message = "Shift+click add waypoint | Enter command | P save" + self.target: Optional[tuple[float, float]] = None + self.pose = Pose2D( + float(args.initial_x), + float(args.initial_y), + math.radians(float(args.initial_yaw_deg)), + ) + self.trail: list[tuple[float, float]] = [] + self.auto_center = False + self.zoom = float(args.zoom) + self.pan_x = 0.0 + self.pan_y = 0.0 + self.dragging = False + self.drag_start = (0, 0) + self.drag_pan_start = (0.0, 0.0) + self.pose_file = PoseFileSource(args.pose_file) + self.udp_pose = UdpPoseSource(int(args.udp_port)) + self.ros2_pose = Ros2PoseSource( + bool(args.ros2_tf), + str(args.map_frame), + str(args.base_frame), + str(args.ros2_goal_topic), + ) + + pygame.init() + pygame.font.init() + self.screen = pygame.display.set_mode((args.window_width, args.window_height)) + pygame.display.set_caption(args.title) + self.clock = pygame.time.Clock() + self.font_large = pygame.font.SysFont("consolas", 20, bold=True) or pygame.font.Font(None, 22) + self.font = pygame.font.SysFont("consolas", 15) or pygame.font.Font(None, 16) + self.font_small = pygame.font.SysFont("consolas", 13) or pygame.font.Font(None, 14) + + self.z_min = min((p.z for p in points), default=float(args.floor_z_min)) + self.z_max = max((p.z for p in points), default=float(args.floor_z_max)) + if math.isclose(self.z_min, self.z_max): + self.z_max = self.z_min + 1.0 + + self.center_on_points() + + @property + def map_width(self) -> int: + return min(int(self.args.map_width), int(self.args.window_width) - 260) + + def center_on_points(self) -> None: + if not self.points: + return + min_x = min(p.x for p in self.points) + max_x = max(p.x for p in self.points) + min_y = min(p.y for p in self.points) + max_y = max(p.y for p in self.points) + center_x = (min_x + max_x) * 0.5 + center_y = (min_y + max_y) * 0.5 + span_x = max(1.0, max_x - min_x) + span_y = max(1.0, max_y - min_y) + fit_zoom = min( + (self.map_width - 80) / span_x, + (self.args.window_height - 80) / span_y, + ) + self.zoom = min(max(8.0, fit_zoom), max(self.zoom, 8.0)) + self.pan_x = -center_x * self.zoom + self.pan_y = center_y * self.zoom + + def world_to_screen(self, x: float, y: float) -> tuple[int, int]: + sx = int(self.map_width / 2.0 + x * self.zoom + self.pan_x) + sy = int(self.args.window_height / 2.0 - y * self.zoom + self.pan_y) + return sx, sy + + def screen_to_world(self, sx: int, sy: int) -> tuple[float, float]: + x = (sx - self.map_width / 2.0 - self.pan_x) / self.zoom + y = -(sy - self.args.window_height / 2.0 - self.pan_y) / self.zoom + return x, y + + def selected_waypoint(self) -> Optional[Waypoint]: + if self.selected_wp_index is None: + return None + if 0 <= self.selected_wp_index < len(self.waypoints): + return self.waypoints[self.selected_wp_index] + self.selected_wp_index = None + return None + + def normalize_waypoint_ids(self) -> None: + used: set[int] = set() + for index, wp in enumerate(self.waypoints, start=1): + if wp.id <= 0 or wp.id in used: + wp.id = index + used.add(wp.id) + wp.name = f"WP{wp.id}" + + def add_waypoint(self, x: float, y: float, yaw_deg: Optional[float] = None) -> None: + point_id = max([wp.id for wp in self.waypoints], default=0) + 1 + policy = str(self.args.default_policy) + if policy == "none": + policy = "rough" + wp = Waypoint( + x=x, + y=y, + id=point_id, + yaw_deg=yaw_deg if yaw_deg is not None else math.degrees(self.pose.yaw), + speed=max(0.0, float(self.args.default_speed)), + policy=policy, + tolerance=max(0.01, float(self.args.default_tolerance)), + name=f"WP{point_id}", + ) + self.waypoints.append(wp) + self.selected_wp_index = len(self.waypoints) - 1 + self.message = f"Added WP{wp.id} x={wp.x:.3f} y={wp.y:.3f}" + + def select_nearest_waypoint(self, sx: int, sy: int, max_px: float = 14.0) -> bool: + best_index: Optional[int] = None + best_dist = max_px + for index, wp in enumerate(self.waypoints): + wx, wy = self.world_to_screen(wp.x, wp.y) + dist = math.hypot(wx - sx, wy - sy) + if dist <= best_dist: + best_dist = dist + best_index = index + if best_index is None: + return False + self.selected_wp_index = best_index + wp = self.waypoints[best_index] + self.message = f"Selected WP{wp.id}" + return True + + def