From b082046b153c136b51761b374e5165f2c28e3808 Mon Sep 17 00:00:00 2001 From: eastzio <3156045992@qq.com> Date: Mon, 27 Jul 2026 16:09:32 +0800 Subject: [PATCH] =?UTF-8?q?[real]=20=E6=95=B4=E7=90=86=E6=9C=80=E7=BB=88?= =?UTF-8?q?=E6=AF=94=E8=B5=9B=20ROS=202=20Sim2Real=20=E9=83=A8=E7=BD=B2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 4 + 01_doc/version_history.md | 11 + 05_software/README.md | 7 +- 05_software/real/README.md | 16 +- 05_software/real/sim2real_ros2/.gitignore | 14 + .../real/sim2real_ros2/DEPLOYMENT_GUIDE.md | 177 + 05_software/real/sim2real_ros2/Dockerfile | 79 + 05_software/real/sim2real_ros2/README.md | 104 + .../real/sim2real_ros2/docker-compose.yml | 22 + .../real/sim2real_ros2/docker_entrypoint.sh | 12 + .../real/sim2real_ros2/docs/ARCHITECTURE.md | 102 + .../real/sim2real_ros2/docs/MIGRATION_PLAN.md | 80 + .../docs/REMOTE_CONTROL_USAGE.md | 499 + .../sim2real_ros2/docs/WEB_DEBUG_USAGE.md | 246 + 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05_software/real/sim2real_ros2/src/sim2real_runtime/src/pcd_nav_click_tool.py create mode 100644 05_software/real/sim2real_ros2/src/sim2real_runtime/src/policy_runtime_node.cpp create mode 100644 05_software/real/sim2real_ros2/src/sim2real_runtime/src/remote_uart_node.py create mode 100644 05_software/real/sim2real_ros2/src/sim2real_runtime/src/simple_nav_node.py create mode 100644 05_software/real/sim2real_ros2/src/sim2real_runtime/src/web_udp_bridge_node.py create mode 100644 05_software/real/sim2real_ros2/src/sim2real_runtime/test/test_deadzone_velocity_limiter.py create mode 100644 05_software/real/sim2real_ros2/start_sim2real.sh diff --git a/.gitignore b/.gitignore index 0a9889c..ae8eb97 100644 --- a/.gitignore +++ b/.gitignore @@ -30,6 +30,10 @@ log/ !05_software/real/sim2real/vendored/odin1_imu/build/libodin1_imu_bridge.so !05_software/real/sim2real/vendored/odin1_imu/lib/*.a +# Required vendored Odin SDK libraries in the final ROS 2 deployment +!05_software/real/sim2real_ros2/src/odin_ros_driver/lib/liblydHostApi_arm.a +!05_software/real/sim2real_ros2/src/odin_ros_driver/lib/liblydHostApi_amd.a + # Training outputs logs/ checkpoints/ diff --git a/01_doc/version_history.md b/01_doc/version_history.md index 27d8346..b5a8bd3 100644 --- a/01_doc/version_history.md +++ b/01_doc/version_history.md @@ -14,6 +14,7 @@ | `v0.7.0` | MuJoCo 工具 | 姿态优化、IK 扫描、动力学、MPC 和 GUI 调试工具 | | `v0.8.0` | 后期 Sim2Sim | ONNX 回放、IK/路线检查工具和比赛最终 Rough 策略 | | `v0.8.1` | 导航打点工具 | 地图/航点编辑、路线迭代和抽样 PCD 补充包 | +| `v0.9.0` | 最终比赛部署 | ROS 2/C++ 真机闭环、Odin、CAN、导航与屏幕 UI | ## `v0.4.0` 的模型变化 @@ -71,3 +72,13 @@ - 补充 `1hao.xml`、`2hao.xml`、`A_C.xml`，并为 `1B_FF.json` 补齐其引用的 `B_C.xml`。 - 将两份约 915 MiB 的原始 ASCII PCD 确定性抽样为各小于 10 MB 的预览点云；抽样参数、点数和哈希记录在工具 README。 - 训练代码、MJCF、比赛策略和历史依赖锁保持 `v0.8.0` 状态不变。 + +## `v0.9.0` 的最终比赛部署 + +- 归档比赛得分 1050 所对应的 `last_not_slalom_1050` ROS 2 工作区；1050 是成绩，不是策略编号。 +- 保留 53D→16D C++ 策略运行时、200 Hz CAN 硬件桥、命令仲裁、安全监控和统一启动包。 +- 保留 Rough `model_6800`、Wall `model_84` 的 ONNX 与比赛 TensorRT engine；Crawl 使用 IK 后端。 +- 保留 Odin ROS 驱动及 Apache-2.0 许可证、五份比赛路线、抽样 PCD 和 Orin 触控屏 UI。 +- 排除嵌套 Git、缓存、日志、备份、候选模型、开发草稿和重复地图工具。 +- 原始备份缺少配置所引用的 Odin `1hao.bin`，因此重定位模式仍需从比赛设备补回该外部资产；纯里程计模式不受此限制。 +- 自研 ROS 包仍保留原工程的 `Proprietary` 清单字段，公开到 GitHub 前必须由权利人统一选择开源许可证。 diff --git a/05_software/README.md b/05_software/README.md index 873632b..6f9ef47 100644 --- a/05_software/README.md +++ b/05_software/README.md @@ -8,7 +8,8 @@ │ └─ rc_mjlab/ # 训练、MJCF、MuJoCo、Sim2Sim 和本地 mjlab 依赖 └─ real/ ├─ ik_real/ # IK 轨迹与早期真机控制 - └─ sim2real/ # 第一代 Python 策略真机部署 + ├─ sim2real/ # 第一代 Python 策略真机部署 + └─ sim2real_ros2/ # 最终比赛 ROS 2/C++ 真机部署 ``` ## 数据流 @@ -24,11 +25,13 @@ MJCF + mjlab task +----> Sim2Sim 策略验证 | +----> Python Sim2Real ----> 电机 / IMU + | + +----> ROS 2/C++ Sim2Real -> CAN / Odin / 导航 / 屏幕 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`。 +`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`，最终比赛 ROS 2 部署见 `v0.9.0`。 详细说明见： diff --git a/05_software/real/README.md b/05_software/real/README.md index 06461f6..c3d6b95 100644 --- a/05_software/real/README.md +++ b/05_software/real/README.md @@ -1,6 +1,6 @@ -# 第一代真机控制 +# 真机控制与部署 -本目录保存 16DOF 轮足机器人的早期真机控制实现。 +本目录保存 16DOF 轮足机器人从早期接口验证到最终比赛 ROS 2 部署的演进。 ## `ik_real` @@ -20,6 +20,18 @@ 部署说明见 [`sim2real/README.md`](sim2real/README.md) 与 [`sim2real/DEPLOYMENT.md`](sim2real/DEPLOYMENT.md)。 +## `sim2real_ros2` + +`last_not_slalom_1050` 最终比赛工程的规范化归档，包含： + +- ROS 2 Humble + C++ 运行时 +- 50 Hz 策略推理与 200 Hz CAN 电机热路径 +- Rough `model_6800`、Wall `model_84` 和 Crawl IK 模式 +- Odin IMU/里程计驱动、简单导航、命令仲裁和触控屏 UI +- 比赛路线、抽样 PCD、Docker 与部署说明 + +`1050` 是比赛得分，不是模型编号。完整入口与缺失的 Odin 重定位地图边界见 [`sim2real_ros2/README.md`](sim2real_ros2/README.md)。 + ## 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/.gitignore b/05_software/real/sim2real_ros2/.gitignore new file mode 100644 index 0000000..2641ed6 --- /dev/null +++ b/05_software/real/sim2real_ros2/.gitignore @@ -0,0 +1,14 @@ +build/ +install/ +log/ +logs_v2_web/ +map/load/ +src/odin_ros_driver/log/ +src/odin_ros_driver/recorddata/ +src/odin_ros_driver/image/ +*.bak_* +__pycache__/ +*.py[cod] +.colcon/ +.vscode/ +compile_commands.json diff --git a/05_software/real/sim2real_ros2/DEPLOYMENT_GUIDE.md b/05_software/real/sim2real_ros2/DEPLOYMENT_GUIDE.md new file mode 100644 index 0000000..00ee11b --- /dev/null +++ b/05_software/real/sim2real_ros2/DEPLOYMENT_GUIDE.md @@ -0,0 +1,177 @@ +# ROS2 C++ Sim2Real 运动控制栈 - 部署指南 + +本工作区提供了一个自包含、独立的 C++ ROS2 Humble 实现，用于在 Jetson Orin 目标机上部署轮腿四足机器人控制策略。 + +--- + +## 1. 前提条件与环境 + +### 硬件 +* **目标计算机**：运行 Ubuntu 22.04 LTS 的 Jetson Orin Nano / Orin NX / AGX Orin。 +* **IMU 传感器**：Odin 集成 IMU，发布至 `/odin1/imu`。 +* **CAN 总线适配器**：Peak CAN、USB-to-CAN 或板载 SocketCAN 接口，使用 CAN0 和 CAN1。 + +### 主机依赖 +* **操作系统**：Ubuntu 22.04 LTS (Jammy Jellyfish)。 +* **ROS 2 发行版**：ROS 2 Humble（Desktop-Base 或 ROS-Base）。 +* **C++ 编译器**：支持 C++17 的 GCC/G++ 9.0+。 +* **库与 ROS2 包**： + * `libyaml-cpp-dev` + * `libeigen3-dev` + * `libusb-1.0-0-dev`（Odin USB 传感器通信） + * `libpcl-dev` 和 `libopencv-dev`（3D 点云与相机处理） + * `ros-humble-navigation2` 和 `ros-humble-nav2-bringup`（Nav2 规划器/控制器服务器） + * `ros-humble-pointcloud-to-laserscan`（点云转激光扫描，供 AMCL 使用） + * `ros-humble-cv-bridge` 和 `ros-humble-pcl-conversions`（Odin 传感器驱动图像与点云处理） + * `can-utils`（SocketCAN 验证工具） + +--- + +## 2. 本地编译与部署 + +按以下步骤在主机系统上编译运行整个栈： + +### 步骤 1：安装系统依赖 +```bash +sudo apt-get update +sudo apt-get install -y build-essential cmake can-utils libyaml-cpp-dev libeigen3-dev \ + libusb-1.0-0-dev libpcl-dev libopencv-dev ros-humble-navigation2 \ + ros-humble-nav2-bringup ros-humble-pointcloud-to-laserscan \ + ros-humble-cv-bridge ros-humble-pcl-conversions +``` + +### 步骤 2：下载 ONNXRuntime C++ SDK +策略需要 ONNXRuntime 库来运行推理。必须下载并解压到已知目录： + +```bash +# 创建目录 +sudo mkdir -p /opt/onnxruntime +cd /opt + +# 针对 Jetson Orin (ARM64 / aarch64)： +sudo wget https://github.com/microsoft/onnxruntime/releases/download/v1.16.3/onnxruntime-linux-aarch64-1.16.3.tgz +sudo tar -zxvf onnxruntime-linux-aarch64-1.16.3.tgz --strip-components=1 -C /opt/onnxruntime + +# 或标准桌面仿真 (x86_64 / amd64)： +# sudo wget https://github.com/microsoft/onnxruntime/releases/download/v1.16.3/onnxruntime-linux-x64-1.16.3.tgz +# sudo tar -zxvf onnxruntime-linux-x64-1.16.3.tgz --strip-components=1 -C /opt/onnxruntime +``` + +导出 CMake 辅助变量： +```bash +export ONNXRUNTIME_DIR=/opt/onnxruntime +``` + +### 步骤 3：构建工作区 +进入包含 `src/` 的本包根目录，运行 `colcon`： +```bash +colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release +``` + +### 步骤 4：配置 SocketCAN 接口 +启动前，以 1 Mbps 波特率激活 CAN 接口： +```bash +sudo ip link set can0 up type can bitrate 1000000 +sudo ip link set can1 up type can bitrate 1000000 +``` +使用 `ifconfig` 或 `ip link` 验证接口已启动。 + +### 步骤 5：启动节点 +使启动脚本可执行并运行： +```bash +chmod +x start_sim2real.sh +./start_sim2real.sh +``` + +--- + +## 3. Docker 部署（推荐） + +强烈推荐使用 Docker 隔离依赖，避免 Jetson Orin 上的库版本冲突。 + +### 步骤 1：构建镜像 +确保在 `sim2real_ros2` 目录中（包含 `Dockerfile`）： +```bash +# 使用标准 docker build： +docker build -t sim2real_ros2:latest . + +# 或使用 Docker Compose： +docker compose build +``` + +### 步骤 2：运行容器 +对于真实硬件部署，容器**必须**共享主机网络栈（用于 ROS2 DDS 和 SocketCAN）并具备线程优先级能力以实现实时调度： + +```bash +# 选项 A：手动运行 +docker run -it \ + --network host \ + --privileged \ + --cap-add=sys_nice \ + --volume=/dev:/dev \ + --shm-size=2g \ + --name sim2real_ros2_run \ + sim2real_ros2:latest + +# 选项 B：通过 Docker Compose 运行（最简单） +docker compose up -d +``` + +--- + +## 4. 系统拓扑与话题 + +控制节点通过标准 ROS 2 DDS 消息与传感器驱动和导航栈交互： + +* **IMU 输入**：订阅 `/odin1/imu`（`sensor_msgs/msg/Imu`）。硬件节点自动执行逆轴旋转（`x_raw = -y_ros`，`y_raw = x_ros`）以重建 RL 策略期望的原始坐标系。 +* **控制命令**：订阅 `/cmd_vel` 和 `/cmd_vel_stamped`（`geometry_msgs/msg/Twist` / `TwistStamped`），由导航栈或手动键盘节点发布。 +* **里程计输入**：订阅 `/odom`（`nav_msgs/msg/Odometry`），由 `odom_relay_node` 从 `/odin1/odometry` 中继并重映射帧名后提供。 +* **急停**：订阅 `/safety/estop`（`std_msgs/msg/Bool`）。发布 `true` 触发软件急停，机器人进入低刚度阻尼刹车。 +* **状态遥测**：发布 `runtime/state`（`sim2real_interfaces/msg/RuntimeState`），包含当前关节速度、温度、IMU 输出和诊断信息。 +* **策略目标**：发布 `runtime/target`（`sim2real_interfaces/msg/RuntimeTarget`），包含策略推理输出的目标关节位置。 + +### TF 树 +``` +odom ──→ base_link （由 odom_relay_node 广播） +map ──→ odom （由 AMCL / Odin SLAM 发布，取决于运行模式） +``` + +--- + +## 5. 集成 ROS 2 导航与传感器驱动 + +### USB 设备权限（Odin 传感器） +要运行物理 Odin 传感器驱动（`odin_ros_driver`），目标计算机必须具有传感器 USB 接口的读写权限。在主机系统上添加以下 udev 规则： + +```bash +# 1. 添加 udev 规则 +echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev"' | sudo tee /etc/udev/rules.d/99-odin-usb.rules + +# 2. 重新加载 udev 规则并重新插拔传感器 +sudo udevadm control --reload +sudo udevadm trigger +``` + +### 集成启动参数 +统一启动文件 `sim2real_system.launch.py` 支持模块化激活传感器驱动和 Nav2 导航栈： + +* `launch_driver`（默认：`true`）：启动 `odin_ros_driver` 节点以获取 IMU 和点云遥测。 +* `launch_nav2`（默认：`false`）：按需启动 ROS2 Navigation2；比赛默认使用 `simple_nav_node.py` 的路线跟踪。 + +#### 1. 完整真实硬件闭环（默认） +启动运动控制运行时、物理 CAN 桥接、Odin 传感器驱动和 Nav2 导航： +```bash +ros2 launch sim2real_bringup sim2real_system.launch.py dry_run:=false launch_driver:=true launch_nav2:=true +``` + +#### 2. Dry-Run / 仿真航点测试 +在 dry-run 模式下运行策略运行时和 Nav2 导航（不访问 CAN 总线或物理 USB 传感器，适合测试导航话题路由）： +```bash +ros2 launch sim2real_bringup sim2real_system.launch.py dry_run:=true launch_driver:=false launch_nav2:=true +``` + +#### 3. 仅运动控制（无导航） +禁用传感器驱动和 Nav2，让运动策略等待 `/cmd_vel` 上的手动速度输入（如键盘遥操作）： +```bash +ros2 launch sim2real_bringup sim2real_system.launch.py launch_driver:=false launch_nav2:=false +``` diff --git a/05_software/real/sim2real_ros2/Dockerfile b/05_software/real/sim2real_ros2/Dockerfile new file mode 100644 index 0000000..5753fa4 --- /dev/null +++ b/05_software/real/sim2real_ros2/Dockerfile @@ -0,0 +1,79 @@ +# 使用 ROS2 官方 Humble 基础镜像 +FROM ros:humble-ros-base-jammy + +ENV DEBIAN_FRONTEND=noninteractive + +# 安装 C++ 编译依赖、SocketCAN 调试工具及 Eigen 等核心库 +RUN apt-get update && apt-get install -y --no-install-recommends \ + build-essential \ + cmake \ + git \ + can-utils \ + libyaml-cpp-dev \ + libeigen3-dev \ + libusb-1.0-0-dev \ + libpcl-dev \ + libopencv-dev \ + ros-humble-navigation2 \ + ros-humble-nav2-bringup \ + ros-humble-pointcloud-to-laserscan \ + ros-humble-cv-bridge \ + ros-humble-pcl-conversions \ + wget \ + tar \ + python3-pip \ + && rm -rf /var/lib/apt/lists/* + +# ============================================================================ +# ONNX Runtime — 架构自适应，aarch64 启用 CUDA GPU 加速 +# ============================================================================ +# - Orin Nano (aarch64): pip 安装 onnxruntime-gpu（含 CUDA EP） +# - x86_64 开发机: 下载 CPU-only 预编译包（GPU 不可用） +WORKDIR /opt +RUN ARCH=$(uname -m) && \ + if [ "$ARCH" = "aarch64" ]; then \ + echo "[ONNX] Installing CUDA-enabled ONNX Runtime for Jetson Orin..." && \ + pip3 install --no-cache-dir onnxruntime-gpu && \ + SITE_PKGS=$(python3 -c "import site; print(site.getsitepackages()[0])") && \ + mkdir -p onnxruntime/include onnxruntime/lib && \ + cp -r "$SITE_PKGS/onnxruntime/include/"* onnxruntime/include/ && \ + cp "$SITE_PKGS/onnxruntime/capi/libonnxruntime.so"* onnxruntime/lib/ && \ + echo "[ONNX] CUDA ONNX Runtime installed."; \ + else \ + echo "[ONNX] Installing CPU-only ONNX Runtime for x86_64 dev..." && \ + wget -q https://github.com/microsoft/onnxruntime/releases/download/v1.16.3/onnxruntime-linux-x64-1.16.3.tgz && \ + tar -zxf onnxruntime-linux-x64-1.16.3.tgz && \ + mv onnxruntime-linux-x64-1.16.3 onnxruntime && \ + rm onnxruntime-linux-x64-1.16.3.tgz; \ + fi + +ENV ONNXRUNTIME_DIR=/opt/onnxruntime + +# 创建工作空间，将所有 C++ 源码包拷入 +WORKDIR /sim2real_ws/src +COPY src/sim2real_bringup sim2real_bringup +COPY src/sim2real_common sim2real_common +COPY src/sim2real_hw sim2real_hw +COPY src/sim2real_interfaces sim2real_interfaces +COPY src/sim2real_runtime sim2real_runtime +COPY src/odin_ros_driver odin_ros_driver +COPY src/sim2real_nav2 sim2real_nav2 + +# 拷贝策略文件与运行脚本 +WORKDIR /sim2real_ws +COPY policies policies +COPY map map +COPY start_sim2real.sh start_sim2real.sh +RUN chmod +x start_sim2real.sh + +# 编译 ROS2 工作空间 +SHELL ["/bin/bash", "-c"] +RUN source /opt/ros/humble/setup.bash && \ + colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release + +# 拷贝 Docker 入口脚本并设置 +COPY docker_entrypoint.sh /docker_entrypoint.sh +RUN chmod +x /docker_entrypoint.sh + +ENTRYPOINT ["/docker_entrypoint.sh"] +CMD ["./start_sim2real.sh"] diff --git a/05_software/real/sim2real_ros2/README.md b/05_software/real/sim2real_ros2/README.md new file mode 100644 index 0000000..fffa6b4 --- /dev/null +++ b/05_software/real/sim2real_ros2/README.md @@ -0,0 +1,104 @@ +# ROS 2 最终比赛 Sim2Real + +本目录归档 `last_not_slalom_1050` 真机工程，对应 RC_WheelLeg 在 RoboCon 仿生足式障碍赛使用的最终 ROS 2 部署栈。`1050` 是比赛得分，不是模型编号；比赛 Rough 策略为 `model_6800.onnx`。 + +该里程碑计划标记为 `v0.9.0`。训练架构和策略来源见 `v0.6.0`，比赛 Rough 模型首次归档见 `v0.8.0`，导航打点与路线演进见 `v0.8.1`。 + +## 系统闭环 + +```text +Odin IMU / Odom ──> hardware bridge ──> RuntimeState + | +导航 / 遥控 / 屏幕 ──> cmd mux ──> policy runtime (50 Hz) + | + RuntimeTarget + | + hardware bridge / CAN (200 Hz) +``` + +核心约束： + +- 53 维策略观测、16 维动作输出。 +- Rough：`model_6800`，优先 TensorRT，失败时回退 ONNX Runtime。 +- Wall：`model_84`，同样保留 TensorRT 与 ONNX 两种文件。 +- Crawl：比赛配置使用解析 IK，不加载 Crawl RL 权重。 +- 默认站姿：髋俯仰 `0.550`、膝关节 `-1.125`。 +- 默认命令源：`NAV`；默认定位模式：`relocal`。 + +## 目录 + +```text +sim2real_ros2/ +├─ src/ +│ ├─ sim2real_interfaces/ # RuntimeState / RuntimeTarget 消息 +│ ├─ sim2real_common/ # 部署契约、滤波、平衡和安全监控 +│ ├─ sim2real_hw/ # SocketCAN、IMU 和 200 Hz 电机热路径 +│ ├─ sim2real_runtime/ # 策略、命令仲裁、导航、Web API +│ ├─ sim2real_nav2/ # Nav2 配置入口 +│ ├─ sim2real_bringup/ # 统一参数和启动文件 +│ └─ odin_ros_driver/ # Odin ROS 驱动（Apache-2.0） +├─ policies/ # 比赛实际使用的 Rough / Wall 模型 +├─ map/ # 比赛路线和抽样 PCD +├─ screen/ # Orin 800×600 触控面板 +├─ docs/ # 架构、遥控、Web 和迁移说明 +├─ Dockerfile +└─ start_sim2real.sh +``` + +## 构建与运行 + +目标环境是 Ubuntu 22.04、ROS 2 Humble 和 Jetson Orin。系统依赖和 Docker 流程见 [`DEPLOYMENT_GUIDE.md`](DEPLOYMENT_GUIDE.md)。 + +```bash +cd 05_software/real/sim2real_ros2 +colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release +./start_sim2real.sh +``` + +运行参数和模型/路线均使用工作区根目录相对路径，因此应从本目录启动。常用启动覆盖： + +```bash +# 纯里程计模式，不等待 Odin 重定位地图 +./start_sim2real.sh localization_mode:=odom \ + odin_config_file:=src/odin_ros_driver/config/control_command_odom.yaml + +# 禁止驱动，仅做软件链路检查 +./start_sim2real.sh launch_driver:=false launch_remote:=false +``` + +## 必须补充的部署资产 + +最终源目录配置引用了 Odin `map/1hao.bin`，但工作区备份中不存在这个文件；全盘检索也未找到同名文件。为避免用来源不明的 `.bin` 冒充比赛地图，本仓库不伪造该资产。 + +使用 `relocal` 前必须： + +1. 从比赛 Orin 或 Odin 建图备份取得真实 `1hao.bin`。 +2. 修改 `src/odin_ros_driver/config/control_command_relocal.yaml` 中的 `relocalization_map_abs_path` 为目标机绝对路径。 +3. 核对文件哈希并在发布说明中补充来源。 + +缺少该文件时请使用 `localization_mode:=odom`，不要宣称重定位闭环已复现。地图和路线边界见 [`map/README.md`](map/README.md)。 + +## 归档边界 + +已保留： + +- 最终六个 ROS 2 包、Odin 驱动源码、比赛设备标定参数和预编译 SDK 静态库。 +- 最终 Rough/Wall ONNX 与比赛机 TensorRT engine。 +- 五份最终工程路线、1 号场地抽样 PCD、屏幕 UI 和启动脚本。 +- Odin 驱动 Apache-2.0 许可证。 + +未保留： + +- 嵌套 `.git`、`__pycache__`、日志、备份、构建/安装目录。 +- 未被比赛配置引用的候选模型与候选 TensorRT engine。 +- 开发计划、任务草稿、重复地图工具和运行时轨迹。 +- 原备份中大小为 0 的浏览器静态页面；HTTP JSON API 和屏幕 UI 源码仍保留。 + +TensorRT engine 与 JetPack、TensorRT 版本及 GPU 架构有关；其他机器应从同名 ONNX 重新生成，不应默认复用比赛 engine。模型哈希见 [`policies/README.md`](policies/README.md)。 + +## 安全与开源状态 + +- 真机运行前必须架空轮组验证 CAN 映射、方向、零位、急停和限幅。 +- `deployment_contract.hpp` 是电机映射和动作缩放真值源；参考 YAML 不会自动修改 C++ 契约。 +- 自研 ROS 包的 `package.xml` 仍保留原工程的 `Proprietary` 字段。迁移到 GitHub 公共开源前，需要由项目负责人选择许可证并统一修改；本次整理不代替权利人作许可证决定。 +- 当前 Windows 环境只能做静态检查，不能证明 ROS 2、SocketCAN、Odin SDK 或 TensorRT 真机运行成功。 diff --git a/05_software/real/sim2real_ros2/docker-compose.yml b/05_software/real/sim2real_ros2/docker-compose.yml new file mode 100644 index 0000000..1d2e414 --- /dev/null +++ b/05_software/real/sim2real_ros2/docker-compose.yml @@ -0,0 +1,22 @@ +version: '3.8' + +services: + sim2real_ros2: + build: + context: . + dockerfile: Dockerfile + container_name: sim2real_ros2_node + runtime: nvidia + network_mode: host + privileged: true + stdin_open: true + tty: true + environment: + - NVIDIA_VISIBLE_DEVICES=all + - NVIDIA_DRIVER_CAPABILITIES=compute,utility + cap_add: + - SYS_NICE + shm_size: '2gb' + volumes: + - /dev:/dev + restart: unless-stopped diff --git a/05_software/real/sim2real_ros2/docker_entrypoint.sh b/05_software/real/sim2real_ros2/docker_entrypoint.sh new file mode 100644 index 0000000..c4e1054 --- /dev/null +++ b/05_software/real/sim2real_ros2/docker_entrypoint.sh @@ -0,0 +1,12 @@ +#!/bin/bash +set -e + +# Source ROS2 Humble environment +source /opt/ros/humble/setup.bash + +# Source workspace install setup if compiled +if [ -f "/sim2real_ws/install/setup.bash" ]; then + source /sim2real_ws/install/setup.bash +fi + +exec "$@" diff --git a/05_software/real/sim2real_ros2/docs/ARCHITECTURE.md b/05_software/real/sim2real_ros2/docs/ARCHITECTURE.md new file mode 100644 index 0000000..f3b1d00 --- /dev/null +++ b/05_software/real/sim2real_ros2/docs/ARCHITECTURE.md @@ -0,0 +1,102 @@ +# sim2real_ros2 架构说明 + +## 设计目标 + +- 保留已验证的 RL 部署契约不变 +- 将低延迟循环从 Python 迁移至 C++ +- 暴露标准 ROS 2 接口用于导航和系统集成 +- 保持安全边界独立于策略正确性 + +## 各包职责 + +### `sim2real_interfaces`（接口消息） + +定义最小化的运行时消息： + +- `RuntimeState` + 硬件桥接发布的归一化运行时状态快照 +- `RuntimeTarget` + 策略运行时发送至硬件桥接的最新策略目标 + +### `sim2real_common`（共享常量） + +存储编译期常量和部署契约辅助： + +- 观测维度和字段布局 +- 动作维度和轮子索引 +- 关节顺序和默认站姿 +- 动作缩放因子和默认循环频率 +- Mahony 姿态滤波器 +- 站立平衡控制器 +- 安全监控器（SafetyMonitor / RuntimeGuard） + +### `sim2real_hw`（硬件桥接） + +拥有硬件侧执行循环和安全边界： + +- RobStride CAN 收发 +- IMU 与 Odin 状态采集 +- 电机丢帧检测与保活逻辑（holdover） +- 看门狗与阻尼刹车 +- 发布 `RuntimeState` +- 订阅 `RuntimeTarget` +- 订阅 `/odom` 里程计数据 + +目标热路径： + +- 以 `200Hz` 频率读取状态 +- 应用最新安全目标 +- 超时或安全违规时立即停机 + +### `sim2real_runtime`（策略运行时） + +拥有策略侧执行： + +- 订阅 `RuntimeState` +- 按当前部署契约精确构建 `53D` 观测 +- 以 `50Hz` 运行 ONNXRuntime 推理 +- 对 raw_action 做 `[-10, 10]` 安全裁剪 +- 发布 `RuntimeTarget` +- 仲裁命令来源：estop > safety_hold > startup > navigation > web + +同时包含： +- `odom_relay_node`：将 `/odin1/odometry` 中继为 `/odom`，帧名 `odin1_base_link` → `base_link`，并广播 TF + +### `sim2real_nav2`（导航配置） + +拥有： + +- Nav2 参数文件（planner、controller、costmap、AMCL、behavior） +- Nav2 启动文件（含 AMCL、costmap 生命周期节点、pointcloud_to_laserscan） + +### `sim2real_bringup`（启动管理） + +拥有： + +- 参数文件 +- 启动组合 +- 运行时模式选择 +- 集成 odin_ros_driver、sim2real_nav2 的条件启动 + +## 迁移规则 + +1. 优化之前先冻结当前契约 +2. 先迁移传输和循环结构，再调整控制算法 +3. C++ 运行时未达到影子模式一致性前，保留 Python 运行时可用 +4. 按段测量延迟： + - 观测延迟 + - 策略推理延迟 + - 目标传输延迟 + - 执行器响应延迟 + +## 首个里程碑 + +首个里程碑不是"机器人在 ROS 2 下行走"，而是： + +1. `sim2real_hw` 发布稳定的 `RuntimeState` +2. `sim2real_runtime` 从该状态构建正确的 `53D` 观测 +3. `sim2real_runtime` 以 `50Hz` 发布 `RuntimeTarget` +4. `sim2real_hw` 消费最新目标并执行超时刹车 +5. `cmd_vel` 可通过 ROS 2 注入而不改变策略契约 + +> ✅ 以上里程碑已全部完成。 diff --git a/05_software/real/sim2real_ros2/docs/MIGRATION_PLAN.md b/05_software/real/sim2real_ros2/docs/MIGRATION_PLAN.md new file mode 100644 index 0000000..d39e093 --- /dev/null +++ b/05_software/real/sim2real_ros2/docs/MIGRATION_PLAN.md @@ -0,0 +1,80 @@ +# 迁移计划 + +## Phase 1: 硬件核心迁移 ✅ 已完成 + +将当前高频热路径从 Python 迁出。 + +吸收的源文件： + +- `sim2real/interface/motor_driver.py` +- `sim2real/interface/motor_mapping.py` +- `sim2real/interface/imu_client.py` +- `sim2real/safety/runtime_guard.py` +- `sim2real/web/session.py` + +交付物： + +- C++ SocketCAN 电机总线封装 +- C++ 状态缓存 +- target 超时保活（timeout hold） +- 阻尼刹车 / 急停通路 +- 发布 `RuntimeState` + +## Phase 2: 策略运行时迁移 ✅ 已完成 + +吸收的源文件： + +- `sim2real/policy/policy_runner.py` +- `sim2real/interface/real_io.py` +- `sim2real/web/session.py` + +交付物： + +- 精确的 `53D` 观测构造器 +- ONNXRuntime C++ 推理封装 +- `50Hz` 策略定时器 +- 命令平滑与来源仲裁 +- raw_action `[-10, 10]` 安全裁剪 +- 发布 `RuntimeTarget` + +## Phase 3: ROS 2 系统集成 ✅ 已完成 + +参考的源项目： + +- `00_ reference/odin_ros_driver` +- `00_ reference/EDULITE_A3/el_a3_ros` +- `00_ reference/rl_sar` + +交付物： + +- `cmd_vel` / `cmd_vel_stamped` 输入（支持 Twist 和 TwistStamped） +- `odom_relay_node`：里程计中继 + TF 广播（odom → base_link） +- 诊断话题 +- rosbag/foxglove 可观测性 + +## Phase 4: 导航集成 ✅ 已完成 + +目标： + +- 导航通过 ROS 2 发送身体速度指令 +- RL 运行时保持为 locomotion 控制器 +- 看门狗和安全边界始终在导航之下 + +规则： + +- 导航绝不直接写电机指令 +- 策略契约在重新训练前保持不变 +- 任何新增历史项或里程计项必须版本化 + +## 当前状态 + +所有 4 个 Phase 已全部完成。以下为已实现的关键组件： + +| 组件 | 节点 | 说明 | +|------|------|------| +| 硬件桥接 | `sim2real_hw_node` | 200Hz CAN 收发 + IMU + Mahony + 安全 | +| 策略运行时 | `sim2real_runtime_node` | 50Hz ONNX 推理 + 53D 观测 + raw_action clip | +| 里程计中继 | `odom_relay_node` | /odin1/odometry → /odom + odom→base_link TF | +| 导航栈 | Nav2 全套节点 | AMCL + costmap + DWB + Navfn + BT + lifecycle | +| 传感器驱动 | `odin_ros_driver` | IMU + 点云 + 里程计原始发布 | +| 点云转换 | `pointcloud_to_laserscan` | /odin1/cloud_slam → /scan (供 AMCL 使用) | diff --git a/05_software/real/sim2real_ros2/docs/REMOTE_CONTROL_USAGE.md b/05_software/real/sim2real_ros2/docs/REMOTE_CONTROL_USAGE.md new file mode 100644 index 0000000..8837954 --- /dev/null +++ b/05_software/real/sim2real_ros2/docs/REMOTE_CONTROL_USAGE.md @@ -0,0 +1,499 @@ +# sim2real_ros2 遥控器调用说明 + +本文档说明如何在 `sim2real_ros2` 中调用已接入的 SBUS UART 遥控器节点，以及执行后系统会产生什么效果。 + +## 1. 当前接入关系 + +遥控器节点位于： + +```text +src/sim2real_runtime/src/remote_uart_node.py +``` + +该节点读取 SBUS 串口数据，并发布标准 ROS 2 控制话题： + +| 输入 | 输出 | 作用 | +|---|---|---| +| SBUS UART 遥控器 | `/cmd_vel` | 给策略运行时发送速度命令 | +| SBUS CH7 高位 | `/safety/estop` | 触发软件急停 | + +策略节点 `sim2real_runtime_node` 已经订阅 `/cmd_vel` 和 `/safety/estop`，所以遥控器不直接控制电机，而是通过 ROS 2 标准速度接口进入策略控制链路。 + +## 2. 通道映射 + +通道映射与本仓库第一代 Python Sim2Real 实现中的遥控器配置保持一致。 + +| 遥控器通道 | ROS 2 输出 | 含义 | 默认最大值 | +|---|---|---|---:| +| `CH2` | `cmd_vel.linear.x` | 前后速度 `vx` | `0.8 m/s` | +| `CH4` | `cmd_vel.linear.y` | 左右速度 `vy` | `0.3 m/s` | +| `CH1` | `cmd_vel.angular.z` | 转向角速度 `yaw` | `0.5 rad/s` | +| `CH7 HIGH` | `/safety/estop = true` | 软件急停 | - | + +默认方向反转配置： + +| 参数 | 默认值 | 含义 | +|---|---:|---| +| `remote_invert_vx` | `true` | 反转前后方向 | +| `remote_invert_vy` | `false` | 不反转横移方向 | +| `remote_invert_yaw` | `true` | 反转转向方向 | + +## 3. 参数位置 + +遥控器参数在： + +```text +src/sim2real_bringup/config/runtime.yaml +``` + +当前默认参数： + +```yaml +remote_enabled: true +remote_port: "/dev/ttyACM0" +remote_baudrate: 100000 +remote_timeout: 0.02 +remote_axis_deadzone: 50 +remote_active_threshold: 50 +remote_axis_full_scale: 660.0 +remote_max_vx: 0.8 +remote_max_vy: 0.3 +remote_max_yaw_rate: 0.5 +remote_invert_vx: true +remote_invert_vy: false +remote_invert_yaw: true +remote_publish_inactive_zero: true +remote_estop_latch: true +remote_estop_channel: 7 +remote_estop_level: "high" +remote_estop_debounce_frames: 3 +remote_estop_require_remote_mode: true +remote_poll_hz: 50.0 +``` + +如果遥控器串口不是 `/dev/ttyACM0`，需要修改： + +```yaml +remote_port: "/dev/ttyUSB0" +``` + +或改成实际设备路径。 + +## 4. 启动前检查 + +### 4.1 确认串口存在 + +```bash +ls /dev/ttyACM* /dev/ttyUSB* +``` + +如果使用默认配置，应能看到： + +```bash +/dev/ttyACM0 +``` + +### 4.2 确认串口权限 + +如果节点提示串口权限不足，可以临时执行： + +```bash +sudo chmod 666 /dev/ttyACM0 +``` + +更推荐的长期方式是把当前用户加入 `dialout` 组： + +```bash +sudo usermod -aG dialout $USER +``` + +然后重新登录。 + +### 4.3 确认 Python serial 依赖 + +节点依赖 `pyserial`。如果系统没有安装： + +```bash +sudo apt update +sudo apt install -y python3-serial +``` + +## 5. 构建 + +如果刚修改过代码或参数，建议重新构建相关包： + +```bash +cd /path/to/sim2real_ros2 +source /opt/ros/humble/setup.bash +colcon build --packages-select sim2real_runtime sim2real_bringup --symlink-install --merge-install +``` + +构建完成后 source 环境： + +```bash +source install/setup.bash +``` + +确认可执行节点存在： + +```bash +ros2 pkg executables sim2real_runtime +``` + +应包含： + +```text +sim2real_runtime remote_uart_node.py +``` + +## 6. 推荐启动方式 + +### 6.1 启动完整系统，不启动 Nav2 + +这是你当前常用方式： + +```bash +cd /path/to/sim2real_ros2 +source /opt/ros/humble/setup.bash +source install/setup.bash +ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false +``` + +默认情况下，`launch_remote:=true`，所以上面命令会同时启动遥控器节点。 + +等价完整写法： + +```bash +ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false launch_remote:=true +``` + +### 6.2 不启动遥控器 + +如果只想用手动 `ros2 topic pub` 或其他上位机发 `/cmd_vel`，可以关闭遥控器节点： + +```bash +ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false launch_remote:=false +``` + +## 7. 单独启动遥控器节点 + +如果系统已经在运行，只想单独测试遥控器节点： + +```bash +cd /path/to/sim2real_ros2 +source /opt/ros/humble/setup.bash +source install/setup.bash +ros2 run sim2real_runtime remote_uart_node.py --ros-args --params-file src/sim2real_bringup/config/runtime.yaml +``` + +如果要临时指定串口： + +```bash +ros2 run sim2real_runtime remote_uart_node.py --ros-args \ + --params-file src/sim2real_bringup/config/runtime.yaml \ + -p remote_port:=/dev/ttyUSB0 +``` + +## 8. 执行后会产生什么效果 + +启动以下命令后： + +```bash +ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false +``` + +系统会产生以下效果。 + +### 8.1 启动硬件桥接节点 + +节点： + +```text +/sim2real_hw_node +``` + +效果： + +1. 打开 `can0` 和 `can1`。 +2. 如果 `dry_run: false` 且 CAN 初始化成功，会使能 16 个 RobStride 电机。 +3. 设置电机 MIT 模式。 +4. 设置电机速度限制和力矩限制。 +5. 以 `200Hz` 运行硬件读写循环。 +6. 发布 `/runtime/state`。 +7. 订阅 `/runtime/target` 执行策略目标。 + +### 8.2 启动策略运行节点 + +节点： + +```text +/sim2real_runtime_node +``` + +效果： + +1. 加载 ONNX 策略模型。 +2. 订阅 `/runtime/state`。 +3. 订阅 `/cmd_vel`。 +4. 订阅 `/safety/estop`。 +5. 执行启动站立流程： + - `boot_hold` + - `startup_soft_hold` + - `startup_hold` + - `runtime_zero_hold` + - `runtime_policy` +6. 以 `50Hz` 发布 `/runtime/target`。 + +### 8.3 启动遥控器节点 + +节点： + +```text +/sim2real_remote_uart_node +``` + +效果： + +1. 打开默认串口 `/dev/ttyACM0`。 +2. 以 `50Hz` 轮询 SBUS 数据。 +3. 遥控器摇杆居中时持续发布零速度： + +```text +/cmd_vel: + linear.x = 0.0 + linear.y = 0.0 + angular.z = 0.0 +``` + +4. 推动遥控器时发布非零速度，例如： + +```text +/cmd_vel: + linear.x = vx + linear.y = vy + angular.z = yaw +``` + +5. 当 CH7 打到高位时发布： + +```text +/safety/estop: true +``` + +由于当前 `remote_estop_latch: true`，急停是锁存式行为：在 `REMOTE` 模式下，CH7 连续 3 帧有效高位后，节点会发布急停，并保持内部急停已触发状态。恢复运行通常需要重启系统或手动发布复位信号，并确认机器人安全。 + +### 8.4 机器人行为效果 + +正常启动后，机器人不会立即按策略行走，而是按阶段执行： + +1. 电机使能。 +2. 读取当前关节位置。 +3. 软保持当前姿态。 +4. 平滑过渡到默认站立姿态。 +5. 稳定后进入 runtime。 +6. 遥控器无输入时保持站立平衡，即 `runtime_zero_hold`。 +7. 遥控器有输入时进入策略控制，即 `runtime_policy`。 + +也就是说： + +| 遥控器状态 | 机器人效果 | +|---|---| +| 摇杆居中 | 站立保持，不主动行走 | +| CH2 前后推动 | 前进/后退 | +| CH4 左右推动 | 横向移动 | +| CH1 左右推动 | 原地转向 | +| CH7 高位 | 软件急停，进入安全刹车 | + +## 9. 如何确认遥控器已经生效 + +### 9.1 查看节点是否存在 + +```bash +ros2 node list +``` + +应看到： + +```text +/sim2real_remote_uart_node +/sim2real_runtime_node +/sim2real_hw_node +``` + +### 9.2 查看 `/cmd_vel` + +```bash +ros2 topic echo /cmd_vel +``` + +摇动遥控器时应看到 `linear.x`、`linear.y` 或 `angular.z` 变化。 + +### 9.3 查看 `/safety/estop` + +```bash +ros2 topic echo /safety/estop +``` + +CH7 高位时应看到： + +```yaml +data: true +``` + +### 9.4 查看策略目标阶段 + +```bash +ros2 topic echo /runtime/target --field target_source +``` + +常见输出含义： + +| `target_source` | 含义 | +|---|---| +| `boot_hold` | 刚启动，保持初始姿态 | +| `startup_soft_hold` | 启动软保持 | +| `startup_hold` | 正在站立或站立后保持 | +| `runtime_zero_hold` | 已进入 runtime，遥控器无有效输入 | +| `runtime_policy` | 遥控器有输入，策略已经介入 | +| `safety_brake` | 安全刹车 | +| `timeout_hold` | 目标超时，硬件保持默认姿态 | + +### 9.5 查看完整目标状态 + +```bash +ros2 topic echo --once /runtime/target +``` + +重点关注字段： + +```yaml +target_source: +zero_command: +runtime_released: +release_alpha: +command: +raw_command: +``` + +如果遥控器摇杆有输入，通常会看到： + +```yaml +target_source: runtime_policy +zero_command: false +runtime_released: true +release_alpha: 1.0 +``` + +## 10. 常见问题 + +### 10.1 启动后提示无法打开串口 + +可能原因： + +1. 串口路径不对。 +2. 权限不足。 +3. 设备没有插好。 +4. 设备被其他程序占用。 + +检查： + +```bash +ls /dev/ttyACM* /dev/ttyUSB* +``` + +修改 `runtime.yaml`： + +```yaml +remote_port: "/dev/ttyUSB0" +``` + +### 10.2 `/cmd_vel` 没有变化 + +检查： + +```bash +ros2 node list +ros2 topic echo /cmd_vel +``` + +如果节点存在但无变化，可能是： + +1. 遥控器没有输出 SBUS。 +2. 串口波特率不对。 +3. SBUS 接线错误。 +4. 遥控器通道未校准。 +5. 死区 `remote_axis_deadzone` 或 `remote_active_threshold` 太大。 + +### 10.3 摇杆方向反了 + +修改： + +```yaml +remote_invert_vx: true +remote_invert_vy: false +remote_invert_yaw: true +``` + +例如前后方向反了，就切换： + +```yaml +remote_invert_vx: false +``` + +### 10.4 急停后不恢复 + +当前配置： + +```yaml +remote_estop_latch: true +``` + +这表示急停锁存。触发后建议： + +1. 先确认机器人物理安全。 +2. 停止 launch。 +3. 将 CH7 打回安全位置。 +4. 重新启动系统。 + +如果需要非锁存模式，可以改为： + +```yaml +remote_estop_latch: false +``` + +但实机调试时更建议使用锁存模式。 + +## 11. 快速验证命令清单 + +```bash +cd /path/to/sim2real_ros2 +source /opt/ros/humble/setup.bash +source install/setup.bash + +ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false +``` + +另开终端： + +```bash +cd /path/to/sim2real_ros2 +source /opt/ros/humble/setup.bash +source install/setup.bash + +ros2 node list +ros2 topic echo /cmd_vel +ros2 topic echo /runtime/target --field target_source +``` + +如果只测遥控器，不启动电机系统： + +```bash +ros2 run sim2real_runtime remote_uart_node.py --ros-args --params-file src/sim2real_bringup/config/runtime.yaml +``` + +另开终端： + +```bash +ros2 topic echo /cmd_vel +ros2 topic echo /safety/estop +``` diff --git a/05_software/real/sim2real_ros2/docs/WEB_DEBUG_USAGE.md b/05_software/real/sim2real_ros2/docs/WEB_DEBUG_USAGE.md new file mode 100644 index 0000000..c1b1c54 --- /dev/null +++ b/05_software/real/sim2real_ros2/docs/WEB_DEBUG_USAGE.md @@ -0,0 +1,246 @@ +# sim2real_ros2 Web UDP 调试说明 + +本文档说明本次新增的最小 Web 调试链路。 + +## 1. 架构 + +```text +Windows 本地浏览器/HTTP 服务 + | + | UDP JSON + v +Nano: sim2real_web_udp_bridge_node.py + | + | ROS 2 topics + v +sim2real_cmd_mux_node.py -> /cmd_vel -> sim2real_runtime_node +``` + +Web 页面在 Windows 本地渲染，Nano 只运行轻量 UDP bridge 和 ROS2 节点。 + +## 2. 新增 ROS2 节点 + +### `remote_uart_node.py` + +遥控器节点现在发布： + +```text +/cmd_vel_remote +``` + +不再直接发布 `/cmd_vel`。 + +通道触发阈值改为： + +```yaml +remote_axis_deadzone: 40 +remote_active_threshold: 40 +``` + +只有通道归一化值绝对值大于 `40` 才认为是有效输入。 + +### `cmd_mux_node.py` + +输入： + +```text +/cmd_vel_remote +/cmd_vel_web +/cmd_vel_nav +/control/mode +/remote/enabled +/web/enabled +/nav/enabled +/safety/estop +``` + +输出： + +```text +/cmd_vel +/control/mode_state +/control/mux_status +``` + +控制模式： + +```text +DISABLED +REMOTE +WEB +NAV +``` + +急停 `/safety/estop=true` 会强制进入 `DISABLED`，并输出零速度。 + +### `web_udp_bridge_node.py` + +Nano 端 UDP 监听： + +```text +0.0.0.0:15000 +``` + +发布： + +```text +/cmd_vel_web +/safety/estop +/control/mode +/web/enabled +/remote/enabled +/nav/enabled +``` + +订阅并回传状态： + +```text +/runtime/state +/runtime/target +/cmd_vel +/safety/estop +/control/mode_state +/control/mux_status +``` + +## 3. Nano 启动 + +```bash +cd /path/to/sim2real_ros2 +source /opt/ros/humble/setup.bash +source install/setup.bash +ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false +``` + +默认会启动： + +```text +sim2real_remote_uart_node +sim2real_cmd_mux_node +sim2real_web_udp_bridge_node +``` + +如果不想启动 Web UDP bridge： + +```bash +ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false launch_web_bridge:=false +``` + +## 4. Windows 本地 Web 启动 + +把目录复制到 Windows 或通过共享目录访问： + +```text +tools/win_web_debug +``` + +在 Windows 上安装 Python 3 后运行： + +```bash +python server.py --nano-host --http-port 8088 --udp-port 15001 +``` + +浏览器打开： + +```text +http://127.0.0.1:8088 +``` + +## 5. UDP 命令格式 + +### 切换模式 + +```json +{"type":"mode","mode":"REMOTE"} +``` + +```json +{"type":"mode","mode":"WEB"} +``` + +```json +{"type":"mode","mode":"DISABLED"} +``` + +### Web 速度控制 + +```json +{ + "type": "cmd_vel", + "linear": {"x": 0.2, "y": 0.0, "z": 0.0}, + "angular": {"x": 0.0, "y": 0.0, "z": 0.1} +} +``` + +Nano 端会再次限幅： + +```text +vx <= ±0.8 m/s +vy <= ±0.3 m/s +yaw <= ±0.5 rad/s +``` + +### 零速度 + +```json +{"type":"zero"} +``` + +### 软急停 + +```json +{"type":"estop","data":true} +``` + +## 6. 安全保护 + +当前最小版本已经包含： + +1. 遥控器误触发阈值：`40`。 +2. 遥控器/Web/Nav 互斥控制模式。 +3. `cmd_mux` 二次限幅。 +4. `cmd_mux` 加速度限制。 +5. Web UDP 超时自动发布零速度。 +6. 急停优先级最高。 +7. Web 页面切换到 `WEB` 模式需要确认。 +8. Web 松开虚拟摇杆会自动发送零速度。 + +建议实机调试流程： + +1. 先点击 `DISABLED`。 +2. 确认 `/cmd_vel` 为零。 +3. 如果使用遥控器，点击 `REMOTE`。 +4. 如果使用 Web，点击 `WEB` 并确认周围安全。 +5. 一旦异常，立即点击 `软急停`。 + +## 7. 验证命令 + +查看最终输出速度： + +```bash +ros2 topic echo /cmd_vel +``` + +查看遥控器输入： + +```bash +ros2 topic echo /cmd_vel_remote +``` + +查看 Web 输入： + +```bash +ros2 topic echo /cmd_vel_web +``` + +查看当前仲裁模式： + +```bash +ros2 topic echo /control/mode_state +``` + +查看策略状态： + +```bash +ros2 topic echo /runtime/target --field target_source +``` diff --git a/05_software/real/sim2real_ros2/docs/competition_yaw_configuration.md b/05_software/real/sim2real_ros2/docs/competition_yaw_configuration.md new file mode 100644 index 0000000..f8454ce --- /dev/null +++ b/05_software/real/sim2real_ros2/docs/competition_yaw_configuration.md @@ -0,0 +1,164 @@ +# Pure Pursuit Yaw检查优化 - 最终配置 + +## 🎯 核心问题 + +**现象**: 机器人没转到位就开始前进 → 斜着撞杆子 + +**根本原因**: Pure Pursuit的yaw检查不够严格 + +--- + +## ✅ 已修改的参数 + +### runtime.yaml + +```yaml +# 关键修改1: Script模式yaw门限 +nav_slalom_script_yaw_gate_deg: 8.0 # 从12度 → 8度 + +# 关键修改2: 全局yaw容差 +nav_goal_yaw_tolerance_deg: 8.0 # 从12度 → 8度 +``` + +**作用**: +- yaw偏差 > 8度时：只转向，不前进 +- yaw偏差 ≤ 8度时：才允许前进 + +--- + +## 📊 完整配置总结 + +### 1. 禁用干扰的规划器 +```yaml +nav_local_planner_enabled: false +nav_astar_enabled: false +``` + +### 2. 速度和精度 +```yaml +nav_slalom_max_vx: 0.50 +nav_slalom_lookahead: 0.15 +nav_slalom_tolerance: 0.05 +``` + +### 3. Yaw控制（新增） +```yaml +nav_goal_yaw_tolerance_deg: 8.0 +nav_slalom_script_yaw_gate_deg: 8.0 +``` + +--- + +## 🔍 工作原理 + +### Pure Pursuit算法流程 +``` +1. 看前方lookahead距离的目标点 +2. 计算到目标的方向和距离 +3. 检查yaw偏差 + - 如果 yaw偏差 > yaw_gate (8度): + 只发wz转向，vx=0 + - 如果 yaw偏差 ≤ yaw_gate (8度): + 发vx前进 + wz微调 +4. 到达目标点，推进下一个 +``` + +### 之前的问题 +``` +yaw_gate = 12度（太宽松） +↓ +yaw偏差11度时就开始前进 +↓ +还没对准就冲出去 +↓ +斜着撞杆子 +``` + +### 修改后 +``` +yaw_gate = 8度（更严格） +↓ +yaw偏差必须≤8度才前进 +↓ +基本对准后才移动 +↓ +不会斜着撞 +``` + +--- + +## 📁 使用的文件 + +**路线**: `points_nav1007_optimized.json` +- 总航点: 47 +- 绕杆航点: 21 +- 参数: speed=0.50, lookahead=0.15, tolerance=0.05 + +**地形**: `tools/nav_tools/xml/A.xml` + +**配置**: `runtime.yaml` (已修改) + +--- + +## 🚀 下一步 + +### 实机测试 +```bash +# 1. 重启系统加载新配置 +ros2 launch sim2real_bringup sim2real_system.launch.py + +# 2. 验证参数 +ros2 param get /sim2real_simple_nav_node nav_slalom_script_yaw_gate_deg +# 应该显示: 8.0 + +ros2 param get /sim2real_simple_nav_node nav_goal_yaw_tolerance_deg +# 应该显示: 8.0 + +# 3. 加载路线 +# 使用: sim2real_ros2_v2_ooo/map/routes/points_nav1007_optimized.json + +# 4. 监控 +ros2 topic echo /cmd_vel_nav +# 观察: 转向时vx应该接近0，对准后才有vx速度 +``` + +--- + +## 💡 预期效果 + +**修改前**: +- 机器人边转边进 +- yaw偏差大时仍有前进速度 +- 导致斜着撞杆子 + +**修改后**: +- 转向时几乎不前进（vx≈0） +- 对准后才快速前进（vx=0.5） +- 动作分离：先转向，后前进 + +--- + +## ⚠️ 如果还有问题 + +### 场景A: 还是斜着撞 +可能需要进一步收紧: +```yaml +nav_slalom_script_yaw_gate_deg: 5.0 # 改为5度 +``` + +### 场景B: 太慢，一直在转 +说明yaw_gate太严格: +```yaml +nav_slalom_script_yaw_gate_deg: 10.0 # 放宽到10度 +``` + +### 场景C: 卡顿 +检查是否在等待yaw对准: +```bash +ros2 topic echo /simple_nav/status +# 看是否一直在"aligning"状态 +``` + +--- + +**配置已优化完成，ready for testing!** 🎯 diff --git a/05_software/real/sim2real_ros2/map/1hao.pcd b/05_software/real/sim2real_ros2/map/1hao.pcd new file mode 100644 index 0000000..a6a0caf --- /dev/null +++ b/05_software/real/sim2real_ros2/map/1hao.pcd @@ -0,0 +1,199226 @@ +# .PCD v0.7 - Point Cloud Data file format +VERSION 0.7 +FIELDS Intensity Label rgb x y z +SIZE 4 4 4 4 4 4 +TYPE F F U F F F +COUNT 1 1 1 1 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`48B231C52BECA51316F352300C8B2046133E92359E0855227D93DEB0D927AD34`。它用于本地规划和路线显示，不替代原始高密度点云。 + +## 缺失的 Odin 重定位地图 + +比赛配置需要 Odin 专用二进制地图 `1hao.bin`，但源备份没有该文件。源目录中另有两个名称和时间不同的 `.bin`，无法证明它们就是比赛使用地图，因此没有复制或重命名。 + +重定位部署时应从比赛设备取回真实文件，并把 `control_command_relocal.yaml` 中的占位绝对路径改为目标机实际位置。纯里程计模式不需要该文件。 diff --git a/05_software/real/sim2real_ros2/map/routes/1hao_jianyi.json b/05_software/real/sim2real_ros2/map/routes/1hao_jianyi.json new file mode 100644 index 0000000..f2a4652 --- /dev/null +++ b/05_software/real/sim2real_ros2/map/routes/1hao_jianyi.json @@ -0,0 +1,2513 @@ +{ + "name": "nav_tools_20260714_123817", + "map": "1hao", + "frame_id": "map", + "createdAt": "2026-07-14T12:38:17", + "segments": [ + { + "name": "segment_1", + "obstacle": "custom", + "waypoints": [ + { + "id": 1, + "x": 0.0, + "y": 0.0, + "yawDeg": 0.0, + "speed": 0.7, + "policy": "rough", + "task": "stairs_down", + "tolerance": 0.15 + }, + { + "id": 2, + "x": 1.7865, + "y": 0.00775116910347426, + "yawDeg": -2.0, + "speed": 0.7, + "policy": "rough", + "task": "stairs_down", + "tolerance": 0.15 + }, + { + "id": 3, + "x": 3.534937713930316, + "y": -0.1523, + "yawDeg": 0.05427119359374899, + "speed": 0.7, + "policy": "rough", + "task": "stairs_down", + "tolerance": 0.15 + }, + { + "id": 4, + "x": 3.5, + "y": 0.1253, + "yawDeg": 90.0, + "speed": 0.7, + "policy": "rough", + "task": "bridge_b", + "tolerance": 0.15 + }, + { + "id": 5, + "x": 3.5, + "y": 4.0523, + "yawDeg": 89.45636086356845, + "speed": 0.7, + "policy": "rough", + "task": "bridge_b", + "tolerance": 0.15 + }, + { + "id": 6, + "x": 3.1255476942798004, + "y": 3.755, + "yawDeg": 180.0, + "speed": 0.7, + "policy": "rough", + "task": "bridge_b", + "tolerance": 0.15 + }, + { + "id": 7, + "x": 2.4, + "y": 3.755, + "yawDeg": 178.0, + "speed": 0.7, + "policy": "rough", + "task": "bridge_a", + "tolerance": 0.1 + }, + { + "id": 8, + "x": 1.355, + "y": 3.755, + "yawDeg": 179.0, + "speed": 0.7, + "policy": "rough", + "task": "bridge_a", + "tolerance": 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0.2577822327736695, + "y": -0.012028687144917168, + "yawDeg": 0.20700547940293745, + "speed": 0.7, + "policy": "rough", + "task": "stairs_up", + "tolerance": 0.15, + "world_x": 0.2577822327736695, + "world_y": -0.012028687144917168, + "origin_mode": "world" + } + ] +} \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/policies/README.md b/05_software/real/sim2real_ros2/policies/README.md new file mode 100644 index 0000000..33fe179 --- /dev/null +++ b/05_software/real/sim2real_ros2/policies/README.md @@ -0,0 +1,14 @@ +# 比赛部署策略 + +这里只保留最终运行配置实际使用的 Rough 和 Wall 策略。Crawl 在比赛配置中使用 IK 后端，因此不归档未使用的 Crawl RL engine。 + +| 用途 | 文件 | SHA-256 | +| --- | --- | --- | +| Rough ONNX | `model_6800.onnx` | `3C994BDD3434AD15770A52AC0E8D229F502F00D6511CDD42C2E2C742301AEF13` | +| Rough TensorRT | `model_6800_fp16.engine` | `BDC6583AFD594E84D9A4AAA4BB2EEE279C7EBF207A57CF4802A2DF5309C5F663` | +| Wall ONNX | `model_84.onnx` | `E3A447782DF6C6E11E66C3ACBE41697FF88EBF5E75DCAB65EFCF9A2EB1CA639F` | +| Wall TensorRT | `model_84_fp16.engine` | `0FE2001113B7146B589D7A62A6E54BAD68574765EBA45782FB41A26F65A8721D` | + +`model_6800.onnx` 与 `05_software/train/rc_mjlab/model_6800.onnx` 哈希一致。此处重复保留是为了让真机工作区可以独立部署。 + +TensorRT 文件只作为比赛机历史产物；更换 JetPack、TensorRT 或 GPU 后应从 ONNX 重新构建并重新核对数值误差。 diff --git a/05_software/real/sim2real_ros2/policies/model_6800.onnx b/05_software/real/sim2real_ros2/policies/model_6800.onnx new file mode 100644 index 0000000000000000000000000000000000000000..49ea59302d242a75913c73d5d97f1b95106f586b GIT binary patch literal 777597 zcmdqIXHXT<(l$yKkRU-sM3RUKD1wT@p4D4G1qB5G10o_~0u@lefQcMMf`Obw5EK;? zD0{j$0!B<2FoFRCDk?@y=;gepzVE!}z4uhzy7m3KyJ}WdPp?_Mo|@Tfx}Wuod_VPm zA)CU2*ZHs1k+m8#am-lTjyem)QHs*ROF|Xp`x@Uh%lv}Wl`TBNm-q&UhlPZP`Ht0* z`G;vF-Pb4z)zvK=f`dZC{DQ*%)j{EZpEHvGUtUv9McMU!tHYO>$`6p7A%hd+ClpJ{ zC~}JZ{t+fLY^mb^!$^t}>M9lvs{=y*HMZ=3*+w$|IIC!*`0rCw{2#shW3KaKED#8&@?*lNuGKy39N5&zTk 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ztmj?Vohurvc>&jY6n|bQvM2p-D@m~2%ryI+nzdMT>0q1Vtv{ChH??w7lzDU#TCRJx z+-Nk2Ee2CX{7l2C-J4HC?bQEfn#BK_DJ}mqrlH7*8%Vq1Ds?#{*l6O%3slX@bmP=FP^`I=0AJ;`9A?9 Cfd8TZ literal 0 HcmV?d00001 diff --git a/05_software/real/sim2real_ros2/screen/uninstall_boot_service.sh b/05_software/real/sim2real_ros2/screen/uninstall_boot_service.sh new file mode 100644 index 0000000..12bf9cf --- /dev/null +++ b/05_software/real/sim2real_ros2/screen/uninstall_boot_service.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env bash +set -euo pipefail + +SERVICE_NAME="sim2real-screen.service" +SERVICE_PATH="/etc/systemd/system/$SERVICE_NAME" + +sudo systemctl disable --now "$SERVICE_NAME" 2>/dev/null || true +sudo rm -f "$SERVICE_PATH" +sudo systemctl daemon-reload + +echo "Removed $SERVICE_NAME" diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/.gitignore b/05_software/real/sim2real_ros2/src/odin_ros_driver/.gitignore new file mode 100644 index 0000000..0dccd0b --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/.gitignore @@ -0,0 +1,5 @@ +recorddata/ +/config/calib.yaml +!/config/calib.yaml +/log +/map diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/CHANGELOG.md b/05_software/real/sim2real_ros2/src/odin_ros_driver/CHANGELOG.md new file mode 100644 index 0000000..0e6a35d --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/CHANGELOG.md @@ -0,0 +1,13 @@ +v0.11.0 2026_0618 +Required Minimum Firmware Version：0.12.0 +1.Reduce cloud slam latency +2.Improve get mapping result + +v0.10.5 2026_0525 +1.modify recorddata format，add device_id、algorithm_version key +2.fix download map fail when in slam mode(USB2.0) +3.fix upload map fail when in relocalization mode(USB2.0) + +v0.10.4 2026_0522 +1.fix usb2.0 heartBeat timeout to cause soft detaching +2.add custom_init_pose_search_radius and custom_init_pose_max_rot_deg in control_command.yaml \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/CMakeLists.txt b/05_software/real/sim2real_ros2/src/odin_ros_driver/CMakeLists.txt new file mode 100644 index 0000000..ea4dad5 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/CMakeLists.txt @@ -0,0 +1,488 @@ +cmake_minimum_required(VERSION 3.5) +project(odin_ros_driver) + + +if(DEFINED BUILD_SYSTEM) + set(ROS_VERSION ${BUILD_SYSTEM}) + message(STATUS "ROS_VERSION: ${ROS_VERSION}") +elseif(DEFINED ENV{ROS_DISTRO}) + if("$ENV{ROS_DISTRO}" MATCHES "foxy|galactic|humble|iron|rolling") + set(ROS_VERSION "ROS2") + else() + set(ROS_VERSION "ROS1") + endif() +elseif(DEFINED ENV{ROS_VERSION}) + if("$ENV{ROS_VERSION}" EQUAL "2") + set(ROS_VERSION "ROS2") + else() + set(ROS_VERSION "ROS1") + endif() +else() + # Attempt automatic detection + if(COMMAND catkin_package) + set(ROS_VERSION "ROS1") + elseif(COMMAND ament_package) + set(ROS_VERSION "ROS2") + else() + # Default to ROS2 + set(ROS_VERSION "ROS2") + message(WARNING "Unable to determine ROS version, defaulting to ROS2") + endif() +endif() + +# Add compile definitions after detecting ROS version +if(ROS_VERSION STREQUAL "ROS2") + add_definitions(-DROS2) + message(STATUS "Defining ROS2") +else() + add_definitions(-DROS1) + message(STATUS "Defining ROS1") +endif() + +message(STATUS "Build system: ${ROS_VERSION}") + +# Platform detection +execute_process( + COMMAND uname -m + OUTPUT_VARIABLE ARCH + OUTPUT_STRIP_TRAILING_WHITESPACE +) + +if(ARCH STREQUAL "x86_64") + set(TARGET_PLATFORM "x86") + message(STATUS "Detected x86_64 architecture") +elseif(ARCH MATCHES "arm|aarch64") + set(TARGET_PLATFORM "arm") + message(STATUS "Detected ARM architecture: ${ARCH}") +else() + message(WARNING "Unsupported architecture: ${ARCH}. Using default settings") + set(TARGET_PLATFORM "unknown") +endif() + +# Set library path +set(LIB_DIR "${CMAKE_CURRENT_SOURCE_DIR}/lib") +message(STATUS "Library directory: ${LIB_DIR}") + +# Set library name based on platform +if(TARGET_PLATFORM STREQUAL "arm") + set(LYD_HOST_API_LIB_NAME "lydHostApi_arm") +else() + set(LYD_HOST_API_LIB_NAME "lydHostApi_amd") +endif() + +# Find precompiled lydHostApi library +find_library(LYD_HOST_API_LIB + NAMES + ${LYD_HOST_API_LIB_NAME} + lib${LYD_HOST_API_LIB_NAME}.a + lib${LYD_HOST_API_LIB_NAME}.so + PATHS ${LIB_DIR} + NO_DEFAULT_PATH +) + +if(LYD_HOST_API_LIB) + message(STATUS "Found lydHostApi library: ${LYD_HOST_API_LIB}") +else() + file(GLOB LIB_FILES "${LIB_DIR}/lib${LYD_HOST_API_LIB_NAME}.