handle_click_goal(self, sx: int, sy: int, add_waypoint: bool) -> None: + x, y = self.screen_to_world(sx, sy) + self.target = (x, y) + if add_waypoint: + self.add_waypoint(x, y) + self.ros2_pose.publish_goal(x, y) + + def update_pose_sources(self) -> None: + self.pose = self.pose_file.update(self.pose) + self.pose = self.udp_pose.update(self.pose) + self.pose = self.ros2_pose.update(self.pose) + if not self.trail or math.hypot(self.pose.x - self.trail[-1][0], self.pose.y - self.trail[-1][1]) > 0.04: + self.trail.append((self.pose.x, self.pose.y)) + if len(self.trail) > 1200: + self.trail.pop(0) + if self.auto_center: + self.pan_x = -self.pose.x * self.zoom + self.pan_y = self.pose.y * self.zoom + + def update_manual_pose(self, dt: float) -> None: + if self.command_mode: + return + keys = pygame.key.get_pressed() + move = 0.8 * dt + turn = 1.7 * dt + if keys[pygame.K_q]: + self.pose.yaw += turn + if keys[pygame.K_e]: + self.pose.yaw -= turn + forward = 0.0 + lateral = 0.0 + if keys[pygame.K_w]: + forward += move + if keys[pygame.K_s]: + forward -= move + if keys[pygame.K_a]: + lateral += move + if keys[pygame.K_d]: + lateral -= move + if forward or lateral: + c = math.cos(self.pose.yaw) + s = math.sin(self.pose.yaw) + self.pose.x += forward * c - lateral * s + self.pose.y += forward * s + lateral * c + + def save_route(self) -> None: + self.normalize_waypoint_ids() + save_waypoints(self.save_route_path, self.route_meta, self.waypoints) + self.message = f"Saved {len(self.waypoints)} waypoints: {self.save_route_path}" + print(self.message) + + def set_selected_field(self, key: str, value: str) -> None: + wp = self.selected_waypoint() + if wp is None: + self.message = "No waypoint selected" + return + key = key.lower() + if key in {"x", "y", "yaw", "yawdeg", "speed", "tol", "tolerance", "yawtol", "yawtolerance"}: + number = float(value) + if key == "x": + wp.x = number + elif key == "y": + wp.y = number + elif key in {"yaw", "yawdeg"}: + wp.yaw_deg = number + elif key == "speed": + wp.speed = max(0.0, number) + elif key in {"tol", "tolerance"}: + wp.tolerance = max(0.01, number) + else: + wp.yaw_tolerance_deg = max(0.0, number) + elif key == "id": + wp.id = max(1, int(value)) + wp.name = f"WP{wp.id}" + elif key == "policy": + wp.policy = value + elif key in {"requireyaw", "require_yaw"}: + parsed = bool_from_route_value(value) + wp.require_yaw = parsed + elif key in {"predock", "pre_dock", "predockdistance"}: + wp.pre_dock_distance = optional_float(value) + elif key in {"predocktol", "pre_dock_tolerance"}: + wp.pre_dock_tolerance = optional_float(value) + elif key == "obstacle": + wp.obstacle = value + elif key in {"obstaclename", "obstacle_name"}: + wp.obstacle_name = value + else: + raise ValueError(f"unknown field: {key}") + self.message = f"Updated WP{wp.id}: {key}={value}" + + def run_command(self, text: str) -> None: + parts = text.strip().split() + if not parts: + return + cmd = parts[0].lower() + try: + if cmd == "set" and len(parts) >= 3: + self.set_selected_field(parts[1], " ".join(parts[2:])) + elif cmd == "move" and len(parts) >= 3: + wp = self.selected_waypoint() + if wp is None: + self.message = "No waypoint selected" + else: + wp.x += float(parts[1]) + wp.y += float(parts[2]) + self.message = f"Moved WP{wp.id}" + elif cmd == "route" and len(parts) >= 3: + key = parts[1].lower() + value = " ".join(parts[2:]) + if key == "name": + self.route_meta.name = value + elif key == "map": + self.route_meta.map_name = value + elif key == "segment": + self.route_meta.segment_name = value + elif key == "obstacle": + self.route_meta.segment_obstacle = value + elif key in {"yawtol", "yaw_tolerance"}: + self.route_meta.yaw_tolerance_default = float(value) + else: + raise ValueError(f"unknown route field: {key}") + self.message = f"Route {key}={value}" + elif cmd == "select" and len(parts) >= 2: + wanted = int(parts[1]) + for index, wp in enumerate(self.waypoints): + if wp.id == wanted: + self.selected_wp_index = index + self.message = f"Selected WP{wp.id}" + break + else: + self.message = f"WP id not found: {wanted}" + elif cmd in {"save", "export"}: + self.save_route() + elif cmd == "delete": + self.delete_selected_waypoint() + else: + self.message = "Commands: set x/y/yaw/speed/tol/policy/id VALUE | route name/map VALUE | save" + except Exception as exc: + self.message = f"Command error: {exc}" + + def delete_selected_waypoint(self) -> None: + if self.selected_wp_index is None or not (0 <= self.selected_wp_index < len(self.waypoints)): + self.message = "No waypoint selected" + return + removed = self.waypoints.pop(self.selected_wp_index) + if not self.waypoints: + self.selected_wp_index = None + else: + self.selected_wp_index = min(self.selected_wp_index, len(self.waypoints) - 1) + self.message = f"Deleted WP{removed.id}" + + def adjust_selected(self, dx: float = 0.0, dy: float = 0.0, dyaw: float = 0.0, dspeed: float = 0.0, dtol: float = 0.0) -> None: + wp = self.selected_waypoint() + if wp is None: + return + wp.x += dx + wp.y += dy + wp.yaw_deg = (wp.yaw_deg if wp.yaw_deg is not None else 0.0) + dyaw + wp.speed = max(0.0, wp.speed + dspeed) + wp.tolerance = max(0.01, wp.tolerance + dtol) + self.message = f"WP{wp.id}: x={wp.x:.3f} y={wp.y:.3f} yaw={wp.yaw_deg:.1f} speed={wp.speed:.2f} tol={wp.tolerance:.2f}" + + def draw_grid(self) -> None: + grid_min_x, grid_min_y = self.screen_to_world(0, self.args.window_height) + grid_max_x, grid_max_y = self.screen_to_world(self.map_width, 0) + start_x = math.floor(grid_min_x) + end_x = math.ceil(grid_max_x) + start_y = math.floor(grid_min_y) + end_y = math.ceil(grid_max_y) + for gx in range(start_x, end_x + 1): + sx, _ = self.world_to_screen(gx, 0.0) + color = COLOR_AXIS if gx == 0 else COLOR_GRID + width = 2 if gx == 0 else 1 + pygame.draw.line(self.screen, color, (sx, 0), (sx, self.args.window_height), width) + if gx % 2 == 0 and 0 < sx < self.map_width - 25: + self.screen.blit(self.font_small.render(str(gx), True, COLOR_MUTED), (sx + 3, self.args.window_height - 42)) + for gy in range(start_y, end_y + 1): + _, sy = self.world_to_screen(0.0, gy) + color = COLOR_AXIS if gy == 0 else COLOR_GRID + width = 2 if gy == 0 else 1 + pygame.draw.line(self.screen, color, (0, sy), (self.map_width, sy), width) + if gy % 2 == 0 and 20 < sy < self.args.window_height - 28: + self.screen.blit(self.font_small.render(str(gy), True, COLOR_MUTED), (8, sy + 2)) + + def draw_points(self) -> None: + point_size = max(1, int(self.args.point_size)) + surface = self.screen + for p in self.points: + sx, sy = self.world_to_screen(p.x, p.y) + if sx < 0 or sy < 0 or sx >= self.map_width or sy >= self.args.window_height: + continue + color = z_color(p.z, self.z_min, self.z_max) + if point_size == 1: + surface.set_at((sx, sy), color) + else: + pygame.draw.circle(surface, color, (sx, sy), point_size) + + def draw_semantic_overlay(self) -> None: + if not self.show_overlay or not self.semantic_elements: + return + layer = pygame.Surface((self.map_width, self.args.window_height), pygame.SRCALPHA) + for element in self.semantic_elements: + color = element.color + fill = (color[0], color[1], color[2], 58) + border = (color[0], color[1], color[2], 220) + label_pos: tuple[int, int] + if element.kind == "circle": + sx, sy = self.world_to_screen(element.x, element.y) + radius = max(3, int(abs(element.radius) * self.zoom)) + pygame.draw.circle(layer, fill, (sx, sy), radius) + pygame.draw.circle(layer, border, (sx, sy), radius, width=2) + label_pos = (sx + radius + 4, sy - 7) + else: + corners = rect_corners(element.x, element.y, element.hx, element.hy, element.yaw) + screen_corners = [self.world_to_screen(x, y) for x, y in corners] + if len(screen_corners) >= 3: + pygame.draw.polygon(layer, fill, screen_corners) + pygame.draw.polygon(layer, border, screen_corners, width=2) + label_pos = self.world_to_screen(element.x, element.y) + label_pos = (label_pos[0] + 6, label_pos[1] - 8) + name = element.label if not element.name else f"{element.label}:{element.name}" + label = self.font_small.render(name, True, color) + layer.blit(label, label_pos) + self.screen.blit(layer, (0, 0)) + + def draw_waypoints(self) -> None: + if len(self.waypoints) > 1: + pts = [self.world_to_screen(wp.x, wp.y) for wp in self.waypoints] + pygame.draw.lines(self.screen, COLOR_GREEN, False, pts, 2) + for index, wp in enumerate(self.waypoints, start=1): + sx, sy = self.world_to_screen(wp.x, wp.y) + selected = self.selected_wp_index == index - 1 + color = COLOR_GOLD if selected else COLOR_PURPLE + radius = 10 if selected else 7 + pygame.draw.circle(self.screen, color, (sx, sy), radius) + pygame.draw.circle(self.screen, COLOR_TEXT, (sx, sy), radius, width=2 if selected else 1) + label = wp.name or f"WP{wp.id if wp.id > 0 else index}" + self.screen.blit(self.font_small.render(label, True, COLOR_TEXT), (sx + 9, sy - 16)) + if wp.yaw_deg is not None: + yaw = math.radians(wp.yaw_deg) + ex, ey = self.world_to_screen(wp.x + 0.35 * math.cos(yaw), wp.y + 0.35 * math.sin(yaw)) + pygame.draw.line(self.screen, color, (sx, sy), (ex, ey), 3 if selected else 2) + + def draw_robot(self) -> None: + if len(self.trail) > 1: + pts = [self.world_to_screen(x, y) for x, y in self.trail] + pygame.draw.lines(self.screen, COLOR_CYAN, False, pts, 2) + sx, sy = self.world_to_screen(self.pose.x, self.pose.y) + radius = max(6, int(0.18 * self.zoom)) + pygame.draw.circle(self.screen, COLOR_CYAN, (sx, sy), radius) + pygame.draw.circle(self.screen, COLOR_TEXT, (sx, sy), radius, width=2) + nx, ny = self.world_to_screen( + self.pose.x + 0.42 * math.cos(self.pose.yaw), + self.pose.y + 0.42 * math.sin(self.pose.yaw), + ) + pygame.draw.line(self.screen, COLOR_GREEN, (sx, sy), (nx, ny), 3) + pygame.draw.circle(self.screen, COLOR_GREEN, (nx, ny), 4) + + def draw_target(self) -> None: + if self.target is None: + return + x, y = self.target + sx, sy = self.world_to_screen(x, y) + pulse = int(9 + 4 * math.sin(time.time() * 7.0)) + pygame.draw.circle(self.screen, COLOR_GOLD, (sx, sy), pulse, width=2) + pygame.draw.circle(self.screen, COLOR_GOLD, (sx, sy), 3) + pygame.draw.line(self.screen, COLOR_GOLD, (sx - pulse - 5, sy), (sx + pulse + 5, sy), 1) + pygame.draw.line(self.screen, COLOR_GOLD, (sx, sy - pulse - 5), (sx, sy + pulse + 5), 1) + self.screen.blit(self.font.render(f"Target {x:.2f},{y:.2f}", True, COLOR_GOLD), (sx + 13, sy - 8)) + + def draw_panel(self) -> None: + x0 = self.map_width + w = self.args.window_width - self.map_width + pygame.draw.rect(self.screen, COLOR_PANEL, (x0, 0, w, self.args.window_height)) + pygame.draw.line(self.screen, COLOR_PANEL_BORDER, (x0, 0), (x0, self.args.window_height), 2) + y = 18 + self.screen.blit(self.font_large.render("PCD NAV VIEW", True, COLOR_TEXT), (x0 + 18, y)) + y += 34 + lines = [ + f"route: {self.route_meta.name}", + f"map: {self.route_meta.map_name}", + f"points: {len(self.points)}", + f"zoom: {self.zoom:.1f} px/m", + f"pose: x={self.pose.x:.3f}", + f" y={self.pose.y:.3f}", + f"yaw: {math.degrees(self.pose.yaw):.1f} deg", + f"waypoints: {len(self.waypoints)}", + f"overlay: {len(self.semantic_elements)} {'on' if self.show_overlay else 'off'}", + f"auto-center: {'on' if self.auto_center else 'off'}", + ] + if self.target is not None: + lines.append(f"goal: {self.target[0]:.3f}, {self.target[1]:.3f}") + for line in lines: + self.screen.blit(self.font.render(line, True, COLOR_TEXT), (x0 + 18, y)) + y += 22 + y += 12 + wp = self.selected_waypoint() + self.screen.blit(self.font.render("Selected WP", True, COLOR_MUTED), (x0 + 18, y)) + y += 22 + if wp is None: + selected_lines = ["none"] + else: + selected_lines = [ + f"id: {wp.id}", + f"x: {wp.x:.4f}", + f"y: {wp.y:.4f}", + f"yaw: {(wp.yaw_deg if wp.yaw_deg is not None else 0.0):.2f}", + f"speed: {wp.speed:.3f}", + f"policy: {wp.policy}", + f"tol: {wp.tolerance:.3f}", + f"yawTol: {wp.yaw_tolerance_deg if wp.yaw_tolerance_deg is not None else '-'}", + f"requireYaw: {wp.require_yaw if wp.require_yaw is not None else '-'}", + ] + for line in selected_lines: + self.screen.blit(self.font_small.render(line, True, COLOR_TEXT), (x0 + 18, y)) + y += 17 + y += 8 + help_lines = [ + "Left click: select/goal", + "Shift+click: add WP", + "Enter: exact command", + "Mouse wheel: zoom", + "Right drag: pan", + "F: fit map", + "Space: center lock", + "R: record robot WP", + "O: toggle overlay", + "P: save route", + "Del: delete WP", + "[]: select WP", + "Y/U: yaw -/+5", + "V/B: speed -/+0.05", + "T/G: tol -/+0.01", + "1/2: rough/crawl", + "C: clear goal", + "WASD/QE: manual pose", + "Esc: quit", + ] + self.screen.blit(self.font.render("Controls", True, COLOR_MUTED), (x0 + 18, y)) + y += 24 + for line in