*") + if(LIB_FILES) + message(STATUS "Found library files: ${LIB_FILES}") + set(LYD_HOST_API_LIB ${LIB_FILES}) + else() + message(FATAL_ERROR "Could not find precompiled lydHostApi library in ${LIB_DIR}") + endif() +endif() + +# Set common compile options +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# Set optimization flags +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2") + +# Find common dependencies +find_package(PkgConfig REQUIRED) +find_package(OpenCV REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(PCL REQUIRED) +find_package(yaml-cpp REQUIRED) +find_package(OpenSSL REQUIRED) +pkg_check_modules(LIBUSB REQUIRED libusb-1.0) + +# Shared include directories +include_directories( + include + ${EIGEN3_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${yaml-cpp_INCLUDE_DIR} + ${LIBUSB_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR}/include +) + +# Shared library list +set(COMMON_LIBS + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ${yaml-cpp_LIBRARIES} + ${OPENSSL_LIBRARIES} + ${LIBUSB_LIBRARIES} + pthread + rt + ${CMAKE_DL_LIBS} + ${LYD_HOST_API_LIB} +) + +# ===== ROS1 Configuration ===== +if(ROS_VERSION STREQUAL "ROS1") + message(STATUS "Configuring for ROS1 build") + + find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + sensor_msgs + nav_msgs + cv_bridge + tf + image_transport + message_generation + ) + + # ---- AE/AWB debug services ---- + # Declare custom .srv files; catkin generates ros1 message headers for them. + add_service_files( + FILES + GetAe.srv + GetAwb.srv + SetAe.srv + SetAwb.srv + ) + generate_messages( + DEPENDENCIES + std_msgs + ) + + include_directories(${catkin_INCLUDE_DIRS}) + + catkin_package( + CATKIN_DEPENDS roscpp std_msgs sensor_msgs nav_msgs cv_bridge image_transport message_runtime + INCLUDE_DIRS include + ) + + # Set output directories + set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}) + set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) + set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) + + add_executable(host_sdk_sample + src/host_sdk_sample.cpp + src/yaml_parser.cpp + src/rawCloudRender.cpp + src/camera_pose_visualization.cpp + ) + target_link_libraries(host_sdk_sample + ${catkin_LIBRARIES} + ${COMMON_LIBS} + ${LYD_HOST_API_LIB} + ${LIBUSB_LIBRARIES} + yaml-cpp + ${OpenCV_LIBS} + pthread + usb-1.0 + ) + # Make sure the AE/AWB srv headers are generated before host_sdk_sample + # is compiled (catkin's generate_messages produces this target). + add_dependencies(host_sdk_sample ${PROJECT_NAME}_generate_messages_cpp) + + add_library(pointcloud_depth_converter src/pointcloud_depth_converter.cpp) + target_link_libraries(pointcloud_depth_converter + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + add_library(depth_image_ros_node src/depth_image_ros_node.cpp) + target_link_libraries(depth_image_ros_node + pointcloud_depth_converter + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + add_executable(pcd2depth_node src/pcd2depth_ros.cpp) + target_link_libraries(pcd2depth_node + depth_image_ros_node + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + add_library(cloud_reprojector src/cloud_reprojector.cpp) + target_link_libraries(cloud_reprojector + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + add_executable(cloud_reprojection_node src/cloud_reprojection_ros.cpp) + target_link_libraries(cloud_reprojection_node + cloud_reprojector + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + add_executable(image_overlay_node src/image_overlay_node.cpp) + target_link_libraries(image_overlay_node + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) + + # Installation rules + install(TARGETS host_sdk_sample + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + install(DIRECTORY include/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + ) + if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config") + install(DIRECTORY config/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config + ) + endif() + +# ===== ROS2 Configuration ===== +elseif(ROS_VERSION STREQUAL "ROS2") + message(STATUS "Configuring for ROS2 build") + + # Find all necessary ROS2 packages + find_package(ament_cmake REQUIRED) + find_package(rclcpp REQUIRED) + find_package(std_msgs REQUIRED) + find_package(sensor_msgs REQUIRED) + find_package(nav_msgs REQUIRED) + find_package(visualization_msgs REQUIRED) + find_package(cv_bridge REQUIRED) + find_package(image_transport REQUIRED) + find_package(pcl_conversions REQUIRED) + find_package(message_filters REQUIRED) + find_package(tf2 REQUIRED) + find_package(tf2_ros REQUIRED) + find_package(geometry_msgs REQUIRED) + find_package(tf2_geometry_msgs REQUIRED) + find_package(ament_index_cpp REQUIRED) + + # ---- AE/AWB debug services ---- + # Generate C++ bindings for the 4 .srv files in srv/. The generated + # headers are linked into host_sdk_sample so it can host the services. + find_package(rosidl_default_generators REQUIRED) + rosidl_generate_interfaces(${PROJECT_NAME} + "srv/GetAe.srv" + "srv/GetAwb.srv" + "srv/SetAe.srv" + "srv/SetAwb.srv" + ) + + # Create executable + add_executable(host_sdk_sample + src/host_sdk_sample.cpp + src/yaml_parser.cpp + src/rawCloudRender.cpp + src/camera_pose_visualization.cpp + ) + + # Link libraries + target_link_libraries(host_sdk_sample + ${COMMON_LIBS} + yaml-cpp + usb-1.0 + ) + + # Link the generated AE/AWB srv typesupport into host_sdk_sample so it + # can host the 4 debug services. + rosidl_get_typesupport_target(cpp_typesupport_target + ${PROJECT_NAME} "rosidl_typesupport_cpp") + target_link_libraries(host_sdk_sample "${cpp_typesupport_target}") + + # Add ROS2 dependencies + ament_target_dependencies(host_sdk_sample + rclcpp + std_msgs + sensor_msgs + nav_msgs + visualization_msgs + cv_bridge + image_transport + tf2 + tf2_ros + geometry_msgs + tf2_geometry_msgs + ament_index_cpp + ) + + add_library(pointcloud_depth_converter_ros2 src/pointcloud_depth_converter.cpp) + target_link_libraries(pointcloud_depth_converter_ros2 + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + add_library(depth_image_ros2_node_lib src/depth_image_ros2_node.cpp) + target_link_libraries(depth_image_ros2_node_lib + pointcloud_depth_converter_ros2 + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + ament_target_dependencies(depth_image_ros2_node_lib + rclcpp + sensor_msgs + std_msgs + cv_bridge + image_transport + pcl_conversions + message_filters + ) + + add_executable(pcd2depth_ros2_node src/pcd2depth_ros2.cpp) + target_link_libraries(pcd2depth_ros2_node + depth_image_ros2_node_lib + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + yaml-cpp + ) + + ament_target_dependencies(pcd2depth_ros2_node + rclcpp + sensor_msgs + std_msgs + cv_bridge + image_transport + pcl_conversions + message_filters + ) + + add_library(cloud_reprojector_ros2 src/cloud_reprojector.cpp) + target_compile_definitions(cloud_reprojector_ros2 PRIVATE ROS2) + target_link_libraries(cloud_reprojector_ros2 + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + ) + + add_executable(cloud_reprojection_ros2_node src/cloud_reprojection_ros.cpp) + target_compile_definitions(cloud_reprojection_ros2_node PRIVATE ROS2) + target_link_libraries(cloud_reprojection_ros2_node + cloud_reprojector_ros2 + ${OpenCV_LIBS} + ${PCL_LIBRARIES} + yaml-cpp + ) + ament_target_dependencies(cloud_reprojection_ros2_node + rclcpp + sensor_msgs + nav_msgs + cv_bridge + image_transport + pcl_conversions + message_filters + ) + + add_executable(image_overlay_node src/image_overlay_node.cpp) + target_compile_definitions(image_overlay_node PRIVATE ROS2) + target_link_libraries(image_overlay_node + ${OpenCV_LIBS} + ) + ament_target_dependencies(image_overlay_node + rclcpp + sensor_msgs + cv_bridge + image_transport + message_filters + ) + + # Installation rules - ensure all install targets are defined before ament_package() + # Install executable + install(TARGETS + host_sdk_sample + pcd2depth_ros2_node + cloud_reprojection_ros2_node + image_overlay_node + depth_image_ros2_node_lib + pointcloud_depth_converter_ros2 + cloud_reprojector_ros2 + EXPORT export_${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION lib/${PROJECT_NAME} + ) + + # Install package.xml + install(FILES package.xml + DESTINATION share/${PROJECT_NAME} + ) + + # Install headers + install(DIRECTORY include/ + DESTINATION include + ) + # Install launch_ROS2 directory + if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch_ROS2") + install(DIRECTORY launch_ROS2/ + DESTINATION share/${PROJECT_NAME}/launch + ) + message(STATUS "Installing launch_ROS2 directory to share/${PROJECT_NAME}/launch") + else() + message(WARNING "launch_ROS2 directory not found") + endif() + # Install config files + if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config") + install(DIRECTORY config/ + DESTINATION share/${PROJECT_NAME}/config + ) + endif() + + # Install launch files + if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch") + install(DIRECTORY launch/ + DESTINATION share/${PROJECT_NAME}/launch + ) + endif() + ament_export_targets(export_${PROJECT_NAME}) + # Declare dependencies + ament_export_dependencies( + rclcpp + std_msgs + sensor_msgs + nav_msgs + visualization_msgs + cv_bridge + image_transport + pcl_conversions + message_filters + tf2 + tf2_ros + geometry_msgs + tf2_geometry_msgs + ament_index_cpp + ) + + ament_package() + message(STATUS "Install targets added") + +else() + message(FATAL_ERROR "Invalid ROS_VERSION: ${ROS_VERSION}") +endif() + +# ARM platform specific link options +if(TARGET_PLATFORM STREQUAL "arm") + set_target_properties(host_sdk_sample PROPERTIES + LINK_FLAGS "-Wl,--no-as-needed -Wl,--rpath=${LIB_DIR}" + ) + message(STATUS "Adding ARM-specific link options and RPATH") +endif() + +# Add debug information +message(STATUS "=======================================") +message(STATUS "Project: ${PROJECT_NAME}") +message(STATUS "ROS_VERSION: ${ROS_VERSION}") +message(STATUS "Target platform: ${TARGET_PLATFORM}") +message(STATUS "lydHostApi library: ${LYD_HOST_API_LIB}") +message(STATUS "libusb library: ${LIBUSB_LIBRARIES}") +message(STATUS "=======================================") + diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/LICENSE b/05_software/real/sim2real_ros2/src/odin_ros_driver/LICENSE new file mode 100644 index 0000000..54665e1 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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It is intended exclusively for technical professionals conducting secondary development. End users must perform scenario-specific optimization and custom development to align with operational requirements in practical deployment environments. + +## 1. Version + +Current version: v0.12.0 + +Required device firmware version: v0.12.0 + +## 2. Preparation + +### 2.1 OS Requirement + +● Ubuntu 20.04 for ROS Noetic and ROS2 Foxy; + +● Ubuntu 22.04 for ROS2 Humble; + +● Ubuntu 18.04 is currently not supported; + +● Ubuntu 24.04 is not officially supported but may work with some modifications. + +### 2.2 Dependencies + +● Opencv >= 4.2.0(recommand 4.5.5/4.8.0. Make sure only one version of opencv is installed) + +● yaml-cpp + +● thread + +● OpenSSL + +● Eigen3 + +### 2.3 Dependencies Install + +#### 2.3.1 System +```shell +sudo apt update +sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev +``` + +#### 2.3.2 yaml-cpp +```shell +sudo apt update +sudo apt install -y libyaml-cpp-dev +``` + +#### 2.3.3 libusb +```shell +sudo apt update +sudo apt install -y libusb-1.0-0-dev +``` + +#### 2.3.4 opencv +```shell +sudo apt update +sudo apt-get install libopencv-dev +``` + +#### 2.3.4 ROS install + +For ROS Noetic installation, please refer to: +[ROS Noetic installation instructions](https://wiki.ros.org/noetic/Installation) + +For ROS2 Foxy installation, please refer to: +[ROS Foxy installation instructions](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) + +For ROS2 Humble installation, please refer to: +[ROS Humble installation instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) + +## 3. Preparation + +### 3.1 Create Udev rules +```shell +sudo vim /etc/udev/rules.d/99-odin-usb.rules +``` +Add the following content to the 99-odin-usb.rules file +```shell +SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev" +``` +Reload rules and reinsert devices +```shell +sudo udevadm control --reload +sudo udevadm trigger +``` +### 3.2 OS Requirement +```shell +git clone https://github.com/manifoldsdk/odin_ros_driver.git catkin_ws/src/odin_ros_driver +``` +Note: +Please clone the source code into the "[ros_workspace]/src/" folder, otherwise compilation errors will occur. + +### 3.3 make + +#### 3.3.1 ROS1 (Noetic for example): + +```shell +source /opt/ros/noetic/setup.bash +./script/build_ros.sh +``` + +#### 3.3.2 ROS2 (Foxy for example): + +```shell +source /opt/ros/foxy/setup.bash +./script/build_ros2.sh +``` + +### 3.4 run: + +#### 3.4.1 ROS1 (Noetic for example): + +```shell +source [ros_workspace]/devel/setup.bash +roslaunch odin_ros_driver [launch file] +``` +● odin_ros_driver: package name; + +● launch file: launch file; + +● ros_workspace: User's ROS environment workspace; +```shell +roslaunch odin_ros_driver odin1_ros1.launch +``` +#### 3.4.2 ROS2 (Foxy for example): + +```shell +source [ros2_workspace]/install/setup.bash +ros2 launch odin_ros_driver [launch file] +``` +● odin_ros_driver: package name; + +● launch file: launch file; + +● ros2_workspace: User's ROS2 environment workspace; + +ROS2 Demo Launch Instructions: +```shell +ros2 launch odin_ros_driver odin1_ros2.launch.py +``` + +### 3.5 Operation Mode: + +The operation mode can be configured via the `custom_map_mode` parameter in config/control_command.yaml. + +#### Odometry mode + +Set `custom_map_mode = 0` to enable odometry mode. In this mode, the map frame and odom frame share the same pose. + +If the odom data is found to drift, the script command "./set_param.sh algo_reset 1" can be used to dynamically reset the algorithm. + +#### SLAM mode + +Set `custom_map_mode = 1` to enable slam mode. This mode provides a complete SLAM system that builds upon the Odometry Mode by adding **loop closure detection** and **map saving** capabilities. + +After launching the driver, odin1 will automatically perform mapping and cache map data. When the scene capture is complete, users need to execute `./set_param.sh save_map 1` in the driver's source directory to save all map data collected since the program started. The map will be saved to the location specified by the `mapping_result_dest_dir` and `mapping_result_file_name` parameters in config/control_command.yaml. If these parameters are not specified, default values will be used. + +After the initial save, you can execute the command again to save a new map. Each save operation will generate a new map file. (Please allow at least 5 seconds between consecutive save operations) + +The map origin corresponds to the odom coordinate system's origin at the program's startup. + +##### Relocalization mode + +To enable relocalization, set `custom_map_mode = 2` and specify the absolute path to the pre-built map using the `relocalization_map_abs_path` parameter in config/control_command.yaml. + +Once launched, odin1 will initiate the relocalization process based on the current viewpoint and the specified map. To ensure a high success rate, it is recommended to starting within 1 meter ±10 degrees of the original position and orientation from the SLAM trajectory. + +Note that relocalization performance is highly environment-dependent. In highly distinctive scenes, successful matching may occur even beyond the 1m/10° range, while other environments may require more stringent conditions. We advise testing in your target environment to determine practical tolerances. + +If relocalization fails initially, the system will temporarily operate in a fallback SLAM mode (map saving is disabled in this state). During this time, you can freely move odin1. It will continue relocalization attempts in the background. Once successful, the TF between map and odom frames will be published. (Tip: Gently shaking or moving the device after initialization can help improve relocalization accuracy.) + +The following topics are published in the odom frame: `/odin1/cloud_slam, /odin1/odom, /odin1/highodom and /odin1/path`. To obtain these in the map frame, apply the TF from odom frame to map frame. + +## 4. File structure and data format +### 4.1 File structure +```shell +Odin_ROS_Driver/ // ROS1/ROS2 driver package + 3rdparty/ // Third-party libraries + src/ + host_sdk_sample.cpp // Example source code + yaml_parser.cpp // Source code for reading yaml parameters + rawCloudRender.cpp // Source code for RenderCloud + depth_image_ros_node.cpp //depth_image_ros_node + depth_image_ros2_node.cpp //depth_image_ros2_node + pcd2depth_ros.cpp //Source code for pcd2depth_ros + pcd2depth_ros2.cpp //Source code for pcd2depth_ros2 + pointcloud_depth_converter.cpp //Source code for pointcloud_depth_converter + cloud_reprojection_ros.cpp //Source code for cloud reprojection node (ROS1/ROS2) + cloud_reprojector.cpp //Core logic for cloud reprojection + lib/ + liblydHostApi_amd.a // Static library for AMD platform + liblydHostApi_arm.a // Static library for ARM platform + include/ + host_sdk_sample.h // Example header file + lidar_api_type.h // API data structure header file + lidar_api.h // API function declarations + yaml_parser.h // Parameter file reading header file + rawCloudRender.h // API about RenderCloud + data_logger.h // LOG about save_data + depth_image_ros_node.hpp // depth_image_ros_node + depth_image_ros2_node.hpp // depth_image_ros2_node + pointcloud_depth_converter.hpp // pointcloud_depth_convert + cloud_reprojection_ros_node.hpp // cloud_reprojection_ros_node (ROS1/ROS2) + cloud_reprojector.hpp // Core class for cloud reprojection + config/ + control_command.yaml // Control parameter file for driver + calib.yaml // Machine calibration yaml，differ for each individual device. Retrieved from the device everytime it connects to ROS driver + launch_ROS1/ + odin1_ros1.launch // ROS1 launch file + launch_ROS2/ + odin1_ros2.launch.py // ROS2 launch file + script/ + build_ros1.sh // Installation script for ROS1 + build_ros2.sh // Installation script for ROS2 + recorddata/ // holds recorded data that can import into MindCloud + log/ // holds log files + Driver_{timestamp}/ // holds all log folders for each time driver started + Conn_{timestamp}/ // holds all log files for each odin1 device connection + dev_status.csv // device status log file + README.md // Usage instructions + CMakeLists.txt // CMake build file + License // License file +``` +### 4.2 File structure +| Launch File Name | Description | +|--------------------------|-------------| +| odin1_ros1.launch | Launch file for ROS1 - Odin1 Basic Operations Demo | +| odin1_ros2.launch.py | Launch file for ROS2 - Odin1 Basic Operations Demo | + + +### 4.3 ROS topics +Internal parameters of the Odin ROS driver are defined in config/control_command.yaml. Below are descriptions of the commonly used parameters: + +| Topic |control_command.yaml | Detailed Description | +|---------------------|----------------------|----------------------| +| odin1/imu | sendimu | Imu Topic | +| odin1/image | sendrgb | RGB Camera Topic, decoded from original jpeg data from device, bgr8 format | +| odin1/image_undistort | sendrgbundistort | undistorted RGB Camera Topic, processed with calib.yaml from device | +| odin1/image/compressed | sendrgbcompressed | RGB Camera compressed Topic, original jpeg data from device | +| odin1/cloud_raw | senddtof | Raw_Cloud Topic | +| odin1/cloud_render | sendcloudrender | Render_Cloud Topic, processed with raw point cloud, rgb image, and calib.yaml from device | +| odin1/cloud_slam | sendcloudslam | Slam_PointCloud Topic | +| odin1/odometry | sendodom | Odom Topic | +| odin1/odometry_high | sendodom | high frequency Odom Topic | +| odin1/path | showpath | Odom Path Topic | +| tf | sendodom | tf tree Topic | +| odin1/depth_img_competetion | senddepth | Dense depth image Topic. Demo, high computing power required. One-to-one with odin1/image_undistort. To utilize the data please directly subscribe to this topic instead of echoing it. Original value is already depth data, no need for further convert. | +| odin1/depth_img_competetion_cloud | senddepth | Dense Depth_Cloud Topic. Demo, high computing power required | +| odin1/reprojected_image | sendreprojection | Reprojected cloud to image Topic. Projects cloud_slam to camera image using odometry. Processed on host device. | + +### 4.4 Data format + +1. The raw point cloud (cloud_raw) has the following fields: +``` +float32 x // X axis, in meters +float32 y // Y axis, in meters +float32 z // Z axis, in meters +uint8 intensity // Reflectivity, range 0–255 +uint16 confidence // Point confidence, actual value range from 0 to around 1300 in typical scene, higher value means more reliable. Recommanded filtering threshold is 30-35, should be adjusted accordingly. +float32 offset_time // Time offset relative to the base timestamp unit: s +``` + +To work with this custom format in PCL, first define the point type: +```cpp +/*** LS ***/ +namespace ls_ros { + struct EIGEN_ALIGN16 Point { + float x; + float y; + float z; + uint8_t intensity; + uint16_t confidence; + float offset_time; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; +} // namespace ls_ros + +POINT_CLOUD_REGISTER_POINT_STRUCT(ls_ros::Point, + (float, x, x) + (float, y, y) + (float, z, z) + (uint8_t, intensity, intensity) + (uint16_t, confidence, confidence) + (float offset_time , offset_time) +) +``` +Then, you can easily convert a ROS sensor_msgs::PointCloud2 message into a PCL point cloud: +``` +pcl::PointCloud ls_cloud; +pcl::fromROSMsg(*msg, ls_cloud); +``` + +2. The slam point cloud (cloud_slam) and directly rendered point cloud (cloud_render) has the following fields: +``` +float32 x // X axis, in meters +float32 y // Y axis, in meters +float32 z // Z axis, in meters +float32 rgb // RGB value +``` + +### 4.5 Other functionalities + +|control_command.yaml | Detailed Description | +|-----------------------|----------------------| +| use_host_ros_time | Time synchronization mode: 0 - use odin internal system time as data timestamp (typical and recommended); 1 - use host ROS time upon receive (not recommended for most users); 2 - align odin1 time to host time via NTP-like synchronization, timestamp is the sensor data reception time on host time axis. | +| strict_usb3.0_check | Strict USB3.0 check, if off, allow connection even if usb connection is below usb 3.0 | +| recorddata | Record data in specific format that can be imported into MindCloud(TM) for post-processing. Please be aware that this will consume a lot of storage space. Testing shows 9.5G for 10mins of data. The per-frame timestamps written into the recorded files (IMU / image / point cloud / pose / rotate) follow the same alignment policy as `use_host_ros_time`, so under NTP mode (`use_host_ros_time=1` or `2`) the recorded timestamps are NTP-aligned host time instead of odin1 boot time.
录制文件 (IMU / 图像 / 点云 / Pose / Rotate) 中每帧的时间戳与 `use_host_ros_time` 采用相同对齐策略：在 NTP 模式 (`use_host_ros_time=1` 或 `2`) 下，录制时间戳为 NTP 对齐后的主机时间，而非 odin1 开机时间。 | +| devstatuslog | Device status logging, currently save device status (soc temperature, cpu usage, ram usage, dtof sensor temp .etc) and data tx & rx rate to devstatus.csv under log folder. A new file will be created every time the driver is started. | +| showcamerapose | Display Camera Pose and Field of View. | +| custom_map_mode | Operation Modes: Mode 0 - Odometry mode: The map frame and odom frame share the same pose. Mode 1 - Mapping (with loop closure) mode: This mode supports map saving. Mode 2 - Relocalization mode: Requires specifying the absolute path to the map file. After successful relocalization, it will output the TF relationship between the map and odom frames.| +| custom_init_pos | Initialization Position (currently unused). | +| relocalization_map_abs_path | Absolute Path to Map File: Used for relocalization mode. | +| mapping_result_dest_dir and mapping_result_file_name| Path and Name for Saving Maps in Mapping Mode: If not specified, default values will be used. | + +### 4.6 Runtime AE/AWB Tuning via ROS Service / 通过 ROS Service 在线调节 AE/AWB + +The driver hosts four ROS services that let a side terminal tune the +camera's auto exposure (AE) and auto white balance (AWB) at runtime, +while the main data streams keep flowing. The same SDK call is shared +with the driver's main control path and serialised by an internal +mutex, so it is safe to invoke these services concurrently with normal +operation. + +驱动启动后会注册 4 个 ROS Service，允许在不重启 driver 的前提下，从另一个终端动态调节 +相机的自动曝光（AE）和自动白平衡（AWB）。底层 SDK 调用与驱动主控制路径共享同一把 +互斥锁，因此可以与正常数据流并发调用。 + +**Service list / Service 一览** + +| Service name | Type / 类型 | Purpose / 用途 | +|---|---|---| +| `/odin1/get_ae` | `odin_ros_driver/srv/GetAe` | Query current AE status / 查询当前 AE 状态 | +| `/odin1/get_awb` | `odin_ros_driver/srv/GetAwb` | Query current AWB status / 查询当前 AWB 状态 | +| `/odin1/set_ae` | `odin_ros_driver/srv/SetAe` | Set AE mode and (manual) exposure / gain / 设置 AE 模式和手动曝光/增益 | +| `/odin1/set_awb` | `odin_ros_driver/srv/SetAwb` | Set AWB mode and (manual) R/B gain / 设置 AWB 模式和手动 R/B 增益 | + +#### 4.6.1 Request fields, ranges, physical meaning / 请求字段、范围与物理含义 + +**`SetAe.Request`** + +| Field | Range / 范围 | Meaning / 含义 | +|---|---|---| +| `mode` | `0` (AUTO) or / 或 `1` (MANUAL) | `0` = device runs its own AE loop, the two floats below are ignored / 设备自动调 AE，下方参数被忽略
`1` = device locks AE and applies the provided values / 设备锁 AE 并应用提供的值 | +| `exposure_time` | `0.0001` ~ `0.033` s (manual only / 仅手动模式) | Sensor exposure time per frame. Longer = brighter but more motion blur / 每帧传感器曝光时间。越长越亮但运动模糊增大 | +| `gain` | `1.0` ~ `64.0` (manual only / 仅手动模式) | Analog gain. Higher = brighter output but worse SNR / 模拟增益。越大越亮但信噪比越差 | + +**`SetAwb.Request`** + +| Field | Range / 范围 | Meaning / 含义 | +|---|---|---| +| `mode` | `0` (AUTO) or / 或 `1` (MANUAL) | `0` = device runs its own AWB loop / 设备自动 AWB
`1` = device locks AWB and applies provided gains / 设备锁定 AWB 并应用所给增益 | +| `rgain` | `0.1` ~ `4.0` (manual only / 仅手动模式) | R channel gain. Higher `rgain` vs `bgain` shifts the image warm (yellow/red) / R 通道增益，相对 bgain 越大，画面越偏暖 | +| `bgain` | `0.1` ~ `4.0` (manual only / 仅手动模式) | B channel gain. Higher `bgain` vs `rgain` shifts the image cool (blue) / B 通道增益，相对 rgain 越大，画面越偏冷 | + +> Gr / Gb channels are fixed to 1.0 by the device and are not adjustable. +> Gr / Gb 通道被设备固定为 1.0，不可调节。 + +#### 4.6.2 Response fields / 响应字段 + +All four services return a `success` (bool) and `rc` (int32). Get +services additionally return the queried state. +4 个 Service 都返回 `success` (bool) 与 `rc` (int32)。Get 类还会返回查询到的状态字段。 + +**`GetAe.Response`** + +| Field | Typical range / 典型范围 | Meaning / 含义 | +|---|---|---| +| `exposure_time` | `0.0001`~`0.033` s | Current exposure / 当前曝光时间 | +| `gain` | `1.0`~`64.0` | Current analog gain / 当前模拟增益 | +| `iso` | `100`~`6400` | Equivalent ISO / 等效 ISO | +| `brightness` | `0`~`255` | Average frame brightness / 平均帧亮度 | +| `is_converged` | `0` or `1` | `1` = AE settled / AE 已收敛 | +| `env_lv` | `0`~`15` | Ambient luminance index, higher = brighter / 环境光强度指数，越大越亮 | +| `fps` | `~10` / `~14.5` / `~29` | Current frame rate / 当前帧率 | + +**`GetAwb.Response`** + +| Field | Typical range / 典型范围 | Meaning / 含义 | +|---|---|---| +| `rgain` / `bgain` | `0.1`~`4.0` | R / B channel gain / R / B 通道增益 | +| `grgain` / `gbgain` | `1.0` (fixed / 固定) | Gr / Gb gain, device-fixed / Gr / Gb 增益，设备固定 | +| `cct` | `2500`~`8000` K | Correlated color temperature / 相关色温 | +| `ccri` | `-50`~`50` | Color temp deviation index, 0 = on Planckian locus / 色温偏离指数，0 表示在普朗克轨迹上 | +| `is_converged` | `0` or `1` | `1` = AWB settled / AWB 已收敛 | + +#### 4.6.3 `rc` return code / `rc` 返回码 + +| `rc` | Meaning / 含义 | +|---|---| +| `0` | Success / 成功 | +| `400` | Device payload too short / 设备载荷过短 | +| `401` | Device opcode not supported / 设备不支持该 opcode | +| `402` | Device parameter length wrong / 参数长度错误 | +| `403` | **Parameter out of range** / 参数越界 — most common when manual values exceed the table above / 手动值超出上表范围时最常见 | +| `404` | Device-side socket error / 设备端 socket 错误 | +| `405` | Device-side `ae_control` did not respond / 设备端 `ae_control` 无应答（确认 lydapp 已运行） | +| `255` (`0xFF`) | Unknown opcode reported by ae_control / ae_control 报未知 opcode | +| `-1` | SDK not initialised / SDK 未初始化 | +| `-2` ~ `-5` | USB transfer / timeout / malformed reply / USB 传输异常、超时、应答畸形 | +| `-100` | **Driver has not opened the device yet** / driver 还未打开设备，请等设备连接成功 | + +#### 4.6.4 Usage examples / 调用示例 + +ROS2 (Humble) — start the driver in one terminal, then in a side terminal: +ROS2（Humble）—— 在一个终端启动 driver，在另一个终端： + +```bash +source install/setup.bash + +# Query current state / 查询当前状态 +ros2 service call /odin1/get_ae odin_ros_driver/srv/GetAe +ros2 service call /odin1/get_awb odin_ros_driver/srv/GetAwb + +# Set AE to AUTO / 设置 AE 为自动 +ros2 service call /odin1/set_ae odin_ros_driver/srv/SetAe "{mode: 0}" + +# Set AE to MANUAL with 10 ms exposure and gain 4.0 +# 设置 AE 为手动，10 毫秒曝光，增益 4.0 +ros2 service call /odin1/set_ae odin_ros_driver/srv/SetAe \ + "{mode: 1, exposure_time: 0.010, gain: 4.0}" + +# Set AWB to MANUAL with rgain=1.5, bgain=2.0 +# 设置 AWB 为手动，rgain=1.5、bgain=2.0 +ros2 service call /odin1/set_awb odin_ros_driver/srv/SetAwb \ + "{mode: 1, rgain: 1.5, bgain: 2.0}" + +# Restore AUTO / 一键回自动 +ros2 service call /odin1/set_ae odin_ros_driver/srv/SetAe "{mode: 0}" +ros2 service call /odin1/set_awb odin_ros_driver/srv/SetAwb "{mode: 0}" + +# Inspect srv definition / 查看 srv 完整定义 +ros2 interface show odin_ros_driver/srv/SetAe +``` + +ROS1 (Noetic) — start the driver, then in a side terminal: +ROS1（Noetic）—— 启动 driver 后，新开终端： + +```bash +source devel/setup.bash + +# Query / 查询 +rosservice call /odin1/get_ae +rosservice call /odin1/get_awb + +# Set AE manual / 设置 AE 手动 +rosservice call /odin1/set_ae "{mode: 1, exposure_time: 0.010, gain: 4.0}" + +# Set AWB manual / 设置 AWB 手动 +rosservice call /odin1/set_awb "{mode: 1, rgain: 1.5, bgain: 2.0}" + +# Restore AUTO (ROS1 requires all fields to be present) +# 一键回自动（ROS1 要求填齐全部字段） +rosservice call /odin1/set_ae "{mode: 0, exposure_time: 0.0, gain: 0.0}" +rosservice call /odin1/set_awb "{mode: 0, rgain: 0.0, bgain: 0.0}" + +# Inspect srv definition / 查看 srv 完整定义 +rossrv show odin_ros_driver/SetAe +``` + +#### 4.6.5 Recommended starting points by scene / 不同场景推荐起步参数 + +**AE (`exposure_time`, `gain`)** + +| Scene / 场景 | `exposure_time` | `gain` | +|---|---|---| +| Bright outdoor / 明亮室外 | `0.001` ~ `0.005` s | `1.0` ~ `2.0` | +| Normal indoor / 普通室内 | `0.008` ~ `0.015` s | `2.0` ~ `8.0` | +| Dim light / 暗光环境 | `0.020` ~ `0.030` s | `8.0` ~ `32.0` | +| Very dark / 极暗 | `0.033` s | `32.0` ~ `64.0` | + +**AWB (`rgain`, `bgain`)** + +| Target tone / 目标色调 | `rgain` | `bgain` | +|---|---|---| +| Warm (tungsten, sunset) / 暖（钨丝灯、夕阳） | `2.0` ~ `2.5` | `1.0` ~ `1.2` | +| Neutral (D65 daylight) / 中性（D65 日光） | `1.5` ~ `1.7` | `1.8` ~ `2.0` | +| Cool (cloudy, fluorescent) / 冷（阴天、荧光） | `1.2` ~ `1.4` | `2.2` ~ `2.6` | +| Very cool / 极冷 | `1.0` | `3.0` ~ `4.0` | + +#### 4.6.6 Caveats / 注意事项 + +- The service blocks for up to ~10 s waiting for the device to reply; + typical latency is tens of milliseconds. + Service 最长阻塞约 10 秒等设备应答；正常几十毫秒返回。 +- Manual mode is **not** persisted across driver / device restart; + it falls back to AUTO on each new connection. + 手动模式**不会**跨重启保留；每次重连默认回到 AUTO。 +- `rc = -100` means the driver has not yet opened the device. + Wait until the driver logs `device connected` before calling. + 返回 `rc = -100` 表示 driver 还没打开设备，等到 driver 日志显示 `device connected` 再调用。 +- The effective maximum `exposure_time` is bounded by the frame + period `1 / fps`. With `dtof_fps = 290` (29 Hz, period ~34 ms) + the upper limit 0.033 s is already at the frame boundary. + 最大可用 `exposure_time` 受帧周期 `1/fps` 限制。在 `dtof_fps = 290`（29 Hz、周期 ~34 ms）下，上限 0.033 s 已经贴到帧边界。 + +## 5. FAQ +### 5.1 Segmentation fault upon re-launching host SDK +**Error Message** +No device connected after 60 seconds + +**Solution** +1. Please power on Odin module again # Disconnect and reconnect odin power + +2. Reinitialize Odin SDK # Execute SDK after device reboot + + +### 5.2 Library binding failure during compilation + +**Error Message** +ld: cannot find -llydHostApi or symbol lookup errors + +**Resolution** + +1. Clean previous build artifacts + +ROS1 +```shell +rm -rf devel/ build/ +``` +ROS2 +```shell +rm -rf devel/ install/ log/ +``` +2. Re-run script installation + +### 5.3 Docker GUI passthrough failure + +**Error Message** +Unable to open X display or No protocol specified + +**Resolution** +```shell +xhost + #This command enables graphical passthrough to Docker containers +``` + +### 5.4 ROS driver exit with get version failed error + +**Error Message** +```shell +: get device version fail. +get version failed. +``` + +**Resolution** + +Device firmware version is too low, please update to latest version. + + +### 5.5 RVIZ has not responded for a long time + +**Error Message** +Rviz does not respond, and after a while the terminal prints Device disconnected, waiting for reconnection... + +**Resolution** + +Please power on Odin module again + +### 5.6 Device not responding + +**Error Message** +Missed ok response from device,probably wrong interaction procedure. + +**Resolution** + +Please adopt the solution mentioned in 5.1 + +### 5.7 Device has no external calibration file + +**Error Message** +ERROR：Missing camera node 'cam_0' + +**Resolution** + +Please plug and unplug the USB again + +### 5.8 ROS Driver report device disconnected immediately after stream started + +**Error Message** + +```shell +Device ready and streams activated +Device detaching... +Wating for device reconnection... +Device disconnected, waiting for reconnection... +``` + +**Reason** + +Mostly common on ros2 environment and connected to complex network environment, such as office wifi & ethernet. ROS2 default to broadcast, and complex network environment will cause ros2 publish to block, leading to device disconnection. + +**Resolution** + +If cross-device communication is not required, please restrict ros2 to localhost only with: +```shell +export ROS_LOCALHOST_ONLY=1 +``` + +If cross-device communication is required, please simplify the network environment as much as possible. Mini local network with only required devices is recommended. + +### 5.9 ROS Driver died immediately after stream started + +**Error Message** + +```shell +Device ready and streams activated +[host_sdk_sample-2] process has died ...... +``` + +**Test** + +Disable odin1/image with sendrgb = 0 in control_command.yaml and try again. If the driver now works, it is likely that the issue is related to multiple version of opencv is installed on the system. + +**Resolution** + +Purge the unused version of opencv and maintain a single complete version, then rebuild the driver and try again. + +### 5.10 ROS Driver printing "TF_OLD_DATA ignoring data" warning + +**Error Message** + +```shell +[rviz2-3] Warning: TF_OLD_DATA ignoring data from the past for frame odin1_base_link at time 20.547632 according to authority Authority undetectable +[rviz2-3] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained +[rviz2-3] at line 294 in ./src/buffer_core.cpp +``` + +**Reason** + +This is a ros & rviz feature to warn user that some tf data is being ignored due to timestamp conflicts. It happens when user keeps ros driver running and power-cycles odin device, which cause odin's internal system time being reset and now data timestamps conflicts with old data recieved by rviz during last run. + +**Resolution** + +There's a reset button on bottom of rviz gui. Click on this button will reset rviz's internal state and stop the warning. + +### 5.11 ROS Driver printing "unknown cmd code: xx" error + +**Error Message** + +```shell +: unknow command code 21. +``` + +**Reason** + +This is due to ros driver version mismatch with device firmware version, resulting in ros driver unable to decode new data added in newer firmware. + +**Resolution** + +Please make sure you are using most up-to-date ros driver and device firmware. + +### 5.12 USB device access error (LIBUSB_ERROR_BUSY or LIBUSB_ERROR_ACCESS) + +**Error Message** + +```shell +libusb: error [udev_hotplug_event] ignoring udev action bind +LIBUSB_ERROR_BUSY +``` + +or + +```shell +libusb: error [_get_usbfs_fd] libusb couldn't open USB device /dev/bus/usb/xxx/xxx, errno=13 +LIBUSB_ERROR_ACCESS +``` + +**Reason** + +- **LIBUSB_ERROR_BUSY**: Another process is already using the USB device. This commonly happens when multiple instances of the ROS driver are running, or another application (such as a previous crashed instance) still holds the device handle. + +- **LIBUSB_ERROR_ACCESS**: The current user does not have permission to access the USB device. This is typically caused by missing udev rules or insufficient user privileges. + +**Resolution** + +For **LIBUSB_ERROR_BUSY**: + +1. Check if another instance of the driver is running: +```shell +ps aux | grep host_sdk_sample +``` + +2. Kill any existing instances: +```shell +killall host_sdk_sample +``` + +3. If the issue persists, unplug and replug the USB device to reset the device state. + +For **LIBUSB_ERROR_ACCESS**: + +1. Add udev rules for the device. Create a file `/etc/udev/rules.d/99-odin.rules` with the following content: +```shell +SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev" +``` + +2. Reload udev rules: +```shell +sudo udevadm control --reload-rules +sudo udevadm trigger +``` + +3. Alternatively, run the driver with sudo (not recommended for production): +```shell +sudo -E ros2 launch odin_ros_driver odin_ros_driver.launch.py +``` + +4. Make sure your user is in the `plugdev` group: +```shell +sudo usermod -aG plugdev $USER +``` +Then log out and log back in for the group change to take effect. + +### 5.13 ros2 bag drops high-frequency topics (IMU / odometry_highfreq) / ros2 bag 录制丢失高频话题（IMU / odometry_highfreq） + +**Symptom / 现象** + +When recording with `ros2 bag record`, low-frequency topics (cloud, image, odometry, wiwc) are intact, but `/odin1/imu` (400 Hz) and `/odin1/odometry_highfreq` (400 Hz) show missing samples — analysis scripts report inter-message intervals that are 2× or more of the expected period, while no drop is reported on the SDK side or by an online subscriber such as `ros2 topic hz`. + +使用 `ros2 bag record` 录制时，低频话题（cloud、image、odometry、wiwc）完整无丢，但 `/odin1/imu`（400 Hz）和 `/odin1/odometry_highfreq`（400 Hz）会出现丢帧——分析脚本上看到消息间隔达到正常周期的 2 倍以上，而 SDK 侧不报丢，独立的 `ros2 topic hz` 订阅者也看不到丢。 + +**Reason / 原因** + +The driver publishes `/odin1/imu` and `/odin1/odometry_highfreq` with `RELIABLE` QoS. By default `ros2 bag record` subscribes with `history = keep_last`, `depth = 10`, which only buffers ~25 ms of samples at 400 Hz. Whenever the recorder is briefly delayed (disk flush, mcap/sqlite chunk write, scheduler jitter), its subscription queue overflows and DDS silently drops the oldest samples on the **subscriber side**. The SDK and publisher are unaffected, which is why no drop appears in the driver logs or in `ros2 topic hz`. + +驱动以 `RELIABLE` QoS 发布 `/odin1/imu` 与 `/odin1/odometry_highfreq`。`ros2 bag record` 默认订阅使用 `history = keep_last`、`depth = 10`，在 400 Hz 下只能缓冲约 25 ms。一旦录制端有短暂阻塞（落盘 flush、mcap/sqlite chunk 写入、调度抖动），订阅队列就会溢出，DDS 在**订阅端**静默丢掉最旧的样本。SDK 与 publisher 不受影响，因此驱动日志和 `ros2 topic hz` 都看不到丢。 + +**Resolution / 解决方案** + +Use the provided QoS override file `script/rosbag2_qos.yaml` to raise the subscriber-side queue depth on the recorder for the two high-rate topics: + +使用本仓库提供的 QoS 配置 `script/rosbag2_qos.yaml`，把高频话题的录制订阅 depth 拉大： + +```yaml +# script/rosbag2_qos.yaml +/odin1/imu: + reliability: reliable + history: keep_last + depth: 4000 + +/odin1/odometry_highfreq: + reliability: reliable + history: keep_last + depth: 4000 +``` + +Apply it when recording / 录制时通过 `--qos-profile-overrides-path` 应用： + +```shell +ros2 bag record -a \ + --qos-profile-overrides-path src/odin_ros_driver/script/rosbag2_qos.yaml \ + -o my_bag +``` + +Or only the high-rate topics / 也可以只录制高频话题： + +```shell +ros2 bag record \ + --qos-profile-overrides-path src/odin_ros_driver/script/rosbag2_qos.yaml \ + -o my_bag \ + /odin1/imu /odin1/odometry_highfreq /odin1/odometry /odin1/wiwc /odin1/cloud_raw +``` + +**Optional further tuning / 可选的进一步优化** + +If drops still occur after applying the override (typically on slower disks), try the following in addition / 套用上述 override 后仍有丢包时（通常发生在慢盘上），可叠加以下措施： + +```shell +# Use mcap backend with a larger internal cache (faster than sqlite3). +# 使用 mcap 后端 + 更大的内部缓存（比 sqlite3 快）。 +ros2 bag record -s mcap --max-cache-size 1073741824 \ + --qos-profile-overrides-path src/odin_ros_driver/script/rosbag2_qos.yaml \ + -o my_bag \ + /odin1/imu /odin1/odometry_highfreq ... + +# Enlarge kernel UDP socket buffers (the most common hidden bottleneck for +# 400 Hz RELIABLE traffic, default is only 208 KB). +# 放大内核 UDP socket buffer（400 Hz RELIABLE 流量最常见的隐藏瓶颈，默认仅 208 KB）。 +sudo sysctl -w net.core.rmem_max=33554432 +sudo sysctl -w net.core.wmem_max=33554432 +``` + +**Does ROS1 have the same problem? / ROS1 是否存在同样的问题？** + +No. ROS1 uses TCP-based publish/subscribe with a single `queue_size` parameter on each side, and has no QoS profile mismatch between publisher and subscriber. The ROS1 publisher path in this driver already sizes the IMU and `odometry_highfreq` publishers to `queue_size = 4000` (`include/host_sdk_sample.h`, see `initialize_publishers` ROS1 branch), and `rosbag record` uses TCP transport which is reliable by construction. As a result this specific drop pattern does not occur under ROS1; no additional configuration is required. + +不存在。ROS1 使用基于 TCP 的发布/订阅，发布端与订阅端各自只有一个 `queue_size` 参数，不存在 ROS2 那种 QoS profile 不匹配的问题。本驱动 ROS1 路径已经把 IMU 与 `odometry_highfreq` 的发布队列设置为 `queue_size = 4000`（见 `include/host_sdk_sample.h` 中 `initialize_publishers` 的 ROS1 分支），并且 `rosbag record` 使用 TCP 传输本身即可靠传递。因此在 ROS1 下不会出现该丢帧现象，也不需要额外配置。 + +## 6. Contact Information​​ + +You can contact our support through support@manifoldtech.cn + +To help diagnose the issue, please provide the following details to our FAE engineer: + +1. Current firmware version​​ +```shell +[device_version_capture]: ros_driver_version: [Version Number] +``` +2. Photos of power adapter and converter cable​​ in use. + +3. Does the issue happen occasionally or consistently? + +4. Provide images of the problem scenario. + +5. Did the troubleshooting methods in ​​Section V​​ resolve the issue? + +6. Expected timeline for issue resolution. diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/RELOCALIZATION_GUIDE.md b/05_software/real/sim2real_ros2/src/odin_ros_driver/RELOCALIZATION_GUIDE.md new file mode 100644 index 0000000..e6e12c2 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/RELOCALIZATION_GUIDE.md @@ -0,0 +1,642 @@ +# Relocalization Guide / 重定位使用指南 + +This guide explains how to use the relocalization feature in Odin ROS Driver, including automatic relocalization and init position relocalization modes. + +本指南介绍如何使用 Odin ROS Driver 的重定位功能，包括自动重定位和指定初始位置重定位两种模式。 + +--- + +## Table of Contents / 目录 + +1. [Overview / 概述](#overview--概述) +2. [Prerequisites / 前提条件](#prerequisites--前提条件) +3. [Mode 1: Auto Relocalization / 自动重定位](#mode-1-auto-relocalization--自动重定位) +4. [Mode 2: Init Position Relocalization / 指定初始位置重定位](#mode-2-init-position-relocalization--指定初始位置重定位) +5. [init_pos Format / init_pos 格式说明](#init_pos-format--init_pos-格式说明) +6. [Configuration Examples / 配置示例](#configuration-examples--配置示例) +7. [Programmatic API / 编程接口](#programmatic-api--编程接口) +8. [Troubleshooting / 故障排除](#troubleshooting--故障排除) + +--- + +## Overview / 概述 + +### English + +Relocalization mode (`custom_map_mode: 2`) allows Odin to localize itself within a pre-built map. There are two approaches: + +| Mode | Description | Use Case | +|------|-------------|----------| +| **Auto Relocalization** | Algorithm automatically searches for position in the map | Starting position is unknown or within recommended range | +| **Init Position Relocalization** | User provides an initial pose estimate via `init_pos` | Starting position is known, faster convergence needed | + +### 中文 + +重定位模式（`custom_map_mode: 2`）允许 Odin 在预先构建的地图中进行自我定位。有两种方式： + +| 模式 | 描述 | 适用场景 | +|------|------|----------| +| **自动重定位** | 算法自动在地图中搜索位置 | 起始位置未知，或在推荐范围内 | +| **指定初始位置重定位** | 用户通过 `init_pos` 提供初始位姿估计 | 起始位置已知，需要更快收敛 | + +--- + +## Prerequisites / 前提条件 + +### English + +1. **Pre-built map file**: A `.bin` map file created in SLAM mode (`custom_map_mode: 1`) +2. **Map file path**: Know the absolute path to your map file +3. **Starting position**: For init position mode, know the approximate starting pose in map coordinates + +### 中文 + +1. **预构建的地图文件**：在 SLAM 模式（`custom_map_mode: 1`）下创建的 `.bin` 地图文件 +2. **地图文件路径**：知道地图文件的绝对路径 +3. **起始位置**：对于指定初始位置模式，需要知道在地图坐标系中的大致起始位姿 + +--- + +## Mode 1: Auto Relocalization / 自动重定位 + +### English + +In auto relocalization mode, the algorithm automatically searches for the device's position within the map based on current sensor observations. + +**Configuration** (`config/control_command.yaml`): + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/path/to/your/map.bin" + # custom_init_pos is NOT set or uses default [0,0,0,0,0,0,1] +``` + +**Recommended Starting Conditions**: +- Within **1 meter** of a position on the original SLAM trajectory +- Within **±10 degrees** of the original orientation +- In a visually distinctive area of the map + +**Behavior**: +1. On startup, Odin attempts to match current observations with the map +2. If successful, TF between `map` and `odom` frames is published +3. If unsuccessful, system operates in fallback SLAM mode (map saving disabled) +4. Relocalization attempts continue in background until successful + +**Tips**: +- Gently shaking or moving the device after startup can improve relocalization accuracy +- Highly distinctive scenes may allow successful matching beyond the 1m/10° range + +### 中文 + +在自动重定位模式下，算法根据当前传感器观测自动在地图中搜索设备位置。 + +**配置** (`config/control_command.yaml`): + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/path/to/your/map.bin" + # custom_init_pos 不设置或使用默认值 [0,0,0,0,0,0,1] +``` + +**推荐起始条件**： +- 距离原始 SLAM 轨迹上某点 **1 米**以内 +- 朝向与原始方向偏差在 **±10 度**以内 +- 位于地图中视觉特征明显的区域 + +**行为**： +1. 启动时，Odin 尝试将当前观测与地图匹配 +2. 如果成功，发布 `map` 和 `odom` 坐标系之间的 TF +3. 如果失败，系统进入后备 SLAM 模式（地图保存功能禁用） +4. 后台持续尝试重定位直到成功 + +**提示**： +- 启动后轻轻晃动或移动设备可以提高重定位精度 +- 在特征明显的场景中，可能在超出 1m/10° 范围时也能成功匹配 + +--- + +## Mode 2: Init Position Relocalization / 指定初始位置重定位 + +### English + +In init position relocalization mode, you provide an initial pose estimate to help the algorithm converge faster. + +**Configuration** (`config/control_command.yaml`): + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/path/to/your/map.bin" + custom_init_pos: [x, y, z, qx, qy, qz, qw] +``` + +**When to Use**: +- You know the approximate starting position (e.g., from external localization system) +- Starting position is far from the recommended 1m/10° range +- You need faster relocalization convergence +- Deploying in a fixed docking station with known pose + +**Behavior**: +1. Algorithm uses provided `init_pos` as initial pose estimate +2. Searches for matches in the vicinity of the provided position +3. Faster convergence compared to auto mode when estimate is accurate + +### 中文 + +在指定初始位置重定位模式下，您提供初始位姿估计以帮助算法更快收敛。 + +**配置** (`config/control_command.yaml`): + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/path/to/your/map.bin" + custom_init_pos: [x, y, z, qx, qy, qz, qw] +``` + +**适用场景**： +- 您知道大致的起始位置（例如，来自外部定位系统） +- 起始位置远离推荐的 1m/10° 范围 +- 需要更快的重定位收敛速度 +- 部署在已知位姿的固定充电桩 + +**行为**： +1. 算法使用提供的 `init_pos` 作为初始位姿估计 +2. 在提供位置的附近搜索匹配 +3. 当估计准确时，比自动模式收敛更快 + +--- + +## init_pos Format / init_pos 格式说明 + +### English + +`init_pos` is an array of **7 float values** representing position and orientation: + +```yaml +custom_init_pos: [x, y, z, qx, qy, qz, qw] +``` + +| Index | Parameter | Description | Unit | +|-------|-----------|-------------|------| +| 0 | x | X position in map frame | meters | +| 1 | y | Y position in map frame | meters | +| 2 | z | Z position in map frame | meters | +| 3 | qx | Quaternion X component | - | +| 4 | qy | Quaternion Y component | - | +| 5 | qz | Quaternion Z component | - | +| 6 | qw | Quaternion W component | - | + +**Important Notes**: +- The quaternion must be normalized: `sqrt(qx² + qy² + qz² + qw²) ≈ 1.0` +- Coordinates are relative to the **map frame** (world frame at SLAM start) +- Default value `[0, 0, 0, 0, 0, 0, 1]` represents origin with no rotation + +**Common Quaternion Values**: + +| Orientation | qx | qy | qz | qw | +|-------------|----|----|----|----| +| No rotation (identity) | 0 | 0 | 0 | 1 | +| 90° around Z-axis | 0 | 0 | 0.707 | 0.707 | +| 180° around Z-axis | 0 | 0 | 1 | 0 | +| -90° around Z-axis | 0 | 0 | -0.707 | 0.707 | + +### 中文 + +`init_pos` 是一个包含 **7 个 float 值**的数组，表示位置和朝向： + +```yaml +custom_init_pos: [x, y, z, qx, qy, qz, qw] +``` + +| 索引 | 参数 | 描述 | 单位 | +|------|------|------|------| +| 0 | x | 地图坐标系中的 X 位置 | 米 | +| 1 | y | 地图坐标系中的 Y 位置 | 米 | +| 2 | z | 地图坐标系中的 Z 位置 | 米 | +| 3 | qx | 四元数 X 分量 | - | +| 4 | qy | 四元数 Y 分量 | - | +| 5 | qz | 四元数 Z 分量 | - | +| 6 | qw | 四元数 W 分量 | - | + +**重要说明**： +- 四元数必须归一化：`sqrt(qx² + qy² + qz² + qw²) ≈ 1.0` +- 坐标相对于**地图坐标系**（SLAM 启动时的世界坐标系） +- 默认值 `[0, 0, 0, 0, 0, 0, 1]` 表示原点且无旋转 + +**常用四元数值**： + +| 朝向 | qx | qy | qz | qw | +|------|----|----|----|----| +| 无旋转（单位四元数） | 0 | 0 | 0 | 1 | +| 绕 Z 轴旋转 90° | 0 | 0 | 0.707 | 0.707 | +| 绕 Z 轴旋转 180° | 0 | 0 | 1 | 0 | +| 绕 Z 轴旋转 -90° | 0 | 0 | -0.707 | 0.707 | + +--- + +## Configuration Examples / 配置示例 + +### Example 1: Auto Relocalization / 自动重定位示例 + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/home/user/maps/office_map.bin" +``` + +### Example 2: Init Position at Origin / 在原点指定初始位置 + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/home/user/maps/office_map.bin" + custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] +``` + +### Example 3: Init Position with Offset / 带偏移的初始位置 + +Position at (5.2, -3.1, 0) with 90° rotation around Z-axis: + +位置在 (5.2, -3.1, 0)，绕 Z 轴旋转 90°： + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/home/user/maps/warehouse_map.bin" + custom_init_pos: [5.2, -3.1, 0.0, 0.0, 0.0, 0.707, 0.707] +``` + +### Example 4: Docking Station Pose / 充电桩位置 + +Known docking station at (10.5, 2.3, 0) facing -X direction (180° rotation): + +已知充电桩位置在 (10.5, 2.3, 0)，朝向 -X 方向（旋转 180°）： + +```yaml +register_keys: + custom_map_mode: 2 + relocalization_map_abs_path: "/home/user/maps/factory_map.bin" + custom_init_pos: [10.5, 2.3, 0.0, 0.0, 0.0, 1.0, 0.0] +``` + +--- + +## Programmatic API / 编程接口 + +### English + +You can also set `init_pos` programmatically using the `lidar_set_custom_parameter` API. This is useful for: +- Dynamic relocalization during runtime +- Integration with external localization systems +- Setting initial pose from robot's last known position + +#### API Function + +```cpp +#include "lidar_api.h" + +/** + * @brief Set a custom parameter on the device + * @param device Device handle obtained from lidar_open_device() + * @param param_name Parameter name (e.g., "init_pos") + * @param value_data Pointer to the parameter data + * @param value_length Size of the data in bytes + * @return 0 on success, -1 on error, -2 if file transfer in progress + */ +int lidar_set_custom_parameter(device_handle device, + const char* param_name, + const void* value_data, + size_t value_length); +``` + +#### Complete Example + +```cpp +#include "lidar_api.h" +#include +#include + +// Helper function to create quaternion from yaw angle (rotation around Z-axis) +void yaw_to_quaternion(float yaw_rad, float* qx, float* qy, float* qz, float* qw) { + *qx = 0.0f; + *qy = 0.0f; + *qz = sinf(yaw_rad / 2.0f); + *qw = cosf(yaw_rad / 2.0f); +} + +int set_init_position(device_handle device, + float x, float y, float z, + float qx, float qy, float qz, float qw) { + // init_pos format: [x, y, z, qx, qy, qz, qw] - 7 floats + float init_pos[7] = {x, y, z, qx, qy, qz, qw}; + + int result = lidar_set_custom_parameter( + device, + "init_pos", // Parameter name + init_pos, // Data pointer + sizeof(init_pos) // 7 * sizeof(float) = 28 bytes + ); + + if (result == 0) { + printf("Successfully set init_pos: [%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f]\n", + x, y, z, qx, qy, qz, qw); + } else { + printf("Failed to set init_pos, error code: %d\n", result); + } + + return result; +} + +// Usage examples: + +// Example 1: Set position at origin with no rotation +void example_origin(device_handle device) { + set_init_position(device, + 0.0f, 0.0f, 0.0f, // x, y, z + 0.0f, 0.0f, 0.0f, 1.0f // qx, qy, qz, qw (identity) + ); +} + +// Example 2: Set position with 90° yaw rotation +void example_with_rotation(device_handle device) { + float qx, qy, qz, qw; + float yaw_degrees = 90.0f; + float yaw_rad = yaw_degrees * M_PI / 180.0f; + + yaw_to_quaternion(yaw_rad, &qx, &qy, &qz, &qw); + + set_init_position(device, + 5.2f, -3.1f, 0.0f, // x, y, z + qx, qy, qz, qw // quaternion from yaw + ); +} + +// Example 3: Set position from external localization system +void example_from_external_localization(device_handle device, + double ext_x, double ext_y, double ext_yaw) { + float qx, qy, qz, qw; + yaw_to_quaternion((float)ext_yaw, &qx, &qy, &qz, &qw); + + set_init_position(device, + (float)ext_x, (float)ext_y, 0.0f, + qx, qy, qz, qw + ); +} +``` + +#### ROS Integration Example + +```cpp +#include "lidar_api.h" +#include // ROS1 +// or +#include // ROS2 + +// Callback for /initialpose topic (from RViz "2D Pose Estimate" tool) +void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg, + device_handle device) { + float init_pos[7] = { + (float)msg->pose.pose.position.x, + (float)msg->pose.pose.position.y, + (float)msg->pose.pose.position.z, + (float)msg->pose.pose.orientation.x, + (float)msg->pose.pose.orientation.y, + (float)msg->pose.pose.orientation.z, + (float)msg->pose.pose.orientation.w + }; + + int result = lidar_set_custom_parameter(device, "init_pos", init_pos, sizeof(init_pos)); + + if (result == 0) { + ROS_INFO("Set init_pos from RViz: [%.2f, %.2f, %.2f]", + init_pos[0], init_pos[1], init_pos[2]); + } else { + ROS_ERROR("Failed to set init_pos: %d", result); + } +} +``` + +#### Important Notes + +1. **Call timing**: Set `init_pos` **before** starting the stream with `lidar_start_stream()` +2. **Map mode**: Ensure `custom_map_mode` is set to `2` (relocalization mode) +3. **Map file**: The relocalization map must be set via `lidar_set_relocalization_map()` or YAML config +4. **Thread safety**: `lidar_set_custom_parameter` is thread-safe but blocks until response received + +### 中文 + +您也可以使用 `lidar_set_custom_parameter` API 以编程方式设置 `init_pos`。适用于： +- 运行时动态重定位 +- 与外部定位系统集成 +- 从机器人上次已知位置设置初始位姿 + +#### API 函数 + +```cpp +#include "lidar_api.h" + +/** + * @brief 在设备上设置自定义参数 + * @param device 从 lidar_open_device() 获取的设备句柄 + * @param param_name 参数名称（如 "init_pos"） + * @param value_data 指向参数数据的指针 + * @param value_length 数据大小（字节） + * @return 成功返回 0，错误返回 -1，文件传输中返回 -2 + */ +int lidar_set_custom_parameter(device_handle device, + const char* param_name, + const void* value_data, + size_t value_length); +``` + +#### 完整示例 + +```cpp +#include "lidar_api.h" +#include +#include + +// 辅助函数：从偏航角（绕 Z 轴旋转）创建四元数 +void yaw_to_quaternion(float yaw_rad, float* qx, float* qy, float* qz, float* qw) { + *qx = 0.0f; + *qy = 0.0f; + *qz = sinf(yaw_rad / 2.0f); + *qw = cosf(yaw_rad / 2.0f); +} + +int set_init_position(device_handle device, + float x, float y, float z, + float qx, float qy, float qz, float qw) { + // init_pos 格式: [x, y, z, qx, qy, qz, qw] - 7 个 float + float init_pos[7] = {x, y, z, qx, qy, qz, qw}; + + int result = lidar_set_custom_parameter( + device, + "init_pos", // 参数名 + init_pos, // 数据指针 + sizeof(init_pos) // 7 * sizeof(float) = 28 字节 + ); + + if (result == 0) { + printf("成功设置 init_pos: [%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f]\n", + x, y, z, qx, qy, qz, qw); + } else { + printf("设置 init_pos 失败，错误码: %d\n", result); + } + + return result; +} + +// 使用示例： + +// 示例 1：在原点设置位置，无旋转 +void example_origin(device_handle device) { + set_init_position(device, + 0.0f, 0.0f, 0.0f, // x, y, z + 0.0f, 0.0f, 0.0f, 1.0f // qx, qy, qz, qw（单位四元数） + ); +} + +// 示例 2：设置带 90° 偏航旋转的位置 +void example_with_rotation(device_handle device) { + float qx, qy, qz, qw; + float yaw_degrees = 90.0f; + float yaw_rad = yaw_degrees * M_PI / 180.0f; + + yaw_to_quaternion(yaw_rad, &qx, &qy, &qz, &qw); + + set_init_position(device, + 5.2f, -3.1f, 0.0f, // x, y, z + qx, qy, qz, qw // 从偏航角计算的四元数 + ); +} + +// 示例 3：从外部定位系统设置位置 +void example_from_external_localization(device_handle device, + double ext_x, double ext_y, double ext_yaw) { + float qx, qy, qz, qw; + yaw_to_quaternion((float)ext_yaw, &qx, &qy, &qz, &qw); + + set_init_position(device, + (float)ext_x, (float)ext_y, 0.0f, + qx, qy, qz, qw + ); +} +``` + +#### ROS 集成示例 + +```cpp +#include "lidar_api.h" +#include // ROS1 +// 或 +#include // ROS2 + +// /initialpose 话题的回调函数（来自 RViz 的 "2D Pose Estimate" 工具） +void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg, + device_handle device) { + float init_pos[7] = { + (float)msg->pose.pose.position.x, + (float)msg->pose.pose.position.y, + (float)msg->pose.pose.position.z, + (float)msg->pose.pose.orientation.x, + (float)msg->pose.pose.orientation.y, + (float)msg->pose.pose.orientation.z, + (float)msg->pose.pose.orientation.w + }; + + int result = lidar_set_custom_parameter(device, "init_pos", init_pos, sizeof(init_pos)); + + if (result == 0) { + ROS_INFO("从 RViz 设置 init_pos: [%.2f, %.2f, %.2f]", + init_pos[0], init_pos[1], init_pos[2]); + } else { + ROS_ERROR("设置 init_pos 失败: %d", result); + } +} +``` + +#### 重要说明 + +1. **调用时机**：在调用 `lidar_start_stream()` 启动数据流**之前**设置 `init_pos` +2. **地图模式**：确保 `custom_map_mode` 设置为 `2`（重定位模式） +3. **地图文件**：必须通过 `lidar_set_relocalization_map()` 或 YAML 配置设置重定位地图 +4. **线程安全**：`lidar_set_custom_parameter` 是线程安全的，但会阻塞直到收到响应 + +--- + +## Troubleshooting / 故障排除 + +### Relocalization Fails / 重定位失败 + +**English**: +- Ensure starting position is within recommended range (1m/10°) +- Check that the map file path is correct and file exists +- Verify the environment hasn't changed significantly since mapping +- Try gently moving the device to provide more observations + +**中文**： +- 确保起始位置在推荐范围内（1m/10°） +- 检查地图文件路径是否正确且文件存在 +- 验证环境自建图以来没有显著变化 +- 尝试轻轻移动设备以提供更多观测 + +### init_pos Not Taking Effect / init_pos 未生效 + +**English**: +- Verify `custom_map_mode` is set to `2` +- Check that `custom_init_pos` has exactly 7 values +- Ensure quaternion is normalized (sum of squares ≈ 1) +- Restart the driver after modifying configuration + +**中文**： +- 验证 `custom_map_mode` 设置为 `2` +- 检查 `custom_init_pos` 是否恰好有 7 个值 +- 确保四元数已归一化（平方和 ≈ 1） +- 修改配置后重启驱动程序 + +### TF Not Published / TF 未发布 + +**English**: +- Relocalization may still be in progress +- Check ROS logs for relocalization status messages +- System operates in fallback mode until relocalization succeeds + +**中文**： +- 重定位可能仍在进行中 +- 检查 ROS 日志中的重定位状态消息 +- 系统在重定位成功前以后备模式运行 + +### Map File Not Found / 地图文件未找到 + +**English**: +- Use absolute path (starting with `/`) +- Check file permissions +- Verify file extension is `.bin` + +**中文**： +- 使用绝对路径（以 `/` 开头） +- 检查文件权限 +- 验证文件扩展名为 `.bin` + +--- + +## Related Topics / 相关话题 + +| Topic | Description | +|-------|-------------| +| `/odin1/odometry` | Odometry in odom frame | +| `/odin1/odometry_highfreq` | High-frequency odometry | +| `/odin1/cloud_slam` | SLAM point cloud in odom frame | +| `/tf` | Transform tree (includes map→odom after successful relocalization) | + +--- + +## See Also / 参见 + +- [README.md](README.md) - Main documentation +- [config/control_command.yaml](config/control_command.yaml) - Configuration file + diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/config/calib.yaml b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/calib.yaml new file mode 100644 index 0000000..0f7df59 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/calib.yaml @@ -0,0 +1,30 @@ +# O1-P040100042 +cam_num: 1 +img_topic_0: /camera/rgb +Tcl_0: [ + -0.00916, -0.99996, 0.00032, 0.03215, + 0.00239, -0.00034, -1.00000, -0.01185, + 0.99996, -0.00916, 0.00239, 0.00536, + 0.00000, 0.00000, 0.00000, 1.00000 +] + +cam_0: + cam_model: FishPoly + image_width: 1600 + image_height: 1296 + k2: 6.5597407531742908e-04 + k3: -2.8960653254664001e-02 + k4: 4.5390330144604515e-02 + k5: -6.4513398102889072e-02 + k6: 3.8735200610848508e-02 + k7: -9.9027101865577991e-03 + p1: 0. + p2: 0. + A11: 7.3689426240691989e+02 + A12: -1.6114977429994648e-01 + A22: 7.3661135398452438e+02 + u0: 8.0612553451014685e+02 + v0: 6.3965071026991302e+02 + isFast: 0 + numDiff: 3000 + maxIncidentAngle: 120 diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command.yaml b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command.yaml new file mode 100644 index 0000000..92795bc --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command.yaml @@ -0,0 +1,108 @@ +register_keys: + + # if off, allow connection even if usb connection is below usb 3.0 + # ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer + strict_usb3.0_check: 0 # 0: off: 1: on; + + # 0: use odin internal system time as data time stamp, typical and recommended; + # 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users + # 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis + use_host_ros_time: 1 + + streamctrl: 1 # 0: off; 1: on + + # original rgb data in jpeg format from device + sendrgbcompressed: 1 # 0: off; 1: on + + # RGB data, decoded from original jpeg data from device, bgr8 format + # Processed on host device + sendrgb: 1 # 0: off; 1: on + + # undistort rgb image processed from decoded rgb data. + # depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml + # Processed on host device + sendrgbundistort: 0 # 0: off; 1: on. + + # IMU data + sendimu: 1 # 0: off; 1: on + + # SDK IMU smooth sending feature + # When enabled, SDK will send IMU data at precise intervals (default 400Hz) + # using a dedicated high-priority thread to reduce jitter and timing variance + enable_imu_smooth: 1 # 0: disable SDK IMU smooth sending; 1: enable (default) + + # SDK IMU smooth sending frequency in Hz (only effective when enable_imu_smooth = 1) + imu_smooth_frequency: 400 # 1-1000 Hz, recommended 400 Hz + + # Odometry data + sendodom: 1 # 0: off; 1: on + + # TF from odom to base_link. Leave it on unless you specifically need it off. + # ATTENTION: critical for rviz to show cloud_raw. + send_odom_baselink_tf: 0 # 0: off; 1: on. + + # raw dtof data + senddtof: 1 # 0: off; 1: on + cloud_raw_confidence_threshold: 35 # please refer to readme for more details + + # dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps) + # Higher frame rate provides smoother point cloud data but may increase data bandwidth + # Note: value is multiplied by 10 (e.g., 145 means 14.5fps) + dtof_fps: 100 # 100: 10fps; 145: 14.5fps + + # slam cloud data + sendcloudslam: 1 # 0: off; 1: on + + # processed with raw point cloud, rgb image, and calib.yaml from device + # Processed on host device + sendcloudrender: 1 # 0: off; 1: on + + # depth completion demo, high computing resource usage. + # for more information please refer to the readme file. + # Processed on host device + senddepth: 0 # 0: off; 1: on + + # cloud reprojection demo, projects cloud_slam to camera image using odometry + # Processed on host device + sendreprojection: 0 # 0: off; 1: on + + # image overlay settings - overlays reprojected points on camera image + # Processed on host device + sendoverlay: 0 # 0: off; 1: on + overlay_reprojected_topic: "/odin1/reprojected_image" # reprojected image topic + overlay_camera_topic: "/odin1/image/undistorted" # camera image topic (undistorted) + overlay_output_topic: "/odin1/overlay_image" # output overlay image topic + overlay_alpha: 0.6 # blend alpha (0.0-1.0, higher = more reproj color) + + # record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software. + # save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/ + # ATTENTION: please copy the full folder for post-processing. + recorddata: 0 # 0: off; 1: on + + # Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv + devstatuslog: 1 # 0: off; 1: on. + + save_log: 0 # 0: off; 1: on; + + # raw dtof sensor intensity data in gray format, mostly for debug purpose. + pubintensitygray: 0 # 0: off; 1: on + + showpath: 0 # 0: off; 1: on + showcamerapose: 0 # 0: off; 1: on + + custom_map_mode: 2 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode. + custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] + custom_init_pose_search_radius: 4.0 # max position offset in meters, recommended <= 10 + custom_init_pose_max_rot_deg: 180.0 # max rotation offset in degrees, up to 180 + relocalization_map_abs_path: "/absolute/path/to/1hao.bin" # required for Relocalization mode; edit on the target computer + + # To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1" + mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/ + mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin + + # Image mask transfer settings + sendimagemask: 0 # 0: off; 1: on - transfer image mask to device on startup + image_mask_abs_path: "" # absolute path to the image mask file (e.g., /path/to/mask.png(1600x1296 resolution) + + # Algorithm reset settings + resetalgo: 0 # 0: off; 1: on - send algo_reset command to device on startup diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command_odom.yaml b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command_odom.yaml new file mode 100644 index 0000000..b60313b --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command_odom.yaml @@ -0,0 +1,110 @@ +register_keys: + + # if off, allow connection even if usb connection is below usb 3.0 + # ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer + strict_usb3.0_check: 0 # 0: off: 1: on; + + # 0: use odin internal system time as data time stamp, typical and recommended; + # 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users + # 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis + use_host_ros_time: 1 + + streamctrl: 1 # 0: off; 1: on + + # original rgb data in jpeg format from device + sendrgbcompressed: 1 # 0: off; 1: on + + # RGB data, decoded from original jpeg data from device, bgr8 format + # Processed on host device + sendrgb: 1 # 0: off; 1: on + + # undistort rgb image processed from decoded rgb data. + # depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml + # Processed on host device + sendrgbundistort: 0 # 0: off; 1: on. + + # IMU data + sendimu: 1 # 0: off; 1: on + + # SDK IMU smooth sending feature + # When enabled, SDK will send IMU data at precise intervals (default 400Hz) + # using a dedicated high-priority thread to reduce jitter and timing variance + enable_imu_smooth: 1 # 0: disable SDK IMU smooth sending; 1: enable (default) + + # SDK IMU smooth sending frequency in Hz (only effective when enable_imu_smooth = 1) + imu_smooth_frequency: 400 # 1-1000 Hz, recommended 400 Hz + + # Odometry data + sendodom: 1 # 0: off; 1: on + + # TF from odom to base_link. Leave it on unless you specifically need it off. + # ATTENTION: critical for rviz to show cloud_raw. + send_odom_baselink_tf: 0 # 0: off; 1: on. + + # raw dtof data + senddtof: 1 # 0: off; 1: on + cloud_raw_confidence_threshold: 35 # please refer to readme for more details + + # dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps) + # Higher frame rate provides smoother point cloud data but may increase data bandwidth + # Note: value is multiplied by 10 (e.g., 145 means 14.5fps) + dtof_fps: 100 # 100: 10fps; 145: 14.5fps + + # slam cloud data + sendcloudslam: 1 # 0: off; 1: on + + # processed with raw point cloud, rgb image, and calib.yaml from device + # Processed on host device + sendcloudrender: 1 # 0: off; 1: on + + # depth completion demo, high computing resource usage. + # for more information please refer to the readme file. + # Processed on host device + senddepth: 0 # 0: off; 1: on + + # cloud reprojection demo, projects cloud_slam to camera image using odometry + # Processed on host device + sendreprojection: 0 # 0: off; 1: on + + # image overlay settings - overlays reprojected points on camera image + # Processed on host device + sendoverlay: 0 # 0: off; 1: on + overlay_reprojected_topic: "/odin1/reprojected_image" # reprojected image topic + overlay_camera_topic: "/odin1/image/undistorted" # camera image topic (undistorted) + overlay_output_topic: "/odin1/overlay_image" # output overlay image topic + overlay_alpha: 0.6 # blend alpha (0.0-1.0, higher = more reproj color) + + # record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software. + # save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/ + # ATTENTION: please copy the full folder for post-processing. + recorddata: 0 # 0: off; 1: on + + # Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv + devstatuslog: 1 # 0: off; 1: on. + + save_log: 0 # 0: off; 1: on; + + # raw dtof sensor intensity data in gray format, mostly for debug purpose. + pubintensitygray: 0 # 0: off; 1: on + + showpath: 0 # 0: off; 1: on + showcamerapose: 0 # 0: off; 1: on + + # Screen LOC=ODOM profile. Keep Odin in odometry mode; sim2real_web_udp_bridge_node + # may publish the pure-odom map->odom fallback anchor. + custom_map_mode: 0 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode. + custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] + custom_init_pose_search_radius: 4.0 # max position offset in meters, recommended <= 10 + custom_init_pose_max_rot_deg: 180.0 # max rotation offset in degrees, up to 180 + relocalization_map_abs_path: "" # unused in odometry mode + + # To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1" + mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/ + mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin + + # Image mask transfer settings + sendimagemask: 0 # 0: off; 1: on - transfer image mask to device on startup + image_mask_abs_path: "" # absolute path to the image mask file (e.g., /path/to/mask.png(1600x1296 resolution) + + # Algorithm reset settings + resetalgo: 0 # 0: off; 1: on - send algo_reset command to device on startup diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command_relocal.yaml b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command_relocal.yaml new file mode 100644 index 0000000..9a41c7f --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/control_command_relocal.yaml @@ -0,0 +1,110 @@ +register_keys: + + # if off, allow connection even if usb connection is below usb 3.0 + # ATTENTION: usb 3.0 is always recommended, as advance functionality like SLAM mode requires usb 3.0 for reliable map file transfer + strict_usb3.0_check: 0 # 0: off: 1: on; + + # 0: use odin internal system time as data time stamp, typical and recommended; + # 1: use host ros time (upon receive) as data time stamp, only use if you specifically require this setup, not recommended for most users + # 2: align odin1 time to host time, timestamp is the sensor data reception time on host time axis + use_host_ros_time: 1 + + streamctrl: 1 # 0: off; 1: on + + # original rgb data in jpeg format from device + sendrgbcompressed: 1 # 0: off; 1: on + + # RGB data, decoded from original jpeg data from device, bgr8 format + # Processed on host device + sendrgb: 1 # 0: off; 1: on + + # undistort rgb image processed from decoded rgb data. + # depends on sendrgb. related camera parameters can be found in ws/src/odin_ros_driver/config/calib.yaml + # Processed on host device + sendrgbundistort: 0 # 0: off; 1: on. + + # IMU data + sendimu: 1 # 0: off; 1: on + + # SDK IMU smooth sending feature + # When enabled, SDK will send IMU data at precise intervals (default 400Hz) + # using a dedicated high-priority thread to reduce jitter and timing variance + enable_imu_smooth: 1 # 0: disable SDK IMU smooth sending; 1: enable (default) + + # SDK IMU smooth sending frequency in Hz (only effective when enable_imu_smooth = 1) + imu_smooth_frequency: 400 # 1-1000 Hz, recommended 400 Hz + + # Odometry data + sendodom: 1 # 0: off; 1: on + + # TF from odom to base_link. Leave it on unless you specifically need it off. + # ATTENTION: critical for rviz to show cloud_raw. + send_odom_baselink_tf: 0 # 0: off; 1: on. + + # raw dtof data + senddtof: 1 # 0: off; 1: on + cloud_raw_confidence_threshold: 35 # please refer to readme for more details + + # dtof sensor frame rate. Supported values: 100 (10fps) or 145 (14.5fps) + # Higher frame rate provides smoother point cloud data but may increase data bandwidth + # Note: value is multiplied by 10 (e.g., 145 means 14.5fps) + dtof_fps: 100 # 100: 10fps; 145: 14.5fps + + # slam cloud data + sendcloudslam: 1 # 0: off; 1: on + + # processed with raw point cloud, rgb image, and calib.yaml from device + # Processed on host device + sendcloudrender: 1 # 0: off; 1: on + + # depth completion demo, high computing resource usage. + # for more information please refer to the readme file. + # Processed on host device + senddepth: 0 # 0: off; 1: on + + # cloud reprojection demo, projects cloud_slam to camera image using odometry + # Processed on host device + sendreprojection: 0 # 0: off; 1: on + + # image overlay settings - overlays reprojected points on camera image + # Processed on host device + sendoverlay: 0 # 0: off; 1: on + overlay_reprojected_topic: "/odin1/reprojected_image" # reprojected image topic + overlay_camera_topic: "/odin1/image/undistorted" # camera image topic (undistorted) + overlay_output_topic: "/odin1/overlay_image" # output overlay image topic + overlay_alpha: 0.6 # blend alpha (0.0-1.0, higher = more reproj color) + + # record rgb, odometry, and slam cloud data as proprietary olx format for further processing in MindCloud(TM) software. + # save path: ws/src/odin_ros_driver/recorddata/{record_start_time}/ + # ATTENTION: please copy the full folder for post-processing. + recorddata: 0 # 0: off; 1: on + + # Save device runtime status info to ws/src/odin_ros_driver/log/Driver_{drvier_start_time}/Conn_{device_connection_time}/dev_status.csv + devstatuslog: 1 # 0: off; 1: on. + + save_log: 0 # 0: off; 1: on; + + # raw dtof sensor intensity data in gray format, mostly for debug purpose. + pubintensitygray: 0 # 0: off; 1: on + + showpath: 0 # 0: off; 1: on + showcamerapose: 0 # 0: off; 1: on + + # Screen LOC=RELOC profile. Odin loads relocalization_map_abs_path and publishes + # the map/odom TF after relocalization succeeds; pure-odom fallback is disabled. + custom_map_mode: 2 # 0: Odometry mode 1: SLAM mode 2: Relocalization mode. + custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] + custom_init_pose_search_radius: 4.0 # max position offset in meters, recommended <= 10 + custom_init_pose_max_rot_deg: 180.0 # max rotation offset in degrees, up to 180 + relocalization_map_abs_path: "/absolute/path/to/1hao.bin" # required for Relocalization mode; edit on the target computer + + # To get the mapping result file, please use the set_param.sh script provided: "./set_param.sh save_map 1" + mapping_result_dest_dir: "" # "": if not specified, save to default location of {ws}/src/odin_ros_driver/map/{driver_start_time}/ + mapping_result_file_name: "" # "": if not specified, save to location above with default file name of map_{map_save_time}.bin + + # Image mask transfer settings + sendimagemask: 0 # 0: off; 1: on - transfer image mask to device on startup + image_mask_abs_path: "" # absolute path to the image mask file (e.g., /path/to/mask.png(1600x1296 resolution) + + # Algorithm reset settings + resetalgo: 0 # 0: off; 1: on - send algo_reset command to device on startup diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/config/odin_ros.rviz b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/odin_ros.rviz new file mode 100644 index 0000000..20634c7 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/odin_ros.rviz @@ -0,0 +1,438 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Odometry1 + - /slam1 + - /TF1/Frames1 + Splitter Ratio: 0.4993045926094055 + Tree Height: 495 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /odin1/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /odin1/image/undistorted + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image_undistort + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /odin1/reprojected_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: cloudslam_reprojected + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: raw + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /odin1/cloud_raw + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.8493094444274902 + Min Value: -0.13891705870628357 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: render + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /odin1/cloud_render + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/Group + Displays: + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Queue Size: 1 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: /odin1/odometry + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Keep: 100 + Name: Odometry_high + Position Tolerance: 0.10000000149011612 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 52; 101; 164 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /odin1/odometry_highfreq + Unreliable: false + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /odin1/camera_pose_visual + Name: camera_view + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Name: Odometry + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: rgb + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: slam_current + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /odin1/cloud_slam + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.10000000149011612 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 5 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: slam_decay + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 1 + Size (m): 0.009999999776482582 + Style: Points + Topic: /odin1/cloud_slam + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /odin1/path + Name: path + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Name: slam + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: /odin1/depth_img_competetion + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: dense_depth_image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: dense_depth_cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /odin1/depth_img_competetion_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: false + Name: dense_depth_demo + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + odin1_base_link: + Value: true + odom: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + odom: + odin1_base_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 16.25591278076172 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.010398030281067 + Target Frame: odom + Yaw: 0.8753980994224548 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + Image_undistort: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 + cloudslam_reprojected: + collapsed: false + dense_depth_image: + collapsed: false diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/config/odin_ros2.rviz b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/odin_ros2.rviz new file mode 100644 index 0000000..48d42c3 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/config/odin_ros2.rviz @@ -0,0 +1,499 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Image1/Topic1 + - /cloudslam_reprojected1 + - /Odometry1 + - /slam1 + - /dense_depth_demo1 + Splitter Ratio: 0.5 + Tree Height: 593 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/image + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image_undistort + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/image/undistorted + Value: false + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: cloudslam_reprojected + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/reprojected_image + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 239 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: raw + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/cloud_raw + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.8730175495147705 + Min Value: -0.12252448499202728 + Value: true + Axis: Z + Channel Name: rgb + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 2.3509885615147286e-38 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: render + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/cloud_render + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_common/Group + Displays: + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/odometry + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Keep: 10 + Name: Odometry_high + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 98; 160; 234 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/odometry_highfreq + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: camera_view + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/camera_pose_visual + Value: false + Enabled: true + Name: Odometry + - Class: rviz_common/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: slam_current + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/cloud_slam + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.10000000149011612 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 10 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: slam_deacy + Position Transformer: XYZ + Selectable: true + Size (Pixels): 1 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/cloud_slam + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: path + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/path + Value: false + Enabled: true + Name: slam + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: dense_depth_image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/depth_img_competetion + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: dense_depth_cloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odin1/depth_img_competetion_cloud + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: false + Name: dense_depth_demo + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + odin1_base_link: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + odom: + odin1_base_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 10.9336576461792 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.2568470537662506 + Y: 2.1451337337493896 + Z: 0.3774382472038269 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3953983187675476 + Target Frame: odom + Value: Orbit (rviz) + Yaw: 3.230407953262329 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + Image_undistort: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 540 + Y: 124 + cloudslam_reprojected: + collapsed: false + dense_depth_image: + collapsed: false diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/camera_pose_visualization.h b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/camera_pose_visualization.h new file mode 100644 index 0000000..8317215 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/camera_pose_visualization.h @@ -0,0 +1,78 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#ifdef ROS2 +#include +#include +#include +#include +#include +#else +#include +#include +#include +#include +#include +#endif +#include +#include + +class camera_pose_visualization { + public: + std::string m_marker_ns; + + camera_pose_visualization(float r, float g, float b, float a); + + void setImageBoundaryColor(float r, float g, float b, float a = 1.0); + void setOpticalCenterConnectorColor(float r, float g, float b, float a = 1.0); + void setScale(double s); + void setLineWidth(double width); + + void add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q); + void reset(); + + #ifdef ROS2 + using ColorRGBA = std_msgs::msg::ColorRGBA; + using Marker = visualization_msgs::msg::Marker; + using MarkerArray = visualization_msgs::msg::MarkerArray; + using Header = std_msgs::msg::Header; + using Publisher = rclcpp::Publisher; + #else + using ColorRGBA = std_msgs::ColorRGBA; + using Marker = visualization_msgs::Marker; + using MarkerArray = visualization_msgs::MarkerArray; + using Header = std_msgs::Header; + using Publisher = ros::Publisher; + #endif + + void publish_by(Publisher& pub, const Header& header); + void add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); + void add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); + private: + std::vector m_markers; + ColorRGBA m_image_boundary_color; + ColorRGBA m_optical_center_connector_color; + double m_scale; + double m_line_width; + + static const Eigen::Vector3d imlt; + static const Eigen::Vector3d imlb; + static const Eigen::Vector3d imrt; + static const Eigen::Vector3d imrb; + static const Eigen::Vector3d oc ; + static const Eigen::Vector3d lt0 ; + static const Eigen::Vector3d lt1 ; + static const Eigen::Vector3d lt2 ; +}; diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/cloud_reprojection_ros_node.hpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/cloud_reprojection_ros_node.hpp new file mode 100644 index 0000000..8527628 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/cloud_reprojection_ros_node.hpp @@ -0,0 +1,122 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#ifdef ROS2 + #include + #include + #include + #include + #include + // cv_bridge header: ROS2 humble+ provides cv_bridge.hpp; ROS2 jazzy removes the legacy .h. + // Prefer .hpp when available, fall back to .h for older ROS distros (e.g. foxy/galactic). + #if defined(__has_include) + # if __has_include() + # include + # else + # include + # endif + #else + # include + #endif + #include + #include + #include + #include +#else + #include + #include + #include + #include + #include + #include + #include + #include + #include +#endif + +#include +#include +#include + +#include "cloud_reprojector.hpp" + +#include +#include + +#ifdef ROS2 +class CloudReprojectionRosNode : public rclcpp::Node +{ +public: + CloudReprojectionRosNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); + +private: + using PointCloud2 = sensor_msgs::msg::PointCloud2; + using Odometry = nav_msgs::msg::Odometry; + using Image = sensor_msgs::msg::Image; + + std::string cloud_slam_topic_; + std::string odometry_topic_; + std::string wiwc_topic_; + std::string reprojected_image_topic_; + + message_filters::Subscriber cloud_sub_; + message_filters::Subscriber odom_sub_; + message_filters::Subscriber wiwc_sub_; + + typedef message_filters::sync_policies::ApproximateTime MySyncPolicy; + typedef message_filters::Synchronizer Sync; + std::shared_ptr sync_; + + image_transport::Publisher reprojected_image_pub_; + + std::unique_ptr reprojector_; + + void loadParameters(); + void syncCallback(const PointCloud2::ConstSharedPtr& cloud_msg, + const Odometry::ConstSharedPtr& odom_msg, + const Odometry::ConstSharedPtr& wiwc_msg); +}; +#else +class CloudReprojectionRosNode +{ +public: + CloudReprojectionRosNode(ros::NodeHandle& nh, ros::NodeHandle& pnh); + +private: + ros::NodeHandle nh_, pnh_; + + std::string cloud_slam_topic_; + std::string odometry_topic_; + std::string wiwc_topic_; + std::string reprojected_image_topic_; + + message_filters::Subscriber cloud_sub_; + message_filters::Subscriber odom_sub_; + message_filters::Subscriber wiwc_sub_; + + typedef message_filters::sync_policies::ApproximateTime MySyncPolicy; + typedef message_filters::Synchronizer Sync; + std::shared_ptr sync_; + + ros::Publisher reprojected_image_pub_; + + std::unique_ptr reprojector_; + + void loadParameters(); + void syncCallback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg, + const nav_msgs::OdometryConstPtr& odom_msg, + const nav_msgs::OdometryConstPtr& wiwc_msg); +}; +#endif diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/cloud_reprojector.hpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/cloud_reprojector.hpp new file mode 100644 index 0000000..77939fc --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/cloud_reprojector.hpp @@ -0,0 +1,86 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "polynomial_camera.hpp" + +#include + +class CloudReprojector +{ +public: + struct CameraParams + { + int image_width = 1600; + int image_height = 1296; + double A11 = 0.0, A12 = 0.0, A22 = 0.0; + double u0 = 0.0, v0 = 0.0; + double k2 = 0.0, k3 = 0.0, k4 = 0.0, k5 = 0.0, k6 = 0.0, k7 = 0.0; + }; + + struct ExtrinsicParams + { + Eigen::Matrix4d Tcl = Eigen::Matrix4d::Identity(); // camera to lidar + Eigen::Matrix4d Til = Eigen::Matrix4d::Identity(); // lidar to imu (fixed) + Eigen::Matrix4d Tic = Eigen::Matrix4d::Identity(); // camera to imu (calculated) + }; + + struct OdomPose + { + Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity(); + Eigen::Vector3d position = Eigen::Vector3d::Zero(); + }; + + CloudReprojector(); + ~CloudReprojector() = default; + + bool initialize(const CameraParams& cam_params, const ExtrinsicParams& ext_params); + + cv::Mat reprojectCloud(const pcl::PointCloud& cloud_odom, + const OdomPose& odom_pose); + + void setPointRadius(int radius) { point_radius_ = radius; } + int getPointRadius() const { return point_radius_; } + + const CameraParams& getCameraParams() const { return camera_params_; } + const ExtrinsicParams& getExtrinsicParams() const { return extrinsic_params_; } + + // Update extrinsic parameters at runtime with real-time values from module + void updateExtrinsics(const Eigen::Matrix4d& Tcl, const Eigen::Matrix4d& Til) { + extrinsic_params_.Tcl = Tcl; + extrinsic_params_.Til = Til; + extrinsic_params_.Tic = calculateTic(Tcl, Til); + } + + static Eigen::Matrix4d calculateTic(const Eigen::Matrix4d& Tcl, const Eigen::Matrix4d& Til); + +private: + Eigen::Matrix4d odomPoseToMatrix(const OdomPose& odom) const; + + cv::Mat projectCloudToImage(const pcl::PointCloud& cloud_in_cam) const; + + CameraParams camera_params_; + ExtrinsicParams extrinsic_params_; + std::unique_ptr camera_model_; + + int point_radius_ = 4; + bool initialized_ = false; +}; diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/data_logger.h b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/data_logger.h new file mode 100644 index 0000000..bbf3945 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/data_logger.h @@ -0,0 +1,240 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class BinaryDataLogger { +public: + struct Options { + public: + // Number of frames per batch before flushing to disk + size_t batch_size = 20; + // Base directory to place time-stamped run directory under + // If empty, will use $ODIN_DATA_DIR or default to $HOME/OdinData + std::filesystem::path base_dir; + }; + + explicit BinaryDataLogger(const Options& opts) { + namespace fs = std::filesystem; + // Determine base dir + fs::path base = opts.base_dir; + if (base.empty()) { + const char* env_dir = std::getenv("ODIN_DATA_DIR"); + if (env_dir && *env_dir) { + base = fs::path(env_dir); + } else { + const char* home = std::getenv("HOME"); + base = home && *home ? fs::path(home) / "OdinData" : fs::current_path() / "OdinData"; + } + } + // Make timestamp folder name: YYYYMMDD_HHMMSS + auto now = std::chrono::system_clock::now(); + std::time_t t = std::chrono::system_clock::to_time_t(now); + std::tm tm{}; + #ifdef _WIN32 + localtime_s(&tm, &t); + #else + localtime_r(&t, &tm); + #endif + char buf[32]; + std::strftime(buf, sizeof(buf), "%Y%m%d_%H%M%S", &tm); + root_dir_ = base / buf; + fs::create_directories(root_dir_); + fs::create_directories(root_dir_ / "image"); + // Convert to std::string + std::string timestamp(buf); + created_at_ = timestamp; + // Compose file name + std::filesystem::path pcFile = root_dir_ / ("MT" + timestamp + ".olx"); + // Create placeholder files (device_id / firmware / algorithm filled later via update_info_file) + write_info_file_unlocked(); + write_text_file(root_dir_ / "image" / "cam_in_ex.txt", "# camera intrinsics/extrinsics TBD\n"); + + // Init writers + pose_writer_ = std::make_unique(root_dir_ / "OdinPose.bin", opts.batch_size); + cloud_writer_ = std::make_unique(pcFile, opts.batch_size); + //cloud_writer_ = std::make_unique(root_dir_ / "OdinPointCloud.olx", opts.batch_size); + image_writer_ = std::make_unique(root_dir_ / "OdinImage.bin", opts.batch_size); + roatation_writer_ = std::make_unique(root_dir_ / "OdinRotate.bin", opts.batch_size); + imu_writer_ = std::make_unique(root_dir_ / "OdinIMU.bin", opts.batch_size); + } + + ~BinaryDataLogger() { + // Ensure all writers flush on destruction + if (pose_writer_) pose_writer_->shutdown(); + if (cloud_writer_) cloud_writer_->shutdown(); + if (image_writer_) image_writer_->shutdown(); + if (roatation_writer_) roatation_writer_->shutdown(); + if (imu_writer_) imu_writer_->shutdown(); + } + + const std::filesystem::path& root_dir() const { return root_dir_; } + + // Update info.txt with device_id (SN) / firmware (SoC) / algorithm version. + // Safe to call multiple times; latest values win. + void update_info_file(const std::string& device_id, + const std::string& firmware_version, + const std::string& algorithm_version) { + std::lock_guard lk(info_mtx_); + device_id_ = device_id; + firmware_version_ = firmware_version; + algorithm_version_ = algorithm_version; + write_info_file_unlocked(); + } + + // Enqueue ready-to-write frame blobs (already formatted as per spec) + void enqueuePoseFrame(std::vector&& blob) { + if (pose_writer_) pose_writer_->enqueue(std::move(blob)); + } + void enqueuePointCloudFrame(std::vector&& blob) { + if (cloud_writer_) cloud_writer_->enqueue(std::move(blob)); + } + void enqueueImageFrame(std::vector&& blob) { + if (image_writer_) image_writer_->enqueue(std::move(blob)); + } + void enqueueRotateFrame(std::vector&& blob) { + if (roatation_writer_) roatation_writer_->enqueue(std::move(blob)); + } + void enqueueIMUFrame(std::vector&& blob) { + if (imu_writer_) imu_writer_->enqueue(std::move(blob)); + } + +private: + struct Writer { + explicit Writer(const std::filesystem::path& filepath, size_t batch) + : file_path(filepath), batch_size(batch), stop(false) { + worker = std::thread([this]() { this->run(); }); + } + ~Writer() { + shutdown(); + } + void enqueue(std::vector&& frame) { + { + std::lock_guard lk(mtx); + pending.emplace_back(std::move(frame)); + if (pending.size() >= batch_size) { + swap_pending_unlocked(); + } + } + cv.notify_one(); + } + void shutdown() { + { + std::lock_guard lk(mtx); + if (stop) return; + // Move leftovers to write buffer + if (!pending.empty()) { + swap_pending_unlocked(); + } + stop = true; + } + cv.notify_one(); + if (worker.joinable()) worker.join(); + } + private: + void swap_pending_unlocked() { + if (!pending.empty()) { + write_queue.emplace_back(std::move(pending)); + pending.clear(); + } + } + void run() { + std::ofstream out(file_path, std::ios::binary | std::ios::app); + if (!out.is_open()) { + // If file can't be opened, silently drop (or could add logging hook) + return; + } + for (;;) { + std::vector> batch; + { + std::unique_lock lk(mtx); + cv.wait(lk, [&]{ return stop || !write_queue.empty(); }); + if (!write_queue.empty()) { + batch = std::move(write_queue.front()); + write_queue.pop_front(); + } else if (stop) { + break; + } + } + if (!batch.empty()) { + for (auto& frame : batch) { + if (!frame.empty()) { + out.write(reinterpret_cast(frame.data()), static_cast(frame.size())); + } + } + out.flush(); + } + } + } + std::filesystem::path file_path; + size_t batch_size; + std::mutex mtx; + std::condition_variable cv; + std::vector> pending; // accumulate frames + std::deque>> write_queue; // queued batches + std::thread worker; + bool stop; + }; + + static void write_text_file(const std::filesystem::path& p, const std::string& content) { + std::ofstream f(p, std::ios::out | std::ios::trunc); + if (f.is_open()) { + f << content; + } + } + + // Render info.txt from current member fields. Caller must hold info_mtx_. + void write_info_file_unlocked() { + std::ostringstream oss; + oss << "device=OdinOne\n" + << "pointcloud=xyzrgbi\n"; + if (!device_id_.empty()) { + oss << "device_id=" << device_id_ << "\n"; + } + if (!firmware_version_.empty()) { + oss << "firmware_version=" << firmware_version_ << "\n"; + } + if (!algorithm_version_.empty()) { + oss << "algorithm_version=" << algorithm_version_ << "\n"; + } + oss << "created_at=" << created_at_ << "\n"; + write_text_file(root_dir_ / "image" / "info.txt", oss.str()); + } + + std::filesystem::path root_dir_; + std::string created_at_; + std::string device_id_; + std::string firmware_version_; + std::string algorithm_version_; + std::mutex info_mtx_; + std::unique_ptr pose_writer_; + std::unique_ptr cloud_writer_; + std::unique_ptr image_writer_; + std::unique_ptr roatation_writer_; + std::unique_ptr imu_writer_; +}; diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/depth_image_ros2_node.hpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/depth_image_ros2_node.hpp new file mode 100644 index 0000000..1cf5d92 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/depth_image_ros2_node.hpp @@ -0,0 +1,95 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#include +#include +#include +#include + +#include +#include +#include + +#include +// cv_bridge header: ROS2 humble+ provides cv_bridge.hpp; ROS2 jazzy removes the legacy .h. +// Prefer .hpp when available, fall back to .h for older ROS distros (e.g. foxy/galactic). +#if defined(__has_include) +# if __has_include() +# include +# else +# include +# endif +#else +# include +#endif +#include + +#include +#include +#include + +#include + +#include "pointcloud_depth_converter.hpp" + +#include +#include + +class DepthImageRos2Node : public rclcpp::Node +{ +public: + explicit DepthImageRos2Node(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); + + void initialize(); + +private: + std::string cloud_raw_topic_; + std::string color_compressed_topic_; + std::string color_raw_topic_; + std::string depth_image_topic_; + std::string depth_cloud_topic_; + + message_filters::Subscriber cloud_sub_; + message_filters::Subscriber color_compressed_sub_; + message_filters::Subscriber color_sub_; + + typedef message_filters::sync_policies::ApproximateTime< + sensor_msgs::msg::PointCloud2, + // sensor_msgs::msg::CompressedImage, + sensor_msgs::msg::Image> MySyncPolicy; + typedef message_filters::Synchronizer Sync; + std::shared_ptr sync_; + + std::shared_ptr it_; + image_transport::Publisher depth_image_pub_; + rclcpp::Publisher::SharedPtr depth_cloud_pub_; + + std::unique_ptr depth_converter_; + + + PointCloudToDepthConverter::CameraParams loadCameraParams(); + + void syncCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud_msg, + // const sensor_msgs::msg::CompressedImage::ConstSharedPtr image_msg, + const sensor_msgs::msg::Image::ConstSharedPtr color_msg); + + + void publishDepthImage(const cv::Mat &img, + const std_msgs::msg::Header &header, + const std::string &encoding = "32FC1"); + + void publishDepthCloud(const pcl::PointCloud &colored_cloud, + const std_msgs::msg::Header &header); +}; diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/depth_image_ros_node.hpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/depth_image_ros_node.hpp new file mode 100644 index 0000000..fb1a816 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/depth_image_ros_node.hpp @@ -0,0 +1,83 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include + +#include + +#include "pointcloud_depth_converter.hpp" + +#include +#include + + +class DepthImageRosNode +{ +public: + DepthImageRosNode(ros::NodeHandle &nh, ros::NodeHandle &pnh); + +private: + ros::NodeHandle nh_, pnh_; + image_transport::ImageTransport it_; + + + std::string cloud_raw_topic_; + std::string color_raw_topic_; + std::string color_compressed_topic_; + std::string depth_image_topic_; + std::string depth_cloud_topic_; + + message_filters::Subscriber cloud_sub_; + message_filters::Subscriber color_sub_; + message_filters::Subscriber color_compressed_sub_; + + typedef message_filters::sync_policies::ApproximateTime MySyncPolicy; + typedef message_filters::Synchronizer Sync; + std::shared_ptr sync_; + + image_transport::Publisher depth_image_pub_; + ros::Publisher depth_cloud_pub_; + + std::unique_ptr depth_converter_; + + PointCloudToDepthConverter::CameraParams loadCameraParams(); + + + void syncCallback(const sensor_msgs::PointCloud2ConstPtr &cloud_msg, + const sensor_msgs::ImageConstPtr &image_msg); + + + void publishDepthImage(const cv::Mat &img, + const std_msgs::Header &header, + const std::string &encoding = "32FC1"); + + + void publishDepthCloud(const pcl::PointCloud &colored_cloud, + const std_msgs::Header &header); +}; diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/host_sdk_sample.h b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/host_sdk_sample.h new file mode 100644 index 0000000..bae076d --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/host_sdk_sample.h @@ -0,0 +1,1860 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +// cv_bridge header: ROS2 humble+ provides cv_bridge.hpp; ROS2 jazzy removes the legacy .h. +// Prefer .hpp when available, fall back to .h for older ROS distros (e.g. foxy/galactic). +#if defined(__has_include) +# if __has_include() +# include +# else +# include +# endif +#else +# include +#endif +#include +#include +#include +#include +#include "data_logger.h" +#include "lidar_api.h" +#include "lidar_api_type.h" +#include "rawCloudRender.h" +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include "polynomial_camera.hpp" +#include "camera_pose_visualization.h" + +struct CameraParams { + int width, height; + double fx, fy, cx, cy, skew; + double k2, k3, k4, k5, k6, k7; + double p1, p2; +}; + +enum class OdometryType { + STANDARD = LIDAR_DT_SLAM_ODOMETRY, + HIGHFREQ = LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ, + TRANSFORM = LIDAR_DT_SLAM_ODOMETRY_TF +}; + +#define LOG_LEVEL_NONE 0 +#define LOG_LEVEL_ERROR 1 +#define LOG_LEVEL_WARN 2 +#define LOG_LEVEL_INFO 3 +#define LOG_LEVEL_DEBUG 4 + + +extern int g_log_level; +extern int g_sendcloudrender; +extern int g_use_host_ros_time; +double get_ptp_smoothed_delay(); +double get_ptp_smoothed_offset(); +#ifdef ROS2 + + #include "rclcpp/rclcpp.hpp" + #include "std_msgs/msg/string.hpp" + #include + #include + #include "sensor_msgs/msg/image.hpp" + #include "sensor_msgs/msg/imu.hpp" + #include "sensor_msgs/msg/point_cloud2.hpp" + #include "sensor_msgs/point_cloud2_iterator.hpp" + #include + #include + #include + #include + #include + #include "tf2/LinearMath/Quaternion.h" + #include "tf2_ros/transform_broadcaster.h" + namespace ros { + using namespace rclcpp; + using namespace std_msgs::msg; + using namespace sensor_msgs::msg; + using namespace nav_msgs::msg; + using namespace visualization_msgs::msg; + using Time = builtin_interfaces::msg::Time; + } + + + #define LOG_ERROR(...) + #define LOG_WARN(...) + #define LOG_INFO(...) + #define LOG_DEBUG(...) +#else + + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + #include + namespace ros { + using namespace ::ros; + using namespace sensor_msgs; + using namespace nav_msgs; + } + + + #define LOG_ERROR(...) \ + if (g_log_level >= LOG_LEVEL_ERROR) { \ + ROS_ERROR(__VA_ARGS__); \ + } + #define LOG_WARN(...) \ + if (g_log_level >= LOG_LEVEL_WARN) { \ + ROS_WARN(__VA_ARGS__); \ + } + #define LOG_INFO(...) \ + if (g_log_level >= LOG_LEVEL_INFO) { \ + ROS_INFO(__VA_ARGS__); \ + } + #define LOG_DEBUG(...) \ + if (g_log_level >= LOG_LEVEL_DEBUG) { \ + ROS_DEBUG(__VA_ARGS__); \ + } +#endif + + +#ifdef ROS2 + namespace sensor_msgs { + using PointField = msg::PointField; + } +#else + namespace sensor_msgs { + using PointField = ::sensor_msgs::PointField; + } +#endif + +// Common definitions +#define PAI 3.14159265358979323846 +#define DTOF_NUM_ROW_PER_GROUP 6 +// Common functions +inline ros::Time ns_to_ros_time(uint64_t timestamp_ns) { + ros::Time t; + #ifdef ROS2 + t.sec = static_cast(timestamp_ns / 1000000000); + t.nanosec = static_cast(timestamp_ns % 1000000000); + #else + t.sec = static_cast(timestamp_ns / 1000000000); + t.nsec = static_cast(timestamp_ns % 1000000000); + #endif + return t; +} + +inline uint64_t ros_time_to_ns(const ros::Time &t) { + #ifdef ROS2 + return static_cast(t.sec) * 1000000000ULL + t.nanosec; + #else + return static_cast(t.sec) * 1000000000ULL + t.nsec; + #endif +} + +// Compute an "aligned" nanosecond timestamp for offline recording (recorddata files). +// Mirrors the policy used by make_aligned_stamp() so that recorded timestamps stay +// consistent with the timestamps that are published over ROS topics. +// g_use_host_ros_time == 0 : raw sensor timestamp (odin1 boot time, no alignment) +// g_use_host_ros_time == 1 : host wall-clock now (NTP-synced if the host is NTP-synced) +// g_use_host_ros_time == 2 : sensor timestamp aligned via smoothed PTP offset (NTP/PTP mode) +// +// g_use_host_ros_time == 0 : +// g_use_host_ros_time == 1 : +// g_use_host_ros_time == 2 : +inline uint64_t aligned_stamp_ns(uint64_t sensor_timestamp_ns) { + if (g_use_host_ros_time == 1) { + const auto now = std::chrono::system_clock::now().time_since_epoch(); + return static_cast( + std::chrono::duration_cast(now).count()); + } + if (g_use_host_ros_time == 2) { + const double offset_s = get_ptp_smoothed_offset(); + const int64_t offset_ns = static_cast(offset_s * 1e9); + const int64_t base_ns = static_cast(sensor_timestamp_ns); + const int64_t aligned_ns = base_ns - offset_ns; + return (aligned_ns < 0) ? 0ULL : static_cast(aligned_ns); + } + return sensor_timestamp_ns; +} + +inline ros::Time make_aligned_stamp(uint64_t sensor_timestamp_ns +#ifdef ROS2 + , const rclcpp::Node::SharedPtr& node +#endif + ) { + if (g_use_host_ros_time == 1) { + #ifdef ROS2 + return node->now(); + #else + return ros::Time::now(); + #endif + } + + uint64_t ts_ns = sensor_timestamp_ns; + if (g_use_host_ros_time == 2) { + const double offset_s = get_ptp_smoothed_offset(); + const int64_t offset_ns = static_cast(offset_s * 1e9); + const int64_t base_ns = static_cast(sensor_timestamp_ns); + const int64_t aligned_ns = base_ns - offset_ns; + ts_ns = (aligned_ns < 0) ? 0ULL : static_cast(aligned_ns); + } + + return ns_to_ros_time(ts_ns); +} + +class RosNodeControlInterface { + public: + virtual ~RosNodeControlInterface() = default; + virtual void setDtofSubframeODR(int odr) = 0; + virtual int getDtofSubframeODR() const = 0; + virtual void setSendOdomBaseLinkTF(bool send_odom_baselink_tf) = 0; + virtual bool sendOdomBaseLinkTF() const = 0; + virtual void setCloudRawConfidenceThreshold(int threshold) = 0; + virtual int cloudRawConfidenceThreshold() const = 0; + }; + +RosNodeControlInterface* getRosNodeControl(); + +// Multi-sensor publisher class +class MultiSensorPublisher { +public: + #ifdef ROS2 + MultiSensorPublisher(rclcpp::Node::SharedPtr node) + : node_(node),cameraposevisual_ {1.0f, 0.0f, 0.0f, 1.0f} { + initialize_publishers(); + // initialize_data_logger(); + } + #else + MultiSensorPublisher(ros::NodeHandle& nh) + : cameraposevisual_(1.0f, 0.0f, 0.0f, 1.0f) { + initialize_publishers(nh); + // initialize_data_logger(); + } + #endif + + std::filesystem::path get_root_dir() const { return root_dir_; } + + void set_log_level(int level) { + g_log_level = level; + } + // Optional external logger setter + void set_data_logger(std::shared_ptr logger) { + data_logger_ = std::move(logger); + } + + // Forward device identity / version metadata into the binary data logger's info.txt. + // No-op if logger is not initialized (e.g. recorddata=0). + void update_data_logger_info(const std::string& device_id, + const std::string& firmware_version, + const std::string& algorithm_version) { + if (data_logger_) { + data_logger_->update_info_file(device_id, firmware_version, algorithm_version); + } + } + + int get_pose_index() { + return pose_index_.load(); + } + + int get_cloud_index() { + return cloud_index_.load(); + } + + int get_image_index() { + return image_index_.load(); + } + + int get_wcwi_index() { + return wcwi_index_.load(); + } + + rawCloudRender render_; + void publishImu(imu_convert_data_t *stream) { + #ifdef ROS2 + sensor_msgs::msg::Imu imu_msg; + #else + ros::Imu imu_msg; + #endif + + #ifdef ROS2 + imu_msg.header.stamp = make_aligned_stamp(stream->stamp, node_); + #else + imu_msg.header.stamp = make_aligned_stamp(stream->stamp); + #endif + imu_msg.header.frame_id = "imu_link"; + + imu_msg.linear_acceleration.y = -1 * stream->accel_x; + imu_msg.linear_acceleration.x = stream->accel_y; + imu_msg.linear_acceleration.z = stream->accel_z; + + imu_msg.angular_velocity.y = -1 * stream->gyro_x; + imu_msg.angular_velocity.x = stream->gyro_y; + imu_msg.angular_velocity.z = stream->gyro_z; + + imu_msg.orientation.x = 0.0; + imu_msg.orientation.y = 0.0; + imu_msg.orientation.z = 0.0; + imu_msg.orientation.w = 1.0; + + #ifdef ROS2 + imu_pub_->publish(std::move(imu_msg)); + #else + imu_pub_.publish(imu_msg); + #endif + + if(data_logger_) { + // Align IMU timestamp with the same policy as ROS publish path + const double ts_sec = static_cast(aligned_stamp_ns(stream->stamp)) / 1e9; + float ax = imu_msg.linear_acceleration.x; + float ay = imu_msg.linear_acceleration.y; + float az = imu_msg.linear_acceleration.z; + float wx = imu_msg.angular_velocity.x; + float wy = imu_msg.angular_velocity.y; + float wz = imu_msg.angular_velocity.z; + + std::vector blob; + blob.reserve(sizeof(double) + sizeof(float) * 6); + auto append_pod = [&](const auto& v) { + const uint8_t* p = reinterpret_cast(&v); + blob.insert(blob.end(), p, p + sizeof(v)); + }; + append_pod(ts_sec); + append_pod(ax); + append_pod(ay); + append_pod(az); + append_pod(wx); + append_pod(wy); + append_pod(wz); + data_logger_->enqueueIMUFrame(std::move(blob)); + } + } +#ifdef ROS2 + using ImageMsg = sensor_msgs::msg::Image; + using PointCloud2Msg = sensor_msgs::msg::PointCloud2; + using ImageConstPtr = ImageMsg::ConstSharedPtr; + using PointCloud2ConstPtr = PointCloud2Msg::ConstSharedPtr; +#else + using ImageMsg = sensor_msgs::Image; + using PointCloud2Msg = sensor_msgs::PointCloud2; + using ImageConstPtr = sensor_msgs::ImageConstPtr; + using PointCloud2ConstPtr = sensor_msgs::PointCloud2ConstPtr; +#endif +void try_process_pair() { + // Record queue status + size_t rgb_size, pcd_size; + { + std::lock_guard lock1(rgb_queue_mutex_); + std::lock_guard lock2(pcd_queue_mutex_); + rgb_size = rgb_image_queue_.size(); + pcd_size = pcd_queue_.size(); + } + + while (true) { + ImageConstPtr rgb_msg = nullptr; + PointCloud2ConstPtr pcd_msg = nullptr; + + // Get a pair of data from queues (with lock protection) + { + std::lock_guard lock1(rgb_queue_mutex_); + std::lock_guard lock2(pcd_queue_mutex_); + + if (!rgb_image_queue_.empty() && !pcd_queue_.empty()) { + rgb_msg = rgb_image_queue_.front(); + pcd_msg = pcd_queue_.front(); + } + } + + if (!rgb_msg || !pcd_msg) { + break; + } + + // timestamp + uint64_t rgb_stamp = ros_time_to_ns(rgb_msg->header.stamp); + uint64_t pcd_stamp = ros_time_to_ns(pcd_msg->header.stamp); + int64_t time_diff = static_cast(rgb_stamp) - static_cast(pcd_stamp); + int64_t abs_time_diff = std::abs(time_diff); + + // Check if time difference is within allowed range (50ms) + const int64_t MAX_TIME_DIFF = 50000000; // 50ms in nanoseconds + if (abs_time_diff > MAX_TIME_DIFF) { + // Remove older timestamped message + { + std::lock_guard lock1(rgb_queue_mutex_); + std::lock_guard lock2(pcd_queue_mutex_); + + if (time_diff > 0) { + // RGB timestamp is newer, remove PCD + pcd_queue_.pop_front(); + } else { + // PCD timestamp is newer, remove RGB + rgb_image_queue_.pop_front(); + } + } + + // Try next pair + continue; + } + + // Time difference within allowed range, process data pair + { + std::lock_guard lock1(rgb_queue_mutex_); + std::lock_guard lock2(pcd_queue_mutex_); + + // Remove messages from queues + rgb_image_queue_.pop_front(); + pcd_queue_.pop_front(); + } + + // Process data pair + process_pair(rgb_msg, pcd_msg); + } +} +bool validate_render_parameters(std::vector>& rgb_image, + capture_Image_List_t* cloud_stream, + int pcd_idx) +{ + // 1. Check RGB image validity + if (rgb_image.empty()) { + #ifndef ROS2 + ROS_ERROR("Invalid RGB image: empty vector"); + #endif + return false; + } + + // Check RGB image dimension consistency + const size_t height = rgb_image.size(); + const size_t width = (height > 0) ? rgb_image[0].size() : 0; + + if (height == 0 || width == 0) { + #ifndef ROS2 + ROS_ERROR("Invalid RGB image dimensions: %zux%zu", + height, width); + #endif + return false; + } + + // 2. Check point cloud stream pointer validity + if (!cloud_stream) { + #ifndef ROS2 + ROS_ERROR("Invalid cloud stream: null pointer"); + #endif + return false; + } + + // 3. Check point cloud index validity + if (pcd_idx < 0 || pcd_idx >= 10) { + #ifndef ROS2 + ROS_ERROR("Invalid pcd index: %d (must be 0-9)", pcd_idx); + #endif + return false; + } + + // 4. Check point cloud data validity + buffer_List_t& cloud = cloud_stream->imageList[pcd_idx]; + if (!cloud.pAddr) { + #ifndef ROS2 + ROS_ERROR("Invalid cloud data: null pointer"); + #endif + return false; + } + + if (cloud.width <= 0 || cloud.height <= 0) { + #ifndef ROS2 + ROS_ERROR("Invalid cloud dimensions: %dx%d", + cloud.width, cloud.height); + #endif + return false; + } + + return true; +} + +void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_msg) +{ + auto start_time = std::chrono::steady_clock::now(); + + const int input_image_width = rgb_msg->width; + const int input_image_height = rgb_msg->height; + + // Verify input image format + if (rgb_msg->encoding != "bgr8") { + #ifndef ROS2 + ROS_ERROR("Unsupported image format: %s. Only bgr8 is supported.", + rgb_msg->encoding.c_str()); + #endif + return; + } + + // Prepare point cloud data stream + capture_Image_List_t cloud_stream; + const int pcd_idx = 2; + cloud_stream.imageList[pcd_idx].height = pcd_msg->height; + cloud_stream.imageList[pcd_idx].width = pcd_msg->width; + + const auto total_point_num = pcd_msg->width * pcd_msg->height; + sensor_msgs::PointCloud2ConstIterator iter_x(*pcd_msg, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(*pcd_msg, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(*pcd_msg, "z"); + std::vector cloud_flat; + cloud_flat.reserve(total_point_num * 4); + + for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { + cloud_flat.push_back(*iter_y * -1000.0f); + cloud_flat.push_back(*iter_z * 1000.0f); + cloud_flat.push_back(*iter_x * 1000.0f); + cloud_flat.push_back(0.0f); + } + cloud_stream.imageList[pcd_idx].pAddr = cloud_flat.data(); + + + if (input_image_height > 0 && input_image_width > 0) { + // Use BGR8 image data directly + std::vector> rgb_image(input_image_height, std::vector(input_image_width)); + + // Convert BGR8 data to required format for rendering + const uint8_t* bgr_data = rgb_msg->data.data(); + for (int y = 0; y < input_image_height; ++y) { + for (int x = 0; x < input_image_width; ++x) { + // Start position of each pixel (BGR format) + int idx = y * rgb_msg->step + x * 3; + + // Extract RGB values and combine into 32-bit integer + uint8_t b = bgr_data[idx]; + uint8_t g = bgr_data[idx + 1]; + uint8_t r = bgr_data[idx + 2]; + uint32_t rgb_int = (r << 16) | (g << 8) | b; + + // Convert to float + float rgb_float; + std::memcpy(&rgb_float, &rgb_int, sizeof(float)); + rgb_image[y][x] = rgb_float; + } + } + // Render colored point cloud + std::vector rgbCloud_flat; + render_.render(rgb_image, &cloud_stream, pcd_idx, rgbCloud_flat); + const int valid_point_num = rgbCloud_flat.size() / 4; + + // Create and publish RGB point cloud + PointCloud2Msg output_msg; + output_msg.header.frame_id = "odin1_base_link"; + output_msg.header.stamp = rgb_msg->header.stamp; // Use original image timestamp + output_msg.height = 1; + output_msg.width = valid_point_num; + + sensor_msgs::PointCloud2Modifier modifier(output_msg); + modifier.setPointCloud2Fields( + 4, + "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "rgb", 1, sensor_msgs::PointField::FLOAT32 + ); + modifier.resize(valid_point_num); + + sensor_msgs::PointCloud2Iterator iter_res_x(output_msg, "x"); + sensor_msgs::PointCloud2Iterator iter_res_y(output_msg, "y"); + sensor_msgs::PointCloud2Iterator iter_res_z(output_msg, "z"); + sensor_msgs::PointCloud2Iterator iter_res_rgb(output_msg, "rgb"); + + for (int i = 0; i < valid_point_num; i++) { + *iter_res_x = rgbCloud_flat[4*i]; ++iter_res_x; + *iter_res_y = rgbCloud_flat[4*i+1]; ++iter_res_y; + *iter_res_z = rgbCloud_flat[4*i+2]; ++iter_res_z; + *iter_res_rgb = rgbCloud_flat[4*i+3]; ++iter_res_rgb; + } + + #ifdef ROS2 + rgbcloud_pub_->publish(output_msg); + #else + rgbcloud_pub_.publish(output_msg); + #endif + } +} + +void publishIntensityCloud(capture_Image_List_t* stream, int idx) +{ + // Check index validity + if (idx < 0 || idx >= 10) { + #ifndef ROS2 + ROS_ERROR("Invalid index %d for intensity cloud", idx); + #endif + return; + } + + // Check point cloud data validity + buffer_List_t &cloud = stream->imageList[idx]; + if (!cloud.pAddr) { + #ifndef ROS2 + ROS_ERROR("Invalid point cloud: null data pointer at index %d", idx); + #endif + return; + } + + if (cloud.width <= 0 || cloud.height <= 0) { + #ifndef ROS2 + ROS_ERROR("Invalid point cloud dimensions: %dx%d at index %d", + cloud.width, cloud.height, idx); + #endif + return; + } + + #ifdef ROS2 + auto msg = std::make_shared(); + #else + auto msg = boost::make_shared(); + #endif + + // Set message header + msg->header.frame_id = "odin1_base_link"; + #ifdef ROS2 + msg->header.stamp = make_aligned_stamp(cloud.timestamp, node_); + #else + msg->header.stamp = make_aligned_stamp(cloud.timestamp); + #endif + + msg->height = cloud.height; + msg->width = cloud.width; + msg->is_dense = false; + msg->is_bigendian = false; + + // Set point cloud fields + sensor_msgs::PointCloud2Modifier modifier(*msg); + modifier.setPointCloud2Fields( + 6, + "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "intensity", 1, sensor_msgs::PointField::UINT8, + "confidence", 1, sensor_msgs::PointField::UINT16, + "offset_time", 1, sensor_msgs::PointField::FLOAT32 + ); + modifier.resize(msg->height * msg->width); + + + sensor_msgs::PointCloud2Iterator iter_x(*msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(*msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(*msg, "z"); + sensor_msgs::PointCloud2Iterator iter_intensity(*msg, "intensity"); + sensor_msgs::PointCloud2Iterator iter_confidence(*msg, "confidence"); + sensor_msgs::PointCloud2Iterator iter_offsettime(*msg, "offset_time"); + + float* xyz_data_f = static_cast(cloud.pAddr); + int total_points = cloud.height * cloud.width; + //std::cout << stream->imageCount << std::endl; + float dtof_subframe_odr = getRosNodeControl()->getDtofSubframeODR() / 1000.0f; + // printf("dtof_subframe_odr: %f\n", dtof_subframe_odr); + + if (stream->imageCount == 4) { + + uint8_t* intensity_data = static_cast(stream->imageList[2].pAddr); + uint16_t* confidence_data = static_cast(stream->imageList[3].pAddr); + int confidence_threshold = getRosNodeControl()->cloudRawConfidenceThreshold(); + for (int i = 0; i < total_points; ++i) { + if (confidence_data[i] < confidence_threshold) { + *iter_x = 0.0f; ++iter_x; + *iter_y = 0.0f; ++iter_y; + *iter_z = 0.0f; ++iter_z; + *iter_intensity = 0; ++iter_intensity; + *iter_confidence = 0; ++iter_confidence; + *iter_offsettime = 0.0f; ++iter_offsettime; + } else { + // XYZ point + *iter_x = xyz_data_f[i * 3 + 2] / 1000.0f; ++iter_x; + *iter_y = -xyz_data_f[i * 3 + 0] / 1000.0f; ++iter_y; + *iter_z = xyz_data_f[i * 3 + 1] / 1000.0f; ++iter_z; + + *iter_intensity = intensity_data[i]; ++iter_intensity; + *iter_confidence = confidence_data[i]; ++iter_confidence; + + if (dtof_subframe_odr > 0.0) { + int line_num = i / 256; + int group = line_num / DTOF_NUM_ROW_PER_GROUP; + float timestamp_offset = group * 1.0 / dtof_subframe_odr; + + *iter_offsettime = timestamp_offset; + ++iter_offsettime; + } + } + } + } else { + uint16_t* intensity_data = static_cast(stream->imageList[2].pAddr); + + for (int i = 0; i < total_points; ++i) { + *iter_x = xyz_data_f[i * 4 + 2] / 1000.0f; ++iter_x; + *iter_y = -xyz_data_f[i * 4 + 0] / 1000.0f; ++iter_y; + *iter_z = xyz_data_f[i * 4 + 1] / 1000.0f; ++iter_z; + + float intensity = (intensity_data[i] - 10) * 255.0f / (12500 - 10); + if (intensity > 255) { + *iter_intensity = 255; + } else if (intensity < 0) { + *iter_intensity = 0; + } else { + *iter_intensity = static_cast(intensity); + } + ++iter_intensity; + + *iter_confidence = 0; + ++iter_confidence; + } + } + + // Only cache point cloud if cloud_render is enabled + if (g_sendcloudrender) { + std::lock_guard lock(pcd_queue_mutex_); + + // Create deep copy of point cloud + #ifdef ROS2 + auto msg_copy = std::make_shared(*msg); + #else + auto msg_copy = boost::make_shared(); + *msg_copy = *msg; // Deep copy + #endif + + // Queue management + if (pcd_queue_.size() >= 10) { + pcd_queue_.pop_front(); + } + + // Add to queue (using copy) + pcd_queue_.push_back(msg_copy); + } + + // Publish point cloud + #ifdef ROS2 + cloud_pub_->publish(*msg); + #else + cloud_pub_.publish(msg); + #endif +} + +void publishGrayUInt8(capture_Image_List_t *stream, int idx) { + ImageMsg msg; + #ifdef ROS2 + msg.header.stamp = make_aligned_stamp(stream->imageList[idx].timestamp, node_); + #else + msg.header.stamp = make_aligned_stamp(stream->imageList[idx].timestamp); + #endif + msg.header.frame_id = "map"; + + int width = stream->imageList[idx].width; + int height = stream->imageList[idx].height; + + msg.height = height; + msg.width = width; + msg.encoding = "mono8"; + msg.is_bigendian = false; + msg.step = width * sizeof(uint8_t); + + size_t image_size = msg.step * height; + + msg.data.resize(image_size); + + memcpy(msg.data.data(), stream->imageList[idx].pAddr, image_size); + + #ifdef ROS2 + intensity_gray_pub_->publish(msg); + #else + intensity_gray_pub_.publish(msg); + #endif +} + +void publishRgb(capture_Image_List_t *stream) { + buffer_List_t &image = stream->imageList[0]; + + // old version yuv data + if (image.length == image.width * image.height * 3 / 2) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("publishRgb"), "old format rgb data, please upgrade device firmware"); + #else + ROS_INFO("old format rgb data, please upgrade device firmware"); + #endif + } else {// new version jpeg data + + std::vector jpeg_data(static_cast(image.pAddr), + static_cast(image.pAddr) + image.length); + + // convert back to bgr8 + cv::Mat decoded_image = cv::imdecode(jpeg_data, cv::IMREAD_COLOR); + + cv_bridge::CvImage cv_image; + #ifdef ROS2 + cv_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); + #else + cv_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); + #endif + cv_image.encoding = "bgr8"; + cv_image.image = decoded_image; + + if (g_sendcloudrender) { + std::lock_guard lock(rgb_queue_mutex_); + if (rgb_image_queue_.size() >= 10) { + rgb_image_queue_.pop_front(); + } + rgb_image_queue_.push_back(cv_image.toImageMsg()); + } + + // Enqueue binary logging for image + if (data_logger_) { + const uint32_t idx_now = image_index_.fetch_add(1, std::memory_order_relaxed); + // Align image timestamp with the same policy as ROS publish path (NTP mode -> NTP time) + const double ts_sec = static_cast(aligned_stamp_ns(stream->imageList[0].timestamp)) / 1e9; + const uint32_t jpeg_size = static_cast(jpeg_data.size()); + std::vector blob; + blob.reserve(sizeof(uint32_t) + sizeof(double) + sizeof(uint32_t) + jpeg_size); + auto append_pod = [&](const auto& v) { + const uint8_t* p = reinterpret_cast(&v); + blob.insert(blob.end(), p, p + sizeof(v)); + }; + append_pod(idx_now); + append_pod(ts_sec); + append_pod(jpeg_size); + blob.insert(blob.end(), jpeg_data.begin(), jpeg_data.end()); + data_logger_->enqueueImageFrame(std::move(blob)); + } + + // undistort image + cv::Mat undistorted_image = cv::Mat::zeros(decoded_image.size(), decoded_image.type()); + cv_bridge::CvImage cv_undistorted_image; + + if (m_undistort_map_init_success) { + cv::remap(decoded_image, undistorted_image, m_undistort_map_x, m_undistort_map_y, cv::INTER_LINEAR); + #ifdef ROS2 + cv_undistorted_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); + #else + cv_undistorted_image.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); + #endif + cv_undistorted_image.encoding = "bgr8"; + cv_undistorted_image.image = undistorted_image; + } + + #ifdef ROS2 + { + rgb_pub_->publish(*cv_image.toImageMsg()); + if (m_undistort_map_init_success) { + undistort_rgb_pub_->publish(*cv_undistorted_image.toImageMsg()); + } + + // original jpeg - always publish as it's small + sensor_msgs::msg::CompressedImage jpeg_msg; + jpeg_msg.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); + jpeg_msg.format = "jpeg"; + jpeg_msg.data = jpeg_data; + + compressed_rgb_pub_->publish(jpeg_msg); + } + #else + { + rgb_pub_.publish(cv_image.toImageMsg()); + if (m_undistort_map_init_success) { + undistort_rgb_pub_.publish(cv_undistorted_image.toImageMsg()); + } + + // original jpeg + sensor_msgs::CompressedImagePtr jpeg_msg(new sensor_msgs::CompressedImage()); + jpeg_msg->header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); + jpeg_msg->format = "jpeg"; + jpeg_msg->data = jpeg_data; + + compressed_rgb_pub_.publish(jpeg_msg); + } + #endif + } + +} + + + void publishPC2XYZRGBA(capture_Image_List_t* stream, int idx) + { + #ifdef ROS2 + sensor_msgs::msg::PointCloud2 msg; + msg.header.frame_id = "odom"; + msg.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp, node_); + + //RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Point cloudrgba %ld",stream->imageList[0].timestamp); + + size_t pt_size = sizeof(int32_t) * 3 + sizeof(int32_t) * 4; + uint32_t points = stream->imageList[idx].length / pt_size; + + msg.height = 1; + msg.width = points; + msg.is_dense = false; + + sensor_msgs::PointCloud2Modifier modifier(msg); + modifier.setPointCloud2Fields( + 4, + "x", 1, sensor_msgs::msg::PointField::FLOAT32, + "y", 1, sensor_msgs::msg::PointField::FLOAT32, + "z", 1, sensor_msgs::msg::PointField::FLOAT32, + "rgb", 1, sensor_msgs::msg::PointField::FLOAT32 + ); + modifier.resize(msg.width * msg.height); + + sensor_msgs::PointCloud2Iterator iter_x(msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(msg, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(msg, "rgb"); + #else + sensor_msgs::PointCloud2 msg; + msg.header.frame_id = "odom"; + msg.header.stamp = make_aligned_stamp(stream->imageList[0].timestamp); + + size_t pt_size = sizeof(int32_t) * 3 + sizeof(int32_t) * 4; + uint32_t points = stream->imageList[idx].length / pt_size; + + msg.height = 1; + msg.width = points; + msg.is_dense = false; + + sensor_msgs::PointCloud2Modifier modifier(msg); + modifier.setPointCloud2Fields( + 4, + "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "rgb", 1, sensor_msgs::PointField::FLOAT32 + ); + modifier.resize(msg.width * msg.height); + + sensor_msgs::PointCloud2Iterator iter_x(msg, "x"); + sensor_msgs::PointCloud2Iterator iter_y(msg, "y"); + sensor_msgs::PointCloud2Iterator iter_z(msg, "z"); + sensor_msgs::PointCloud2Iterator iter_rgb(msg, "rgb"); + #endif + + // Shared data processing logic + int32_t* xyz_data = static_cast(stream->imageList[idx].pAddr); + + for(uint32_t i = 0; i < points; i++) { + int32_t* ptr = xyz_data + 7*i; + +#ifdef ROS2 + *iter_x = static_cast(ptr[0]) / 10000.0f; ++iter_x; + *iter_y = static_cast(ptr[1]) / 10000.0f; ++iter_y; + *iter_z = static_cast(ptr[2]) / 10000.0f; ++iter_z; +#else + *iter_x = (1.0 * ptr[0]) / 1e4; ++iter_x; + *iter_y = (1.0 * ptr[1]) / 1e4; ++iter_y; + *iter_z = (1.0 * ptr[2]) / 1e4; ++iter_z; +#endif + + uint8_t r = ptr[3] & 0xff; + uint8_t g = ptr[4] & 0xff; + uint8_t b = ptr[5] & 0xff; + uint8_t a = ptr[6] & 0xff; + + uint32_t packed_rgb = (static_cast(r) << 16) | + (static_cast(g) << 8) | + static_cast(b); + + float rgb_float; + std::memcpy(&rgb_float, &packed_rgb, sizeof(float)); + + *iter_rgb = rgb_float; ++iter_rgb; + } + + // Enqueue binary logging for point cloud (XYZRGB per point) + if (data_logger_ && points > 0) { + // Align point cloud timestamp with the same policy as ROS publish path (NTP mode -> NTP time) + const double ts_sec = static_cast(aligned_stamp_ns(stream->imageList[0].timestamp)) / 1e9; + const uint32_t idx_now = cloud_index_.fetch_add(1, std::memory_order_relaxed); + // Compute total blob size: header + per-point payload + const size_t header_size = sizeof(uint32_t) + sizeof(double) + sizeof(uint32_t); + const size_t point_size = sizeof(float) * 3 + sizeof(uint8_t) * 4; + std::vector blob; + blob.reserve(header_size + static_cast(points) * point_size); + auto append_pod = [&](const auto& v) { + const uint8_t* p = reinterpret_cast(&v); + blob.insert(blob.end(), p, p + sizeof(v)); + }; + append_pod(idx_now); + append_pod(ts_sec); + append_pod(points); + + for (uint32_t i = 0; i < points; ++i) { + int32_t* ptr = xyz_data + 7 * i; + float fx = static_cast(ptr[0]) / 10000.0f; + float fy = static_cast(ptr[1]) / 10000.0f; + float fz = static_cast(ptr[2]) / 10000.0f; + uint8_t r = static_cast(ptr[3] & 0xff); + uint8_t g = static_cast(ptr[4] & 0xff); + uint8_t b = static_cast(ptr[5] & 0xff); + uint8_t a = static_cast(ptr[6] & 0xff); + append_pod(fx); + append_pod(fy); + append_pod(fz); + blob.push_back(r); + blob.push_back(g); + blob.push_back(b); + blob.push_back(a); + } + data_logger_->enqueuePointCloudFrame(std::move(blob)); + } + +#ifdef ROS2 + xyzrgbacloud_pub_->publish(std::move(msg)); +#else + xyzrgbacloud_pub_.publish(msg); +#endif + } + + void recordrotate(capture_Image_List_t* stream) { + if(data_logger_) { + uint32_t data_len = stream->imageList[0].length; + if (data_len == sizeof(ros_odom_convert_complete_t)) { + ros_odom_convert_complete_t* odom_data = (ros_odom_convert_complete_t*)stream->imageList[0].pAddr; + const uint32_t idx_now = wcwi_index_.fetch_add(1, std::memory_order_relaxed); + // Align WIWC/rotate timestamp with the same policy as ROS publish path (NTP mode -> NTP time) + const double ts_sec = static_cast(aligned_stamp_ns(odom_data->timestamp_ns)) / 1e9; + float pose_arr[4]; + pose_arr[0] = static_cast((odom_data->orient[0]) / 1e6); + pose_arr[1] = static_cast((odom_data->orient[1]) / 1e6); + pose_arr[2] = static_cast((odom_data->orient[2]) / 1e6); + pose_arr[3] = static_cast((odom_data->orient[3]) / 1e6); + + // Save only rotate (pose_arr) to bin file + std::vector blob; + blob.reserve(sizeof(uint32_t) + sizeof(double) + sizeof(float) * 4); + auto append_pod = [&](const auto& v) { + const uint8_t* p = reinterpret_cast(&v); + blob.insert(blob.end(), p, p + sizeof(v)); + }; + append_pod(idx_now); + append_pod(ts_sec); + for (int i = 0; i < 4; ++i) append_pod(pose_arr[i]); + data_logger_->enqueueRotateFrame(std::move(blob)); + + // Build TCL matrix (4x4) from pose_cov + Eigen::Matrix4d T_CL = Eigen::Matrix4d::Identity(); + for (int idx = 0; idx < 16; ++idx) { + T_CL(idx / 4, idx % 4) = static_cast(odom_data->pose_cov[idx]); + } + // Force last row to be [0, 0, 0, 1] for valid transformation matrix + T_CL(3, 0) = 0.0; T_CL(3, 1) = 0.0; T_CL(3, 2) = 0.0; T_CL(3, 3) = 1.0; + + // Build TIL matrix (4x4) from twist_cov + Eigen::Matrix4d T_IL = Eigen::Matrix4d::Identity(); + for (int idx = 0; idx < 16; ++idx) { + T_IL(idx / 4, idx % 4) = static_cast(odom_data->twist_cov[idx]); + } + // Force last row to be [0, 0, 0, 1] for valid transformation matrix + T_IL(3, 0) = 0.0; T_IL(3, 1) = 0.0; T_IL(3, 2) = 0.0; T_IL(3, 3) = 1.0; + + // Debug print to compare with cloud_reprojection values + // static int host_print_count = 0; + // if (host_print_count++) { + // std::cout << "=== host_sdk_sample T_CL from odom_data->pose_cov ===" << std::endl; + // std::cout << T_CL << std::endl; + // std::cout << "=== host_sdk_sample T_IL from odom_data->twist_cov ===" << std::endl; + // std::cout << T_IL << std::endl; + // } + + // Extract rotation and translation from T_CL + Eigen::Matrix3d RCL = T_CL.block<3, 3>(0, 0); + Eigen::Vector3d TCL = T_CL.block<3, 1>(0, 3); + + // Extract rotation and translation from T_IL + Eigen::Matrix3d RIL = T_IL.block<3, 3>(0, 0); + Eigen::Vector3d TIL = T_IL.block<3, 1>(0, 3); + + // Debug print extracted RCL and TCL + // static int rcl_print_count = 0; + // if (rcl_print_count++ ) { + // std::cout << "=== host_sdk_sample RCL (3x3 rotation from T_CL) ===" << std::endl; + // std::cout << RCL << std::endl; + // std::cout << "=== host_sdk_sample TCL (3x1 translation from T_CL) ===" << std::endl; + // std::cout << TCL.transpose() << std::endl; + // std::cout << "=== host_sdk_sample RIL (3x3 rotation from T_IL) ===" << std::endl; + // std::cout << RIL << std::endl; + // std::cout << "=== host_sdk_sample TIL (3x1 translation from T_IL) ===" << std::endl; + // std::cout << TIL.transpose() << std::endl; + // } + + // Save RIL, TIL, RCL, TCL to YAML file + static int save_count = 0; + static int index_count = 0; + save_count++; + + bool should_save = true; // Always save, or modify this condition as needed + if (should_save || save_count % 1 == 0 || index_count == 0) { + std::string OUTPUT_PATH = root_dir_.string(); + std::ofstream yaml_file; + if(index_count == 0) + yaml_file.open(OUTPUT_PATH + "/calib_online.yaml"); + else + yaml_file.open(OUTPUT_PATH + "/calib_online.yaml", std::ios::app); + + if (yaml_file.is_open()) { + yaml_file << "frame:\n"; + yaml_file << " index: " << index_count << "\n"; + yaml_file << " timestamp: " << std::fixed << std::setprecision(10) << ts_sec << "\n"; + yaml_file << " cam_num: 1\n"; + + // Save TCL (camera-lidar translation) in the same format as Tcl_0 + yaml_file << " Tcl_0: [\n"; + Eigen::Matrix4d T_CL_output = Eigen::Matrix4d::Identity(); + T_CL_output.block<3, 3>(0, 0) = RCL; + T_CL_output.block<3, 1>(0, 3) = TCL; + for (int i = 0; i < 4; i++) { + yaml_file << " "; + for (int j = 0; j < 4; j++) { + yaml_file << std::fixed << std::setprecision(10) << T_CL_output(i, j); + if (i != 3 || j != 3) yaml_file << ", "; + } + if (i != 3) yaml_file << "\n"; + } + yaml_file << "\n ]\n\n"; + + // Save TIL (IMU-lidar transformation) as body_T_lidar + yaml_file << " body_T_lidar: !!opencv-matrix\n"; + yaml_file << " rows: 4\n"; + yaml_file << " cols: 4\n"; + yaml_file << " dt: d\n"; + yaml_file << " data: [ "; + Eigen::Matrix4d T_IL_output = Eigen::Matrix4d::Identity(); + T_IL_output.block<3, 3>(0, 0) = RIL; + T_IL_output.block<3, 1>(0, 3) = TIL; + for (int i = 0; i < 4; i++) { + for (int j = 0; j < 4; j++) { + yaml_file << std::fixed << std::setprecision(10) << T_IL_output(i, j); + if (i != 3 || j != 3) yaml_file << ","; + } + if (i != 3) yaml_file << "\n "; + } + yaml_file << "]\n\n"; + + index_count++; + yaml_file.close(); + } + } + } + } + + } + + // Publish WIWC data (T_CL and T_IL extrinsics) as a separate topic + void publishWiwc(capture_Image_List_t* stream) { + uint32_t data_len = stream->imageList[0].length; + if (data_len != sizeof(ros_odom_convert_complete_t)) { + return; + } + + ros_odom_convert_complete_t* odom_data = (ros_odom_convert_complete_t*)stream->imageList[0].pAddr; + +#ifdef ROS2 + auto msg = nav_msgs::msg::Odometry(); + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns, node_); + msg.header.frame_id = "odom"; +#else + nav_msgs::Odometry msg; + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns); + msg.header.frame_id = "odom"; +#endif + + // Store T_CL in pose.covariance (first 16 elements) + // Force last row to be [0, 0, 0, 1] for valid transformation matrix + for (int i = 0; i < 16; ++i) { + msg.pose.covariance[i] = odom_data->pose_cov[i]; + } + msg.pose.covariance[12] = 0.0; + msg.pose.covariance[13] = 0.0; + msg.pose.covariance[14] = 0.0; + msg.pose.covariance[15] = 1.0; + // Fill remaining with zeros + for (int i = 16; i < 36; ++i) { + msg.pose.covariance[i] = 0.0; + } + + // Store T_IL in twist.covariance (first 16 elements) + // Force last row to be [0, 0, 0, 1] for valid transformation matrix + for (int i = 0; i < 16; ++i) { + msg.twist.covariance[i] = odom_data->twist_cov[i]; + } + msg.twist.covariance[12] = 0.0; + msg.twist.covariance[13] = 0.0; + msg.twist.covariance[14] = 0.0; + msg.twist.covariance[15] = 1.0; + // Fill remaining with zeros + for (int i = 16; i < 36; ++i) { + msg.twist.covariance[i] = 0.0; + } + +#ifdef ROS2 + wiwc_publisher_->publish(msg); +#else + wiwc_publisher_.publish(msg); +#endif + } + + void publishOdometry(capture_Image_List_t* stream, OdometryType odom_type, bool show_path, bool show_camerapose) { + +#ifdef ROS2 + auto msg = nav_msgs::msg::Odometry(); +#else + ros::Odometry msg; +#endif + + msg.header.frame_id = "odom"; + msg.child_frame_id = "odin1_base_link"; + + //RCLCPP_INFO(rclcpp::get_logger("device_cb"), "odom %ld",odom_data->timestamp_ns); + + uint32_t data_len = stream->imageList[0].length; + if (data_len == sizeof(ros_odom_convert_complete_t)) { + + ros_odom_convert_complete_t* odom_data = (ros_odom_convert_complete_t*)stream->imageList[0].pAddr; + #ifdef ROS2 + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns, node_); + #else + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns); + #endif + + msg.pose.pose.position.x = static_cast(odom_data->pos[0]) / 1e6; + msg.pose.pose.position.y = static_cast(odom_data->pos[1]) / 1e6; + msg.pose.pose.position.z = static_cast(odom_data->pos[2]) / 1e6; + + msg.pose.pose.orientation.x = static_cast(odom_data->orient[0]) / 1e6; + msg.pose.pose.orientation.y = static_cast(odom_data->orient[1]) / 1e6; + msg.pose.pose.orientation.z = static_cast(odom_data->orient[2]) / 1e6; + msg.pose.pose.orientation.w = static_cast(odom_data->orient[3]) / 1e6; + + // Enqueue binary logging for pose + if ((odom_type == OdometryType::STANDARD) && data_logger_) { + const uint32_t idx_now = pose_index_.fetch_add(1, std::memory_order_relaxed); + // Align pose timestamp with the same policy as ROS publish path (NTP mode -> NTP time) + const double ts_sec = static_cast(aligned_stamp_ns(odom_data->timestamp_ns)) / 1e9; + float pose_arr[7]; + pose_arr[0] = static_cast(msg.pose.pose.position.x); + pose_arr[1] = static_cast(msg.pose.pose.position.y); + pose_arr[2] = static_cast(msg.pose.pose.position.z); + pose_arr[3] = static_cast(msg.pose.pose.orientation.x); + pose_arr[4] = static_cast(msg.pose.pose.orientation.y); + pose_arr[5] = static_cast(msg.pose.pose.orientation.z); + pose_arr[6] = static_cast(msg.pose.pose.orientation.w); + std::vector blob; + blob.reserve(sizeof(uint32_t) + sizeof(double) + sizeof(float) * 7); + auto append_pod = [&](const auto& v) { + const uint8_t* p = reinterpret_cast(&v); + blob.insert(blob.end(), p, p + sizeof(v)); + }; + append_pod(idx_now); + append_pod(ts_sec); + for (int i = 0; i < 7; ++i) append_pod(pose_arr[i]); + data_logger_->enqueuePoseFrame(std::move(blob)); + } + + msg.twist.twist.linear.x = static_cast(odom_data->linear_velocity[0]) / 1e6; + msg.twist.twist.linear.y = static_cast(odom_data->linear_velocity[1]) / 1e6; + msg.twist.twist.linear.z = static_cast(odom_data->linear_velocity[2]) / 1e6; + + msg.twist.twist.angular.x = static_cast(odom_data->angular_velocity[0]) / 1e6; + msg.twist.twist.angular.y = static_cast(odom_data->angular_velocity[1]) / 1e6; + msg.twist.twist.angular.z = static_cast(odom_data->angular_velocity[2]) / 1e6; + + // Copy original covariance data + for (int i = 0; i < 36; ++i) { + msg.pose.covariance[i] = odom_data->pose_cov[i]; + } + + for (int i = 0; i < 36; ++i) { + msg.twist.covariance[i] = odom_data->twist_cov[i]; + } + + } else if (data_len == sizeof(ros2_odom_convert_t)) { + + ros2_odom_convert_t* odom_data = (ros2_odom_convert_t*)stream->imageList[0].pAddr; + #ifdef ROS2 + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns, node_); + #else + msg.header.stamp = make_aligned_stamp(odom_data->timestamp_ns); + #endif + + msg.pose.pose.position.x = static_cast(odom_data->pos[0]) / 1e6; + msg.pose.pose.position.y = static_cast(odom_data->pos[1]) / 1e6; + msg.pose.pose.position.z = static_cast(odom_data->pos[2]) / 1e6; + + msg.pose.pose.orientation.x = static_cast(odom_data->orient[0]) / 1e6; + msg.pose.pose.orientation.y = static_cast(odom_data->orient[1]) / 1e6; + msg.pose.pose.orientation.z = static_cast(odom_data->orient[2]) / 1e6; + msg.pose.pose.orientation.w = static_cast(odom_data->orient[3]) / 1e6; + } + +#ifdef ROS2 + switch(odom_type) { + case OdometryType::STANDARD: + { + if (getRosNodeControl()->sendOdomBaseLinkTF()) { + geometry_msgs::msg::TransformStamped transformStamped; + transformStamped.header.stamp = msg.header.stamp; + transformStamped.header.frame_id = "odom"; + transformStamped.child_frame_id = "odin1_base_link"; + transformStamped.transform.translation.x = msg.pose.pose.position.x; + transformStamped.transform.translation.y = msg.pose.pose.position.y; + transformStamped.transform.translation.z = msg.pose.pose.position.z; + transformStamped.transform.rotation.x = msg.pose.pose.orientation.x; + transformStamped.transform.rotation.y = msg.pose.pose.orientation.y; + transformStamped.transform.rotation.z = msg.pose.pose.orientation.z; + transformStamped.transform.rotation.w = msg.pose.pose.orientation.w; + tf_broadcaster->sendTransform(transformStamped); + } + odom_publisher_->publish(msg); + + // Publish odom trajectory as visualization markers (green lines connecting adjacent points) + static visualization_msgs::msg::Marker marker; + static std::vector path_points; + + if (show_path) { + marker.header = msg.header; + marker.ns = "odom_trajectory"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.02; // Line width + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + marker.color.a = 1.0; + + geometry_msgs::msg::Point pt; + pt.x = msg.pose.pose.position.x; + pt.y = msg.pose.pose.position.y; + pt.z = msg.pose.pose.position.z; + path_points.push_back(pt); + + // Keep only recent points to avoid memory issues (e.g., last 1000 points) + if (path_points.size() > 30000) { + path_points.erase(path_points.begin()); + } + + marker.points = path_points; + + // Publish marker array + static visualization_msgs::msg::MarkerArray marker_array; + marker_array.markers.clear(); // Clear previous markers + marker_array.markers.push_back(marker); + path_publisher_->publish(marker_array); + } + + if (show_camerapose) { + // camera pose visualization (ROS2) + Eigen::Vector3d P(msg.pose.pose.position.x, + msg.pose.pose.position.y, + msg.pose.pose.position.z); + Eigen::Quaterniond R(msg.pose.pose.orientation.w, + msg.pose.pose.orientation.x, + msg.pose.pose.orientation.y, + msg.pose.pose.orientation.z); + if (extrinsic_ok_) { + P = P + R * t_ic_; + R = R * R_ic_; + } + cameraposevisual_.reset(); + cameraposevisual_.add_pose(P, R); + cameraposevisual_.publish_by(*pub_camera_pose_visual_, msg.header); + } + } + break; + case OdometryType::HIGHFREQ: + odom_highfreq_publisher_->publish(std::move(msg)); + break; + case OdometryType::TRANSFORM: + { + geometry_msgs::msg::TransformStamped transformStamped; + transformStamped.header.stamp = msg.header.stamp; + transformStamped.header.frame_id = "odom"; + transformStamped.child_frame_id = "map"; + transformStamped.transform.translation.x = msg.pose.pose.position.x; + transformStamped.transform.translation.y = msg.pose.pose.position.y; + transformStamped.transform.translation.z = msg.pose.pose.position.z; + transformStamped.transform.rotation.x = msg.pose.pose.orientation.x; + transformStamped.transform.rotation.y = msg.pose.pose.orientation.y; + transformStamped.transform.rotation.z = msg.pose.pose.orientation.z; + transformStamped.transform.rotation.w = msg.pose.pose.orientation.w; + tf_broadcaster->sendTransform(transformStamped); + } + break; + } +#else + switch(odom_type) { + case OdometryType::STANDARD: + { + if (getRosNodeControl()->sendOdomBaseLinkTF()) { + geometry_msgs::TransformStamped transformStamped; + transformStamped.header.stamp = msg.header.stamp; + transformStamped.header.frame_id = "odom"; + transformStamped.child_frame_id = "odin1_base_link"; + transformStamped.transform.translation.x = msg.pose.pose.position.x; + transformStamped.transform.translation.y = msg.pose.pose.position.y; + transformStamped.transform.translation.z = msg.pose.pose.position.z; + transformStamped.transform.rotation.x = msg.pose.pose.orientation.x; + transformStamped.transform.rotation.y = msg.pose.pose.orientation.y; + transformStamped.transform.rotation.z = msg.pose.pose.orientation.z; + transformStamped.transform.rotation.w = msg.pose.pose.orientation.w; + tf_broadcaster->sendTransform(transformStamped); + } + odom_publisher_.publish(msg); + + if (show_path) { + // Publish odom trajectory as visualization markers (green lines connecting adjacent points) + static visualization_msgs::Marker marker; + static std::vector path_points; + + marker.header = msg.header; + marker.ns = "odom_trajectory"; + marker.id = 0; + marker.type = visualization_msgs::Marker::LINE_STRIP; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.02; // Line width + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + marker.color.a = 1.0; + + geometry_msgs::Point pt; + pt.x = msg.pose.pose.position.x; + pt.y = msg.pose.pose.position.y; + pt.z = msg.pose.pose.position.z; + path_points.push_back(pt); + + // Keep only recent points to avoid memory issues (e.g., last 1000 points) + if (path_points.size() > 30000) { + path_points.erase(path_points.begin()); + } + + marker.points = path_points; + + // Publish marker array + static visualization_msgs::MarkerArray marker_array; + marker_array.markers.clear(); // Clear previous markers + marker_array.markers.push_back(marker); + path_publisher_.publish(marker_array); + } + + if (show_camerapose) { + // camera pose visualization (ROS1) + Eigen::Vector3d P(msg.pose.pose.position.x, + msg.pose.pose.position.y, + msg.pose.pose.position.z); + Eigen::Quaterniond R(msg.pose.pose.orientation.w, + msg.pose.pose.orientation.x, + msg.pose.pose.orientation.y, + msg.pose.pose.orientation.z); + + if (extrinsic_ok_) { + P = P + R * t_ic_; + R = R * R_ic_; + } + cameraposevisual_.reset(); + cameraposevisual_.add_pose(P, R); + cameraposevisual_.publish_by(pub_camera_pose_visual_, msg.header); + } + } + break; + case OdometryType::HIGHFREQ: + odom_highfreq_publisher_.publish(msg); + break; + case OdometryType::TRANSFORM: + { + geometry_msgs::TransformStamped transformStamped; + transformStamped.header.stamp = msg.header.stamp; + transformStamped.header.frame_id = "odom"; + transformStamped.child_frame_id = "map"; + transformStamped.transform.translation.x = msg.pose.pose.position.x; + transformStamped.transform.translation.y = msg.pose.pose.position.y; + transformStamped.transform.translation.z = msg.pose.pose.position.z; + transformStamped.transform.rotation.x = msg.pose.pose.orientation.x; + transformStamped.transform.rotation.y = msg.pose.pose.orientation.y; + transformStamped.transform.rotation.z = msg.pose.pose.orientation.z; + transformStamped.transform.rotation.w = msg.pose.pose.orientation.w; + tf_broadcaster->sendTransform(transformStamped); + } + break; + } +#endif + } + + void initialize_data_logger(std::string data_dir = "") { + + try { + BinaryDataLogger::Options opts; + opts.batch_size = 100; + opts.base_dir = data_dir; + data_logger_ = std::make_shared(opts); + root_dir_ = data_logger_->root_dir(); + #ifdef ROS2 + RCLCPP_INFO(node_->get_logger(), "Data logger initialized at %s", root_dir_.c_str()); + #endif + } catch (...) { + // Swallow logger initialization failures to avoid affecting runtime + #ifdef ROS2 + RCLCPP_INFO(node_->get_logger(), "Failed to initialize data logger"); + #endif + data_logger_.reset(); + } + } + + int loadCameraParams(const std::string& yaml_file) { + try { + YAML::Node config = YAML::LoadFile(yaml_file); + + YAML::Node cam_node = config["cam_0"]; + + m_camera_params.width = cam_node["image_width"].as(); + m_camera_params.height = cam_node["image_height"].as(); + + double A11 = cam_node["A11"].as(); + double A12 = cam_node["A12"].as(); + double A22 = cam_node["A22"].as(); + double u0 = cam_node["u0"].as(); + double v0 = cam_node["v0"].as(); + + m_camera_params.fx = A11; + m_camera_params.fy = A22; + m_camera_params.cx = u0; + m_camera_params.cy = v0; + m_camera_params.skew = A12; + + m_camera_params.k2 = cam_node["k2"].as(); + m_camera_params.k3 = cam_node["k3"].as(); + m_camera_params.k4 = cam_node["k4"].as(); + m_camera_params.k5 = cam_node["k5"].as(); + m_camera_params.k6 = cam_node["k6"].as(); + m_camera_params.k7 = cam_node["k7"].as(); + m_camera_params.p1 = cam_node["p1"].as(); + m_camera_params.p2 = cam_node["p2"].as(); +#if 0 + std::cout << "成功读取相机参数:" << std::endl; + std::cout << "图像尺寸: " << m_camera_params.width << "x" << m_camera_params.height << std::endl; + std::cout << "焦距: fx=" << m_camera_params.fx << ", fy=" << m_camera_params.fy << std::endl; + std::cout << "主点: cx=" << m_camera_params.cx << ", cy=" << m_camera_params.cy << std::endl; + std::cout << "倾斜: " << m_camera_params.skew << std::endl; + std::cout << "畸变系数: k2=" << m_camera_params.k2 << ", k3=" << m_camera_params.k3 + << ", k4=" << m_camera_params.k4 << ", k5=" << m_camera_params.k5 + << ", k6=" << m_camera_params.k6 << ", k7=" << m_camera_params.k7 << std::endl; +#endif + m_cam = std::make_unique(m_camera_params.width, m_camera_params.height, + m_camera_params.fx, m_camera_params.fy, m_camera_params.cx, m_camera_params.cy, m_camera_params.skew, + m_camera_params.k2, m_camera_params.k3, m_camera_params.k4, m_camera_params.k5, m_camera_params.k6, m_camera_params.k7); + + // Load extrinsic Tcl_0 (camera to lidar) + extrinsic_ok_ = false; + if (config["Tcl_0"]) { + auto T = config["Tcl_0"]; + if (T.IsSequence() && T.size() == 16) { + Eigen::Matrix4d Tcl; + for (int i = 0; i < 16; ++i) Tcl(i/4, i%4) = T[i].as(); + T_cl_ = Tcl; + } + std::cout << "Tcl: " << T_cl_ << std::endl; + + Eigen::Matrix4d Tic = T_il_ * T_cl_.inverse(); + Eigen::Matrix3d Ric = Tic.block<3,3>(0,0); + Eigen::Vector3d tic = Tic.block<3,1>(0,3); + R_ic_ = Eigen::Quaterniond(Ric); + t_ic_ = tic; + extrinsic_ok_ = true; + } + + m_cam_init_success = true; + return 0; + } catch (const std::exception& e) { + std::cerr << "读取YAML文件失败: " << e.what() << std::endl; + m_cam_init_success = false; + return -1; + } + } + + void buildUndistortMap() + { + m_undistort_map_x.create(m_camera_params.height, m_camera_params.width, CV_32F); + m_undistort_map_y.create(m_camera_params.height, m_camera_params.width, CV_32F); + + for (int v_out = 0; v_out < m_camera_params.height; ++v_out) { + for (int u_out = 0; u_out < m_camera_params.width; ++u_out) { + double x_norm = (u_out - m_cam->cx()) / m_cam->fx(); + double y_norm = (v_out - m_cam->cy()) / m_cam->fy(); + + // remove skew + x_norm = x_norm - y_norm * m_cam->skew() / m_cam->fx(); + + Eigen::Vector2d uv(x_norm, y_norm); + Eigen::Vector2d distorted_pixel = m_cam->world2cam(uv); + + m_undistort_map_x.at(v_out, u_out) = static_cast(distorted_pixel[0]); + m_undistort_map_y.at(v_out, u_out) = static_cast(distorted_pixel[1]); + } + } + m_undistort_map_init_success = true; + } + +private: + // Add the following member variables + std::mutex rgb_queue_mutex_; + std::deque rgb_image_queue_; + const size_t max_rgb_queue_size_ = 10; // Cache up to 10 image frames + + std::mutex pcd_queue_mutex_; + std::deque pcd_queue_; + const size_t max_pcd_queue_size_ = 10; // Maximum cache frames + + // Binary logger and frame indices + std::shared_ptr data_logger_; + std::atomic pose_index_{0}; + std::atomic cloud_index_{0}; + std::atomic image_index_{0}; + std::atomic wcwi_index_{0}; + + std::filesystem::path root_dir_; + + // Updated helper functions + ImageConstPtr getLatestRgbImage() { + std::lock_guard lock(rgb_queue_mutex_); + return (!rgb_image_queue_.empty()) ? rgb_image_queue_.back() : nullptr; + } + + PointCloud2ConstPtr getLatestIntensityCloud() { + std::lock_guard lock(pcd_queue_mutex_); + return (!pcd_queue_.empty()) ? pcd_queue_.back() : nullptr; + } + std::vector getRgbImageQueueSnapshot() { + std::lock_guard lock(rgb_queue_mutex_); + std::vector images; + for (const auto& msg : rgb_image_queue_) { + try { + cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(*msg, "bgr8"); + images.push_back(cv_ptr->image.clone()); + } catch (cv_bridge::Exception& e) { + #ifndef ROS2 + ROS_ERROR("cv_bridge exception: %s", e.what()); + #endif + } + } + return images; + } + + CameraParams m_camera_params; + std::unique_ptr m_cam; + bool m_cam_init_success; + bool m_undistort_map_init_success = false; + cv::Mat m_undistort_map_x; + cv::Mat m_undistort_map_y; + Eigen::Quaterniond R_ic_ {Eigen::Quaterniond::Identity()}; + Eigen::Vector3d t_ic_ {Eigen::Vector3d::Zero()}; + bool extrinsic_ok_ {false}; + Eigen::Matrix4d T_il_ = (Eigen::Matrix4d() << + 1.0, 0.0, 0.0, 0.00347, + 0.0, 1.0, 0.0, 0.03447, + 0.0, 0.0, 1.0, 0.02174, + 0.0, 0.0, 0.0, 1.0).finished(); + Eigen::Matrix4d T_cl_ = Eigen::Matrix4d::Identity(); // Camera->Lidar from YAML +#ifdef ROS2 + std::vector getIntensityCloudQueueSnapshot() { + std::lock_guard lock(pcd_queue_mutex_); + std::vector clouds; + + for (const auto& msg_ptr : pcd_queue_) { + clouds.push_back(*msg_ptr); + } + + return clouds; + } +#else + std::vector getIntensityCloudQueueSnapshot() { + std::lock_guard lock(pcd_queue_mutex_); + std::vector clouds; + + for (const auto& msg_ptr : pcd_queue_) { + clouds.push_back(*msg_ptr); + } + + return clouds; + } +#endif + + void initialize_publishers() { + #ifdef ROS2 + // Small data with queue depth 1 + auto qos_small = rclcpp::QoS(4000) + .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE) + .durability(RMW_QOS_POLICY_DURABILITY_VOLATILE); + + // Large sensor data with larger queue to avoid blocking + auto qos_sensor = rclcpp::QoS(5) + .reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE) + .durability(RMW_QOS_POLICY_DURABILITY_VOLATILE); + + imu_pub_ = node_->create_publisher("odin1/imu", qos_small); + rgb_pub_ = node_->create_publisher("odin1/image", qos_sensor); + cloud_pub_ = node_->create_publisher("odin1/cloud_raw", qos_sensor); + xyzrgbacloud_pub_ = node_->create_publisher("odin1/cloud_slam", qos_sensor); + odom_publisher_ = node_->create_publisher("odin1/odometry", qos_sensor); + odom_highfreq_publisher_ = node_->create_publisher("odin1/odometry_highfreq", qos_small); + path_publisher_ = node_->create_publisher("odin1/path", qos_sensor); + pub_camera_pose_visual_ = node_->create_publisher("odin1/camera_pose_visual", qos_sensor); + rgbcloud_pub_ = node_->create_publisher("odin1/cloud_render", qos_sensor); + compressed_rgb_pub_ = node_->create_publisher("odin1/image/compressed", qos_sensor); + undistort_rgb_pub_ = node_->create_publisher("odin1/image/undistorted", qos_sensor); + intensity_gray_pub_ = node_->create_publisher("odin1/image/intensity_gray", qos_sensor); + wiwc_publisher_ = node_->create_publisher("odin1/wiwc", qos_sensor); + tf_broadcaster = std::make_unique(node_); + #endif + } + #ifdef ROS1 + void initialize_publishers(ros::NodeHandle& nh) { + imu_pub_ = nh.advertise("odin1/imu", 4000); + rgb_pub_ = nh.advertise("odin1/image", 5); + cloud_pub_ = nh.advertise("odin1/cloud_raw", 5); + xyzrgbacloud_pub_ = nh.advertise("odin1/cloud_slam", 5); + odom_publisher_ = nh.advertise("odin1/odometry", 5); + odom_highfreq_publisher_ = nh.advertise("odin1/odometry_highfreq", 4000); + path_publisher_ = nh.advertise("odin1/path", 5); + pub_camera_pose_visual_ = nh.advertise("odin1/camera_pose_visual", 5); + rgbcloud_pub_ = nh.advertise("odin1/cloud_render", 5); + compressed_rgb_pub_ = nh.advertise("odin1/image/compressed", 5); + undistort_rgb_pub_ = nh.advertise("odin1/image/undistorted", 5); + intensity_gray_pub_ = nh.advertise("odin1/image/intensity_gray", 5); + wiwc_publisher_ = nh.advertise("odin1/wiwc", 5); + tf_broadcaster = std::make_unique(); + } + #endif + + #ifdef ROS2 + rclcpp::Node::SharedPtr node_; + rclcpp::Publisher::SharedPtr imu_pub_; + rclcpp::Publisher::SharedPtr rgb_pub_; + rclcpp::Publisher::SharedPtr cloud_pub_; + rclcpp::Publisher::SharedPtr xyzrgbacloud_pub_; + rclcpp::Publisher::SharedPtr odom_publisher_; + rclcpp::Publisher::SharedPtr odom_highfreq_publisher_; + rclcpp::Publisher::SharedPtr path_publisher_; + rclcpp::Publisher::SharedPtr rendered_cloud_pub_; + rclcpp::Publisher::SharedPtr rgbcloud_pub_; + rclcpp::Publisher::SharedPtr rgbFromnv12_pub_; + rclcpp::Publisher::SharedPtr compressed_rgb_pub_; // New compressed image publisher + rclcpp::Publisher::SharedPtr undistort_rgb_pub_; + rclcpp::Publisher::SharedPtr intensity_gray_pub_; + rclcpp::Publisher::SharedPtr pub_camera_pose_visual_; + rclcpp::Publisher::SharedPtr wiwc_publisher_; + camera_pose_visualization cameraposevisual_; + std::unique_ptr tf_broadcaster; + #else + ros::Publisher imu_pub_; + ros::Publisher rgb_pub_; + ros::Publisher cloud_pub_; + ros::Publisher xyzrgbacloud_pub_; + ros::Publisher odom_publisher_; + ros::Publisher odom_highfreq_publisher_; + ros::Publisher path_publisher_; + ros::Publisher pub_camera_pose_visual_; + camera_pose_visualization cameraposevisual_; + ros::Publisher rendered_cloud_pub_; + ros::Publisher rgbcloud_pub_; + ros::Publisher rgbFromnv12_pub_; + ros::Publisher compressed_rgb_pub_; // New compressed image publisher + ros::Publisher undistort_rgb_pub_; + ros::Publisher intensity_gray_pub_; + ros::Publisher wiwc_publisher_; + std::unique_ptr tf_broadcaster; + #endif +}; + +class CommandLineControl { +public: + using Callback = std::function; + + + void register_key(const std::string& key, int default_value = 0) { + std::lock_guard lock(mtx); + kv_map[key] = default_value; + } + + void set(const std::string& key, int value) { + Callback cb_to_invoke = nullptr; + { + std::lock_guard lock(mtx); + auto it = kv_map.find(key); + if (it != kv_map.end()) { + if (it->second != value) { + it->second = value; + cb_to_invoke = callback; + } + } else { + return; + } + } + + if (cb_to_invoke) { + cb_to_invoke(key, value); + } + } + + int get(const std::string& key) const { + std::lock_guard lock(mtx); + auto it = kv_map.find(key); + return (it != kv_map.end()) ? it->second : -1; + } + + + void register_callback(Callback cb) { + std::lock_guard lock(mtx); + callback = cb; + } + +private: + std::unordered_map kv_map; + std::thread input_thread; + std::atomic running; + mutable std::mutex mtx; + Callback callback; + +}; + +#define STREAMCTRL "streamctrl" /* start/stop all streams */ +#define SENDRGB "sendrgb" /* send RGB data */ +#define SENDIMU "sendimu" /* send IMU data */ +#define SENDODOM "sendodom" /* send odometry data */ +#define SENDDTOF "senddtof" /* send raw cloud data */ +#define SENDCLOUDSLAM "sendcloudslam" /* send rgb cloud data */ +#define EXIT "q" /* exit sample */ diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/image_overlay_node.hpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/image_overlay_node.hpp new file mode 100644 index 0000000..c0e6817 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/image_overlay_node.hpp @@ -0,0 +1,101 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#ifdef ROS2 + #include + #include + // cv_bridge header: ROS2 humble+ provides cv_bridge.hpp; ROS2 jazzy removes the legacy .h. + // Prefer .hpp when available, fall back to .h for older ROS distros (e.g. foxy/galactic). + #if defined(__has_include) + # if __has_include() + # include + # else + # include + # endif + #else + # include + #endif + #include +#else + #include + #include + #include + #include + #include + #include +#endif + +#include +#include +#include + +#ifdef ROS2 +class ImageOverlayNode : public rclcpp::Node +{ +public: + ImageOverlayNode(const rclcpp::NodeOptions& options = rclcpp::NodeOptions()); + +private: + using Image = sensor_msgs::msg::Image; + + std::string reprojected_topic_; + std::string camera_topic_; + std::string overlay_topic_; + double alpha_; // blend alpha for overlay + + rclcpp::Subscription::SharedPtr reproj_sub_; + rclcpp::Subscription::SharedPtr camera_sub_; + rclcpp::Publisher::SharedPtr overlay_pub_; + + // Cache latest images + cv::Mat latest_reproj_img_; + cv::Mat latest_camera_img_; + std_msgs::msg::Header latest_header_; + std::mutex mutex_; + + void reprojCallback(Image::ConstSharedPtr msg); + void cameraCallback(Image::ConstSharedPtr msg); + void publishOverlay(); +}; +#else +#include +class ImageOverlayNode +{ +public: + ImageOverlayNode(ros::NodeHandle& nh, ros::NodeHandle& pnh); + +private: + ros::NodeHandle nh_, pnh_; + + std::string reprojected_topic_; + std::string camera_topic_; + std::string overlay_topic_; + double alpha_; // blend alpha for overlay + + ros::Subscriber reproj_sub_; + ros::Subscriber camera_sub_; + ros::Publisher overlay_pub_; + + // Cache latest images + cv::Mat latest_reproj_img_; + cv::Mat latest_camera_img_; + std_msgs::Header latest_header_; + std::mutex mutex_; + + void reprojCallback(const sensor_msgs::ImageConstPtr& msg); + void cameraCallback(const sensor_msgs::ImageConstPtr& msg); + void publishOverlay(); +}; +#endif diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/lidar_api.h b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/lidar_api.h new file mode 100644 index 0000000..f276b0a --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/lidar_api.h @@ -0,0 +1,726 @@ +#ifndef LIDAR_API_H +#define LIDAR_API_H + +/** + * @file lidar_api.h + * @brief LiDAR device API for controlling and accessing LiDAR sensor data + * + * This header provides the public interface for interacting with LiDAR devices. + * It includes functions for device management, data streaming control, and + * device configuration. + * + * @copyright Copyright (c) 2025, Manifold Tech Limited, All Rights Reserved + * @version 1.0 + * + * ┌──────────────────────────────────────────────────────────────────────────────┐ + * │ QUICK START │ + * ├──────────────────────────────────────────────────────────────────────────────┤ + * │ 1. API Call Sequence (typical usage): │ + * │ │ + * │ lidar_system_init(device_cb) // Initialize system, register device cb│ + * │ ↓ │ + * │ [Wait for device_cb with attach=true to get device info] │ + * │ ↓ │ + * │ lidar_create_device(&dev_info, &handle) // Create device handle │ + * │ ↓ │ + * │ lidar_register_stream_callback(handle, cb_info) // Register data callback│ + * │ ↓ │ + * │ lidar_open_device(handle) // Connect to device │ + * │ ↓ │ + * │ lidar_set_mode(handle, mode) // Set RAW or SLAM mode │ + * │ ↓ │ + * │ lidar_start_stream(handle, type, odr) // Start specific data stream │ + * │ ↓ │ + * │ [Data arrives via registered callback] │ + * │ ↓ │ + * │ lidar_stop_stream(handle, type) // Stop data stream │ + * │ ↓ │ + * │ lidar_close_device(handle) // Disconnect │ + * │ ↓ │ + * │ lidar_destory_device(handle) // Release device handle │ + * │ ↓ │ + * │ lidar_system_deinit() // Cleanup system resources │ + * │ │ + * ├──────────────────────────────────────────────────────────────────────────────┤ + * │ 2. Operating Modes and Available Data Types: │ + * │ │ + * │ LIDAR_MODE_RAW: │ + * │ - LIDAR_DT_RAW_RGB (RGB camera image, NV12 format) │ + * │ - LIDAR_DT_RAW_IMU (IMU data at 400Hz) │ + * │ - LIDAR_DT_RAW_DTOF (DTOF depth + point cloud + confidence) │ + * │ - LIDAR_DT_DEV_STATUS (Device status info) │ + * │ - LIDAR_DT_NTP (PTP/NTP sync data) │ + * │ │ + * │ LIDAR_MODE_SLAM: │ + * │ - All RAW mode types, plus: │ + * │ - LIDAR_DT_SLAM_CLOUD (SLAM point cloud, XYZRGBA) │ + * │ - LIDAR_DT_SLAM_ODOMETRY (SLAM odometry at ~10Hz) │ + * │ - LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ (Odometry at IMU rate ~400Hz) │ + * │ - LIDAR_DT_SLAM_ODOMETRY_TF (Map-Odom transform) │ + * │ │ + * ├──────────────────────────────────────────────────────────────────────────────┤ + * │ 3. activate_stream_type vs start_stream: │ + * │ │ + * │ lidar_activate_stream_type(): │ + * │ - Configure which stream types are enabled in device │ + * │ - Can enable multiple types before starting │ + * │ - Does NOT start data transmission │ + * │ │ + * │ lidar_start_stream(): │ + * │ - Actually starts data transmission for the specified type │ + * │ - Callback will begin receiving data after this call │ + * │ │ + * │ Typical flow: │ + * │ activate_stream_type(LIDAR_DT_RAW_IMU); // Enable IMU │ + * │ activate_stream_type(LIDAR_DT_RAW_DTOF); // Enable DTOF │ + * │ start_stream(LIDAR_DT_RAW_IMU, ...); // Start IMU stream │ + * │ start_stream(LIDAR_DT_RAW_DTOF, ...); // Start DTOF stream │ + * │ │ + * ├──────────────────────────────────────────────────────────────────────────────┤ + * │ 4. Callback Notes (IMPORTANT): │ + * │ │ + * │ Thread Safety: │ + * │ - Callbacks are invoked from internal SDK threads │ + * │ - Different data types may use different threads │ + * │ - User callback code must be thread-safe │ + * │ │ + * │ Data Lifetime: │ + * │ - Data pointers (pAddr) are ONLY valid during callback execution │ + * │ - If you need to keep data, COPY it before callback returns │ + * │ - Do NOT store or dereference pAddr after callback returns │ + * │ │ + * │ Performance: │ + * │ - Avoid blocking or time-consuming operations in callback │ + * │ - Long callback execution may cause data loss or jitter │ + * │ - For heavy processing, copy data and process in separate thread │ + * │ │ + * ├──────────────────────────────────────────────────────────────────────────────┤ + * │ 5. Error Codes: │ + * │ 0 : Success │ + * │ -1 : General failure │ + * │ -2 : Invalid parameter │ + * │ -3 : Device not found / not connected │ + * │ -4 : Operation timeout │ + * │ -5 : Resource allocation failed │ + * │ │ + * └──────────────────────────────────────────────────────────────────────────────┘ + */ + +#include "lidar_api_type.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * @brief Initialize the LiDAR system + * + * Must be called before any other lidar function to set up the system resources. + * This function starts device discovery and will invoke the callback when devices + * are found or disconnected. + * + * @param cb Callback function for device events: + * - Called with attach=true when a new device is discovered + * - Called with attach=false when a device is disconnected + * - The lidar_device_info_t contains serial number to identify the device + * + * Example callback: + * void device_callback(const lidar_device_info_t* info, bool attach) { + * if (attach) { + * printf("Device connected: %s\n", info->serial); + * // Save info for lidar_create_device() + * } else { + * printf("Device disconnected: %s\n", info->serial); + * } + * } + * + * @return int 0 on success, negative error code on failure + */ +int lidar_system_init(lidar_device_callback_t cb); + +/** + * @brief Deinitialize the LiDAR system + * + * Releases all resources allocated by the system. Should be called when + * application is shutting down. + * + * @return int 0 on success, negative error code on failure + */ +int lidar_system_deinit(void); + +/** + * @brief Create a handle for a LiDAR device + * + * Creates a device handle using the device info received from the device callback. + * The handle is used for all subsequent operations on the device. + * + * @param dev_info Information about the LiDAR device (from lidar_system_init callback) + * - serial: Device serial number (required, used to identify device) + * - model: Device model string + * - online: Device connection status + * @param device [OUTPUT] Pointer to receive the device handle upon success + * @return int 0 on success, negative error code on failure + * + * @note The dev_info should be the same structure received from the device callback + */ +int lidar_create_device(lidar_device_info_t *dev_info, device_handle *device); + +/** + * @brief Destroy a LiDAR device handle + * + * Releases resources associated with the device handle. Must be called + * when the device is no longer needed. + * + * @param device Handle to the device to destroy + * @return int 0 on success, negative error code on failure + */ +int lidar_destory_device(device_handle device); + +/** + * @brief Register callback function for receiving LiDAR data streams + * + * Sets up a callback function that will be called when new data is available. + * All data types use the same callback; use lidar_data_t.type to distinguish. + * + * @param device Handle to the target device + * @param cb Callback info structure: + * - data_callback: Function pointer, signature: void(const lidar_data_t*, void*) + * - user_data: User context pointer passed to callback (can be NULL) + * + * Example: + * void data_callback(const lidar_data_t* data, void* user_data) { + * switch (data->type) { + * case LIDAR_DT_RAW_IMU: + * imu_convert_data_t* imu = (imu_convert_data_t*)data->stream.imageList[0].pAddr; + * // Process IMU data (COPY if needed, pointer invalid after return) + * break; + * case LIDAR_DT_RAW_DTOF: + * // data->stream.imageList[0]: depth + * // data->stream.imageList[1]: point cloud XYZ + * // data->stream.imageList[2]: confidence + * // data->stream.imageList[3]: intensity + * break; + * } + * } + * + * @return int 0 on success, negative error code on failure + * + * @warning Callback is invoked from SDK internal threads. Avoid blocking operations. + * @warning Data pointers are only valid during callback execution. Copy if needed. + */ +int lidar_register_stream_callback(device_handle device, lidar_data_callback_info_t cb); + +/** + * @brief Unregister stream callback for a device + * + * Stops the device from calling back when new data is available. + * + * @param device Handle to the target device + * @return int 0 on success, negative error code on failure + */ +int lidar_unregister_stream_callback(device_handle device); + +/** + * @brief Open a LiDAR device for communication + * + * Establishes a connection to the physical device. + * + * @param device Handle to the device to open + * @return int 0 on success, negative error code on failure + */ +int lidar_open_device(device_handle device); + +/** + * @brief Close a LiDAR device + * + * Closes the connection to the physical device. + * + * @param device Handle to the device to close + * @return int 0 on success, negative error code on failure + */ +int lidar_close_device(device_handle device); + +/** + * @brief Set the operating mode of the LiDAR device + * + * Must be called after lidar_open_device() and before lidar_start_stream(). + * Mode determines which data types are available for streaming. + * + * @param device Handle to the target device + * @param mode Operating mode to set: + * - LIDAR_MODE_RAW: Raw sensor data (RGB, IMU, DTOF) + * - LIDAR_MODE_SLAM: SLAM processing enabled (adds odometry, point cloud) + * @return int 0 on success, negative error code on failure + */ +int lidar_set_mode(device_handle device, int mode); + +/** + * @brief Start data streaming from the device + * + * Begins the flow of data from the device for the specified type. + * After calling this function, registered callbacks will start receiving data. + * + * @param device Handle to the target device + * @param type Type of data stream to start (lidar_data_type_e): + * - LIDAR_DT_RAW_RGB: RGB camera frames + * - LIDAR_DT_RAW_IMU: IMU data at 400Hz + * - LIDAR_DT_RAW_DTOF: Depth sensor data + * - LIDAR_DT_SLAM_CLOUD: SLAM point cloud (requires SLAM mode) + * - LIDAR_DT_SLAM_ODOMETRY: SLAM odometry (requires SLAM mode) + * - etc. (see lidar_data_type_e in lidar_api_type.h) + * @param dtof_subframe_odr [OUTPUT] Returns DTOF subframe interval in microseconds. + * Only meaningful when type=LIDAR_DT_RAW_DTOF. + * For other types, this value can be ignored. + * @return int 0 on success, negative error code on failure + * + * @note You can start multiple stream types simultaneously by calling this + * function multiple times with different types. + */ +int lidar_start_stream(device_handle device, int type, uint32_t &dtof_subframe_odr); + +/** + * @brief Stop data streaming from the device + * + * Stops the flow of data from the device for the specified type. + * + * @param device Handle to the target device + * @param type Type of data stream to stop + * @return int 0 on success, negative error code on failure + */ +int lidar_stop_stream(device_handle device, int type); + +/** + * @brief Activate a specific stream type on the device + * + * Enables a specific data stream type in the device configuration. + * This configures the device to be ready for the stream type, but does NOT + * start actual data transmission. Call lidar_start_stream() to begin streaming. + * + * Use this to pre-configure multiple stream types before starting them: + * activate_stream_type(handle, LIDAR_DT_RAW_IMU); + * activate_stream_type(handle, LIDAR_DT_RAW_DTOF); + * start_stream(handle, LIDAR_DT_RAW_IMU, odr); + * start_stream(handle, LIDAR_DT_RAW_DTOF, odr); + * + * @param device Handle to the target device + * @param type Type of data stream to activate (lidar_data_type_e) + * @return int 0 on success, negative error code on failure + * + * @see lidar_start_stream() to actually begin data transmission + * @see lidar_deactivate_stream_type() to disable a stream type + */ +int lidar_activate_stream_type(device_handle device, int type); + +/** + * @brief Deactivate a specific stream type on the device + * + * Disables a specific data stream type in the device configuration. + * + * @param device Handle to the target device + * @param type Type of data stream to deactivate + * @return int 0 on success, negative error code on failure + */ +int lidar_deactivate_stream_type(device_handle device, int type); + +/** + * @brief Get the calibration file from the device + * @param device Handle to the target device + * @return int 0 on success, negative error code on failure + */ +int lidar_get_calib_file(device_handle device, const char* path); + +/** + * @brief Get device calibration parameters + * + * Retrieves the current calibration parameters from the device. + * + * @param device Handle to the target device + * @param param Pointer to receive the calibration parameters + * @return int 0 on success, negative error code on failure + */ +int lidar_get_calibration(device_handle device, lidar_calibration_t* param); + +/** + * @brief Set device calibration parameters + * + * Applies new calibration parameters to the device. + * + * @param device Handle to the target device + * @param param Pointer to the calibration parameters to set + * @return int 0 on success, negative error code on failure + */ +int lidar_set_calibration(device_handle device, const lidar_calibration_t *param); + +/** + * @brief Set log verbosity level + * + * Controls the amount of log information generated by the LiDAR API. + * + * @param level Log level to set (see level definitions in lidar_api_type.h) + */ +void lidar_log_set_level(lidar_log_level_e level); + +/** + * @brief Get the version information of the LiDAR device + * + * Retrieves version information including firmware, system, and application versions. + * + * @param device Handle to the target device + * @param version struct Pointer to receive the version information + * @return int 0 on success, negative error code on failure + */ +int lidar_get_version(device_handle device,lidar_fireware_version_t *version); + +/** + * @brief Set custom algorithm parameters for the device + * + * Sends custom parameter settings to the device. + * + * @param device Handle to the target device + * @param param_name String name of the parameter to set + * @param value_data Pointer to the value data to set for the parameter + * @param value_length Length of the value data in bytes + * @return int 0 on success, negative error code on failure + */ +int lidar_set_custom_parameter(device_handle device, const char* param_name, const void* value_data, size_t value_length); + +/** + * @brief Get custom algorithm parameters for the device + * + * Get custom parameter settings from the device. + * + * @param device Handle to the target device + * @param param_name String name of the parameter to get + * @param value Integer value to get for the parameter + * @return int 0 on success, negative error code on failure + */ +int lidar_get_custom_parameter(device_handle device, const char* param_name, int* value); + +/** + * @brief Get custom algorithm parameters for the device + * + * Get custom parameter settings from the device. + * + * @param device Handle to the target device + * @param param_name String name of the parameter to get + * @param value Integer value to get for the parameter + * @return int 0 on success, negative error code on failure + */ +int lidar_get_custom_parameter(device_handle device, const char* param_name, int* value); + +/** + * @brief Set the map file used for relocalization + * + * Read & send specified map file to device for relocalization + * + * @param device Handle to the target device + * @param abs_path Absolute path to the map file + * @return int 0 on success, otherwise on failure + */ + int lidar_set_relocalization_map(device_handle device, const char* abs_path); + + /** + * @brief Get the mapping result file from device + * + * Read & send specified map file from device to host + * + * @param device Handle to the target device + * @param dest_dir Destination directory to save the map file + * @param file_name File name to save the map file + * @return int 0 on success, -1 on failure without error code, error code (> 0) otherwise + */ + int lidar_get_mapping_result(device_handle device, const char* dest_dir, const char* file_name); + +/** + * @brief Save the current map to a file on the host. Synchronous, all-in-one API. + * + * Internally drives the complete save-map state machine, so callers do not need + * to coordinate the multi-step protocol themselves: + * 1) Set custom parameter save_map = 1 on the device (kicks off generation). + * 2) Poll save_map until the device resets it to 0 (map generation finished). + * 3) Pull the resulting file via the standard mapping-result transfer (same as + * lidar_get_mapping_result). + * 4) Return the final status to the caller. + * + * This is the recommended entry point for saving a map. The lower-level pair + * (lidar_set_custom_parameter("save_map") + lidar_get_mapping_result) remains + * available for advanced use cases. + * + * 同步保存地图到主机上的文件。一站式 API，内部完成「触发生成 → 等待设备完成 → + * 拉取文件」的完整流程，调用方无需自行轮询和处理异步状态。 + * + * @param device Device handle. + * @param dest_dir Host directory to save the file into (must already exist). + * @param file_name File name (e.g. "map.bin"). + * @param gen_timeout_ms Maximum time (ms) to wait for the device to finish + * generating the map. Pass 0 to use the default (120000 ms). + * @return int + * 0 success, file saved at dest_dir/file_name + * -1 invalid arguments (null device/dir, SDK not initialized, etc.) + * -2 device is busy with another file transfer + * -3 timed out waiting for the device to finish map generation + * -4 file transfer stalled or failed (see logs for details) + * other negative values are propagated from the underlying transfer. + */ +int lidar_save_map(device_handle device, + const char *dest_dir, + const char *file_name, + uint32_t gen_timeout_ms); + +/** + * @brief Set the image mask file for the device + * + * Read & send specified image mask file to device + * + * @param device Handle to the target device + * @param abs_path Absolute path to the image mask file (e.g., mask.png) + * @return int 0 on success, -1 on failure, -2 if file transfer in progress + */ + int lidar_set_image_mask(device_handle device, const char* abs_path); + + /** + * @brief enable encrypted device log + * + * enable encrypted device log, save to specified directory + * Please send to our support when needed + * + * @param device Handle to the target device + * @param dest_dir Destination directory to save the encrypted logs + * @return int 0 on success, -1 on failure + */ + int lidar_enable_encrypted_device_log(device_handle device, const char* dest_dir); + + +/** + * @brief Set the depth parameters for the device + * + * This function must be called before starting data stream. + * + * @param device Handle to the target device + * @param params Pointer to the depth parameters to set + * @return int 0 on success, negative error code on failure + */ +int lidar_set_depth_parameter(device_handle device, const lidar_depth_para_t *params); + +/** + * @brief Enable or disable IMU smooth sending feature + * + * When enabled, IMU data will be sent at precise intervals (default 400Hz) + * using a dedicated high-priority thread to reduce jitter and timing variance. + * When disabled, IMU data will be sent immediately upon reception. + * + * @param enable 1 to enable smooth sending, 0 to disable + * @return int 0 on success, -1 on failure + */ +int lidar_enable_imu_smooth_sending(int enable); + +/** + * @brief Set IMU smooth sending frequency + * + * Set the target frequency for IMU smooth sending. Only effective when + * smooth sending is enabled via lidar_enable_imu_smooth_sending(). + * + * @param frequency_hz Target frequency in Hz (1-1000 Hz, recommended 400 Hz) + * @return int 0 on success, -1 on failure + */ +int lidar_set_imu_smooth_frequency(uint32_t frequency_hz); + +/** + * @brief Reset the USB connection to the device + * + * Performs a USB port reset on the device (libusb_reset_device). This + * re-enumerates the device on the host without requiring a physical + * re-plug. The device handle should typically be reopened after the + * device reconnects. + * + * @param device Handle to the target device + * @return int 0 on success, negative error code on failure + */ +int lidar_reset_usb(device_handle device); + +/** + * @brief Query the current device initial/running state. + * + * Returns the latest state reported by the device through heartbeats. The + * value corresponds to ::lidar_device_initial_state_e (NONE, + * NOT_INITIALIZED, INITIALIZED, STREAMING, STREAM_STOPPED). Callers that + * need to wait until the device is fully booted (for example before + * uploading a relocalization map) should poll this until it becomes + * LIDAR_DEVICE_STREAMING (or LIDAR_DEVICE_INITIALIZED at minimum). + * + * + * @param state Output pointer that receives the current state. Must not be NULL. + * @return int 0 on success, negative error code on failure. + */ +int lidar_get_device_state(lidar_device_initial_state_e *state); + +/** + * @brief Send a host-defined pass-through user-data blob to the device. + * + * The device forwards data[] as-is to SLAM via shared memory + * ("user_data_shm"). No acknowledgment is returned from the device + * (fire-and-forget). An SDK-internal monotonic counter is packed into + * the on-wire frameId field so SLAM can still distinguish consecutive + * frames without the caller having to manage an id. + * + * Preconditions: + * - SDK initialized and the device opened (lidar_open_device). + * - SLAM has been started on the device side; otherwise the device + * silently drops the frame and logs a warning. + * + * Constraints: + * - blob != NULL. + * - 0 < blob_len <= 8 MiB (8 * 1024 * 1024). + * - Sending faster than SLAM can consume causes device-side timeouts + * and dropped frames. Pace according to SLAM throughput. + * + * @param device Handle returned by lidar_create_device / lidar_open_device. + * @param blob Pointer to user payload. + * @param blob_len Length in bytes. + * @return int 0 on success, negative error code on failure. + */ +int lidar_send_user_data(device_handle device, + const void *blob, uint32_t blob_len); + +/* --------------------------------------------------------------------- + * Camera AE / AWB control APIs. + * + * All four APIs are synchronous (send + wait response) and serialised by + * an internal mutex (the same mutex protecting other control commands). + * Return value convention: + * == 0 success + * > 0 device-side error, see lidar_ae_error_e (400..405 or 0xFF) + * < 0 SDK-side error (not initialised, bad argument, USB failure, + * response timeout, malformed reply, ...) + * + * Wire-level details: sdk/api/Host_USB_AE_Protocol.md. + * ------------------------------------------------------------------- */ + +/** + * @brief Query current AE (auto exposure) state. + * + * Sends AE opcode 0x01 and decodes the 25-byte little-endian payload + * returned by the device-side ae_control service. + * + * Output fields and their physical meaning: + * exposure_time : current exposure time in seconds (manual range + * 0.0001 .. 0.033; in auto mode it varies with + * scene illumination). + * gain : current analog gain (manual range 1.0 .. 64.0; + * higher = brighter but noisier). + * iso : equivalent ISO, typically 100 .. 6400. + * brightness : average frame brightness (0 .. 255). + * is_converged : 1 = AE has settled, 0 = still adjusting. + * env_lv : ambient luminance index, typically 0 .. 15 + * (higher = brighter scene). + * fps : actual frame rate, follows dtof_fps config + * (~10 / 14.5 / 29 Hz). + * + * @param device Device handle returned by lidar_create_device / lidar_open_device. + * @param out Output buffer, must not be NULL. + * @return See return value convention above. + */ +int lidar_get_ae_info(device_handle device, lidar_ae_info_t *out); + +/** + * @brief Query current AWB (auto white balance) state. + * + * Sends AE opcode 0x30 and decodes the 25-byte little-endian payload. + * + * Output fields and their physical meaning: + * rgain : R channel gain (manual range 0.1 .. 4.0). + * grgain : Gr channel gain, always 1.0 (device-fixed). + * gbgain : Gb channel gain, always 1.0 (device-fixed). + * bgain : B channel gain (manual range 0.1 .. 4.0). + * cct : correlated color temperature in Kelvin + * (typically 2500 .. 8000 K). + * ccri : color temperature deviation index (-50 .. 50, + * signed; 0 means on the Planckian locus). + * is_converged : 1 = AWB has settled, 0 = still adjusting. + * + * @param device Device handle. + * @param out Output buffer, must not be NULL. + * @return See return value convention above. + */ +int lidar_get_awb_info(device_handle device, lidar_awb_info_t *out); + +/** + * @brief Set AE mode and (in manual mode) exposure/gain. + * + * Behaviour: + * - mode == LIDAR_CAM_MODE_AUTO : sends opcode 0x02 only; + * exposure_time / gain are ignored. + * - mode == LIDAR_CAM_MODE_MANUAL : sends opcode 0x03 to switch to + * manual AE, then opcode 0x06 to + * apply (exposure_time, gain). + * + * Parameter ranges and physical meaning + * (manual mode only; out-of-range returns rc = 403): + * + * exposure_time : 0.0001 s .. 0.033 s + * Sensor exposure time per frame. Longer = brighter but more + * motion blur and lower effective fps if it exceeds the frame + * period (1/fps). For dtof_fps = 290 (29 Hz, period ~34 ms) the + * upper bound 0.033 s is already at the frame limit. + * + * gain : 1.0 .. 64.0 + * Analog gain applied to the raw sensor signal. Higher = brighter + * output but worse SNR. Typical sweet spot: 1.0 .. 8.0 for daylight, + * 8.0 .. 32.0 for indoor / dim light, 32.0 .. 64.0 only when image + * must be visible at any cost. + * + * Recommended starting points by scene: + * bright outdoor : exposure 0.001~0.005 s, gain 1.0~2.0 + * normal indoor : exposure 0.008~0.015 s, gain 2.0~8.0 + * dim light : exposure 0.020~0.030 s, gain 8.0~32.0 + * + * @param device Device handle. + * @param mode See lidar_cam_mode_e. + * @param exposure_time Exposure time in seconds (manual mode only). + * @param gain Analog gain (manual mode only). + * @return See return value convention above. + */ +int lidar_set_ae_param(device_handle device, lidar_cam_mode_e mode, + float exposure_time, float gain); + +/** + * @brief Set AWB mode and (in manual mode) R/B channel gains. + * + * Behaviour: + * - mode == LIDAR_CAM_MODE_AUTO : sends opcode 0x31 only; + * rgain / bgain are ignored. + * - mode == LIDAR_CAM_MODE_MANUAL : sends opcode 0x32 to switch to + * manual AWB, then opcode 0x33 to + * apply (rgain, bgain). Gr/Gb are + * fixed to 1.0 by the device. + * + * Parameter ranges and physical meaning + * (manual mode only; out-of-range returns rc = 403): + * + * rgain : 0.1 .. 4.0 + * Multiplier on the R channel before color matrix. Higher rgain + * relative to bgain shifts the image toward warm (yellow/red). + * + * bgain : 0.1 .. 