help_lines: + self.screen.blit(self.font_small.render(line, True, COLOR_MUTED), (x0 + 18, y)) + y += 19 + + def draw_status_bar(self) -> None: + pygame.draw.rect(self.screen, (7, 10, 19), (0, self.args.window_height - 25, self.map_width, 25)) + mx, my = pygame.mouse.get_pos() + if self.command_mode: + text = f": {self.command_text}" + elif mx < self.map_width: + wx, wy = self.screen_to_world(mx, my) + text = f"cursor x={wx:.3f} y={wy:.3f} | {self.message}" + else: + text = self.message + self.screen.blit(self.font_small.render(text, True, COLOR_MUTED), (10, self.args.window_height - 19)) + + def handle_events(self) -> bool: + for event in pygame.event.get(): + if event.type == pygame.QUIT: + return False + if event.type == pygame.KEYDOWN: + if self.command_mode: + if event.key == pygame.K_ESCAPE: + self.command_mode = False + self.command_text = "" + elif event.key == pygame.K_RETURN: + command = self.command_text + self.command_mode = False + self.command_text = "" + self.run_command(command) + elif event.key == pygame.K_BACKSPACE: + self.command_text = self.command_text[:-1] + elif event.unicode: + self.command_text += event.unicode + continue + if event.key == pygame.K_ESCAPE: + return False + if event.key == pygame.K_RETURN: + self.command_mode = True + self.command_text = "" + elif event.key == pygame.K_f: + self.center_on_points() + elif event.key == pygame.K_SPACE: + self.auto_center = not self.auto_center + elif event.key == pygame.K_c: + self.target = None + elif event.key == pygame.K_o: + self.show_overlay = not self.show_overlay + elif event.key == pygame.K_r: + self.add_waypoint(self.pose.x, self.pose.y, math.degrees(self.pose.yaw)) + elif event.key == pygame.K_p: + self.save_route() + elif event.key == pygame.K_DELETE: + self.delete_selected_waypoint() + elif event.key == pygame.K_LEFTBRACKET and self.waypoints: + self.selected_wp_index = (self.selected_wp_index or 0) - 1 + self.selected_wp_index %= len(self.waypoints) + elif event.key == pygame.K_RIGHTBRACKET and self.waypoints: + self.selected_wp_index = (self.selected_wp_index or 0) + 1 + self.selected_wp_index %= len(self.waypoints) + elif event.key == pygame.K_y: + self.adjust_selected(dyaw=-5.0) + elif event.key == pygame.K_u: + self.adjust_selected(dyaw=5.0) + elif event.key == pygame.K_v: + self.adjust_selected(dspeed=-0.05) + elif event.key == pygame.K_b: + self.adjust_selected(dspeed=0.05) + elif event.key == pygame.K_t: + self.adjust_selected(dtol=-0.01) + elif event.key == pygame.K_g: + self.adjust_selected(dtol=0.01) + elif event.key == pygame.K_1: + wp = self.selected_waypoint() + if wp is not None: + wp.policy = "rough" + self.message = f"WP{wp.id} policy=rough" + elif event.key == pygame.K_2: + wp = self.selected_waypoint() + if wp is not None: + wp.policy = "crawl" + self.message = f"WP{wp.id} policy=crawl" + elif event.type == pygame.MOUSEBUTTONDOWN: + if event.button == 1 and event.pos[0] < self.map_width: + mods = pygame.key.get_mods() + if bool(mods & pygame.KMOD_SHIFT): + self.handle_click_goal(event.pos[0], event.pos[1], True) + elif not self.select_nearest_waypoint(event.pos[0], event.pos[1]): + self.handle_click_goal(event.pos[0], event.pos[1], False) + elif event.button in (2, 3): + self.dragging = True + self.drag_start = event.pos + self.drag_pan_start = (self.pan_x, self.pan_y) + elif event.button in (4, 5) and event.pos[0] < self.map_width: + before = self.screen_to_world(event.pos[0], event.pos[1]) + factor = 1.12 if event.button == 4 else 1.0 / 1.12 + self.zoom = max(2.0, min(400.0, self.zoom * factor)) + after = self.screen_to_world(event.pos[0], event.pos[1]) + self.pan_x += (after[0] - before[0]) * self.zoom + self.pan_y -= (after[1] - before[1]) * self.zoom + elif event.type == pygame.MOUSEBUTTONUP: + if event.button in (2, 3): + self.dragging = False + elif event.type == pygame.MOUSEMOTION and self.dragging: + dx = event.pos[0] - self.drag_start[0] + dy = event.pos[1] - self.drag_start[1] + self.pan_x = self.drag_pan_start[0] + dx + self.pan_y = self.drag_pan_start[1] + dy + return True + + def run(self) -> None: + running = True + try: + while running: + dt = self.clock.tick(45) / 1000.0 + running = self.handle_events() + self.update_manual_pose(dt) + self.update_pose_sources() + + self.screen.fill(COLOR_BG) + pygame.draw.rect(self.screen, COLOR_BG, (0, 0, self.map_width, self.args.window_height)) + self.draw_grid() + self.draw_points() + self.draw_semantic_overlay() + self.draw_waypoints() + self.draw_target() + self.draw_robot() + self.draw_panel() + self.draw_status_bar() + pygame.display.flip() + finally: + self.ros2_pose.close() + pygame.quit() + + +def main() -> None: + args = parse_args() + pcd_path = Path(args.pcd) + route_meta = route_meta_from_args(args, pcd_path) + save_route_path = ( + Path(args.save_route) + if args.save_route + else Path("map") / "routes" / route_meta.map_name / f"{route_meta.name}.json" + ) + print(f"Loading PCD: {pcd_path}") + points = load_pcd_points( + pcd_path, + z_min=float(args.floor_z_min), + z_max=float(args.floor_z_max), + sample_step=int(args.sample_step), + max_points=int(args.max_points), + ) + if not points: + raise RuntimeError("No points left after z filtering. Adjust --floor-z-min/--floor-z-max.") + print(f"Loaded {len(points)} sampled PCD points.") + if args.route: + route_meta, waypoints = load_route_file(Path(args.route), route_meta) + else: + waypoints = [] + print(f"Route output: {save_route_path.resolve()}") + overlay_yaw = math.radians(float(args.overlay_yaw_deg)) + semantic_elements: list[SemanticElement] = [] + if args.mjcf: + mjcf_elements = load_mjcf_overlay( + Path(args.mjcf), + dx=float(args.overlay_dx), + dy=float(args.overlay_dy), + yaw_offset=overlay_yaw, + scale=float(args.overlay_scale), + ) + semantic_elements.extend(mjcf_elements) + print(f"Loaded {len(mjcf_elements)} MJCF semantic elements.") + if args.overlay_json: + json_elements = load_json_overlay( + Path(args.overlay_json), + dx=float(args.overlay_dx), + dy=float(args.overlay_dy), + yaw_offset=overlay_yaw, + scale=float(args.overlay_scale), + ) + semantic_elements.extend(json_elements) + print(f"Loaded {len(json_elements)} JSON semantic elements.") + viewer = Viewer(args, points, waypoints, semantic_elements, route_meta, save_route_path) + viewer.run() + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2_v2/tools/run_a_min_route_editor.bat b/05_software/real/sim2real_ros2_v2/tools/run_a_min_route_editor.bat new file mode 100644 index 0000000..0b1c502 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/run_a_min_route_editor.bat @@ -0,0 +1,7 @@ +@echo off +setlocal +cd /d "%~dp0\.." + +python .\tools\pcd_nav_pygame.py --pcd .\map\A_min.pcd --route-name A_min_route --route-map A_min --route-obstacle slalom --save-route .\map\routes\A_min\A_min_route.json --default-speed 0.35 --default-policy rough --default-tolerance 0.15 + +endlocal diff --git a/05_software/real/sim2real_ros2_v2/tools/run_pcd_nav_map.bat b/05_software/real/sim2real_ros2_v2/tools/run_pcd_nav_map.bat new file mode 100644 index 0000000..350d92a --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/run_pcd_nav_map.bat @@ -0,0 +1,7 @@ +@echo off +setlocal +cd /d "%~dp0\.." + +python .\tools\pcd_nav_pygame.py --pcd .\map\map_b.pcd --overlay-json .\tools\semantic_overlay_example.json + +endlocal diff --git a/05_software/real/sim2real_ros2_v2/tools/semantic_overlay_example.json b/05_software/real/sim2real_ros2_v2/tools/semantic_overlay_example.json new file mode 100644 index 0000000..5905f47 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/semantic_overlay_example.json @@ -0,0 +1,52 @@ +{ + "elements": [ + { + "name": "wall_01", + "label": "wall", + "type": "rect", + "x": 1.8, + "y": -7.0, + "length": 1.0, + "width": 0.05, + "yawDeg": 90.0 + }, + { + "name": "low_bar_01", + "label": "low_bar", + "type": "rect", + "x": 5.7, + "y": -9.0, + "length": 1.0, + "width": 0.03, + "yawDeg": 0.0 + }, + { + "name": "slalom_pole_01", + "label": "slalom_pole", + "type": "circle", + "x": 1.8, + "y": -10.5, + "radius": 0.05 + }, + { + "name": "stairs_area", + "label": "stairs", + "type": "rect", + "x": 2.4, + "y": -3.5, + "length": 2.4, + "width": 1.2, + "yawDeg": 0.0 + }, + { + "name": "ramp_area", + "label": "ramp", + "type": "rect", + "x": 5.2, + "y": -5.2, + "length": 2.0, + "width": 3.0, + "yawDeg": 0.0 + } + ] +} diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py index