4.0 + * Multiplier on the B channel. Higher bgain relative to rgain + * shifts the image toward cool (blue). + * + * Color-temperature cookbook (approximate): + * warm (tungsten, sunset) : rgain ~2.0..2.5, bgain ~1.0..1.2 + * neutral (daylight D65) : rgain ~1.5..1.7, bgain ~1.8..2.0 + * cool (cloudy, fluor.) : rgain ~1.2..1.4, bgain ~2.2..2.6 + * + * @param device Device handle. + * @param mode See lidar_cam_mode_e. + * @param rgain R channel gain (manual mode only). + * @param bgain B channel gain (manual mode only). + * @return See return value convention above. + */ +int lidar_set_awb_param(device_handle device, lidar_cam_mode_e mode, + float rgain, float bgain); + +#ifdef __cplusplus +} +#endif + +#endif // LIDAR_API_H diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/lidar_api_type.h b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/lidar_api_type.h new file mode 100644 index 0000000..d032499 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/lidar_api_type.h @@ -0,0 +1,443 @@ +#ifndef LIDAR_TYPES_H +#define LIDAR_TYPES_H + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define LIDAR_SERIAL_MAX 64 +#define LIDAR_MODEL_MAX 64 +#define LIDAR_IP_MAX 64 + +typedef void * device_handle; + +typedef enum { + LIDAR_LOG_ERROR = 0, + LIDAR_LOG_WARN, + LIDAR_LOG_INFO, + LIDAR_LOG_DEBUG, +} lidar_log_level_e; + +typedef enum { + LIDAR_OTA_ALGORITHM, + LIDAR_OTA_FIRMWARE, + LIDAR_OTA_SCRIPT, + LIDAR_OTA_CALIBRATION +} lidar_ota_type_e; + +typedef enum { + LIDAR_MODE_RAW, + LIDAR_MODE_SLAM, +} lidar_mode_e; + +/** + * @brief Data types for lidar_data_callback_t + * + * Each type corresponds to a specific stream format in lidar_data_t.stream (capture_Image_List_t). + * + * ┌─────────────────────────────────────────────────────────────────────────────────────────────┐ + * │ LIDAR_DT_RAW_RGB │ + * │ imageCount: 1 │ + * │ imageList[0]: NV12 image data │ + * │ - pAddr: uint8_t* (Y plane followed by UV plane) │ + * │ - width: 1536, height: 1280 │ + * │ - length: width * height * 3 / 2 bytes │ + * ├─────────────────────────────────────────────────────────────────────────────────────────────┤ + * │ LIDAR_DT_RAW_IMU │ + * │ imageCount: 1 │ + * │ imageList[0]: IMU data │ + * │ - pAddr: imu_convert_data_t* │ + * │ - accel[3]: float (m/s^2) │ + * │ - gyro[3]: float (rad/s) │ + * │ - stamp: uint64_t (ns) │ + * │ - sequence: uint64_t │ + * │ - length: sizeof(imu_convert_data_t) │ + * ├─────────────────────────────────────────────────────────────────────────────────────────────┤ + * │ LIDAR_DT_RAW_DTOF │ + * │ imageCount: 4 │ + * │ Resolution: 256 x 192 │ + * │ imageList[0]: Depth image │ + * │ - pAddr: float* (depth in meters) │ + * │ - length: 256 * 192 * sizeof(float) │ + * │ imageList[1]: Point cloud XYZ │ + * │ - pAddr: float* (x,y,z interleaved) │ + * │ - length: 256 * 192 * 3 * sizeof(float) │ + * │ imageList[2]: Confidence │ + * │ - pAddr: uint8_t* │ + * │ - length: 256 * 192 * sizeof(uint8_t) │ + * │ imageList[3]: Intensity/Reflectivity │ + * │ - pAddr: uint16_t* │ + * │ - length: 256 * 192 * sizeof(uint16_t) │ + * ├─────────────────────────────────────────────────────────────────────────────────────────────┤ + * │ LIDAR_DT_SLAM_CLOUD │ + * │ imageCount: 1 │ + * │ imageList[0]: SLAM point cloud (XYZRGBA, fixed-point on the wire) │ + * │ - pAddr: slam_cloud_point_t* (7 * int32_t per point, see struct below) │ + * │ - length: num_points * sizeof(slam_cloud_point_t) ( == num_points * 28 bytes ) │ + * │ xyz are stored in 0.1 mm units: meters = xyz * SLAM_CLOUD_XYZ_TO_M │ + * ├─────────────────────────────────────────────────────────────────────────────────────────────┤ + * │ LIDAR_DT_SLAM_ODOMETRY / LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ / LIDAR_DT_SLAM_ODOMETRY_TF │ + * │ imageCount: 1 │ + * │ imageList[0]: Odometry data │ + * │ - pAddr: ros_odom_convert_complete_t* │ + * │ - timestamp_ns: uint64_t │ + * │ - pos[3]: int64_t (x,y,z in μm, divide by 1e6 for meters) │ + * │ - orient[4]: int64_t (quaternion x,y,z,w, divide by 1e6) │ + * │ - linear_velocity[3]: int64_t │ + * │ - angular_velocity[3]: int64_t │ + * │ - pose_cov[36]: double │ + * │ - twist_cov[36]: double │ + * │ - length: sizeof(ros_odom_convert_complete_t) │ + * ├─────────────────────────────────────────────────────────────────────────────────────────────┤ + * │ LIDAR_DT_DEV_STATUS │ + * │ imageCount: 1 │ + * │ imageList[0]: Device status │ + * │ - pAddr: lidar_device_status_t* │ + * │ - length: sizeof(lidar_device_status_t) │ + * ├─────────────────────────────────────────────────────────────────────────────────────────────┤ + * │ LIDAR_DT_NTP │ + * │ imageCount: 1 │ + * │ imageList[0]: PTP/NTP sync data │ + * │ - pAddr: ptp_sync_data_t* │ + * │ - delay: double │ + * │ - offset: double │ + * │ - length: sizeof(ptp_sync_data_t) │ + * └─────────────────────────────────────────────────────────────────────────────────────────────┘ + */ +typedef enum { + LIDAR_DT_NONE = 0, /**< No data */ + LIDAR_DT_RAW_RGB, /**< RGB image (NV12 format, 1536x1280) */ + LIDAR_DT_RAW_IMU, /**< IMU data (imu_convert_data_t) */ + LIDAR_DT_RAW_DTOF, /**< DTOF raw data (depth + xyz + confidence + intensity, 256x192) */ + LIDAR_DT_SLAM_CLOUD, /**< SLAM point cloud (XYZRGBA) */ + LIDAR_DT_SLAM_ODOMETRY, /**< SLAM odometry (ros_odom_convert_complete_t) */ + LIDAR_DT_DEV_STATUS, /**< Device status (lidar_device_status_t) */ + LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ,/**< High frequency odometry (ros_odom_convert_complete_t) */ + LIDAR_DT_SLAM_ODOMETRY_TF, /**< Map-Odom TF transform (ros_odom_convert_complete_t) */ + LIDAR_DT_SLAM_WIWC, /**< WIWC odometry */ + LIDAR_DT_NTP /**< PTP/NTP sync data (ptp_sync_data_t) */ +} lidar_data_type_e; + +typedef struct { + int8_t serial[LIDAR_SERIAL_MAX]; + int8_t model[LIDAR_MODEL_MAX]; + bool online; + uint32_t initial_state; +} lidar_device_info_t; + +typedef struct { + float x, y, z; + float intensity; +} lidar_point_t; + + +typedef struct { + float intrinsics[9]; + float extrinsics[16]; +} lidar_calibration_t; + + +#define DEVICE_MAX_CH_NUMBER 4 + +typedef struct { + uint64_t timestamp_ns; + int64_t pos[3]; + int64_t orient[4]; +} ros2_odom_convert_t; + +typedef struct { + uint64_t timestamp_ns; + int64_t pos[3]; // x, y, z in μm + int64_t orient[4]; // quaternion x, y, z, w in 1e6 precision + int64_t linear_velocity[3]; + int64_t angular_velocity[3]; + double pose_cov[36]; + double twist_cov[36]; +} ros_odom_convert_complete_t; + +typedef struct { + double delay; + double offset; +} ptp_sync_data_t; + +/* --------------------------------------------------------------------- + * SLAM cloud wire format. + * + * One LIDAR_DT_SLAM_CLOUD point on the bus is a 7 * int32_t record: + * xyz[0..2] : x, y, z in 0.1 mm fixed-point. + * meters = xyz * SLAM_CLOUD_XYZ_TO_M. + * rgba[0..3]: r, g, b, a; each stored in the low byte of an int32_t. + * + * Consumers (SDK hooks, ROS driver, etc.) should reference this struct + * and the scale macro below as the single source of truth rather than + * re-hardcoding the stride or the divisor. + * ------------------------------------------------------------------- */ +#define SLAM_CLOUD_XYZ_TO_M (1.0e-4) /* device 0.1mm units -> meters */ +#define SLAM_CLOUD_XYZ_FROM_M (1.0e4) /* meters -> device 0.1mm units */ + +typedef struct { + int32_t xyz[3]; /* x, y, z in 0.1 mm fixed-point */ + int32_t rgba[4]; /* r, g, b, a; only low byte of each is meaningful */ +} slam_cloud_point_t; + +typedef struct icm_6aixs_data_t { + int16_t aacx; + int16_t aacy; + int16_t aacz; + int16_t gyrox; + int16_t gyroy; + int16_t gyroz; + uint8_t valid; + uint32_t nums; + uint8_t fsync_pack; + uint16_t interval; + uint64_t stamp; +} icm_6aixs_data_t; + +typedef struct { + float accel_x; + float accel_y; + float accel_z; + float gyro_x; + float gyro_y; + float gyro_z; + uint64_t stamp; + uint64_t sequence; +} imu_convert_data_t; + + typedef struct { + uint32_t length; + uint64_t sequence; + uint64_t timestamp; + uint64_t interval; + void* pAddr; + uint32_t width; + uint32_t height; +} buffer_List_t; + +typedef struct capture_Image_List_t { + uint32_t imageCount; + buffer_List_t imageList[DEVICE_MAX_CH_NUMBER]; +} capture_Image_List_t; + +typedef struct { + uint32_t type; + capture_Image_List_t stream; +} lidar_data_t; + +typedef void (*lidar_device_callback_t)(const lidar_device_info_t* device, bool attach); +typedef void (*lidar_data_callback_t)(const lidar_data_t *data, void *user_data); + +typedef struct { + lidar_data_callback_t data_callback; + void *user_data; +} lidar_data_callback_info_t; + +typedef struct { + int major; + int minor; + int patch; +}lidar_version_t; + +typedef struct { + lidar_version_t kernel_version; + lidar_version_t mcu_version; + lidar_version_t soc_version; + lidar_version_t Daemon_proc_version; + lidar_version_t slam_version; +} lidar_fireware_version_t; + +/** + * @brief RGB image sensor frame rate + * + */ + typedef struct{ + + int configured_odr;/*rgb image sensor frame rate, offset: */ + int tx_odr;/*The actual rgb image sensor frame rate, offset: */ + +} lidar_rgb_sensor_status_t; + +/** + * @brief DTOF Lidar frame rate + * + */ +typedef struct{ + + int configured_odr;/* dtof lidar sensor frame rate, offset: */ + int tx_odr;/*The actual dtof lidar sensor frame rate, offset: */ + int subframe_odr;/*DTOF 6行为一组 这个是组间隔时间*/ + short tx_temp;/* dtof lidar tx temp offset: */ + short rx_temp;/* dtof lidar rx temp offset: */ + +} lidar_dtof_sensor_status_t; + +/** + * @brief IMU Sensor + * + */ +typedef struct{ + + int configured_odr; + int tx_odr; + +} lidar_imu_sensor_status_t; + +typedef struct{ + + int package_temp;/*SOC整体温度*/ + // int bigcore_temp;/*大核集群温度：4*A76*/ + // int littlecore_temp;/*小核集群温度：4*A53*/ + int cpu_temp; + int center_temp;/*SOC中心温度：4*A53*/ + int gpu_temp;/* GPU模块温度 */ + int npu_temp;/* NPU模块温度 */ + +} lidar_soc_thermal_t; +typedef struct +{ + double uptime_seconds; + lidar_soc_thermal_t soc_thermal; /*offset: 0*/ + + int cpu_use_rate[8];/*cpu 使用率,offset: */ + int ram_use_rate;/*运行内存使用率 ,offset: */ + + lidar_rgb_sensor_status_t rgb_sensor; + lidar_dtof_sensor_status_t dtof_sensor; + lidar_imu_sensor_status_t imu_sensor; + + int slam_cloud_tx_odr; /* Actual frame rate of slam cloud offset: */ + int slam_odom_tx_odr; /* Actual frame rate of slam odom offset: */ + int slam_odom_highfreq_tx_odr; /* Actual frame rate of slam odom offset: */ + +} lidar_device_status_t; + +typedef enum { + LIDAR_DEVICE_NONE = 0, + LIDAR_DEVICE_NOT_INITIALIZED, + LIDAR_DEVICE_INITIALIZED, + LIDAR_DEVICE_STREAMING, + LIDAR_DEVICE_STREAM_STOPPED, +} lidar_device_initial_state_e; + +typedef enum { + LIDAR_DEPTH_ODR_10HZ = 0, + LIDAR_DEPTH_ODR_14_5HZ = 1, + LIDAR_DEPTH_ODR_29HZ = 2, +} lidar_depth_odr_e; + +typedef struct { + lidar_depth_odr_e odr; +} lidar_depth_para_t; + +/* --------------------------------------------------------------------- + * Camera AE / AWB control types. + * + * The host SDK forwards AE/AWB requests through the USB control channel + * (CMD_CODE_CONTROL_CMD + SYS_CONTROL_AE_UDP). The device-side lydapp + * relays them via UDP loopback to its ISP service. See + * sdk/api/Host_USB_AE_Protocol.md for the wire-level details. + * ------------------------------------------------------------------- */ + +/** + * @brief AE/AWB control mode used by lidar_set_ae_param / lidar_set_awb_param. + * + * - AUTO : the device runs its own AE/AWB convergence loop. The two + * float parameters of the corresponding Set call are ignored. + * - MANUAL : the device locks AE/AWB and applies the user-supplied + * (exposure_time, gain) or (rgain, bgain). Out-of-range + * values are rejected with rc = 403 + * (LIDAR_AE_PARAM_OUT_OF_RANGE). + */ +typedef enum { + LIDAR_CAM_MODE_AUTO = 0, /**< switch to auto AE / AWB */ + LIDAR_CAM_MODE_MANUAL = 1, /**< switch to manual AE / AWB and apply params */ +} lidar_cam_mode_e; + +/** + * @brief Current AE status returned by lidar_get_ae_info(). + * + * Field-by-field meaning and typical range: + * + * exposure_time : current sensor exposure time, in seconds. + * Manual-mode valid range: 0.0001 .. 0.033. + * In auto mode varies with scene illumination. + * gain : current analog gain (linear, not dB). + * Manual-mode valid range: 1.0 .. 64.0. + * Higher value = brighter output but worse SNR. + * iso : equivalent ISO speed, typically 100 .. 6400. + * Derived from gain; informational only. + * brightness : average frame brightness in [0, 255]. AE target + * converges toward a mid-range value. + * is_converged : 1 = AE has settled, 0 = still adjusting. + * env_lv : ambient luminance index, typically 0 .. 15 + * (higher = brighter scene). + * fps : actual frame rate in Hz, follows dtof_fps config + * (~10 / 14.5 / 29). + */ +typedef struct { + float exposure_time; /**< current exposure time (s), 0.0001..0.033 */ + float gain; /**< current analog gain, 1.0..64.0 */ + int32_t iso; /**< equivalent ISO, ~100..6400 */ + float brightness; /**< average frame brightness, 0..255 */ + uint8_t is_converged; /**< 1 = AE converged, 0 = not converged */ + float env_lv; /**< ambient luminance level, ~0..15 */ + float fps; /**< current frame rate (Hz) */ +} lidar_ae_info_t; + +/** + * @brief Current AWB status returned by lidar_get_awb_info(). + * + * Field-by-field meaning and typical range: + * + * rgain : R channel gain. Manual-mode valid range: 0.1 .. 4.0. + * Raising rgain relative to bgain shifts the image + * toward warm (yellow/red). + * grgain : Gr channel gain. Device-fixed at 1.0, not adjustable. + * gbgain : Gb channel gain. Device-fixed at 1.0, not adjustable. + * bgain : B channel gain. Manual-mode valid range: 0.1 .. 4.0. + * Raising bgain relative to rgain shifts the image + * toward cool (blue). + * cct : correlated color temperature in Kelvin, typically + * 2500 .. 8000 K. + * ccri : color temperature deviation index, signed value + * roughly in -50 .. 50; 0 = on the Planckian locus. + * is_converged : 1 = AWB has settled, 0 = still adjusting. + */ +typedef struct { + float rgain; /**< R channel gain, 0.1..4.0 */ + float grgain; /**< Gr channel gain, device-fixed 1.0 */ + float gbgain; /**< Gb channel gain, device-fixed 1.0 */ + float bgain; /**< B channel gain, 0.1..4.0 */ + float cct; /**< color temperature (K), ~2500..8000 */ + float ccri; /**< color temperature deviation, ~-50..50 */ + uint8_t is_converged; /**< 1 = AWB converged, 0 = not converged */ +} lidar_awb_info_t; + +/** + * @brief AE/AWB device-side error codes. + * + * Mapped to positive return values of lidar_get_ae_info / lidar_set_ae_param / + * lidar_get_awb_info / lidar_set_awb_param when the device replies with + * CMD_CODE_FAIL. See Host_USB_AE_Protocol.md section 6. + */ +typedef enum { + LIDAR_AE_OK = 0, + LIDAR_AE_BAD_REQUEST = 400, /**< payload too short */ + LIDAR_AE_UNSUPPORTED_OPCODE = 401, + LIDAR_AE_BAD_PARAM_LEN = 402, + LIDAR_AE_PARAM_OUT_OF_RANGE = 403, + LIDAR_AE_SOCKET_ERROR = 404, + LIDAR_AE_NO_RESPONSE = 405, /**< ae_control UDP timeout */ + LIDAR_AE_UNKNOWN_OPCODE = 0xFF,/**< status byte from ae_control */ +} lidar_ae_error_e; + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/pointcloud_depth_converter.hpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/pointcloud_depth_converter.hpp new file mode 100644 index 0000000..ae9226e --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/pointcloud_depth_converter.hpp @@ -0,0 +1,93 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#pragma once + +#include +#include +#include +#include +#include +#include + + +class PointCloudToDepthConverter +{ +public: + + struct CameraParams + { + int image_width; + int image_height; + double A11, A12, A22; + double u0, v0; + double k2, k3, k4, k5, k6, k7; + double scale; + int point_sampling_rate; + Eigen::Matrix4d Tcl; + }; + + + struct ProcessResult + { + cv::Mat depth_image; + pcl::PointCloud colored_cloud; + bool success; + std::string error_message; + }; + + + explicit PointCloudToDepthConverter(const CameraParams ¶ms); + + + ProcessResult processCloudAndImage(const pcl::PointCloud &cloud, + const cv::Mat &image); + + cv::Mat customResize(const cv::Mat& src, const cv::Size& size); + const CameraParams &getCameraParams() const { return params_; } + + + void updateCameraParams(const CameraParams ¶ms); + +private: + CameraParams params_; + + Eigen::Matrix3d K_; + Eigen::Matrix3d Kl_; + Eigen::Matrix4d K_4x4_; + Eigen::Matrix4d Kcl_; + + cv::Mat map_x_, map_y_; + cv::Mat inv_map_x_, inv_map_y_; + + int scaled_width_, scaled_height_; + + + void initializeInternalParams(); + + + void createDistortionMaps(); + + cv::Mat projectCloudToDepth(const pcl::PointCloud &cloud_in_cam); + + + cv::Mat postProcessDepthImage(const cv::Mat &depth_img); + + + pcl::PointCloud generateColoredCloud(const cv::Mat &depth_img, + const cv::Mat &color_img); + + + std::pair validateInputs(const pcl::PointCloud &cloud, + const cv::Mat &image); +}; \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/polynomial_camera.hpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/polynomial_camera.hpp new file mode 100644 index 0000000..1de15cb --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/polynomial_camera.hpp @@ -0,0 +1,144 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +#pragma once + +#include +#include + +namespace mini_vikit { + +using namespace Eigen; + +class PolynomialCamera { +private: + const double fx_, fy_; + const double cx_, cy_; + const double skew_; + bool distortion_; + double k2_, k3_, k4_, k5_, k6_, k7_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + PolynomialCamera(double width, double height, + double fx, double fy, double cx, double cy, double skew, + double k2=0.0, double k3=0.0, double k4=0.0, + double k5=0.0, double k6=0.0, double k7=0.0) + : fx_(fx), fy_(fy), cx_(cx), cy_(cy), skew_(skew), + distortion_(std::abs(k2) > 1e-7) { + k2_ = k2; k3_ = k3; k4_ = k4; k5_ = k5; k6_ = k6; k7_ = k7; + } + + Vector3d cam2world(const double& u, const double& v) const { + Vector3d xyz; + if (!distortion_) { + double y = (v - cy_) / fy_; + double x = (u - cx_ - y * skew_) / fx_; + xyz << x, y, 1.0; + } else { + double y = (v - cy_) / fy_; + double x = (u - cx_ - y * skew_) / fx_; + + const double thetad = std::sqrt(x * x + y * y); + double theta = thetad; + + for (int i = 0; i < 7; ++i) { + const double theta2 = theta * theta; + const double theta3 = theta2 * theta; + const double theta4 = theta3 * theta; + const double theta5 = theta4 * theta; + const double theta6 = theta5 * theta; + theta = thetad / (1.0 + k2_ * theta + k3_ * theta2 + k4_ * theta3 + + k5_ * theta4 + k6_ * theta5 + k7_ * theta6); + } + + const double scaling = std::tan(theta) / thetad; + x *= scaling; + y *= scaling; + xyz << x, y, 1.0; + } + return xyz.normalized(); + } + + Vector3d cam2world(const Vector2d& px) const { + return cam2world(px[0], px[1]); + } + + Vector2d world2cam(const Vector3d& xyz) const { + Vector2d px; + if (!distortion_) { + px[0] = fx_ * xyz[0] + cx_; + px[1] = fy_ * xyz[1] + cy_; + } else { + double xd, yd; + const double r = std::sqrt(xyz(1) * xyz(1) + xyz(0) * xyz(0)); + const double theta = std::acos(xyz(2) / xyz.norm()); + const double thetad = thetad_from_theta(theta); + const double scaling = thetad / r; + xd = xyz[0] * scaling; + yd = xyz[1] * scaling; + px[0] = xd * fx_ + yd * skew_ + cx_; + px[1] = yd * fy_ + cy_; + } + return px; + } + + Vector2d world2cam(const Vector2d& uv) const { + Vector2d px; + if (!distortion_) { + px[0] = fx_ * uv[0] + cx_; + px[1] = fy_ * uv[1] + cy_; + } else { + double xd, yd; + const double r = uv.norm(); + if (r < 1e-8) { + return uv; + } + const double theta = std::atan(r); + const double thetad = thetad_from_theta(theta); + const double scaling = thetad / r; + xd = uv[0] * scaling; + yd = uv[1] * scaling; + px[0] = xd * fx_ + yd * skew_ + cx_; + px[1] = yd * fy_ + cy_; + } + return px; + } + + inline double thetad_from_theta(const double theta) const { + const double theta2 = theta * theta; + const double theta3 = theta2 * theta; + const double theta4 = theta3 * theta; + const double theta5 = theta4 * theta; + const double theta6 = theta5 * theta; + const double theta7 = theta6 * theta; + const double thetad = theta + k2_ * theta2 + k3_ * theta3 + + k4_ * theta4 + k5_ * theta5 + k6_ * theta6 + k7_ * theta7; + return thetad; + } + + double fx() const { return fx_; } + double fy() const { return fy_; } + double cx() const { return cx_; } + double cy() const { return cy_; } + double skew() const { return skew_; } + bool has_distortion() const { return distortion_; } + + double k2() const { return k2_; } + double k3() const { return k3_; } + double k4() const { return k4_; } + double k5() const { return k5_; } + double k6() const { return k6_; } + double k7() const { return k7_; } +}; +} // namespace mini_vikit diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/rawCloudRender.h b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/rawCloudRender.h new file mode 100644 index 0000000..1781229 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/rawCloudRender.h @@ -0,0 +1,83 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +#ifndef RGBCLOUD_H +#define RGBCLOUD_H + +#include +#include +#include +#include "lidar_api.h" + +namespace GlobalCameraParams { + extern float g_fx; + extern float g_fy; + extern float g_cx; + extern float g_cy; + extern float g_skew; + extern float g_k2; + extern float g_k3; + extern float g_k4; + extern float g_k5; + extern float g_k6; + extern float g_k7; + extern Eigen::Matrix4f g_T_camera_lidar; +} + +class rawCloudRender { +public: + + + bool init(const std::string& yamlFilePath); + + void nv12buffer_2_rgb(buffer_List_t &image, std::vector>& rgb_image); + void render(std::vector>& rgb_image, capture_Image_List_t* pcdStream, int pcdIdx, std::vector& rgbCloud_flat); + + void print_camera_calib(); + + int getImageWidth() const { return image_width_; } + int getImageHeight() const { return image_height_; } + + + +private: + std::string model_type_; + std::string camera_name_; + int image_width_; + int image_height_; + int frame_size_; + bool opencv_available_; + + // 4x4 transformation matrix (T_camera_lidar) + Eigen::Matrix4f T_camera_lidar_; + + float k2_; + float k3_; + float k4_; + float k5_; + float k6_; + float k7_; + float p1_; + float p2_; + float A11_fx_; + float A12_skew_; + float A22_fy_; + float u0_cx_; + float v0_cy_; + bool isFast_; + int numDiff_; + float maxIncidentAngle_; + + +}; + +#endif // RGBCLOUD_H diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/include/yaml_parser.h b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/yaml_parser.h new file mode 100644 index 0000000..192dc22 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/include/yaml_parser.h @@ -0,0 +1,110 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ +#ifndef YAML_PARSER_H +#define YAML_PARSER_H + +#include +#include +#include +#include +#include +#include +#include +#include "lidar_api.h" + +namespace odin_ros_driver { + +// Data type enum for supporting different value types +enum class DataType { + INT_TYPE, + FLOAT_ARRAY_TYPE, + INT_ARRAY_TYPE, +}; + +// Generic parameter value holder +struct ParameterValue { + DataType type; + std::vector data; + + ParameterValue() : type(DataType::INT_TYPE) {} + + template + void setData(const T& value) { + const uint8_t* ptr = reinterpret_cast(&value); + data.assign(ptr, ptr + sizeof(T)); + } + + template + void setArray(const std::vector& arr) { + const uint8_t* ptr = reinterpret_cast(arr.data()); + data.assign(ptr, ptr + arr.size() * sizeof(T)); + } + + size_t getSize() const { + return data.size(); + } + + const void* getData() const { + return data.empty() ? nullptr : data.data(); + } +}; + +class YamlParser { +public: + YamlParser(const std::string& config_file); + + bool loadConfig(); + const std::map& getRegisterKeys() const; + const std::map& getRegisterKeysStrVal() const; + const std::map& getCustomParameters() const; + void printConfig() const; + bool applyCustomParameters(device_handle device); + int getCustomParameterInt(const std::string& param_name, int default_value) const; + + int getCustomMapMode(int default_value) const { + auto it = custom_parameters_.find("map_mode"); + if (it != custom_parameters_.end() && it->second.type == DataType::INT_TYPE) { + printf("custom_map_mode = %d\n", *(int*)it->second.getData()); + return *(int*)it->second.getData(); + } else { + return default_value; + } + }; + +private: + std::string config_file_; + std::map register_keys_; + std::map register_keys_str_val_; + std::map register_keys_float_val_; + std::map custom_parameters_; + + // Keys whose YAML value is a string (not int). + std::unordered_set allowed_key_w_str_val = { + "relocalization_map_abs_path", + "mapping_result_dest_dir", + "mapping_result_file_name", + "image_mask_abs_path", + "overlay_reprojected_topic", + "overlay_camera_topic", + "overlay_output_topic" + }; + + // Keys whose YAML value is a floating-point number (not int). + std::unordered_set allowed_key_w_float_val = { + "overlay_alpha" + }; +}; + +} + +#endif \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/launch_ROS1/odin1_ros1.launch b/05_software/real/sim2real_ros2/src/odin_ros_driver/launch_ROS1/odin1_ros1.launch new file mode 100644 index 0000000..8a0fd18 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/launch_ROS1/odin1_ros1.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/launch_ROS2/odin1_ros2.launch.py b/05_software/real/sim2real_ros2/src/odin_ros_driver/launch_ROS2/odin1_ros2.launch.py new file mode 100644 index 0000000..9536989 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/launch_ROS2/odin1_ros2.launch.py @@ -0,0 +1,108 @@ + +# USAGE: ros2 launch odin_ros_driver odin1_ros2.launch.py +import os +import yaml +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.conditions import IfCondition +from launch_ros.actions import Node + +def generate_launch_description(): + # Get package directory + package_dir = get_package_share_directory('odin_ros_driver') + + # Declare configuration parameter + config_file_arg = DeclareLaunchArgument( + 'config_file', + default_value=os.path.join(package_dir, 'config', 'control_command.yaml'), + description='Path to the control config YAML file' + ) + + # Add RViz2 configuration file parameter + rviz_config_arg = DeclareLaunchArgument( + 'rviz_config', + default_value=os.path.join(package_dir, 'config', 'odin_ros2.rviz'), + description='Path to RViz2 config file' + ) + + launch_rviz_arg = DeclareLaunchArgument( + 'launch_rviz', + default_value='false', + description='Whether to launch RViz2' + ) + + # Create main node + host_sdk_node = Node( + package='odin_ros_driver', + executable='host_sdk_sample', + name='host_sdk_sample', + output='screen', + # arguments=['--ros-args', '--log-level', 'debug'], + parameters=[{ + 'config_file': LaunchConfiguration('config_file') + }] + ) + + pcd2depth_config_path = os.path.join(package_dir, 'config', 'control_command.yaml') + with open(pcd2depth_config_path, 'r') as f: + pcd2depth_params = yaml.safe_load(f) + pcd2depth_calib_path = os.path.join(package_dir, 'config', 'calib.yaml') + pcd2depth_params['calib_file_path'] = pcd2depth_calib_path + pcd2depth_node = Node( + package='odin_ros_driver', + executable='pcd2depth_ros2_node', + name='pcd2depth_ros2_node', + output='screen', + parameters=[pcd2depth_params] + ) + + # Cloud reprojection node + reprojection_config_path = os.path.join(package_dir, 'config', 'control_command.yaml') + with open(reprojection_config_path, 'r') as f: + reprojection_params = yaml.safe_load(f) + reprojection_calib_path = os.path.join(package_dir, 'config', 'calib.yaml') + reprojection_params['calib_file_path'] = reprojection_calib_path + cloud_reprojection_node = Node( + package='odin_ros_driver', + executable='cloud_reprojection_ros2_node', + name='cloud_reprojection_ros2_node', + output='screen', + parameters=[reprojection_params] + ) + + # Image overlay node - overlays reprojected points on camera image + overlay_config_path = os.path.join(package_dir, 'config', 'control_command.yaml') + with open(overlay_config_path, 'r') as f: + overlay_params = yaml.safe_load(f) + image_overlay_node = Node( + package='odin_ros_driver', + executable='image_overlay_node', + name='image_overlay_node', + output='screen', + parameters=[overlay_params] + ) + + # Create RViz2 node - loads specified configuration file + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen', + arguments=['-d', LaunchConfiguration('rviz_config')], + condition=IfCondition(LaunchConfiguration('launch_rviz')) + ) + + # Create launch description + ld = LaunchDescription() + ld.add_action(config_file_arg) + ld.add_action(rviz_config_arg) # Add RViz configuration argument + ld.add_action(launch_rviz_arg) + ld.add_action(host_sdk_node) + ld.add_action(pcd2depth_node) + ld.add_action(cloud_reprojection_node) + ld.add_action(image_overlay_node) + ld.add_action(rviz_node) # Add RViz node + + return ld diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/lib/liblydHostApi_amd.a b/05_software/real/sim2real_ros2/src/odin_ros_driver/lib/liblydHostApi_amd.a new file mode 100644 index 0000000000000000000000000000000000000000..08c11c003dcbc4a60017dea8f955d39925b260e2 GIT binary patch literal 554908 zcmeFa3w%}8l|O!xfJVjK;G@#omMaZ5w2HYQgamDy3kjSnH<}Vqd|pCwLn3)Kxq+Z4 zagtchT%*j?nZBGU({@^??R0c(9jUJ<2x?!}*4AoUZN~>0e4w^Ut(yP$yC3K7d+xa* z0i5#x%x~v&bM{$h?X}lld+oK?ew?#UJEx($vE`G;o)t_FCC06coBxBsP@f|H3ctwy#^hzg;6%-UNPAW>2yHD!;Gp zx2EuS|1|mg={{@9d;J?Lv!;ymn|j(-Yw8)79&x{;K69t_fBe_hxi;3=+0op()><2D zj&`oC>u&8xSOmAl*T>te*v03CLhZe6iI(noLsQR&P)SEmBG!nTM7*Z%y!u!u)X@`@ 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ROS2 driver for Odin sensor + rlk + Apache 2.0 + + ament_cmake + + rclcpp + + std_msgs + sensor_msgs + nav_msgs + geometry_msgs + cv_bridge + image_transport + pcl_conversions + message_filters + tf2 + tf2_ros + tf2_geometry_msgs + ament_index_cpp + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + + ament_cmake + + \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/package_ros1.xml b/05_software/real/sim2real_ros2/src/odin_ros_driver/package_ros1.xml new file mode 100644 index 0000000..b64df30 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/package_ros1.xml @@ -0,0 +1,33 @@ + + + odin_ros_driver + 0.0.1 + ROS driver for Odin sensor + rlk + Apache 2.0 + + + catkin + + + roscpp + std_msgs + sensor_msgs + nav_msgs + cv_bridge + image_transport + + + message_generation + message_runtime + + + eigen + opencv + yaml-cpp + + + + catkin + + diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/package_ros2.xml b/05_software/real/sim2real_ros2/src/odin_ros_driver/package_ros2.xml new file mode 100644 index 0000000..fcb5196 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/package_ros2.xml @@ -0,0 +1,33 @@ + + + odin_ros_driver + 0.0.1 + ROS2 driver for Odin sensor + rlk + Apache 2.0 + + ament_cmake + + rclcpp + + std_msgs + sensor_msgs + nav_msgs + geometry_msgs + cv_bridge + image_transport + pcl_conversions + message_filters + tf2 + tf2_ros + tf2_geometry_msgs + ament_index_cpp + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + + ament_cmake + + \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/script/build_ros.sh b/05_software/real/sim2real_ros2/src/odin_ros_driver/script/build_ros.sh new file mode 100644 index 0000000..28218ad --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/script/build_ros.sh @@ -0,0 +1,128 @@ +#!/bin/bash + +# Get the directory where the script is located (Odin_ROS_Driver directory) +PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)" +# Calculate the workspace root directory (contains devel, build, src) +WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")" +# Workspace source directory (contains all packages) +WORKSPACE_SRC="${WORKSPACE_ROOT}/src" +PROJECT_NAME="odin_ros_driver" + +# Define color codes +RED='\033[0;31m' +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +NC='\033[0m' + +# Clean workspace function +clean_workspace() { + echo -e "${YELLOW}Cleaning build directories${NC}" + + # Clean build artifacts in workspace + rm -rf "${WORKSPACE_ROOT}/build" + rm -rf "${WORKSPACE_ROOT}/install" + rm -rf "${WORKSPACE_ROOT}/log" + rm -rf "${WORKSPACE_ROOT}/devel" + + echo -e "${GREEN}Cleanup complete${NC}" +} + +# Run node function +run_node() { + echo -e "${YELLOW}Running ROS1 node${NC}" + + # Check if environment file exists + if [ ! -f "${WORKSPACE_ROOT}/devel/setup.bash" ]; then + echo -e "${RED}Could not find devel/setup.bash, please build the project with ./build_ros1.sh first${NC}" + return 1 + fi + + # Source environment and run node + source "${WORKSPACE_ROOT}/devel/setup.bash" + +} + +# Build workspace function +build_workspace() { + echo -e "${YELLOW}Workspace structure:${NC}" + echo " Workspace root: ${WORKSPACE_ROOT}" + echo " Source directory: ${WORKSPACE_SRC}" + echo " Package directory: ${PKG_DIR}" + echo " ROS version: ROS1" + + echo -e "${YELLOW}Starting ROS1 project build...${NC}" + + # Clean + cd $WS_DIR + rm -rf build devel install + + # Ensure ROS1 environment is loaded + if [ -f "/opt/ros/noetic/setup.bash" ]; then + source "/opt/ros/noetic/setup.bash" + elif [ -f "/opt/ros/melodic/setup.bash" ]; then + source "/opt/ros/melodic/setup.bash" + else + echo -e "${RED}Could not find ROS1 setup.bash file. Please ensure ROS1 is installed.${NC}" + return 1 + fi + + # Create temporary package.xml + if [ -f "${PKG_DIR}/package_ros1.xml" ]; then + echo "Creating temporary package.xml (using package_ros1.xml)" + cp "${PKG_DIR}/package_ros1.xml" "${PKG_DIR}/package.xml" + TEMP_PACKAGE=true + elif [ -f "${PKG_DIR}/package.xml" ]; then + echo "Using existing package.xml" + else + echo -e "${RED}Could not find package.xml in package directory${NC}" + return 1 + fi + + # Set build system variable + export BUILD_SYSTEM=ROS1 + + # Switch to workspace root and build + cd "${WORKSPACE_ROOT}" || return 1 + catkin_make -DBUILD_SYSTEM=ROS1 -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -j$(nproc) + BUILD_RESULT=$? + + # If build successful, source environment + if [[ $BUILD_RESULT -eq 0 ]]; then + echo -e "${GREEN}ROS1 build successful, loading environment: source devel/setup.bash${NC}" + source "${WORKSPACE_ROOT}/devel/setup.bash" + else + echo -e "${RED}ROS1 build failed, please check error logs${NC}" + fi + + +} + +# Help function +show_help() { + echo -e "${YELLOW}Usage:${NC}" + echo " ./build_ros.sh # Build project" + echo " ./build_ros.sh -c # Clean build artifacts" + echo " ./build_ros.sh -h # Show help information" + echo "" + echo -e "${YELLOW}Current configuration:${NC}" + echo " Project name: ${PROJECT_NAME}" + echo " Package directory: ${PKG_DIR}" + echo " Workspace root: ${WORKSPACE_ROOT}" + echo " Source directory: ${WORKSPACE_SRC}" +} + +# Main +case "$1" in + -c|--clean) + clean_workspace + ;; + -r|--run) + run_node + ;; + -h|--help) + show_help + ;; + *) + build_workspace + ;; +esac \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/script/build_ros2.sh b/05_software/real/sim2real_ros2/src/odin_ros_driver/script/build_ros2.sh new file mode 100644 index 0000000..fee138d --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/script/build_ros2.sh @@ -0,0 +1,172 @@ +#!/bin/bash + +# Get the directory where the script is located (Odin_ROS_Driver directory) +PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)" +# Calculate the workspace root directory (contains devel, build, src) +WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")" +# Workspace source directory (contains all packages) +WORKSPACE_SRC="${WORKSPACE_ROOT}/src" +PROJECT_NAME="odin_ros_driver" +PACKAGE_DIR_NAME=$(basename "$PKG_DIR") + +# Define color codes +RED='\033[0;31m' +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +NC='\033[0m' + +# Extract package name from package.xml +get_package_name() { + local package_xml="$1" + if [ -f "$package_xml" ]; then + # Extract content of tag + grep -oP '\K[^<]+' "$package_xml" | head -1 + else + echo "" + fi +} + +# Clean workspace function +clean_workspace() { + echo -e "${YELLOW}Cleaning build directories${NC}" + + # Clean build artifacts in workspace + rm -rf "${WORKSPACE_ROOT}/build" + rm -rf "${WORKSPACE_ROOT}/install" + rm -rf "${WORKSPACE_ROOT}/log" + rm -rf "${WORKSPACE_ROOT}/devel" + + echo -e "${GREEN}Cleanup complete${NC}" +} + +# Run node function +run_node() { + echo -e "${YELLOW}Running ROS2 node${NC}" + + # Check if environment file exists + if [ ! -f "${WORKSPACE_ROOT}/install/setup.bash" ]; then + echo -e "${RED}Could not find install/setup.bash, please build the project with ./build_ros2.sh first${NC}" + return 1 + fi + + # Source environment and run node + source "${WORKSPACE_ROOT}/install/setup.bash" + +} + +# Build workspace function +build_workspace() { + echo -e "${YELLOW}Workspace structure:${NC}" + echo " Workspace root: ${WORKSPACE_ROOT}" + echo " Source directory: ${WORKSPACE_SRC}" + echo " Package directory: ${PKG_DIR}" + echo " Directory name: ${PACKAGE_DIR_NAME}" + echo " ROS version: ROS2" + + echo -e "${YELLOW}Starting ROS2 project build...${NC}" + + cd $WS_DIR + rm -rf build install log + # Ensure ROS2 environment is loaded. + # 1) Prefer the currently active distro (ROS_DISTRO env var) if its setup.bash exists. + # 2) Otherwise probe a known list of ROS2 distros from newest to oldest. + ROS2_DISTRO_CANDIDATES=("rolling" "jazzy" "iron" "humble" "galactic" "foxy") + ROS2_SETUP_BASH="" + + if [ -n "${ROS_DISTRO}" ] && [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then + ROS2_SETUP_BASH="/opt/ros/${ROS_DISTRO}/setup.bash" + else + for distro in "${ROS2_DISTRO_CANDIDATES[@]}"; do + if [ -f "/opt/ros/${distro}/setup.bash" ]; then + ROS2_SETUP_BASH="/opt/ros/${distro}/setup.bash" + break + fi + done + fi + + if [ -n "${ROS2_SETUP_BASH}" ]; then + echo -e "${GREEN}Sourcing ROS2 environment: ${ROS2_SETUP_BASH}${NC}" + # shellcheck disable=SC1090 + source "${ROS2_SETUP_BASH}" + else + echo -e "${RED}Could not find ROS2 setup.bash file. Please ensure ROS2 is installed.${NC}" + return 1 + fi + + # Create temporary package.xml + if [ -f "${PKG_DIR}/package_ros2.xml" ]; then + echo "Creating temporary package.xml (using package_ros2.xml)" + cp "${PKG_DIR}/package_ros2.xml" "${PKG_DIR}/package.xml" + TEMP_PACKAGE=true + elif [ -f "${PKG_DIR}/package.xml" ]; then + echo "Using existing package.xml" + TEMP_PACKAGE=false + else + echo -e "${RED}Could not find package.xml in package directory${NC}" + return 1 + fi + + # Extract package name from package.xml + PACKAGE_NAME=$(get_package_name "${PKG_DIR}/package.xml") + if [ -z "$PACKAGE_NAME" ]; then + echo -e "${RED}Failed to extract package name from package.xml${NC}" + return 1 + fi + echo " Package name: ${PACKAGE_NAME}" + + # Set build system variable + export BUILD_SYSTEM=ROS2 + + # Switch to workspace root and build + cd "${WORKSPACE_ROOT}" || return 1 + + # Build with correct package name + colcon build \ + --packages-select "${PACKAGE_NAME}" \ + --parallel-workers $(nproc) \ + --cmake-args \ + -DBUILD_SYSTEM=ROS2 \ + -DCMAKE_EXPORT_COMPILE_COMMANDS=ON + + BUILD_RESULT=$? + + # If build successful, source environment + if [[ $BUILD_RESULT -eq 0 ]]; then + echo -e "${GREEN}ROS2 build successful, loading environment: source install/setup.bash${NC}" + source "${WORKSPACE_ROOT}/install/setup.bash" + + else + echo -e "${RED}ROS2 build failed, please check error logs${NC}" + fi + +} + +# Help function +show_help() { + echo -e "${YELLOW}Usage:${NC}" + echo " ./build_ros2.sh # Build project" + echo " ./build_ros2.sh -c # Clean build artifacts" + echo " ./build_ros2.sh -h # Show help information" + echo "" + echo -e "${YELLOW}Current configuration:${NC}" + echo " Project name: ${PROJECT_NAME}" + echo " Package directory: ${PKG_DIR}" + echo " Workspace root: ${WORKSPACE_ROOT}" + echo " Source directory: ${WORKSPACE_SRC}" +} + +# Main program +case "$1" in + -c|--clean) + clean_workspace + ;; + -r|--run) + run_node + ;; + -h|--help) + show_help + ;; + *) + build_workspace + ;; +esac \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/script/rosbag2_qos.yaml b/05_software/real/sim2real_ros2/src/odin_ros_driver/script/rosbag2_qos.yaml new file mode 100644 index 0000000..5f26738 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/script/rosbag2_qos.yaml @@ -0,0 +1,18 @@ +# rosbag2_qos.yaml +# QoS overrides for rosbag2 recording +# 用于 rosbag2 录制的 QoS 配置 +# +# Usage / 使用方法: +# ros2 bag record -a --qos-profile-overrides-path rosbag2_qos.yaml + +# High frequency data (IMU 400Hz, Odom 100Hz) +# 高频数据 (IMU 400Hz, 里程计 100Hz) +/odin1/imu: + reliability: reliable + history: keep_last + depth: 4000 + +/odin1/odometry_highfreq: + reliability: reliable + history: keep_last + depth: 4000 diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/set_param.sh b/05_software/real/sim2real_ros2/src/odin_ros_driver/set_param.sh new file mode 100644 index 0000000..076091c --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/set_param.sh @@ -0,0 +1,21 @@ +#!/bin/bash + +# Usage: ./set_param.sh +# Example: ./set_param.sh save_map 1 + +if [ $# -ne 2 ]; then + echo "Usage: $0 " + echo "Example: $0 save_map 1" + exit 1 +fi + +PARAM_NAME=$1 +VALUE=$2 + +COMMAND_FILE="/tmp/odin_command.txt" + +# Create the command file with the parameter +echo "set $PARAM_NAME $VALUE" > "$COMMAND_FILE" + +echo "Command sent: set $PARAM_NAME $VALUE" +echo "Command file: $COMMAND_FILE" diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/camera_pose_visualization.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/camera_pose_visualization.cpp new file mode 100644 index 0000000..7cd5dbe --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/camera_pose_visualization.cpp @@ -0,0 +1,232 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "camera_pose_visualization.h" + +const Eigen::Vector3d camera_pose_visualization::imlt = Eigen::Vector3d(-1.0, -0.5, 1.0); +const Eigen::Vector3d camera_pose_visualization::imrt = Eigen::Vector3d( 1.0, -0.5, 1.0); +const Eigen::Vector3d camera_pose_visualization::imlb = Eigen::Vector3d(-1.0, 0.5, 1.0); +const Eigen::Vector3d camera_pose_visualization::imrb = Eigen::Vector3d( 1.0, 0.5, 1.0); +const Eigen::Vector3d camera_pose_visualization::lt0 = Eigen::Vector3d(-0.7, -0.5, 1.0); +const Eigen::Vector3d camera_pose_visualization::lt1 = Eigen::Vector3d(-0.7, -0.2, 1.0); +const Eigen::Vector3d camera_pose_visualization::lt2 = Eigen::Vector3d(-1.0, -0.2, 1.0); +const Eigen::Vector3d camera_pose_visualization::oc = Eigen::Vector3d(0.0, 0.0, 0.0); + +#ifdef ROS2 +using GeometryPoint = geometry_msgs::msg::Point; +#else +using GeometryPoint = geometry_msgs::Point; +#endif + +void Eigen2Point(const Eigen::Vector3d& v, GeometryPoint& p) { + p.x = v.x(); + p.y = v.y(); + p.z = v.z(); +} + +camera_pose_visualization::camera_pose_visualization(float r, float g, float b, float a) + : m_marker_ns("camera_pose_visualization"), m_scale(0.3), m_line_width(0.03) { + m_image_boundary_color.r = r; + m_image_boundary_color.g = g; + m_image_boundary_color.b = b; + m_image_boundary_color.a = a; + m_optical_center_connector_color.r = r; + m_optical_center_connector_color.g = g; + m_optical_center_connector_color.b = b; + m_optical_center_connector_color.a = a; +} + +void camera_pose_visualization::setImageBoundaryColor(float r, float g, float b, float a) { + m_image_boundary_color.r = r; + m_image_boundary_color.g = g; + m_image_boundary_color.b = b; + m_image_boundary_color.a = a; +} + +void camera_pose_visualization::setOpticalCenterConnectorColor(float r, float g, float b, float a) { + m_optical_center_connector_color.r = r; + m_optical_center_connector_color.g = g; + m_optical_center_connector_color.b = b; + m_optical_center_connector_color.a = a; +} + +void camera_pose_visualization::setScale(double s) { + m_scale = s; +} +void camera_pose_visualization::setLineWidth(double width) { + m_line_width = width; +} +void camera_pose_visualization::add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1) { + Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; +#ifdef ROS2 + marker.type = Marker::LINE_LIST; + marker.action = Marker::ADD; +#else + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; +#endif + marker.scale.x = 0.005; + + marker.color.g = 1.0f; + marker.color.a = 1.0; + + GeometryPoint point0, point1; + + Eigen2Point(p0, point0); + Eigen2Point(p1, point1); + + marker.points.push_back(point0); + marker.points.push_back(point1); + + m_markers.push_back(marker); +} + +void camera_pose_visualization::add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1) { + Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; +#ifdef ROS2 + marker.type = Marker::LINE_LIST; + marker.action = Marker::ADD; +#else + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; +#endif + marker.scale.x = 0.04; + //marker.scale.x = 0.3; + + marker.color.r = 1.0f; + marker.color.b = 1.0f; + marker.color.a = 1.0; + + GeometryPoint point0, point1; + + Eigen2Point(p0, point0); + Eigen2Point(p1, point1); + + marker.points.push_back(point0); + marker.points.push_back(point1); + + m_markers.push_back(marker); +} + + +void camera_pose_visualization::add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q) { + Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; +#ifdef ROS2 + marker.type = Marker::LINE_STRIP; + marker.action = Marker::ADD; +#else + marker.type = visualization_msgs::Marker::LINE_STRIP; + marker.action = visualization_msgs::Marker::ADD; +#endif + marker.scale.x = m_line_width; + + marker.pose.position.x = 0.0; + marker.pose.position.y = 0.0; + marker.pose.position.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + + + GeometryPoint pt_lt, pt_lb, pt_rt, pt_rb, pt_oc, pt_lt0, pt_lt1, pt_lt2; + + Eigen2Point(q * (m_scale * imlt) + p, pt_lt); + Eigen2Point(q * (m_scale * imlb) + p, pt_lb); + Eigen2Point(q * (m_scale * imrt) + p, pt_rt); + Eigen2Point(q * (m_scale * imrb) + p, pt_rb); + Eigen2Point(q * (m_scale * lt0 ) + p, pt_lt0); + Eigen2Point(q * (m_scale * lt1 ) + p, pt_lt1); + Eigen2Point(q * (m_scale * lt2 ) + p, pt_lt2); + Eigen2Point(q * (m_scale * oc ) + p, pt_oc); + + // image boundaries + marker.points.push_back(pt_lt); + marker.points.push_back(pt_lb); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_lb); + marker.points.push_back(pt_rb); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_rb); + marker.points.push_back(pt_rt); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_rt); + marker.points.push_back(pt_lt); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + // top-left indicator + marker.points.push_back(pt_lt0); + marker.points.push_back(pt_lt1); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_lt1); + marker.points.push_back(pt_lt2); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + // optical center connector + marker.points.push_back(pt_lt); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + + marker.points.push_back(pt_lb); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + marker.points.push_back(pt_rt); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + marker.points.push_back(pt_rb); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + m_markers.push_back(marker); +} + +void camera_pose_visualization::reset() { + m_markers.clear(); +} + +void camera_pose_visualization::publish_by( Publisher& pub, const Header& header ) { + MarkerArray markerArray_msg; + + for (auto& marker : m_markers) { + marker.header = header; + markerArray_msg.markers.push_back(marker); + } + + pub.publish(markerArray_msg); +} \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/cloud_reprojection_ros.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/cloud_reprojection_ros.cpp new file mode 100644 index 0000000..f928467 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/cloud_reprojection_ros.cpp @@ -0,0 +1,503 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "cloud_reprojection_ros_node.hpp" + +#include +#include +#include +#include + +#ifdef ROS2 + #include + #include + #include +#else + #include +#endif + +// Fixed Til (T_imu_lidar): lidar position in imu frame, transforms from lidar to imu +// TODO: Fill in the actual Til values for your sensor setup +static Eigen::Matrix4d getFixedTil() +{ + Eigen::Matrix4d Til = Eigen::Matrix4d::Identity(); + Til(0, 3) = -0.02663; + Til(1, 3) = 0.03447; + Til(2, 3) = 0.02174; + return Til; +} + +static bool fileExists(const std::string& filename) { + struct stat buffer; + return (stat(filename.c_str(), &buffer) == 0); +} + +#ifdef ROS2 +// Helper function to get package source directory for ROS2 +static std::string get_package_source_directory() { + std::string current_file = __FILE__; + size_t pos = current_file.find("/src/cloud_reprojection_ros.cpp"); + if (pos != std::string::npos) { + return current_file.substr(0, pos); + } + return ""; +} + +// ==================== ROS2 Implementation ==================== + +CloudReprojectionRosNode::CloudReprojectionRosNode(const rclcpp::NodeOptions& options) + : Node("cloud_reprojection_node", options) +{ + loadParameters(); + + RCLCPP_INFO_STREAM(this->get_logger(), + "\n cloud_slam_topic: " << cloud_slam_topic_ + << "\n odometry_topic: " << odometry_topic_ + << "\n wiwc_topic: " << wiwc_topic_ + << "\n reprojected_image_topic: " << reprojected_image_topic_); + + cloud_sub_.subscribe(this, cloud_slam_topic_); + odom_sub_.subscribe(this, odometry_topic_); + wiwc_sub_.subscribe(this, wiwc_topic_); + + sync_ = std::make_shared(MySyncPolicy(10), cloud_sub_, odom_sub_, wiwc_sub_); + sync_->registerCallback(std::bind(&CloudReprojectionRosNode::syncCallback, this, + std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + + reprojected_image_pub_ = image_transport::create_publisher(this, reprojected_image_topic_); + + RCLCPP_INFO(this->get_logger(), "CloudReprojectionRosNode initialized successfully"); +} + +void CloudReprojectionRosNode::loadParameters() +{ + // Declare and get parameters + this->declare_parameter("cloud_slam_topic", "/odin1/cloud_slam"); + this->declare_parameter("odometry_topic", "/odin1/odometry"); + this->declare_parameter("wiwc_topic", "/odin1/wiwc"); + this->declare_parameter("reprojected_image_topic", "/odin1/reprojected_image"); + + cloud_slam_topic_ = this->get_parameter("cloud_slam_topic").as_string(); + odometry_topic_ = this->get_parameter("odometry_topic").as_string(); + wiwc_topic_ = this->get_parameter("wiwc_topic").as_string(); + reprojected_image_topic_ = this->get_parameter("reprojected_image_topic").as_string(); + + // Load camera parameters from calib.yaml file directly + std::string package_path = get_package_source_directory(); + std::string calib_file = package_path + "/config/calib.yaml"; + + YAML::Node calib_config; + try { + calib_config = YAML::LoadFile(calib_file); + } catch (const std::exception& e) { + RCLCPP_ERROR(this->get_logger(), "Failed to load calib.yaml: %s", e.what()); + rclcpp::shutdown(); + return; + } + + CloudReprojector::CameraParams cam_params; + try { + cam_params.image_width = calib_config["cam_0"]["image_width"].as(); + cam_params.image_height = calib_config["cam_0"]["image_height"].as(); + cam_params.A11 = calib_config["cam_0"]["A11"].as(); + cam_params.A12 = calib_config["cam_0"]["A12"].as(); + cam_params.A22 = calib_config["cam_0"]["A22"].as(); + cam_params.u0 = calib_config["cam_0"]["u0"].as(); + cam_params.v0 = calib_config["cam_0"]["v0"].as(); + cam_params.k2 = calib_config["cam_0"]["k2"].as(); + cam_params.k3 = calib_config["cam_0"]["k3"].as(); + cam_params.k4 = calib_config["cam_0"]["k4"].as(); + cam_params.k5 = calib_config["cam_0"]["k5"].as(); + cam_params.k6 = calib_config["cam_0"]["k6"].as(); + cam_params.k7 = calib_config["cam_0"]["k7"].as(); + } catch (const std::exception& e) { + RCLCPP_ERROR(this->get_logger(), "Failed to parse camera parameters: %s", e.what()); + rclcpp::shutdown(); + return; + } + + // Load extrinsic parameters + CloudReprojector::ExtrinsicParams ext_params; + try { + auto Tcl_vec = calib_config["Tcl_0"].as>(); + + if (Tcl_vec.size() == 16) + { + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) + ext_params.Tcl(i, j) = Tcl_vec[i * 4 + j]; + } + else + { + RCLCPP_ERROR(this->get_logger(), "Tcl_0 has invalid size: %zu (expected 16)", Tcl_vec.size()); + rclcpp::shutdown(); + return; + } + } catch (const std::exception& e) { + RCLCPP_ERROR(this->get_logger(), "Failed to parse Tcl_0: %s", e.what()); + rclcpp::shutdown(); + return; + } + + ext_params.Til = getFixedTil(); + ext_params.Tic = CloudReprojector::calculateTic(ext_params.Tcl, ext_params.Til); + + RCLCPP_INFO_STREAM(this->get_logger(), "Loaded Tcl (camera to lidar):\n" << ext_params.Tcl); + RCLCPP_INFO_STREAM(this->get_logger(), "Fixed Til (lidar to imu):\n" << ext_params.Til); + RCLCPP_INFO_STREAM(this->get_logger(), "Calculated Tic:\n" << ext_params.Tic); + + RCLCPP_INFO(this->get_logger(), "Camera intrinsics:"); + RCLCPP_INFO(this->get_logger(), "Image size: %dx%d", cam_params.image_width, cam_params.image_height); + RCLCPP_INFO(this->get_logger(), "Intrinsics: A11=%f A12=%f A22=%f u0=%f v0=%f", + cam_params.A11, cam_params.A12, cam_params.A22, cam_params.u0, cam_params.v0); + + reprojector_ = std::make_unique(); + if (!reprojector_->initialize(cam_params, ext_params)) + { + RCLCPP_ERROR(this->get_logger(), "Failed to initialize CloudReprojector"); + rclcpp::shutdown(); + } +} + +void CloudReprojectionRosNode::syncCallback( + const PointCloud2::ConstSharedPtr& cloud_msg, + const Odometry::ConstSharedPtr& odom_msg, + const Odometry::ConstSharedPtr& wiwc_msg) +{ + // Debug: print that syncCallback is called + static int sync_count = 0; + // RCLCPP_INFO(this->get_logger(), "=== syncCallback called, count: %d ===", ++sync_count); + + pcl::PointCloud cloud_odom; + pcl::fromROSMsg(*cloud_msg, cloud_odom); + + if (cloud_odom.empty()) + { + RCLCPP_WARN(this->get_logger(), "Empty cloud_slam received"); + return; + } + + // Extract real-time extrinsics from WIWC message covariance fields + // pose.covariance contains T_CL (first 16 values), twist.covariance contains T_IL (first 16 values) + Eigen::Matrix4d T_CL = Eigen::Matrix4d::Identity(); + Eigen::Matrix4d T_IL = Eigen::Matrix4d::Identity(); + for (int i = 0; i < 16; ++i) { + T_CL(i / 4, i % 4) = wiwc_msg->pose.covariance[i]; + T_IL(i / 4, i % 4) = wiwc_msg->twist.covariance[i]; + } + + // Update extrinsics if valid (not identity matrix) + bool T_CL_valid = (T_CL - Eigen::Matrix4d::Identity()).norm() > 1e-6; + bool T_IL_valid = (T_IL - Eigen::Matrix4d::Identity()).norm() > 1e-6; + + // // Debug print to compare with host_sdk_sample values + // static int print_count = 0; + // if (print_count++) { + // // Extract rotation (3x3) and translation (3x1) from T_CL + // Eigen::Matrix3d RCL = T_CL.block<3,3>(0,0); + // Eigen::Vector3d TCL = T_CL.block<3,1>(0,3); + // RCLCPP_INFO_STREAM(this->get_logger(), "=== cloud_reprojection RCL (3x3 rotation from T_CL) ===\n" << RCL); + // RCLCPP_INFO_STREAM(this->get_logger(), "=== cloud_reprojection TCL (3x1 translation from T_CL) ===\n" << TCL.transpose()); + + // // Extract rotation (3x3) and translation (3x1) from T_IL + // Eigen::Matrix3d RIL = T_IL.block<3,3>(0,0); + // Eigen::Vector3d TIL = T_IL.block<3,1>(0,3); + // RCLCPP_INFO_STREAM(this->get_logger(), "=== cloud_reprojection RIL (3x3 rotation from T_IL) ===\n" << RIL); + // RCLCPP_INFO_STREAM(this->get_logger(), "=== cloud_reprojection TIL (3x1 translation from T_IL) ===\n" << TIL.transpose()); + + // RCLCPP_INFO(this->get_logger(), "T_CL_valid: %d, T_IL_valid: %d", T_CL_valid, T_IL_valid); + // if (T_CL_valid && T_IL_valid) { + // Eigen::Matrix4d Tic = CloudReprojector::calculateTic(T_CL, T_IL); + // RCLCPP_INFO_STREAM(this->get_logger(), "=== cloud_reprojection calculated Tic ===\n" << Tic); + // } + // } + + if (T_CL_valid && T_IL_valid) { + reprojector_->updateExtrinsics(T_CL, T_IL); + } + + CloudReprojector::OdomPose odom_pose; + odom_pose.orientation = Eigen::Quaterniond( + odom_msg->pose.pose.orientation.w, + odom_msg->pose.pose.orientation.x, + odom_msg->pose.pose.orientation.y, + odom_msg->pose.pose.orientation.z + ); + odom_pose.position = Eigen::Vector3d( + odom_msg->pose.pose.position.x, + odom_msg->pose.pose.position.y, + odom_msg->pose.pose.position.z + ); + + cv::Mat reprojected_img = reprojector_->reprojectCloud(cloud_odom, odom_pose); + + auto img_msg = cv_bridge::CvImage(cloud_msg->header, "bgr8", reprojected_img).toImageMsg(); + reprojected_image_pub_.publish(*img_msg); +} + +// ==================== ROS2 Main ==================== +int main(int argc, char** argv) +{ + rclcpp::init(argc, argv); + + auto temp_node = std::make_shared("cloud_reprojection_check"); + + // Check if reprojection is enabled from control_command.yaml + std::string package_path = get_package_source_directory(); + std::string config_file = package_path + "/config/control_command.yaml"; + + try { + YAML::Node config = YAML::LoadFile(config_file); + std::cout << "config: " << config_file << std::endl; + if (!config["register_keys"] || !config["register_keys"]["sendreprojection"]) { + RCLCPP_INFO(temp_node->get_logger(), "sendreprojection parameter not found, cloud reprojection disabled."); + rclcpp::shutdown(); + return 0; + } + + int sendreprojection = config["register_keys"]["sendreprojection"].as(); + if (sendreprojection == 0) { + RCLCPP_INFO(temp_node->get_logger(), "Cloud reprojection will not be published."); + rclcpp::shutdown(); + return 0; + } + } catch (const std::exception& e) { + RCLCPP_ERROR(temp_node->get_logger(), "Failed to read config: %s", e.what()); + rclcpp::shutdown(); + return 1; + } + + // Wait for calib.yaml file to be generated by host_sdk_sample + std::string calib_file = package_path + "/config/calib.yaml"; + RCLCPP_INFO(temp_node->get_logger(), "Waiting for calib.yaml file at: %s", calib_file.c_str()); + + int wait_count = 0; + while (rclcpp::ok() && !fileExists(calib_file)) { + if (wait_count % 10 == 0) { + RCLCPP_INFO(temp_node->get_logger(), "Still waiting for calib.yaml file..."); + } + std::this_thread::sleep_for(std::chrono::milliseconds(5000)); + wait_count++; + + // Timeout after 5 seconds + if (wait_count > 10) { + RCLCPP_ERROR(temp_node->get_logger(), "Timeout waiting for calib.yaml file"); + rclcpp::shutdown(); + return 1; + } + } + + if (!rclcpp::ok()) { + RCLCPP_INFO(temp_node->get_logger(), "Node shutdown before calib.yaml file was found."); + return 0; + } + + RCLCPP_INFO(temp_node->get_logger(), "Found calib.yaml file! Starting cloud reprojection node..."); + + auto node = std::make_shared(); + + RCLCPP_INFO(node->get_logger(), "CloudReprojectionRosNode started"); + + rclcpp::spin(node); + rclcpp::shutdown(); + + return 0; +} + +#else +// ==================== ROS1 Implementation ==================== + +CloudReprojectionRosNode::CloudReprojectionRosNode(ros::NodeHandle& nh, ros::NodeHandle& pnh) + : nh_(nh), pnh_(pnh) +{ + loadParameters(); + + ROS_INFO_STREAM("\n cloud_slam_topic: " << cloud_slam_topic_ + << "\n odometry_topic: " << odometry_topic_ + << "\n wiwc_topic: " << wiwc_topic_ + << "\n reprojected_image_topic: " << reprojected_image_topic_); + + cloud_sub_.subscribe(nh_, cloud_slam_topic_, 1); + odom_sub_.subscribe(nh_, odometry_topic_, 1); + wiwc_sub_.subscribe(nh_, wiwc_topic_, 1); + + sync_ = std::make_shared(MySyncPolicy(10), cloud_sub_, odom_sub_, wiwc_sub_); + sync_->registerCallback(boost::bind(&CloudReprojectionRosNode::syncCallback, this, _1, _2, _3)); + + reprojected_image_pub_ = nh_.advertise(reprojected_image_topic_, 1); + + ROS_INFO("CloudReprojectionRosNode initialized successfully"); +} + +void CloudReprojectionRosNode::loadParameters() +{ + pnh_.param("cloud_slam_topic", cloud_slam_topic_, std::string("/odin1/cloud_slam")); + pnh_.param("odometry_topic", odometry_topic_, std::string("/odin1/odometry")); + pnh_.param("wiwc_topic", wiwc_topic_, std::string("/odin1/wiwc")); + pnh_.param("reprojected_image_topic", reprojected_image_topic_, std::string("/odin1/reprojected_image")); + + // Load camera parameters + CloudReprojector::CameraParams cam_params; + pnh_.param("cam_0/image_width", cam_params.image_width, 1600); + pnh_.param("cam_0/image_height", cam_params.image_height, 1296); + pnh_.param("cam_0/A11", cam_params.A11, 0.0); + pnh_.param("cam_0/A12", cam_params.A12, 0.0); + pnh_.param("cam_0/A22", cam_params.A22, 0.0); + pnh_.param("cam_0/u0", cam_params.u0, 0.0); + pnh_.param("cam_0/v0", cam_params.v0, 0.0); + pnh_.param("cam_0/k2", cam_params.k2, 0.0); + pnh_.param("cam_0/k3", cam_params.k3, 0.0); + pnh_.param("cam_0/k4", cam_params.k4, 0.0); + pnh_.param("cam_0/k5", cam_params.k5, 0.0); + pnh_.param("cam_0/k6", cam_params.k6, 0.0); + pnh_.param("cam_0/k7", cam_params.k7, 0.0); + + // Load extrinsic parameters + CloudReprojector::ExtrinsicParams ext_params; + std::vector Tcl_vec_param; + if (pnh_.getParam("Tcl_0", Tcl_vec_param) && Tcl_vec_param.size() == 16) + { + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) + ext_params.Tcl(i, j) = Tcl_vec_param[i * 4 + j]; + } + else + { + ROS_ERROR("Tcl_0 param missing or invalid."); + ros::shutdown(); + return; + } + + ext_params.Til = getFixedTil(); + ext_params.Tic = CloudReprojector::calculateTic(ext_params.Tcl, ext_params.Til); + + ROS_INFO_STREAM("Loaded Tcl (camera to lidar):\n" << ext_params.Tcl); + ROS_INFO_STREAM("Fixed Til (lidar to imu):\n" << ext_params.Til); + ROS_INFO_STREAM("Calculated Tic:\n" << ext_params.Tic); + + ROS_INFO("Camera intrinsics:"); + ROS_INFO("Image size: %dx%d", cam_params.image_width, cam_params.image_height); + ROS_INFO("Intrinsics: A11=%f A12=%f A22=%f u0=%f v0=%f", + cam_params.A11, cam_params.A12, cam_params.A22, cam_params.u0, cam_params.v0); + + reprojector_ = std::make_unique(); + if (!reprojector_->initialize(cam_params, ext_params)) + { + ROS_ERROR("Failed to initialize CloudReprojector"); + ros::shutdown(); + } +} + +void CloudReprojectionRosNode::syncCallback( + const sensor_msgs::PointCloud2ConstPtr& cloud_msg, + const nav_msgs::OdometryConstPtr& odom_msg, + const nav_msgs::OdometryConstPtr& wiwc_msg) +{ + pcl::PointCloud cloud_odom; + pcl::fromROSMsg(*cloud_msg, cloud_odom); + + if (cloud_odom.empty()) + { + ROS_WARN("Empty cloud_slam received"); + return; + } + + // Extract real-time extrinsics from WIWC message covariance fields + // pose.covariance contains T_CL (first 16 values), twist.covariance contains T_IL (first 16 values) + Eigen::Matrix4d T_CL = Eigen::Matrix4d::Identity(); + Eigen::Matrix4d T_IL = Eigen::Matrix4d::Identity(); + for (int i = 0; i < 16; ++i) { + T_CL(i / 4, i % 4) = wiwc_msg->pose.covariance[i]; + T_IL(i / 4, i % 4) = wiwc_msg->twist.covariance[i]; + } + + // Update extrinsics if valid (not identity matrix) + bool T_CL_valid = (T_CL - Eigen::Matrix4d::Identity()).norm() > 1e-6; + bool T_IL_valid = (T_IL - Eigen::Matrix4d::Identity()).norm() > 1e-6; + if (T_CL_valid && T_IL_valid) { + reprojector_->updateExtrinsics(T_CL, T_IL); + } + + CloudReprojector::OdomPose odom_pose; + odom_pose.orientation = Eigen::Quaterniond( + odom_msg->pose.pose.orientation.w, + odom_msg->pose.pose.orientation.x, + odom_msg->pose.pose.orientation.y, + odom_msg->pose.pose.orientation.z + ); + odom_pose.position = Eigen::Vector3d( + odom_msg->pose.pose.position.x, + odom_msg->pose.pose.position.y, + odom_msg->pose.pose.position.z + ); + + cv::Mat reprojected_img = reprojector_->reprojectCloud(cloud_odom, odom_pose); + + sensor_msgs::ImagePtr img_msg = cv_bridge::CvImage(cloud_msg->header, "bgr8", reprojected_img).toImageMsg(); + reprojected_image_pub_.publish(img_msg); +} + +// ==================== ROS1 Main ==================== +int main(int argc, char **argv) +{ + ros::init(argc, argv, "cloud_reprojection"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + + // Check if reprojection is enabled + int sendreprojection = 0; + pnh.param("register_keys/sendreprojection", sendreprojection, 0); + if(sendreprojection == 0) + { + ROS_INFO("Cloud reprojection will not be published."); + return 0; + } + + std::string calib_file_path; + pnh.param("calib_file_path", calib_file_path, ""); + + ROS_INFO("Waiting for calib.yaml file at: %s", calib_file_path.c_str()); + while(ros::ok() && !fileExists(calib_file_path)) + { + ROS_INFO_THROTTLE(5, "Still waiting for calib.yaml file..."); + ros::Duration(0.5).sleep(); + ros::spinOnce(); + } + + if(!ros::ok()) + { + ROS_INFO("Node shutdown before calib.yaml file was found."); + return 0; + } + + ROS_INFO("Found calib.yaml file! Loading parameters..."); + + std::string node_name = ros::this_node::getName(); + std::string rosparam_command = "rosparam load " + calib_file_path + " " + node_name; + int result = system(rosparam_command.c_str()); + + if(result == 0) + { + ROS_INFO("Successfully loaded parameters from calib.yaml to namespace: %s", node_name.c_str()); + } + else + { + ROS_ERROR("Failed to load parameters from calib.yaml"); + return 1; + } + + CloudReprojectionRosNode reprojection_node(nh, pnh); + ros::spin(); + return 0; +} +#endif diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/cloud_reprojector.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/cloud_reprojector.cpp new file mode 100644 index 0000000..9a924d3 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/cloud_reprojector.cpp @@ -0,0 +1,128 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at +http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "cloud_reprojector.hpp" +#include + +CloudReprojector::CloudReprojector() +{ +} + +bool CloudReprojector::initialize(const CameraParams& cam_params, const ExtrinsicParams& ext_params) +{ + camera_params_ = cam_params; + extrinsic_params_ = ext_params; + + if (camera_params_.A11 < 1e-6 || camera_params_.A22 < 1e-6 || + camera_params_.u0 < 1e-6 || camera_params_.v0 < 1e-6) + { + return false; + } + + camera_model_ = std::make_unique( + camera_params_.image_width, camera_params_.image_height, + camera_params_.A11, camera_params_.A22, + camera_params_.u0, camera_params_.v0, + camera_params_.A12, + camera_params_.k2, camera_params_.k3, camera_params_.k4, + camera_params_.k5, camera_params_.k6, camera_params_.k7 + ); + + initialized_ = true; + return true; +} + +Eigen::Matrix4d CloudReprojector::calculateTic(const Eigen::Matrix4d& Tcl, const Eigen::Matrix4d& Til) +{ + // Tic = Til * Tlc = Til * Tcl.inverse() + Eigen::Matrix4d Tlc = Tcl.inverse(); + return Til * Tlc; +} + +Eigen::Matrix4d CloudReprojector::odomPoseToMatrix(const OdomPose& odom) const +{ + Eigen::Matrix4d T = Eigen::Matrix4d::Identity(); + T.block<3, 3>(0, 0) = odom.orientation.toRotationMatrix(); + T(0, 3) = odom.position.x(); + T(1, 3) = odom.position.y(); + T(2, 3) = odom.position.z(); + return T; +} + +cv::Mat CloudReprojector::reprojectCloud(const pcl::PointCloud& cloud_odom, + const OdomPose& odom_pose) +{ + if (!initialized_) + { + return cv::Mat(); + } + + // T_odom_imu: imu pose in odom frame + Eigen::Matrix4d T_odom_imu = odomPoseToMatrix(odom_pose); + + // T_imu_odom: transforms points from odom frame to imu frame + Eigen::Matrix4d T_imu_odom = T_odom_imu.inverse(); + + // T_cam_imu = Tic.inverse(): transforms from imu to camera + Eigen::Matrix4d T_cam_imu = extrinsic_params_.Tic.inverse(); + + // T_cam_odom: transforms points from odom frame to camera frame + Eigen::Matrix4d T_cam_odom = T_cam_imu * T_imu_odom; + + pcl::PointCloud cloud_in_cam; + pcl::transformPointCloud(cloud_odom, cloud_in_cam, T_cam_odom); + + return projectCloudToImage(cloud_in_cam); +} + +cv::Mat CloudReprojector::projectCloudToImage(const pcl::PointCloud& cloud_in_cam) const +{ + cv::Mat img = cv::Mat::zeros(camera_params_.image_height, camera_params_.image_width, CV_8UC3); + img.setTo(cv::Scalar(255, 255, 255)); + + const double fx = camera_model_->fx(); + const double fy = camera_model_->fy(); + const double cx = camera_model_->cx(); + const double cy = camera_model_->cy(); + + for (const auto& pt : cloud_in_cam) + { + if (pt.z <= 0.01) + continue; + + int u_int, v_int; + if (1) + { + // Pinhole projection (undistorted image) + u_int = static_cast(std::round(fx * pt.x / pt.z + cx)); + v_int = static_cast(std::round(fy * pt.y / pt.z + cy)); + } + else + { + // Distorted projection (original image) + Eigen::Vector3d pt_cam(pt.x, pt.y, pt.z); + Eigen::Vector2d uv = camera_model_->world2cam(pt_cam); + u_int = static_cast(std::round(uv[0])); + v_int = static_cast(std::round(uv[1])); + } + + if (u_int >= 0 && u_int < camera_params_.image_width && + v_int >= 0 && v_int < camera_params_.image_height) + { + cv::circle(img, cv::Point(u_int, v_int), point_radius_, + cv::Scalar(pt.b, pt.g, pt.r), -1); + } + } + + return img; +} \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/depth_image_ros2_node.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/depth_image_ros2_node.cpp new file mode 100644 index 0000000..b2e8c4c --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/depth_image_ros2_node.cpp @@ -0,0 +1,172 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "depth_image_ros2_node.hpp" +#include + +DepthImageRos2Node::DepthImageRos2Node(const rclcpp::NodeOptions & options) + : Node("depth_image_ros2_node", options) +{ + PointCloudToDepthConverter::CameraParams camera_params = loadCameraParams(); + + depth_converter_ = std::make_unique(camera_params); + + cloud_raw_topic_ = this->declare_parameter("cloud_raw_topic", "/odin1/cloud_raw"); + color_compressed_topic_ = this->declare_parameter("color_compressed_topic", "/odin1/image/compressed"); + color_raw_topic_ = this->declare_parameter("color_raw_topic", "/odin1/image"); + depth_image_topic_ = this->declare_parameter("depth_image_topic", "/odin1/depth_img_competetion"); + depth_cloud_topic_ = this->declare_parameter("depth_cloud_topic", "/odin1/depth_img_competetion_cloud"); + + RCLCPP_INFO_STREAM(this->get_logger(), + "\n cloud_raw_topic: " << cloud_raw_topic_ + << "\n color_compressed_topic: " << color_compressed_topic_ + << "\n color_raw_topic: " << color_raw_topic_ + << "\n depth_image_topic: " << depth_image_topic_ + << "\n depth_cloud_topic: " << depth_cloud_topic_); +} + +void DepthImageRos2Node::initialize() +{ + cloud_sub_.subscribe(this, cloud_raw_topic_); + color_compressed_sub_.subscribe(this, color_compressed_topic_); + color_sub_.subscribe(this, color_raw_topic_); + + sync_ = std::make_shared(MySyncPolicy(10), cloud_sub_, color_sub_); + sync_->registerCallback(std::bind(&DepthImageRos2Node::syncCallback, this, + std::placeholders::_1, std::placeholders::_2)); + + it_ = std::make_shared(shared_from_this()); + depth_image_pub_ = it_->advertise(depth_image_topic_, 1); + depth_cloud_pub_ = this->create_publisher(depth_cloud_topic_, 1); + + RCLCPP_INFO(this->get_logger(), "DepthImageRos2Node initialized successfully"); +} + +PointCloudToDepthConverter::CameraParams DepthImageRos2Node::loadCameraParams() +{ + PointCloudToDepthConverter::CameraParams params; + + params.image_width = this->declare_parameter("cam_0.image_width", 1600); + params.image_height = this->declare_parameter("cam_0.image_height", 1296); + params.A11 = this->declare_parameter("cam_0.A11", 0.0); + params.A12 = this->declare_parameter("cam_0.A12", 0.0); + params.A22 = this->declare_parameter("cam_0.A22", 0.0); + params.u0 = this->declare_parameter("cam_0.u0", 0.0); + params.v0 = this->declare_parameter("cam_0.v0", 0.0); + + params.k2 = this->declare_parameter("cam_0.k2", 0.0); + params.k3 = this->declare_parameter("cam_0.k3", 0.0); + params.k4 = this->declare_parameter("cam_0.k4", 0.0); + params.k5 = this->declare_parameter("cam_0.k5", 0.0); + params.k6 = this->declare_parameter("cam_0.k6", 0.0); + params.k7 = this->declare_parameter("cam_0.k7", 0.0); + + params.scale = this->declare_parameter("scale", 7.0); + params.point_sampling_rate = this->declare_parameter("point_sampling_rate", 5); + + std::vector Tcl_vec_param = this->declare_parameter>("Tcl_0", std::vector(16, 0.0)); + if (Tcl_vec_param.size() == 16) + { + for (int i = 0; i < 4; ++i) + { + for (int j = 0; j < 4; ++j) + { + params.Tcl(i, j) = Tcl_vec_param[i * 4 + j]; + } + } + } + else + { + RCLCPP_ERROR(this->get_logger(), "Tcl_0 param missing or invalid, colored reproject cloud disabled."); + rclcpp::shutdown(); + } + + if (params.A11 < 1e-6 || params.A22 < 1e-6 || params.u0 < 1e-6 || params.v0 < 1e-6) + { + RCLCPP_ERROR(this->get_logger(), "Invalid camera intrinsics A11 or A22"); + rclcpp::shutdown(); + } + + RCLCPP_INFO(this->get_logger(), "Camera intrinsics:"); + RCLCPP_INFO(this->get_logger(), "Image size: %dx%d", params.image_width, params.image_height); + RCLCPP_INFO(this->get_logger(), "Intrinsics: A11=%f A12=%f A22=%f u0=%f v0=%f", + params.A11, params.A12, params.A22, params.u0, params.v0); + RCLCPP_INFO(this->get_logger(), "Distortions: k2=%f k3=%f k4=%f k5=%f k6=%f k7=%f", + params.k2, params.k3, params.k4, params.k5, params.k6, params.k7); + RCLCPP_INFO(this->get_logger(), "Scale: %f, Point sampling rate: %d", params.scale, params.point_sampling_rate); + RCLCPP_INFO_STREAM(this->get_logger(), "Extrinsics (Tcl):\n" << params.Tcl); + + return params; +} + +void DepthImageRos2Node::syncCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud_msg, + // const sensor_msgs::msg::CompressedImage::ConstSharedPtr image_msg, + const sensor_msgs::msg::Image::ConstSharedPtr color_msg) +{ + pcl::PointCloud cloud; + pcl::fromROSMsg(*cloud_msg, cloud); + if (cloud.empty()) + { + RCLCPP_WARN(this->get_logger(), "Empty point cloud received"); + return; + } + + cv::Mat img_raw; + try + { + // img_raw = cv::imdecode(cv::Mat(image_msg->data), cv::IMREAD_COLOR); + cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(color_msg, "bgr8"); + img_raw = cv_ptr->image; + if (img_raw.empty()) + { + RCLCPP_WARN(this->get_logger(), "Failed to decode compressed image"); + return; + } + } + catch (const cv_bridge::Exception &e) + { + RCLCPP_ERROR(this->get_logger(), "cv_bridge: %s", e.what()); + return; + } + + auto result = depth_converter_->processCloudAndImage(cloud, img_raw); + + if (!result.success) + { + RCLCPP_WARN(this->get_logger(), "Data processing failed: %s", result.error_message.c_str()); + return; + } + + publishDepthImage(result.depth_image, cloud_msg->header); + publishDepthCloud(result.colored_cloud, cloud_msg->header); +} + +void DepthImageRos2Node::publishDepthImage(const cv::Mat &img, + const std_msgs::msg::Header &header, + const std::string &encoding) +{ + sensor_msgs::msg::Image::SharedPtr depth_msg = cv_bridge::CvImage(header, encoding, img).toImageMsg(); + depth_image_pub_.publish(*depth_msg); +} + +void DepthImageRos2Node::publishDepthCloud(const pcl::PointCloud &colored_cloud, + const std_msgs::msg::Header &header) +{ + if (!colored_cloud.points.empty()) + { + sensor_msgs::msg::PointCloud2 cloud_msg; + pcl::toROSMsg(colored_cloud, cloud_msg); + cloud_msg.header = header; + depth_cloud_pub_->publish(cloud_msg); + } +} diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/depth_image_ros_node.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/depth_image_ros_node.cpp new file mode 100644 index 0000000..fb4aa55 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/depth_image_ros_node.cpp @@ -0,0 +1,165 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "depth_image_ros_node.hpp" +#include + +DepthImageRosNode::DepthImageRosNode(ros::NodeHandle &nh, ros::NodeHandle &pnh) + : nh_(nh), pnh_(pnh), it_(nh_) +{ + PointCloudToDepthConverter::CameraParams camera_params = loadCameraParams(); + + depth_converter_ = std::make_unique(camera_params); + pnh_.param("cloud_raw_topic", cloud_raw_topic_, std::string("/odin1/cloud_raw")); + pnh_.param("color_raw_topic", color_raw_topic_, std::string("/odin1/image")); + pnh_.param("color_compressed_topic_", color_compressed_topic_, std::string("/odin1/image/compressed")); + pnh_.param("depth_image_topic", depth_image_topic_, std::string("/odin1/depth_img_competetion")); + pnh_.param("depth_cloud_topic", depth_cloud_topic_, std::string("/odin1/depth_img_competetion_cloud")); + + ROS_INFO_STREAM("\n cloud_raw_topic: " << cloud_raw_topic_ + << "\n color_raw_topic: " << color_raw_topic_ + << "\n color_compressed_topic: " << color_compressed_topic_ + << "\n depth_image_topic: " << depth_image_topic_ + << "\n depth_cloud_topic: " << depth_cloud_topic_); + + cloud_sub_.subscribe(nh_, cloud_raw_topic_, 1); + color_sub_.subscribe(nh_, color_raw_topic_, 1); + color_compressed_sub_.subscribe(nh_, color_compressed_topic_, 1); + + sync_ = std::make_shared(MySyncPolicy(10), cloud_sub_, color_sub_); + sync_->registerCallback(boost::bind(&DepthImageRosNode::syncCallback, this, _1, _2)); + + depth_image_pub_ = it_.advertise(depth_image_topic_, 1); + depth_cloud_pub_ = nh_.advertise(depth_cloud_topic_, 1); + + ROS_INFO("DepthImageRosNode initialized successfully"); +} + +PointCloudToDepthConverter::CameraParams DepthImageRosNode::loadCameraParams() +{ + PointCloudToDepthConverter::CameraParams params; + + pnh_.param("cam_0/image_width", params.image_width, 1600); + pnh_.param("cam_0/image_height", params.image_height, 1296); + pnh_.param("cam_0/A11", params.A11, 0.0); + pnh_.param("cam_0/A12", params.A12, 0.0); + pnh_.param("cam_0/A22", params.A22, 0.0); + pnh_.param("cam_0/u0", params.u0, 0.0); + pnh_.param("cam_0/v0", params.v0, 0.0); + + pnh_.param("cam_0/k2", params.k2, 0.0); + pnh_.param("cam_0/k3", params.k3, 0.0); + pnh_.param("cam_0/k4", params.k4, 0.0); + pnh_.param("cam_0/k5", params.k5, 0.0); + pnh_.param("cam_0/k6", params.k6, 0.0); + pnh_.param("cam_0/k7", params.k7, 0.0); + + pnh_.param("scale", params.scale, 7.0); + pnh_.param("point_sampling_rate", params.point_sampling_rate, 5); + + std::vector Tcl_vec_param; + if (pnh_.getParam("Tcl_0", Tcl_vec_param) && Tcl_vec_param.size() == 16) + { + for (int i = 0; i < 4; ++i) + { + for (int j = 0; j < 4; ++j) + { + params.Tcl(i, j) = Tcl_vec_param[i * 4 + j]; + } + } + } + else + { + ROS_ERROR("Tcl_0 param missing or invalid, colored reproject cloud disabled."); + ros::shutdown(); + } + + if (params.A11 < 1e-6 || params.A22 < 1e-6 || params.u0 < 1e-6 || params.v0 < 1e-6) + { + ROS_ERROR("Invalid camera intrinsics A11 or A22"); + ros::shutdown(); + } + + ROS_INFO("Camera intrinsics:"); + ROS_INFO("Image size: %dx%d", params.image_width, params.image_height); + ROS_INFO("Intrinsics: A11=%f A12=%f A22=%f u0=%f v0=%f", + params.A11, params.A12, params.A22, params.u0, params.v0); + ROS_INFO("Distortions: k2=%f k3=%f k4=%f k5=%f k6=%f k7=%f", + params.k2, params.k3, params.k4, params.k5, params.k6, params.k7); + ROS_INFO("Scale: %f, Point sampling rate: %d", params.scale, params.point_sampling_rate); + ROS_INFO_STREAM("Extrinsics (Tcl):\n" + << params.Tcl); + + return params; +} + +void DepthImageRosNode::syncCallback(const sensor_msgs::PointCloud2ConstPtr &cloud_msg, + const sensor_msgs::ImageConstPtr &image_msg) +{ + pcl::PointCloud cloud; + pcl::fromROSMsg(*cloud_msg, cloud); + if (cloud.empty()) + { + ROS_WARN("Empty point cloud received"); + return; + } + + cv::Mat img_raw; + try + { + // img_raw = cv::imdecode(cv::Mat(image_msg->data), cv::IMREAD_COLOR); + cv_bridge::CvImageConstPtr cv_ptr = cv_bridge::toCvShare(image_msg, "bgr8"); + img_raw = cv_ptr->image; + if (img_raw.empty()) + { + ROS_WARN("Failed to decode compressed image"); + return; + } + } + catch (const cv_bridge::Exception &e) + { + ROS_ERROR("cv_bridge: %s", e.what()); + return; + } + + auto result = depth_converter_->processCloudAndImage(cloud, img_raw); + + if (!result.success) + { + ROS_WARN("Data processing failed: %s", result.error_message.c_str()); + return; + } + + publishDepthImage(result.depth_image, cloud_msg->header); + publishDepthCloud(result.colored_cloud, cloud_msg->header); +} + +void DepthImageRosNode::publishDepthImage(const cv::Mat &img, + const std_msgs::Header &header, + const std::string &encoding) +{ + sensor_msgs::ImagePtr depth_msg = cv_bridge::CvImage(header, encoding, img).toImageMsg(); + depth_image_pub_.publish(depth_msg); +} + +void DepthImageRosNode::publishDepthCloud(const pcl::PointCloud &colored_cloud, + const std_msgs::Header &header) +{ + if (!colored_cloud.points.empty()) + { + sensor_msgs::PointCloud2 cloud_msg; + pcl::toROSMsg(colored_cloud, cloud_msg); + cloud_msg.header = header; + depth_cloud_pub_.publish(cloud_msg); + } +} diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/host_sdk_sample.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/host_sdk_sample.cpp new file mode 100644 index 0000000..ea7420c --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/host_sdk_sample.cpp @@ -0,0 +1,2531 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "host_sdk_sample.h" +#include "yaml_parser.h" +#include "rawCloudRender.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +// #include +#include +#include +#ifdef ROS2 + #include + #include + // AE/AWB debug services (custom .srv generated from this package). + #include "odin_ros_driver/srv/get_ae.hpp" + #include "odin_ros_driver/srv/get_awb.hpp" + #include "odin_ros_driver/srv/set_ae.hpp" + #include "odin_ros_driver/srv/set_awb.hpp" +#else + #include + #include + // AE/AWB debug services (custom .srv generated by catkin). + #include "odin_ros_driver/GetAe.h" + #include "odin_ros_driver/GetAwb.h" + #include "odin_ros_driver/SetAe.h" + #include "odin_ros_driver/SetAwb.h" +#endif +#define ros_driver_version "0.12.0" +#define required_firmware_version_major 0 +#define required_firmware_version_minor 12 +#define required_firmware_version_patch 0 + +// Global variable declarations +static device_handle odinDevice = nullptr; +static std::atomic deviceConnected(false); +static std::atomic deviceDisconnected(false); // Device disconnection flag +static std::mutex device_mutex; // Device operation mutex lock +static std::atomic g_connection_timeout(false); +static std::atomic g_map_transfer_in_progress(false); // True while a map file transfer is running +static std::atomic g_usb_version_error(false); +static std::atomic g_shutdown_requested(false); // Signal handler flag +#ifdef ROS2 + std::shared_ptr g_ros_object = nullptr; +#else + MultiSensorPublisher* g_ros_object = nullptr; +#endif + +int g_log_level = LOG_LEVEL_INFO; +int g_show_fps = 0; // FPS display toggle control + +// Custom parameter monitoring +static std::atomic g_param_monitor_running(false); +static std::thread g_param_monitor_thread; + +// Command file monitoring +static std::string g_command_file_path = ""; + +static std::mutex g_rgb_mutex; +static std::shared_ptr g_latest_bgr; +static uint64_t g_latest_rgb_timestamp = 0; +static bool g_has_rgb = false; +static capture_Image_List_t g_latest_rgb; +static bool g_renderer_initialized = false; +static std::shared_ptr g_renderer = nullptr; +std::string calib_file_ = ""; +static std::shared_ptr g_parser = nullptr; + +static constexpr size_t PTP_SMOOTH_WINDOW_SIZE = 300; +static std::mutex g_ptp_mutex; +static std::deque g_ptp_delay_buf; +static std::deque g_ptp_offset_buf; +static std::atomic g_ptp_delay_smooth{0.0}; +static std::atomic g_ptp_offset_smooth{0.0}; + +// IMU dedicated processing thread +static std::atomic g_imu_thread_running(false); +static std::thread g_imu_thread; +static std::queue g_imu_queue; +static std::mutex g_imu_queue_mutex; +static std::condition_variable g_imu_queue_cv; +static const size_t IMU_QUEUE_MAX_SIZE = 8000; + +double get_ptp_smoothed_delay() { + return g_ptp_delay_smooth.load(std::memory_order_relaxed); +} + +double get_ptp_smoothed_offset() { + return g_ptp_offset_smooth.load(std::memory_order_relaxed); +} + + // usb device +static std::string TARGET_VENDOR = "2207"; +static std::string TARGET_PRODUCT = "0019"; +// Global configuration variables +int g_sendrgb = 1; +int g_sendimu = 1; +int g_senddtof = 1; +int g_sendodom = 1; +int g_send_odom_baselink_tf = 0; + +// SDK IMU smooth sending configuration +int g_enable_imu_smooth = 0; +int g_imu_smooth_frequency = 400; +int g_sendcloudslam = 0; +int g_sendcloudrender = 0; +int g_sendrgb_compressed = 0; +int g_sendrgb_undistort = 0; +int g_record_data = 0; +int g_devstatus_log = 0; +int g_pub_intensity_gray = 0; +int g_show_path = 0; +int g_show_camerapose = 0; +int g_strict_usb3_0_check = 0; +int g_use_host_ros_time = 0; +int g_save_log = 0; +int g_cloud_raw_confidence_threshold = 35; +int g_dtof_fps = 145; // DTOF sensor frame rate: 100 (10fps) or 145 (14.5fps) + +std::filesystem::path log_root_dir_; +int g_custom_map_mode = 0; +bool g_relocalization_success_msg_printed = false; + +std::string g_relocalization_map_abs_path = ""; +std::string g_mapping_result_dest_dir = ""; +std::string g_mapping_result_file_name = ""; + +int g_send_image_mask = 0; +std::string g_image_mask_abs_path = ""; + +int g_reset_algo = 0; + +const char* DEV_STATUS_CSV_FILE = "dev_status.csv"; +FILE* dev_status_csv_file = nullptr; + +std::filesystem::path map_root_dir_; + +char driver_start_time[32]; + +typedef struct { + struct timespec start = {0, 0}; + struct timespec last = {0, 0}; + int count = 0; + std::mutex fps_mutex; +} fpsHandle; + +void update_count(fpsHandle* handle) { + struct timespec now; + std::lock_guard lock(handle->fps_mutex); + clock_gettime(CLOCK_MONOTONIC, &now); + if (handle->count == 0) { + handle->start = now; + } else { + handle->last = now; + } + handle->count++; +} + +double cal_fps(fpsHandle* handle, const char* name, bool print = false) +{ + std::lock_guard lock(handle->fps_mutex); + if (handle->count < 2) { + return 0.0; + } + double elapsed = (handle->last.tv_sec - handle->start.tv_sec) + + (handle->last.tv_nsec - handle->start.tv_nsec) / 1e9; + double fps = (handle->count - 1) / elapsed; + if (print) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "%s FPS: %f (count: %d, elapsed: %f)", name, fps, handle->count, elapsed); + #else + ROS_INFO("%s FPS: %f (count: %d, elapsed: %f)", name, fps, handle->count, elapsed); + #endif + } + handle->start = handle->last; + handle->count = 1; + return fps; +} + +static fpsHandle rgb_rx_fps; +static fpsHandle dtof_rx_fps; +static fpsHandle imu_rx_fps; +static fpsHandle slam_cloud_rx_fps; +static fpsHandle slam_odom_rx_fps; +static fpsHandle slam_odom_highfreq_rx_fps; + +class RosNodeControlImpl : public RosNodeControlInterface { + public: + void setDtofSubframeODR(int interval) override { + dtof_subframe_interval_time = interval; + } + + int getDtofSubframeODR() const override { + return dtof_subframe_interval_time; + } + + void setSendOdomBaseLinkTF(bool send_odom_baselink_tf) override { + pub_odom_baselink_tf = send_odom_baselink_tf; + } + + bool sendOdomBaseLinkTF() const override { + return pub_odom_baselink_tf; + } + + void setCloudRawConfidenceThreshold(int threshold) { + cloud_raw_confidence_threshold = threshold; + } + int cloudRawConfidenceThreshold() const { + return cloud_raw_confidence_threshold; + } + private: + int dtof_subframe_interval_time = 0; + bool pub_use_host_ros_time = false; + bool pub_odom_baselink_tf = false; + int cloud_raw_confidence_threshold = 35; + }; + +static RosNodeControlImpl g_rosNodeControlImpl; + +RosNodeControlInterface* getRosNodeControl() { + return &g_rosNodeControlImpl; +} + +// Return resident memory (RSS) in **megabytes** for a given PID +double read_rss_mb(pid_t pid) { + std::string path = "/proc/" + std::to_string(pid) + "/status"; + std::ifstream in(path); + if (!in) return 0.0; + std::string key; + long kb = 0; + while (in >> key) { + if (key == "VmRSS:") { // VmRSS is reported in kB + in >> kb; + break; + } + in.ignore(std::numeric_limits::max(), '\n'); + } + return kb / 1024.0; // convert to MB +} + +double read_pss_mb(pid_t pid) { + std::string path = "/proc/" + std::to_string(pid) + "/smaps_rollup"; + std::ifstream in(path); + if (!in) return 0.0; + std::string key; + long kb = 0; + while (in >> key) { + if (key == "Pss:") { // Proportional Set Size in kB + in >> kb; + break; + } + in.ignore(std::numeric_limits::max(), '\n'); + } + return kb / 1024.0; // convert to MB +} + +// Recursively collect child PIDs of the given pid +void collect_children(pid_t pid, std::vector& all) { + std::string task_path = "/proc/" + std::to_string(pid) + + "/task/" + std::to_string(pid) + "/children"; + std::ifstream in(task_path); + pid_t child; + while (in >> child) { + all.push_back(child); + collect_children(child, all); + } +} + +void clear_all_queues(); +static void stop_imu_thread(); + +static bool convert_calib_to_cam_in_ex(const std::string& calib_path, const std::filesystem::path& out_path); + +// Signal handler for Ctrl+C +static void signal_handler(int signum) { + if (signum == SIGINT || signum == SIGTERM) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("signal_handler"), "Received signal %d, shutting down...", signum); + #else + ROS_INFO("Received signal %d, shutting down...", signum); + #endif + + g_shutdown_requested = true; + + // Stop IMU dedicated thread + stop_imu_thread(); + + // Stop custom parameter monitoring thread + g_param_monitor_running = false; + if (g_param_monitor_thread.joinable()) { + g_param_monitor_thread.join(); + } + + // Close device + if (odinDevice) { + // Convert calib.yaml to cam_in_ex.txt at program end + if (g_ros_object) { + const std::filesystem::path out_path = g_ros_object->get_root_dir() / "image" / "cam_in_ex.txt"; + (void)convert_calib_to_cam_in_ex(calib_file_, out_path); + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "pose_index: %d", g_ros_object->get_pose_index()); + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "cloud_index: %d", g_ros_object->get_cloud_index()); + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "image_index: %d", g_ros_object->get_image_index()); + #else + ROS_INFO("pose_index: %d", g_ros_object->get_pose_index()); + ROS_INFO("cloud_index: %d", g_ros_object->get_cloud_index()); + ROS_INFO("image_index: %d", g_ros_object->get_image_index()); + #endif + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("signal_handler"), "Closing device..."); + #else + ROS_INFO("Closing device..."); + #endif + + if (lidar_stop_stream(odinDevice, LIDAR_MODE_SLAM)) + { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "lidar_stop_stream failed"); + #else + ROS_INFO("lidar_stop_stream failed"); + #endif + } + odinDevice = nullptr; + } + + // Deinitialize lidar system + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("signal_handler"), "Deinitializing lidar system..."); + #else + ROS_INFO("Deinitializing lidar system..."); + #endif + lidar_system_deinit(); + + // Close CSV file + if (dev_status_csv_file) { + std::fflush(dev_status_csv_file); + fclose(dev_status_csv_file); + dev_status_csv_file = nullptr; + } + + // IMPORTANT: destroy ROS publishers/subscribers BEFORE shutting down + // the ROS context. Otherwise the global g_ros_object (a shared_ptr) + // is destroyed by static finalizers AFTER rclcpp::shutdown(), which + // triggers a flood of "Failed to delete datawriter" / + // "Error in destruction of rcl publisher handle: cannot publish data". + // Mirrors the clean-exit ordering at the end of main(). + // 必须在关闭 ROS 上下文之前先析构 publisher/subscriber。否则全局 + // g_ros_object（shared_ptr）会在 rclcpp::shutdown() 之后由静态析构器 + // 销毁，rmw 层会刷出大量 "Failed to delete datawriter" / + // "Error in destruction of rcl publisher handle" 噪声。此处与 main() + // 末尾的正常退出顺序保持一致。 + #ifdef ROS2 + if (g_ros_object) { + g_ros_object.reset(); + } + rclcpp::shutdown(); + #else + if (g_ros_object) { + delete g_ros_object; + g_ros_object = nullptr; + } + ros::shutdown(); + #endif + + exit(0); + } +} + +// Custom parameter monitoring function +// Note: Map transfer is now triggered directly in process_command_file() when save_map=1 is set, +// so this monitor no longer needs to detect state changes. It's kept for potential future use +// or for monitoring other parameters. +static void custom_parameter_monitor() { + while (g_param_monitor_running && deviceConnected) { + // Currently no active monitoring needed since map transfer is triggered directly + // in process_command_file() when save_map=1 is set. + // This loop is kept for potential future parameter monitoring needs. + + // Sleep for 1 second (1Hz) + std::this_thread::sleep_for(std::chrono::seconds(1)); + } +} + +// Process command from file +static void process_command_file() { + if (!std::filesystem::exists(g_command_file_path)) { + return; + } + + std::ifstream file(g_command_file_path); + if (!file.is_open()) { + return; + } + + std::string line; + if (std::getline(file, line)) { + file.close(); + + // Delete the command file after reading + std::filesystem::remove(g_command_file_path); + + if (line.empty()) return; + + std::istringstream iss(line); + std::string command, param_name, value_str; + + if (!(iss >> command >> param_name >> value_str)) { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("command_processor"), "Invalid command format. Usage: set "); + #else + ROS_WARN("Invalid command format. Usage: set "); + #endif + return; + } + + if (command == "set") { + if (!deviceConnected || !odinDevice) { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("command_processor"), "Device not connected!"); + #else + ROS_WARN("Device not connected!"); + #endif + return; + } + + try { + int value = std::stoi(value_str); + + // Early reject: if a map transfer is already running, ignore new save_map=1 requests + // to avoid spurious "Successfully set save_map = 1" followed by background failure. + if (param_name == "save_map" && value == 1 && g_map_transfer_in_progress.load()) { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("command_processor"), + "Map transfer already in progress, ignoring this save_map=1 request. Please wait for current transfer to complete."); + #else + ROS_WARN("Map transfer already in progress, ignoring this save_map=1 request. Please wait for current transfer to complete."); + #endif + return; + } + + // Special handling for "save_map = 1": delegate the entire flow (set -> poll + // -> fetch) to the SDK's unified lidar_save_map() API. We deliberately skip + // the generic lidar_set_custom_parameter() call here, because lidar_save_map() + // already issues that set internally; doing it twice could re-trigger map + // generation on the device side after it already completed once. + if (param_name == "save_map" && value == 1) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("command_processor"), + "Successfully set %s = %d", param_name.c_str(), value); + #else + ROS_INFO("Successfully set %s = %d", param_name.c_str(), value); + #endif + { + auto now = std::chrono::system_clock::now(); + std::time_t t = std::chrono::system_clock::to_time_t(now); + std::tm tm{}; + #ifdef _WIN32 + localtime_s(&tm, &t); + #else + localtime_r(&t, &tm); + #endif + char map_save_time[32]; + std::strftime(map_save_time, sizeof(map_save_time), "%Y%m%d_%H%M%S", &tm); + + std::string map_dir = g_mapping_result_dest_dir != "" ? g_mapping_result_dest_dir : map_root_dir_.string(); + std::string map_name = g_mapping_result_file_name != "" ? g_mapping_result_file_name : "map_" + std::string(map_save_time) + ".bin"; + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("command_processor"), + "Map save triggered, will transfer to [%s/%s]", map_dir.c_str(), map_name.c_str()); + #else + ROS_INFO("Map save triggered, will transfer to [%s/%s]", map_dir.c_str(), map_name.c_str()); + #endif + + // Mark transfer as in-progress BEFORE spawning the thread to avoid + // race conditions with subsequent set save_map=1 calls. + g_map_transfer_in_progress.store(true); + + // Run save-map in a background thread so we don't block the command processor. + // All the orchestration (trigger -> poll -> fetch) is now handled inside + // the SDK's lidar_save_map() one-shot API, so this side just blocks on it + // and reports the final outcome. + std::thread([map_dir, map_name]() { + // 0 = use SDK default generation timeout (120s). + int ret = lidar_save_map(odinDevice, map_dir.c_str(), map_name.c_str(), 0); + // Always clear the in-progress flag when this thread exits + g_map_transfer_in_progress.store(false); + + if (ret == 0) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("map_transfer"), "Map transfer completed: %s/%s", map_dir.c_str(), map_name.c_str()); + #else + ROS_INFO("Map transfer completed: %s/%s", map_dir.c_str(), map_name.c_str()); + #endif + } else if (ret == -2) { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("map_transfer"), "Map transfer skipped: device is busy with another transfer"); + #else + ROS_WARN("Map transfer skipped: device is busy with another transfer"); + #endif + } else { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("map_transfer"), "Map transfer failed, error code: %d", ret); + #else + ROS_WARN("Map transfer failed, error code: %d", ret); + #endif + } + }).detach(); + } + return; // save_map=1 handled, skip the generic set path below + } + + // Generic path for all other parameters (and save_map=0 / save_map=N>1). + int result = lidar_set_custom_parameter(odinDevice, param_name.c_str(), &value, sizeof(int)); + if (result == 0) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("command_processor"), + "Successfully set %s = %d", param_name.c_str(), value); + #else + ROS_INFO("Successfully set %s = %d", param_name.c_str(), value); + #endif + } else if (result == -2) { + // Device is transferring file, this is expected if user triggers save_map again + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("command_processor"), + "Device is busy transferring file, please wait for current transfer to complete"); + #else + ROS_INFO("Device is busy transferring file, please wait for current transfer to complete"); + #endif + } else { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("command_processor"), + "Failed to set %s = %d, error: %d", param_name.c_str(), value, result); + #else + ROS_ERROR("Failed to set %s = %d, error: %d", param_name.c_str(), value, result); + #endif + } + } catch (const std::exception& e) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("command_processor"), "Invalid value: %s", value_str.c_str()); + #else + ROS_ERROR("Invalid value: %s", value_str.c_str()); + #endif + } + } else { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("command_processor"), "Unknown command: %s", command.c_str()); + #else + ROS_WARN("Unknown command: %s", command.c_str()); + #endif + } + } else { + file.close(); + } +} + +// detect USB3.0 +bool isUsb3OrHigher(const std::string& vendorId, const std::string& productId) { + std::string command = "lsusb -d " + vendorId + ":" + productId + " -v | grep 'bcdUSB'"; + + std::array buffer; + std::string result; + std::unique_ptr pipe(popen(command.c_str(), "r"), pclose); + if (!pipe) { + throw std::runtime_error("popen() failed!"); + } + while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr) { + result += buffer.data(); + } + + if (result.empty()) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("usb_check"), "Failed to get USB version information"); + #else + ROS_ERROR("Failed to get USB version information"); + #endif + return false; + } + + // find bcdUSB + size_t pos = result.find("bcdUSB"); + if (pos == std::string::npos) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("usb_check"), "bcdUSB field not found in lsusb output"); + #else + ROS_ERROR("bcdUSB field not found in lsusb output"); + #endif + return false; + } + + std::string versionStr = result.substr(pos + 7); // "bcdUSB" + space + float version = std::stof(versionStr); + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("usb_check"), "Detected USB version: %.1f", version); + #else + ROS_INFO("Detected USB version: %.1f", version); + #endif + if (!g_strict_usb3_0_check) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("usb_check"), "Strict USB3.0 check disabled"); + #else + ROS_INFO("Strict USB3.0 check disabled"); + #endif + return true; + } + return version >= 3.0; +} + +bool isUsbDevicePresent(const std::string& vendorId, const std::string& productId) { + std::ifstream devicesList("/sys/bus/usb/devices"); + if (devicesList.is_open()) { + std::string line; + while (std::getline(devicesList, line)) { + if (line.find('.') != std::string::npos) continue; + if (line.empty()) continue; + + std::string vendorPath = "/sys/bus/usb/devices/" + line + "/idVendor"; + std::ifstream vendorFile(vendorPath); + if (vendorFile.is_open()) { + std::string vendorContent; + if (std::getline(vendorFile, vendorContent)) { + vendorContent.erase(vendorContent.find_last_not_of(" \n\r\t") + 1); + + std::string productPath = "/sys/bus/usb/devices/" + line + "/idProduct"; + std::ifstream productFile(productPath); + if (productFile.is_open()) { + std::string productContent; + if (std::getline(productFile, productContent)) { + productContent.erase(productContent.find_last_not_of(" \n\r\t") + 1); + + if (vendorContent == vendorId && productContent == productId) { + return true; + } + } + productFile.close(); + } + } + vendorFile.close(); + } + } + devicesList.close(); + } + return false; +} +// Convert calib.yaml to cam_in_ex.txt +static bool convert_calib_to_cam_in_ex(const std::string& calib_path, const std::filesystem::path& out_path) { + try { + if (calib_path.empty()) { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("device_cb"), "calib_file_ is empty, skip writing cam_in_ex.txt"); + #else + ROS_WARN("calib_file_ is empty, skip writing cam_in_ex.txt"); + #endif + return false; + } + + YAML::Node root = YAML::LoadFile(calib_path); + + // Read Tcl_0 matrix (16 values) + std::array Tcl{}; + YAML::Node tcl = root["Tcl_0"]; + for (size_t i = 0; i < 16; ++i) { + if (tcl && tcl.IsSequence() && i < tcl.size()) { + Tcl[i] = tcl[i].as(); + } else { + // Default last row to [0,0,0,1] if missing, others 0 + Tcl[i] = (i == 15) ? 