fa85ccb..cbe4fa5 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py @@ -25,6 +25,9 @@ class Handler(SimpleHTTPRequestHandler): self._json(200, data) return if self.path == "/api/map": + global LATEST_MAP + with STATE_LOCK: + LATEST_MAP = None send_udp({"type": "map_request", "stamp": time.time()}) deadline = time.time() + 1.0 while time.time() < deadline: diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js index 3c041fc..8ff71c5 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js @@ -25,6 +25,7 @@ let goalPointsByName = {}; let defaultMissionName = ''; let defaultMissionGoals = []; let routeAlignmentInfo = {}; +let odomFallbackInfo = { active: false }; let activeNavPath = { goal_name: '', stage: 'idle', path_index: 0, points: [] }; const mapCanvas = $('map-canvas'); @@ -89,18 +90,37 @@ function highlightMode(mode) { function updateTaskButtonState() { const btn = $('btn-run-task'); - if (!btn) return; + const odomBtn = $('btn-odom-task'); + const odomStopBtn = $('btn-odom-stop'); const hasMission = Boolean(defaultMissionName); - const enabled = latestConnected && currentMode === 'NAV' && hasMission; - btn.disabled = !enabled; - btn.textContent = hasMission ? `Run ${defaultMissionName}` : 'Run Mission'; - if (!hasMission) { - btn.title = 'No default mission loaded from backend'; - return; + const runEnabled = latestConnected && currentMode === 'NAV' && hasMission; + const odomEnabled = latestConnected && hasMission; + + if (btn) { + btn.disabled = !runEnabled; + btn.textContent = hasMission ? `Run ${defaultMissionName}` : 'Run Mission'; + if (!hasMission) { + btn.title = 'No default mission loaded from backend'; + } else { + btn.title = runEnabled + ? `Run default mission ${defaultMissionName}` + : 'Available only in NAV mode while connected'; + } + } + + if (odomBtn) { + odomBtn.disabled = !odomEnabled; + odomBtn.title = hasMission + ? 'Initialize map->odom from waypoint id1, switch to NAV, then run the current route' + : 'No default mission loaded from backend'; + } + + if (odomStopBtn) { + odomStopBtn.disabled = !(latestConnected && odomFallbackInfo.active); + odomStopBtn.title = odomFallbackInfo.active + ? 'Stop pure odom fallback and stop simple_nav' + : 'Odom fallback is not active'; } - btn.title = enabled - ? `Run default mission ${defaultMissionName}` - : 'Available only in NAV mode while connected'; } function setText(id, text, cls) { @@ -355,6 +375,17 @@ function formatRouteAlignment(info) { return `${applied} hits=${hits} ${reason}`; } +function formatOdomFallback(info) { + if (!info || !info.active) return 'inactive'; + const anchor = info.anchor || 'id1'; + const pose = info.map_pose || {}; + const x = Number.isFinite(pose.x) ? Number(pose.x).toFixed(2) : '--'; + const y = Number.isFinite(pose.y) ? Number(pose.y).toFixed(2) : '--'; + const yaw = Number.isFinite(pose.yaw_deg) ? Number(pose.yaw_deg).toFixed(1) : '--'; + const handoff = info.handoff_pending ? ' handoff pending' : ''; + return `${anchor} x=${x} y=${y} yaw=${yaw}deg${handoff}`; +} + function renderTaskGoals() { const list = $('task-goals-list'); if (!list) return; @@ -392,6 +423,7 @@ function applyMapMetadata(data) { defaultMissionName = data.default_mission_name || ''; defaultMissionGoals = Array.isArray(data.default_mission_goals) ? data.default_mission_goals : []; routeAlignmentInfo = data.route_alignment || {}; + odomFallbackInfo = data.odom_fallback || odomFallbackInfo; activeNavPath = data.nav_path || activeNavPath; currentGoalIndex = currentGoalName ? defaultMissionGoals.findIndex(goal => goal.name === currentGoalName) @@ -401,6 +433,11 @@ function applyMapMetadata(data) { setText('d-task-mission', defaultMissionName || '--', defaultMissionName ? 'ok' : ''); setText('d-task-goals', String(defaultMissionGoals.length || 0), defaultMissionGoals.length ? 'ok' : ''); setText('d-route-align', formatRouteAlignment(routeAlignmentInfo), routeAlignmentInfo.enabled ? 'ok' : 'warn'); + setText( + 'd-odom-fallback', + formatOdomFallback(odomFallbackInfo), + odomFallbackInfo.handoff_pending ? 'warn' : odomFallbackInfo.active ? 'active' : '', + ); updateTaskButtonState(); renderTaskGoals(); } @@ -527,6 +564,14 @@ function applyState(data) { syncGoalMarkerFromNavStatus(data.nav_status || ''); const nav = data.nav || {}; + if (nav.odom_fallback) { + odomFallbackInfo = nav.odom_fallback; + setText( + 'd-odom-fallback', + formatOdomFallback(odomFallbackInfo), + odomFallbackInfo.handoff_pending ? 'warn' : odomFallbackInfo.active ? 'active' : '', + ); + } if (nav.pose) { latestPose = nav.pose; setText('d-nav-pose', `x=${nav.pose.x.toFixed(2)} y=${nav.pose.y.toFixed(2)} yaw=${(nav.pose.yaw * 57.2958).toFixed(1)}deg`); @@ -605,6 +650,47 @@ $('btn-estop').onclick = async () => { } }; $('btn-refresh-map').onclick = fetchMap; +$('btn-odom-task').onclick = async () => { + if (!latestConnected) { + appendEvent('ODOM', 'bridge not connected', 'warn'); + updateTaskButtonState(); + return; + } + if (!defaultMissionName || !defaultMissionGoals.length) { + appendEvent('ODOM', 'no route mission loaded', 'warn'); + return; + } + const start = defaultMissionGoals[0]; + const ok = confirm( + `Run odom fallback mission ${defaultMissionName}?\n\n` + + `Place the robot at waypoint id1 before confirming:\n` + + `x=${Number(start.x).toFixed(3)} y=${Number(start.y).toFixed(3)} yaw=${Number(start.yaw_deg || 0).toFixed(1)}deg` + ); + if (!ok) return; + setLastGoalByName(start.name); + drawMap(); + const result = await post({ type: 'odom_task' }); + if (result.ok) { + highlightMode('NAV'); + appendEvent('ODOM', `init at ${start.name}, run ${defaultMissionName}`, 'ok'); + setTimeout(fetchMap, 400); + } +}; +$('btn-odom-stop').onclick = async () => { + if (!latestConnected) { + appendEvent('ODOM', 'bridge not connected', 'warn'); + updateTaskButtonState(); + return; + } + const result = await post({ type: 'odom_stop' }); + if (result.ok) { + odomFallbackInfo = { active: false }; + setText('d-odom-fallback', formatOdomFallback(odomFallbackInfo), ''); + updateTaskButtonState(); + appendEvent('ODOM', 'fallback stopped', 'ok'); + setTimeout(fetchMap, 400); + } +}; $('btn-run-task').onclick = async () => { if (!latestConnected) { appendEvent('TASK', 'bridge not connected', 'warn'); diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html index 3ad2d18..03714fb 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html @@ -4,7 +4,7 @@ sim2real ROS2 Console - +

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zG@%^z$LqnCkoMvdaNF_h$&u)J@c={XeYt>ZEo@%g1ErEySk#S9muoF>bz3R3!?@gvcz1Y_I<&-!2ojZcTZZNZm#TZ_d@u zF5y?8jn*x#PkI%nR;?ZD=TK0JKv_^_Z}BEj;$cmW9;@(2%V~`K9y}^}@gY!>QXlE7 iOC`!AhX<7;9fahne!oLWgM*z>$bP!`coA||QT+l}5jmFt diff --git a/05_software/real/sim2real_ros2_v2/policies/README.md b/05_software/real/sim2real_ros2_v2/policies/README.md index 2158680..1898dd3 100644 --- a/05_software/real/sim2real_ros2_v2/policies/README.md +++ b/05_software/real/sim2real_ros2_v2/policies/README.md @@ -1,12 +1,12 @@ -# `v0.11.1` 策略文件 +# `v0.12.0` 策略文件 -本阶段只归档运行配置引用或作为部署契约基线的策略，未纳入其余候选 checkpoint 和 engine。 +本阶段运行配置使用 `model_9600` 作为 Rough 策略，并保留 Crawl ONNX 和部署契约参考模型。 -| 文件 | 用途 | SHA-256 | -| --- | --- | --- | -| `NEWmodel_1900.onnx` | Rough 默认 ONNX | `A9E2F0D117225874C8B4F986787C3E6C8E7EA45D1CDA3AED58AC38F581442B00` | -| `NEWmodel_1900_fp16.engine` | Rough 比赛机 TensorRT | `DBC73AC9B3780029EC08BE19B9972B9840A067EBD146DEB860698F4F7066CC03` | -| `model_crawl.onnx` | Crawl 策略候选；当前配置使用 IK 后端 | `633AB2F3C3737FDDFD657F4A006A414BFA3950DD60D708B101E6744DF9E6DF67` | -| `model_rough.onnx` | 原部署契约参考基线 | `4149BE180A197E70495A7A6D186C62BE43271A4CE9035A8EEE56CD293D869A27` | +| 文件 | 用途 | +| --- | --- | +| `model_9600.onnx` | 里程计版本 Rough ONNX | +| `model_9600_fp16.engine` | 里程计版本 Rough TensorRT | +| `model_crawl.onnx` | Crawl 候选；当前配置使用 IK 后端 | +| `model_rough.onnx` | 原部署契约参考基线 | -TensorRT engine 不保证跨 JetPack、TensorRT 版本或 GPU 架构兼容。 +其余 `model_6800`、`model_8400`、`model_10200` 等候选策略属于相邻实验或后续比赛版本，不在本 Tag 重复归档。 diff --git a/05_software/real/sim2real_ros2_v2/policies/model_9600.onnx b/05_software/real/sim2real_ros2_v2/policies/model_9600.onnx new file mode 100644 index 0000000000000000000000000000000000000000..74c0df1226c570ffd9c139e99fcf9e4504e3e831 GIT binary patch literal 777597 zcmdqIXHXT<(l$zt5+z7Rlpr8MK!iQ3H-b5$f}mnRK|ldPf*6TP5Clas2nZ_KfFiPI z^+r(4qJoME5HJHKM8tGC@2T%Q?|JV%Rkv<^zwWM@sp{#O?s@jiTC2k|65@*DK|4dY 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