1.0 : 0.0; + } + } + + // Read cam_0 parameters (with defaults) + YAML::Node cam0 = root["cam_0"]; + auto get_i = [&](const char* key, int def) -> int { + return (cam0 && cam0[key]) ? cam0[key].as() : def; + }; + auto get_d = [&](const char* key, double def) -> double { + return (cam0 && cam0[key]) ? cam0[key].as() : def; + }; + + int image_width = get_i("image_width", 0); + int image_height = get_i("image_height", 0); + double k2 = get_d("k2", 0.0); + double k3 = get_d("k3", 0.0); + double k4 = get_d("k4", 0.0); + double k5 = get_d("k5", 0.0); + double k6 = get_d("k6", 0.0); + double k7 = get_d("k7", 0.0); + double p1 = get_d("p1", 0.0); + double p2 = get_d("p2", 0.0); + double A11 = get_d("A11", 0.0); + double A12 = get_d("A12", 0.0); + double A22 = get_d("A22", 0.0); + double u0 = get_d("u0", 0.0); + double v0 = get_d("v0", 0.0); + + // Ensure parent directory exists + std::error_code ec; + std::filesystem::create_directories(out_path.parent_path(), ec); + + // Truncate file then write content + std::ofstream ofs(out_path, std::ios::out | std::ios::trunc); + if (!ofs.is_open()) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to open cam_in_ex.txt for write: %s", out_path.string().c_str()); + #else + ROS_ERROR("Failed to open cam_in_ex.txt for write: %s", out_path.string().c_str()); + #endif + return false; + } + + auto fmt = [](double v) { + std::ostringstream ss; ss.setf(std::ios::fixed); ss << std::setprecision(6) << v; return ss.str(); + }; + + // Write Tcl_0 with line breaks every 4 elements + ofs << "Tcl_0: ["; + for (int i = 0; i < 16; ++i) { + if (i > 0) { + ofs << ", "; + if (i % 4 == 0) ofs << "\n "; + } + ofs << fmt(Tcl[i]); + } + ofs << "]\n"; + + // Write cam_0 block + ofs << "cam_0: \n"; + ofs << " image_width: " << image_width << "\n"; + ofs << " image_height: " << image_height << "\n"; + ofs << " k2: " << fmt(k2) << "\n"; + ofs << " k3: " << fmt(k3) << "\n"; + ofs << " k4: " << fmt(k4) << "\n"; + ofs << " k5: " << fmt(k5) << "\n"; + ofs << " k6: " << fmt(k6) << "\n"; + ofs << " k7: " << fmt(k7) << "\n"; + ofs << " p1: " << fmt(p1) << "\n"; + ofs << " p2: " << fmt(p2) << "\n"; + ofs << " A11: " << fmt(A11) << "\n"; + ofs << " A12: " << fmt(A12) << "\n"; + ofs << " A22: " << fmt(A22) << "\n"; + ofs << " u0: " << fmt(u0) << "\n"; + ofs << " v0: " << fmt(v0) << "\n"; + + ofs.flush(); + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Wrote cam_in_ex.txt to: %s", out_path.string().c_str()); + #else + ROS_INFO("Wrote cam_in_ex.txt to: %s", out_path.string().c_str()); + #endif + return true; + } catch (const std::exception& e) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to convert calib.yaml: %s", e.what()); + #else + ROS_ERROR("Failed to convert calib.yaml: %s", e.what()); + #endif + return false; + } +} + +// Get package share path +std::string get_package_share_path(const std::string& package_name) { +#ifdef ROS2 + try { + return ament_index_cpp::get_package_share_directory(package_name); + } catch (const std::exception& e) { + throw std::runtime_error("Package not found: " + std::string(e.what())); + } +#else + try { + return ros::package::getPath(package_name); + } catch (const ros::InvalidNameException& e) { + throw std::runtime_error("Package not found: " + std::string(e.what())); + } +#endif +} + +std::string get_package_source_directory() { + // 获取当前源文件的绝对路径 + std::filesystem::path current_file(__FILE__); + + // 回溯到包根目录（包含package.xml的目录） + auto path = current_file.parent_path(); + while (!path.empty() && !std::filesystem::exists(path / "package.xml")) { + path = path.parent_path(); + } + + if (path.empty()) { + throw std::runtime_error("Failed to locate package root directory"); + } + + return path.string(); +} + + +std::string get_package_path(const std::string& package_name) { + #ifdef ROS2 + return ament_index_cpp::get_package_share_directory(package_name); + #else + return ros::package::getPath(package_name); + #endif +} + +// Clear all queues +void clear_all_queues() { + // Reset state variables + g_latest_bgr.reset(); + g_latest_rgb_timestamp = 0; + g_has_rgb = false; + + // Clear IMU queue + { + std::lock_guard lock(g_imu_queue_mutex); + while (!g_imu_queue.empty()) { + g_imu_queue.pop(); + } + } +} + +// IMU dedicated processing thread routine +static void imu_thread_routine() +{ + // Try to set higher thread priority for IMU processing + pthread_t this_thread = pthread_self(); + struct sched_param param; + param.sched_priority = 70; + + int ret = pthread_setschedparam(this_thread, SCHED_FIFO, ¶m); + if (ret != 0) { + ret = pthread_setschedparam(this_thread, SCHED_RR, ¶m); + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("imu_thread"), "IMU dedicated thread started (priority: %d)", param.sched_priority); + #else + ROS_INFO("IMU dedicated thread started (priority: %d)", param.sched_priority); + #endif + + while (g_imu_thread_running) { + std::unique_lock lock(g_imu_queue_mutex); + + // Wait for IMU data + g_imu_queue_cv.wait(lock, []() { + return !g_imu_queue.empty() || !g_imu_thread_running; + }); + + if (!g_imu_thread_running) { + break; + } + + // Process all pending IMU data + while (!g_imu_queue.empty() && g_imu_thread_running) { + imu_convert_data_t imu_data = g_imu_queue.front(); + g_imu_queue.pop(); + lock.unlock(); + + // Publish IMU data + if (g_ros_object && g_sendimu) { + g_ros_object->publishImu(&imu_data); + } + + lock.lock(); + } + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("imu_thread"), "IMU dedicated thread exiting"); + #else + ROS_INFO("IMU dedicated thread exiting"); + #endif +} + +// Start IMU dedicated thread +static void start_imu_thread() +{ + if (!g_imu_thread_running) { + // 先确保之前的线程已经结束，避免 terminate called without an active exception + if (g_imu_thread.joinable()) { + g_imu_thread.join(); + } + g_imu_thread_running = true; + g_imu_thread = std::thread(imu_thread_routine); + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("imu_thread"), "IMU dedicated thread created"); + #else + ROS_INFO("IMU dedicated thread created"); + #endif + } +} + +// Stop IMU dedicated thread +static void stop_imu_thread() +{ + if (g_imu_thread_running) { + g_imu_thread_running = false; + g_imu_queue_cv.notify_all(); + if (g_imu_thread.joinable()) { + g_imu_thread.join(); + } + + // Clear queue + std::lock_guard lock(g_imu_queue_mutex); + while (!g_imu_queue.empty()) { + g_imu_queue.pop(); + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("imu_thread"), "IMU dedicated thread stopped"); + #else + ROS_INFO("IMU dedicated thread stopped"); + #endif + } +} + +// Lidar data callback +static void lidar_data_callback(const lidar_data_t *data, void *user_data) +{ + // If device is not connected, ignore all data + if (!deviceConnected) { + return; + } + + // Check g_ros_object before using it + if (!g_ros_object) { + return; + } + + device_handle *dev_handle = static_cast(user_data); + if(!dev_handle || !data) { + printf("Invalid device handle or data.\n"); + return; + } + imu_convert_data_t *imudata = nullptr; + lidar_device_status_t *dev_info_data; + + pid_t self = getpid(); + std::vector pids; + + double total_mb = 0.0; + + switch(data->type) { + case LIDAR_DT_NONE: + printf("empty lidar data type: %x\n", data->type); + break; + case LIDAR_DT_RAW_RGB: + if (g_sendrgb) { + g_ros_object->publishRgb((capture_Image_List_t *)&data->stream); + } + update_count(&rgb_rx_fps); + break; + case LIDAR_DT_RAW_IMU: + if (g_sendimu) { + imudata = (imu_convert_data_t *)data->stream.imageList[0].pAddr; + // Enqueue IMU data for dedicated thread processing + { + std::lock_guard lock(g_imu_queue_mutex); + if (g_imu_queue.size() >= IMU_QUEUE_MAX_SIZE) { + g_imu_queue.pop(); // Drop oldest if full + } + g_imu_queue.push(*imudata); + } + g_imu_queue_cv.notify_one(); + } + update_count(&imu_rx_fps); + break; + case LIDAR_DT_RAW_DTOF: + if (g_senddtof ) { + g_ros_object->publishIntensityCloud((capture_Image_List_t *)&data->stream, 1); + } + if (g_pub_intensity_gray) { + g_ros_object->publishGrayUInt8((capture_Image_List_t *)&data->stream, 2); + } + update_count(&dtof_rx_fps); + break; + case LIDAR_DT_SLAM_CLOUD: + if (g_sendcloudslam) { + g_ros_object->publishPC2XYZRGBA((capture_Image_List_t *)&data->stream, 0); + } + update_count(&slam_cloud_rx_fps); + break; + case LIDAR_DT_SLAM_ODOMETRY: + if (g_sendodom) { + g_ros_object->publishOdometry((capture_Image_List_t *)&data->stream, OdometryType::STANDARD, g_show_path, g_show_camerapose); + } + update_count(&slam_odom_rx_fps); + break; + case LIDAR_DT_DEV_STATUS: + dev_info_data = (lidar_device_status_t *)data->stream.imageList[0].pAddr; + + pids.push_back(self); + collect_children(self, pids); + for (pid_t p : pids) { + total_mb += read_pss_mb(p); // read_rss_mb(p); + } + + if (g_devstatus_log) { + if (dev_status_csv_file) { + // append the data row + int rc = 0; + rc = std::fprintf(dev_status_csv_file, "%.2f,%d,%d,%d,%d,%d,", + dev_info_data->uptime_seconds, + dev_info_data->soc_thermal.package_temp, + dev_info_data->soc_thermal.cpu_temp, + dev_info_data->soc_thermal.center_temp, + dev_info_data->soc_thermal.gpu_temp, + dev_info_data->soc_thermal.npu_temp); + if (rc < 0) { + printf("Failed to write to dev_status_csv_file\n"); + } + + rc = std::fprintf(dev_status_csv_file, "%d,%d,", + dev_info_data->dtof_sensor.tx_temp, + dev_info_data->dtof_sensor.rx_temp); + if (rc < 0) { + printf("Failed to write to dev_status_csv_file\n"); + } + + for (int i = 0; i < 8; i++) { + rc = std::fprintf(dev_status_csv_file, "%d,", dev_info_data->cpu_use_rate[i]); + } + rc = std::fprintf(dev_status_csv_file, "%d,", dev_info_data->ram_use_rate); + + rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,", + ((float)dev_info_data->rgb_sensor.configured_odr)/1000, + ((float)dev_info_data->rgb_sensor.tx_odr)/1000, + cal_fps(&rgb_rx_fps, "rgb_rx") + ); + if (rc < 0) { + printf("Failed to write to dev_status_csv_file\n"); + } + + rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,", + ((float)dev_info_data->dtof_sensor.configured_odr)/1000, + ((float)dev_info_data->dtof_sensor.tx_odr)/1000, + cal_fps(&dtof_rx_fps, "dtof_rx") + ); + if (rc < 0) { + printf("Failed to write to dev_status_csv_file\n"); + } + + rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,", + ((float)dev_info_data->imu_sensor.configured_odr)/1000, + ((float)dev_info_data->imu_sensor.tx_odr)/1000, + cal_fps(&imu_rx_fps, "imu_rx") + ); + if (rc < 0) { + printf("Failed to write to dev_status_csv_file\n"); + } + + rc = std::fprintf(dev_status_csv_file, "%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,", + ((float)dev_info_data->slam_cloud_tx_odr)/1000, + cal_fps(&slam_cloud_rx_fps, "slam_cloud_rx"), + ((float)dev_info_data->slam_odom_tx_odr)/1000, + cal_fps(&slam_odom_rx_fps, "slam_odom_rx"), + ((float)dev_info_data->slam_odom_highfreq_tx_odr)/1000, + cal_fps(&slam_odom_highfreq_rx_fps, "slam_odom_highfreq_rx")); + if (rc < 0) { + printf("Failed to write to dev_status_csv_file\n"); + } + + rc = std::fprintf(dev_status_csv_file, "%.2f\n", total_mb); + if (rc < 0) { + printf("Failed to write to dev_status_csv_file\n"); + } + + std::fflush(dev_status_csv_file); + } + } + if (g_show_fps) { + printf("\n [dev_info] [soc_thermal]: package_temp:%dC \n", + dev_info_data->soc_thermal.package_temp); + printf("\n [dev_info] [soc_thermal]: cpu:%dC \n", + dev_info_data->soc_thermal.cpu_temp); + printf("\n [dev_info] [soc_thermal]: center_temp:%dC \n", + dev_info_data->soc_thermal.center_temp); + printf("\n [dev_info] [soc_thermal]: gpu_temp:%dC \n", + dev_info_data->soc_thermal.gpu_temp); + printf("\n [dev_info] [soc_thermal]: npu_temp:%dC \n", + dev_info_data->soc_thermal.npu_temp); + + for ( int i=0;i<8;i++) + { + printf("\n [dev_info] [cpu]: cpu_use_rate-core[%d]:%d%% \n", + i, + dev_info_data->cpu_use_rate[i]); + + } + printf("\n [dev_info] [cpu]: ram_use_rate:%d%% \n", + dev_info_data->ram_use_rate); + + printf("\n [dev_info] [rgb]: configured_odr: %.2f HZ, tx_odr: %.2f HZ, rx_odr: %.2f HZ \n", + ((float)dev_info_data->rgb_sensor.configured_odr)/1000, + ((float)dev_info_data->rgb_sensor.tx_odr)/1000, + cal_fps(&rgb_rx_fps, "rgb_rx") + ); + + printf("\n [dev_info] [dtof]: configured_odr: %.2f HZ, tx_odr: %.2f HZ, rx_odr: %.2f HZ \n", + ((float)dev_info_data->dtof_sensor.configured_odr)/1000, + ((float)dev_info_data->dtof_sensor.tx_odr)/1000, + cal_fps(&dtof_rx_fps, "dtof_rx") + ); + printf("\n [dev_info] [dtof]: subframe_odr: %.2f \n", + ((float)dev_info_data->dtof_sensor.subframe_odr)/1000); + printf("\n [dev_info] [dtof]: txtemp:%dC, rxtemp:%dC \n", dev_info_data->dtof_sensor.tx_temp, dev_info_data->dtof_sensor.rx_temp); + + printf("\n [dev_info] [imu]: configured_odr: %.2f HZ, tx_odr: %.2f HZ, rx_odr: %.2f HZ\n", + ((float) dev_info_data->imu_sensor.configured_odr)/1000, + ((float) dev_info_data->imu_sensor.tx_odr)/1000, + cal_fps(&imu_rx_fps, "imu_rx") + ); + + printf("\n [dev_info] [slam]: slam_cloud_tx_odr: %.2f HZ, rx_odr: %.2f HZ \n", + ((float)dev_info_data->slam_cloud_tx_odr)/1000, + cal_fps(&slam_cloud_rx_fps, "slam_cloud_rx") + ); + + printf("\n [dev_info] [slam]: slam_odom_tx_odr: %.2f HZ, rx_odr: %.2f HZ \n", + ((float)dev_info_data->slam_odom_tx_odr)/1000, + cal_fps(&slam_odom_rx_fps, "slam_odom_rx") + ); + + printf("\n [dev_info] [slam]: slam_odom_highfreq_tx_odr: %.2f HZ, rx_odr: %.2f HZ \n", + ((float)dev_info_data->slam_odom_highfreq_tx_odr)/1000, + cal_fps(&slam_odom_highfreq_rx_fps, "slam_odom_highfreq_rx") + ); + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("dev_info"), "Total RAM (parent + children): %.2f MB", total_mb); + #else + ROS_INFO("Total RAM (parent + children): %.2f MB", total_mb); + #endif + + printf("\n------------------------------------------\n"); + } + break; + case LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ: + { + if (g_sendodom) { + g_ros_object->publishOdometry((capture_Image_List_t *)&data->stream, OdometryType::HIGHFREQ, false, false); + } + update_count(&slam_odom_highfreq_rx_fps); + } + break; + case LIDAR_DT_SLAM_ODOMETRY_TF: + { + if (g_custom_map_mode == 2) { + g_ros_object->publishOdometry((capture_Image_List_t *)&data->stream, OdometryType::TRANSFORM, false, false); + if (!g_relocalization_success_msg_printed) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("odom"), "relocalization success!"); + #else + ROS_INFO("relocalization success!"); + #endif + g_relocalization_success_msg_printed = true; + } + } + } + break; + case LIDAR_DT_SLAM_WIWC: + { + // Always publish WIWC data for real-time extrinsics + g_ros_object->publishWiwc((capture_Image_List_t *)&data->stream); + + if(g_record_data ) { + g_ros_object->recordrotate((capture_Image_List_t *)&data->stream); + } + } + break; + case LIDAR_DT_NTP: + { + uint32_t data_len = data->stream.imageList[0].length; + if (data_len == sizeof(ptp_sync_data_t)) { + ptp_sync_data_t* ptp_data = (ptp_sync_data_t*)data->stream.imageList[0].pAddr; + { + std::lock_guard lock(g_ptp_mutex); + g_ptp_delay_buf.push_back(ptp_data->delay); + g_ptp_offset_buf.push_back(ptp_data->offset); + + if (g_ptp_delay_buf.size() > PTP_SMOOTH_WINDOW_SIZE) { + g_ptp_delay_buf.pop_front(); + } + if (g_ptp_offset_buf.size() > PTP_SMOOTH_WINDOW_SIZE) { + g_ptp_offset_buf.pop_front(); + } + + double delay_sum = 0.0; + for (double v : g_ptp_delay_buf) delay_sum += v; + double offset_sum = 0.0; + for (double v : g_ptp_offset_buf) offset_sum += v; + + if (!g_ptp_delay_buf.empty()) { + g_ptp_delay_smooth.store(delay_sum / static_cast(g_ptp_delay_buf.size()), std::memory_order_relaxed); + } + if (!g_ptp_offset_buf.empty()) { + g_ptp_offset_smooth.store(offset_sum / static_cast(g_ptp_offset_buf.size()), std::memory_order_relaxed); + } + } + + // std::cout << std::setprecision(16) + // << "PTP delay: " << ptp_data->delay + // << " offset:" << ptp_data->offset + // << " smooth_delay:" << get_ptp_smoothed_delay() + // << " smooth_offset:" << get_ptp_smoothed_offset() + // << std::endl; + } + } + break; + default: + printf("Unknown lidar data type: %x", data->type); + return; + } +} + +static void lidar_device_callback(const lidar_device_info_t* device, bool attach) +{ + int type = LIDAR_MODE_SLAM; + // int type = LIDAR_MODE_RAW; + static std::chrono::steady_clock::time_point software_connect_start; + static bool software_connect_timing = false; + + if(attach == true) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Hardware connected, starting software connection..."); + #else + ROS_INFO("Hardware connected, starting software connection..."); + #endif + if (!isUsb3OrHigher(TARGET_VENDOR, TARGET_PRODUCT)) { + #ifdef ROS2 + RCLCPP_FATAL(rclcpp::get_logger("device_cb"), + "Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program."); + #else + ROS_FATAL("Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program."); + #endif + + g_usb_version_error = true; + system("pkill -f rviz"); + exit(1); + return; + } + + software_connect_start = std::chrono::steady_clock::now(); + software_connect_timing = true; + + if (odinDevice) { + odinDevice = nullptr; + } + + if (lidar_create_device(const_cast(device), &odinDevice)) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Create device failed"); + #else + ROS_ERROR("Create device failed"); + #endif + return; + } + const std::string package_name = "odin_ros_driver"; + std::string config_dir = ""; + #ifdef ROS2 + char* ros_workspace = std::getenv("COLCON_PREFIX_PATH"); + if (ros_workspace) { + std::string workspace_path(ros_workspace); + size_t pos = workspace_path.find("/install"); + if (pos != std::string::npos) { + config_dir = workspace_path.substr(0, pos) + "/src/odin_ros_driver/config"; + } else { + config_dir = ament_index_cpp::get_package_share_directory(package_name) + "/config"; + } + } else { + config_dir = ament_index_cpp::get_package_share_directory(package_name) + "/config"; + } + #else + config_dir = ros::package::getPath(package_name) + "/config"; + #endif + std::cout << "config_dir"<< config_dir <(now - software_connect_start); + if (elapsed.count() >= 60) { + #ifdef ROS2 + RCLCPP_FATAL(rclcpp::get_logger("device_cb"), + "Software connection timed out after 60 seconds. Exiting program."); + #else + ROS_FATAL("Software connection timed out after 60 seconds. Exiting program."); + #endif + + if (odinDevice) { + lidar_close_device(odinDevice); + lidar_destory_device(odinDevice); + odinDevice = nullptr; + } + + g_connection_timeout = true; + return; + } + + lidar_fireware_version_t version; + if(lidar_get_version(odinDevice,&version)) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to get device firmware version, potential incompatible, please upgrade device firmware and retry."); + #else + ROS_ERROR("Failed to get device firmware version, potential incompatible, please upgrade device firmware and retry."); + #endif + system("pkill -f rviz"); + system("pkill -f host_sdk_sample"); + exit(1); + } + else { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger(__func__), "ros_driver_version:%s, recommended_firmware_version:%d.%d.%d", ros_driver_version, required_firmware_version_major, required_firmware_version_minor, required_firmware_version_patch); + RCLCPP_INFO(rclcpp::get_logger(__func__), "get version success."); + RCLCPP_INFO(rclcpp::get_logger(__func__), "kernel_version: V%d.%d.%d",version.kernel_version.major,version.kernel_version.minor,version.kernel_version.patch); + RCLCPP_INFO(rclcpp::get_logger(__func__), "mcu_version: V%d.%d.%d",version.mcu_version.major,version.mcu_version.minor,version.mcu_version.patch); + RCLCPP_INFO(rclcpp::get_logger(__func__), "soc_version: V%d.%d.%d",version.soc_version.major,version.soc_version.minor,version.soc_version.patch); + RCLCPP_INFO(rclcpp::get_logger(__func__), "Daemon_proc_version: V%d.%d.%d",version.Daemon_proc_version.major,version.Daemon_proc_version.minor,version.Daemon_proc_version.patch); + RCLCPP_INFO(rclcpp::get_logger(__func__), "slam_version: V%d.%d.%d",version.slam_version.major,version.slam_version.minor,version.slam_version.patch); + #else + ROS_INFO("ros_driver_version:%s, recommended_min_firmware_version:%d.%d.%d", ros_driver_version, required_firmware_version_major, required_firmware_version_minor, required_firmware_version_patch); + ROS_INFO("get version success."); + ROS_INFO("kernel_version: V%d.%d.%d",version.kernel_version.major,version.kernel_version.minor,version.kernel_version.patch); + ROS_INFO("mcu_version: V%d.%d.%d",version.mcu_version.major,version.mcu_version.minor,version.mcu_version.patch); + ROS_INFO("soc_version: V%d.%d.%d",version.soc_version.major,version.soc_version.minor,version.soc_version.patch); + ROS_INFO("Daemon_proc_version: V%d.%d.%d",version.Daemon_proc_version.major,version.Daemon_proc_version.minor,version.Daemon_proc_version.patch); + ROS_INFO("slam_version: V%d.%d.%d",version.slam_version.major,version.slam_version.minor,version.slam_version.patch); + #endif + + // Lexicographic compare on (major, minor, patch): treat the three + // fields as a single ordered tuple. e.g. 0.12.0 must be considered + // higher than 0.11.99, and 0.11.11 lower than 0.12.0. + const bool soc_version_too_low = + (version.soc_version.major < required_firmware_version_major) || + (version.soc_version.major == required_firmware_version_major && + version.soc_version.minor < required_firmware_version_minor) || + (version.soc_version.major == required_firmware_version_major && + version.soc_version.minor == required_firmware_version_minor && + version.soc_version.patch < required_firmware_version_patch); + if (soc_version_too_low) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger(__func__),"The soc version is too low, please upgrade the device firmware to at least %d.%d.%d\n",required_firmware_version_major,required_firmware_version_minor,required_firmware_version_patch); + #else + ROS_ERROR("The soc version is too low, please upgrade the device firmware to at least %d.%d.%d\n",required_firmware_version_major,required_firmware_version_minor,required_firmware_version_patch); + #endif + system("pkill -f rviz"); + system("pkill -f host_sdk_sample"); + exit(1); + } + } + + if (g_save_log) { + if (lidar_enable_encrypted_device_log(const_cast(device), per_con_log_root_dir.c_str())) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Enable log failed"); + #else + ROS_ERROR("Enable log failed"); + #endif + lidar_close_device(odinDevice); + lidar_destory_device(odinDevice); + odinDevice = nullptr; + return; + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Encrypted device log enabled at: %s", per_con_log_root_dir.c_str()); + #else + ROS_INFO("Encrypted device log enabled at: %s", per_con_log_root_dir.c_str()); + #endif + } else { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Encrypted device log disabled via configuration"); + #else + ROS_INFO("Encrypted device log disabled via configuration"); + #endif + } + + bool need_open_device = true; + bool get_calib_file = true; + switch (device->initial_state) { + case LIDAR_DEVICE_NOT_INITIALIZED: + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Device state: not initialized, performing full setup"); + #else + ROS_INFO("Device state: not initialized, performing full setup"); + #endif + break; + case LIDAR_DEVICE_INITIALIZED: + need_open_device = false; + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Device state: initialized, skip opening device"); + #else + ROS_INFO("Device state: initialized, skip opening device"); + #endif + break; + case LIDAR_DEVICE_STREAMING: + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("device_cb"), "Device state: streaming, this should not happen, exitting..."); + #else + ROS_WARN("Device state: streaming, this should not happen, exitting..."); + #endif + system("pkill -f rviz"); + exit(1); + break; + case LIDAR_DEVICE_STREAM_STOPPED: + need_open_device = false; + get_calib_file = false; + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Device state: stream stopped, resume streaming"); + #else + ROS_INFO("Device state: stream stopped, resume streaming"); + #endif + break; + default: + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("device_cb"), "Unknown device initial state: %d", device->initial_state); + #else + ROS_WARN("Unknown device initial state: %d", device->initial_state); + #endif + break; + } + + if (need_open_device) { + if (lidar_open_device(odinDevice)) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Open device failed"); + #else + ROS_ERROR("Open device failed"); + #endif + lidar_destory_device(odinDevice); + odinDevice = nullptr; + return; + } + } + + std::string calib_config = config_dir + "/calib.yaml"; + calib_file_ = calib_config; + if (get_calib_file) { + if (lidar_get_calib_file(odinDevice, config_dir.c_str())) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to get calibration file"); + #else + ROS_ERROR("Failed to get calibration file"); + #endif + lidar_close_device(odinDevice); + lidar_destory_device(odinDevice); + odinDevice = nullptr; + return; + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Successfully retrieved calibration files"); + #else + ROS_INFO("Successfully retrieved calibration files"); + #endif + } else { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Skipping calibration retrieval for current device state"); + #else + ROS_INFO("Skipping calibration retrieval for current device state"); + #endif + } + + // Push device identity / version into the binary data logger's info.txt. + // SN is parsed from the first comment line of calib.yaml (e.g. "# O1-P010100043"). + // No-op when recorddata=0 (logger not initialized). + if (g_ros_object) { + char fw_buf[48]; + char algo_buf[48]; + std::snprintf(fw_buf, sizeof(fw_buf), "%d.%d.%d", + version.soc_version.major, + version.soc_version.minor, + version.soc_version.patch); + std::snprintf(algo_buf, sizeof(algo_buf), "%d.%d.%d", + version.slam_version.major, + version.slam_version.minor, + version.slam_version.patch); + std::string sn; + if (std::filesystem::exists(calib_config)) { + std::ifstream calib_in(calib_config); + std::string first_line; + if (calib_in.is_open() && std::getline(calib_in, first_line)) { + // Strip leading '#' and any whitespace, take token until end-of-line / whitespace. + size_t pos = first_line.find_first_not_of("# \t"); + if (pos != std::string::npos) { + size_t end = first_line.find_first_of(" \t\r\n", pos); + sn = first_line.substr(pos, end == std::string::npos ? std::string::npos : end - pos); + } + } + } + g_ros_object->update_data_logger_info(sn, fw_buf, algo_buf); + } + + if (std::filesystem::exists(calib_config)) { + g_renderer = std::make_shared(); + if (g_renderer->init(calib_config)) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Point cloud renderer initialized"); + #else + ROS_INFO("Point cloud renderer initialized"); + #endif + } else { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to initialize point cloud renderer"); + #else + ROS_ERROR("Failed to initialize point cloud renderer"); + #endif + } + } else { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("device_cb"), "Renderer config file not found: %s", calib_config.c_str()); + #else + ROS_WARN("Renderer config file not found: %s", calib_config.c_str()); + #endif + } + + + // Set DTOF sensor frame rate based on configuration + // Supported values: 100 (10fps) or 145 (14.5fps) + lidar_depth_para_t dtofpara; + if (g_dtof_fps == 100) { + dtofpara.odr = LIDAR_DEPTH_ODR_10HZ; + } else if (g_dtof_fps == 145) { + dtofpara.odr = LIDAR_DEPTH_ODR_14_5HZ; + } else if (g_dtof_fps == 290){ + dtofpara.odr = LIDAR_DEPTH_ODR_29HZ; + } else { + // Default to 14.5Hz if invalid value + dtofpara.odr = LIDAR_DEPTH_ODR_14_5HZ; + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("ros[host_sdk_sample]"), + "Invalid dtof_fps value: %d, using default 14.5fps", g_dtof_fps); + #else + ROS_WARN("Invalid dtof_fps value: %d, using default 14.5fps", g_dtof_fps); + #endif + } + + if(lidar_set_depth_parameter(odinDevice, &dtofpara)) { + printf("set depth parameter failed.\n"); + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("ros[host_sdk_sample]"), "set depth parameter failed"); + #else + ROS_WARN("set depth parameter failed"); + #endif + return; + } + + // Log the configured frame rate + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("ros[host_sdk_sample]"), + "DTOF sensor frame rate set to %.1f fps", g_dtof_fps / 10.0); + #else + ROS_INFO("DTOF sensor frame rate set to %.1f fps", g_dtof_fps / 10.0); + #endif + + + if (lidar_set_mode(odinDevice, type)) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Set mode failed"); + #else + ROS_ERROR("Set mode failed"); + #endif + lidar_close_device(odinDevice); + lidar_destory_device(odinDevice); + odinDevice = nullptr; + return; + } + + // Apply custom parameters after setting mode + if (g_parser && !g_parser->applyCustomParameters(odinDevice)) { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("device_cb"), "Some custom parameters failed to apply"); + #else + ROS_WARN("Some custom parameters failed to apply"); + #endif + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Custom map mode: %d", g_custom_map_mode); + #else + ROS_INFO("Custom map mode: %d", g_custom_map_mode); + #endif + + if (g_custom_map_mode == 1) { + int save_map_init_value = 0; + int result = lidar_set_custom_parameter(odinDevice, "save_map", &save_map_init_value, sizeof(int)); + + if (result == 0) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("command_processor"), + "Successfully initialized %s = %d", "save_map", save_map_init_value); + #else + ROS_INFO("Successfully initialized %s = %d", "save_map", save_map_init_value); + #endif + } else { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("command_processor"), + "Failed to initialize %s = %d, error: %d", "save_map", save_map_init_value, result); + #else + ROS_ERROR("Failed to initialize %s = %d, error: %d", "save_map", save_map_init_value, result); + #endif + } + } else if (g_custom_map_mode == 2) { + bool result = false; + int retryTime = 3; + if (g_relocalization_map_abs_path != "" && std::filesystem::exists(g_relocalization_map_abs_path)) { + while(retryTime-- > 0) + { + result = (lidar_set_relocalization_map(odinDevice, g_relocalization_map_abs_path.c_str()) == 0); + if(result) + { + break; + } + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Relocalization map set retry...,%d",retryTime); + #else + ROS_INFO("Relocalization map set retry...,%d",retryTime); + #endif + } + } else { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Relocalization map invlalid"); + #else + ROS_ERROR("Relocalization map invlalid"); + #endif + } + if (result) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Relocalization map set successfully"); + #else + ROS_INFO("Relocalization map set successfully"); + #endif + } else { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Relocalization map path set fail"); + #else + ROS_ERROR("Relocalization map path set fail"); + #endif + lidar_close_device(odinDevice); + lidar_destory_device(odinDevice); + odinDevice = nullptr; + return; + } + } + + // Transfer image mask if enabled + if (g_send_image_mask == 1) { + if (g_image_mask_abs_path != "" && std::filesystem::exists(g_image_mask_abs_path)) { + int ret = lidar_set_image_mask(odinDevice, g_image_mask_abs_path.c_str()); + if (ret == 0) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Image mask set successfully: %s", g_image_mask_abs_path.c_str()); + #else + ROS_INFO("Image mask set successfully: %s", g_image_mask_abs_path.c_str()); + #endif + } else { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to set image mask: %s, error: %d", g_image_mask_abs_path.c_str(), ret); + #else + ROS_ERROR("Failed to set image mask: %s, error: %d", g_image_mask_abs_path.c_str(), ret); + #endif + } + } else { + #ifdef ROS2 + RCLCPP_WARN(rclcpp::get_logger("device_cb"), "Image mask path not set or file not found: %s", g_image_mask_abs_path.c_str()); + #else + ROS_WARN("Image mask path not set or file not found: %s", g_image_mask_abs_path.c_str()); + #endif + } + } + + // Send algo_reset command if enabled + if (g_reset_algo == 1) { + int reset_value = 1; + int ret = lidar_set_custom_parameter(odinDevice, "algo_reset", &reset_value, sizeof(int)); + if (ret == 0) { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Algo reset command sent successfully"); + #else + ROS_INFO("Algo reset command sent successfully"); + #endif + } else { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Failed to send algo reset command, error: %d", ret); + #else + ROS_ERROR("Failed to send algo reset command, error: %d", ret); + #endif + } + } + + lidar_data_callback_info_t data_callback_info; + data_callback_info.data_callback = lidar_data_callback; + data_callback_info.user_data = &odinDevice; + + if (lidar_register_stream_callback(odinDevice, data_callback_info)) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device"), "Register callback failed"); + #else + ROS_ERROR("Register callback failed"); + #endif + lidar_close_device(odinDevice); + lidar_destory_device(odinDevice); + odinDevice = nullptr; + return; + } + + std::string dev_status_csv_file_path_ = per_con_log_root_dir / "dev_status.csv"; + + if (dev_status_csv_file) { + std::fflush(dev_status_csv_file); + fclose(dev_status_csv_file); + dev_status_csv_file = nullptr; + } + + // Open the file in append mode + dev_status_csv_file = fopen(dev_status_csv_file_path_.c_str(), "a"); + if (!dev_status_csv_file) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("init"), "Failed to open dev_status CSV file"); + #else + ROS_ERROR("Failed to open dev_status CSV file"); + #endif + } else { + const char* header = + "uptime_seconds,package_temp,cpu_temp,center_temp,gpu_temp,npu_temp,dtof_tx_temp,dtof_rx_temp," + "cpu0,cpu1,cpu2,cpu3,cpu4,cpu5,cpu6,cpu7,ram_use(%)," + "rgb_configured_odr,rgb_tx_odr,rgb_rx_odr,dtof_configured_odr,dtof_tx_odr,dtof_rx_odr,imu_configured_odr,imu_tx_odr,imu_rx_odr," + "slam_cloud_tx_odr,slam_cloud_rx_odr,slam_odom_tx_odr,slam_odom_rx_odr,slam_odom_highfreq_tx_odr,slam_odom_highfreq_rx_odr," + "host_ram_use(mb)\n"; + fprintf(dev_status_csv_file, "%s", header); + std::fflush(dev_status_csv_file); + } + + uint32_t dtof_subframe_odr = 0; + if (lidar_start_stream(odinDevice, type, dtof_subframe_odr)) { + #ifdef ROS2 + RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Start stream failed"); + #else + ROS_ERROR("Start stream failed"); + #endif + lidar_close_device(odinDevice); + lidar_destory_device(odinDevice); + odinDevice = nullptr; + return; + } + + if (dtof_subframe_odr > 0) { + g_rosNodeControlImpl.setDtofSubframeODR(dtof_subframe_odr); + } + + // 根据配置激活或关闭流类型 + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), + "Stream config: RGB=%d, IMU=%d, ODOM=%d, DTOF=%d, CLOUD_SLAM=%d", + g_sendrgb, g_sendimu, g_sendodom, g_senddtof, g_sendcloudslam); + #else + ROS_INFO("Stream config: RGB=%d, IMU=%d, ODOM=%d, DTOF=%d, CLOUD_SLAM=%d", + g_sendrgb, g_sendimu, g_sendodom, g_senddtof, g_sendcloudslam); + #endif + + if (g_sendrgb) { + lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_RGB); + } else { + lidar_deactivate_stream_type(odinDevice, LIDAR_DT_RAW_RGB); + } + if (g_sendimu) { + lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_IMU); + } else { + lidar_deactivate_stream_type(odinDevice, LIDAR_DT_RAW_IMU); + } + if (g_sendodom) { + lidar_activate_stream_type(odinDevice, LIDAR_DT_SLAM_ODOMETRY); + } else { + lidar_deactivate_stream_type(odinDevice, LIDAR_DT_SLAM_ODOMETRY); + } + if (g_senddtof) { + lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_DTOF); + } else { + lidar_deactivate_stream_type(odinDevice, LIDAR_DT_RAW_DTOF); + } + if (g_sendcloudslam) { + lidar_activate_stream_type(odinDevice, LIDAR_DT_SLAM_CLOUD); + } else { + lidar_deactivate_stream_type(odinDevice, LIDAR_DT_SLAM_CLOUD); + } + + software_connect_timing = false; + deviceConnected = true; + deviceDisconnected = false; + + // Start IMU dedicated thread + start_imu_thread(); + + // Start custom parameter monitoring thread + // 先确保之前的线程已经结束，避免 terminate called without an active exception + if (g_param_monitor_thread.joinable()) { + g_param_monitor_running = false; + g_param_monitor_thread.join(); + } + g_param_monitor_running = true; + g_param_monitor_thread = std::thread(custom_parameter_monitor); + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), + "Command interface ready. Use: echo 'set save_map 1' > %s", g_command_file_path.c_str()); + #else + ROS_INFO("Command interface ready. Use: echo 'set save_map 1' > %s", g_command_file_path.c_str()); + #endif + + bool load_status = g_ros_object->loadCameraParams(calib_config); + if (g_sendrgb_undistort && load_status == 0) { + g_ros_object->buildUndistortMap(); + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Software connection successful in %ld seconds", + std::chrono::duration_cast(std::chrono::steady_clock::now() - software_connect_start).count()); + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Device ready and streams activated"); + #else + ROS_INFO("Software connection successful in %ld seconds", + std::chrono::duration_cast(std::chrono::steady_clock::now() - software_connect_start).count()); + ROS_INFO("Device ready and streams activated"); + #endif + } else { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Device detaching..."); + #else + ROS_INFO("Device detaching..."); + #endif + + deviceConnected = false; + deviceDisconnected = true; + + // Stop IMU dedicated thread + stop_imu_thread(); + + // Stop custom parameter monitoring thread + g_param_monitor_running = false; + if (g_param_monitor_thread.joinable()) { + g_param_monitor_thread.join(); + } + + + clear_all_queues(); + + if (dev_status_csv_file) { + std::fflush(dev_status_csv_file); + fclose(dev_status_csv_file); + dev_status_csv_file = nullptr; + } + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Waiting for device reconnection..."); + #else + ROS_INFO("Waiting for device reconnection..."); + #endif + } +} + +int main(int argc, char *argv[]) +{ +#ifdef ROS2 + rclcpp::init(argc, argv); + auto node = std::make_shared("lydros_node"); + g_ros_object = std::make_shared(node); + + // ----------------------------------------------------------------- + // AE/AWB debug services (ROS2). Allow a side terminal to tune the + // camera AE/AWB at runtime via `ros2 service call`, while the + // driver keeps streaming. + // + // /odin1/get_ae odin_ros_driver/srv/GetAe - query AE state + // /odin1/get_awb odin_ros_driver/srv/GetAwb - query AWB state + // /odin1/set_ae odin_ros_driver/srv/SetAe - set AE mode/params + // /odin1/set_awb odin_ros_driver/srv/SetAwb - set AWB mode/params + // + // Request semantics (set_ae / set_awb): + // mode == 0 (AUTO) : device runs its own AE/AWB loop; the + // float fields in the request are ignored. + // mode == 1 (MANUAL) : device locks AE/AWB and applies the + // provided values. Out-of-range values are + // rejected by the device with rc = 403. + // + // Parameter ranges (manual mode): + // set_ae .exposure_time : 0.0001 s .. 0.033 s + // set_ae .gain : 1.0 .. 64.0 + // set_awb.rgain : 0.1 .. 4.0 + // set_awb.bgain : 0.1 .. 4.0 + // + // Response rc convention (all 4 services): + // 0 success (success = true) + // 400.. device-side error, see lidar_ae_error_e + // -100 driver has not opened the device yet + // <0 other SDK-side error (USB / timeout / malformed reply) + // + // Concurrency: the underlying SDK calls are serialised by an + // internal mutex shared with other control commands, so no extra + // locking is required here. + // ----------------------------------------------------------------- + auto srv_get_ae = node->create_service( + "/odin1/get_ae", + [](const std::shared_ptr /*req*/, + std::shared_ptr res) { + if (odinDevice == nullptr) { + res->success = false; + res->rc = -100; + return; + } + lidar_ae_info_t info{}; + int rc = lidar_get_ae_info(odinDevice, &info); + res->rc = rc; + res->success = (rc == 0); + res->exposure_time = info.exposure_time; + res->gain = info.gain; + res->iso = info.iso; + res->brightness = info.brightness; + res->is_converged = info.is_converged; + res->env_lv = info.env_lv; + res->fps = info.fps; + }); + + auto srv_get_awb = node->create_service( + "/odin1/get_awb", + [](const std::shared_ptr /*req*/, + std::shared_ptr res) { + if (odinDevice == nullptr) { + res->success = false; + res->rc = -100; + return; + } + lidar_awb_info_t info{}; + int rc = lidar_get_awb_info(odinDevice, &info); + res->rc = rc; + res->success = (rc == 0); + res->rgain = info.rgain; + res->grgain = info.grgain; + res->gbgain = info.gbgain; + res->bgain = info.bgain; + res->cct = info.cct; + res->ccri = info.ccri; + res->is_converged = info.is_converged; + }); + + auto srv_set_ae = node->create_service( + "/odin1/set_ae", + [](const std::shared_ptr req, + std::shared_ptr res) { + if (odinDevice == nullptr) { + res->success = false; + res->rc = -100; + return; + } + lidar_cam_mode_e mode = (req->mode == 1) + ? LIDAR_CAM_MODE_MANUAL : LIDAR_CAM_MODE_AUTO; + int rc = lidar_set_ae_param(odinDevice, mode, + req->exposure_time, req->gain); + res->rc = rc; + res->success = (rc == 0); + }); + + auto srv_set_awb = node->create_service( + "/odin1/set_awb", + [](const std::shared_ptr req, + std::shared_ptr res) { + if (odinDevice == nullptr) { + res->success = false; + res->rc = -100; + return; + } + lidar_cam_mode_e mode = (req->mode == 1) + ? LIDAR_CAM_MODE_MANUAL : LIDAR_CAM_MODE_AUTO; + int rc = lidar_set_awb_param(odinDevice, mode, + req->rgain, req->bgain); + res->rc = rc; + res->success = (rc == 0); + }); + + RCLCPP_INFO(node->get_logger(), + "AE/AWB debug services ready: " + "/odin1/get_ae /odin1/get_awb /odin1/set_ae /odin1/set_awb"); +#else + ros::init(argc, argv, "lydros_node"); + ros::NodeHandle nh; + g_ros_object = new MultiSensorPublisher(nh); + + // ----------------------------------------------------------------- + // AE/AWB debug services (ROS1). Same service names, srv schema, + // parameter ranges and rc convention as the ROS2 branch above + // (see the comment block before the ROS2 create_service calls). + // A side terminal can invoke these via `rosservice call ...`. + // ----------------------------------------------------------------- + ros::ServiceServer srv_get_ae = nh.advertiseService< + odin_ros_driver::GetAe::Request, + odin_ros_driver::GetAe::Response>( + "/odin1/get_ae", + boost::function( + [](odin_ros_driver::GetAe::Request & /*req*/, + odin_ros_driver::GetAe::Response &res) -> bool { + if (odinDevice == nullptr) { + res.success = false; + res.rc = -100; + return true; + } + lidar_ae_info_t info{}; + int rc = lidar_get_ae_info(odinDevice, &info); + res.rc = rc; + res.success = (rc == 0); + res.exposure_time = info.exposure_time; + res.gain = info.gain; + res.iso = info.iso; + res.brightness = info.brightness; + res.is_converged = info.is_converged; + res.env_lv = info.env_lv; + res.fps = info.fps; + return true; + })); + + ros::ServiceServer srv_get_awb = nh.advertiseService< + odin_ros_driver::GetAwb::Request, + odin_ros_driver::GetAwb::Response>( + "/odin1/get_awb", + boost::function( + [](odin_ros_driver::GetAwb::Request & /*req*/, + odin_ros_driver::GetAwb::Response &res) -> bool { + if (odinDevice == nullptr) { + res.success = false; + res.rc = -100; + return true; + } + lidar_awb_info_t info{}; + int rc = lidar_get_awb_info(odinDevice, &info); + res.rc = rc; + res.success = (rc == 0); + res.rgain = info.rgain; + res.grgain = info.grgain; + res.gbgain = info.gbgain; + res.bgain = info.bgain; + res.cct = info.cct; + res.ccri = info.ccri; + res.is_converged = info.is_converged; + return true; + })); + + ros::ServiceServer srv_set_ae = nh.advertiseService< + odin_ros_driver::SetAe::Request, + odin_ros_driver::SetAe::Response>( + "/odin1/set_ae", + boost::function( + [](odin_ros_driver::SetAe::Request &req, + odin_ros_driver::SetAe::Response &res) -> bool { + if (odinDevice == nullptr) { + res.success = false; + res.rc = -100; + return true; + } + lidar_cam_mode_e mode = (req.mode == 1) + ? LIDAR_CAM_MODE_MANUAL : LIDAR_CAM_MODE_AUTO; + int rc = lidar_set_ae_param(odinDevice, mode, + req.exposure_time, req.gain); + res.rc = rc; + res.success = (rc == 0); + return true; + })); + + ros::ServiceServer srv_set_awb = nh.advertiseService< + odin_ros_driver::SetAwb::Request, + odin_ros_driver::SetAwb::Response>( + "/odin1/set_awb", + boost::function( + [](odin_ros_driver::SetAwb::Request &req, + odin_ros_driver::SetAwb::Response &res) -> bool { + if (odinDevice == nullptr) { + res.success = false; + res.rc = -100; + return true; + } + lidar_cam_mode_e mode = (req.mode == 1) + ? LIDAR_CAM_MODE_MANUAL : LIDAR_CAM_MODE_AUTO; + int rc = lidar_set_awb_param(odinDevice, mode, + req.rgain, req.bgain); + res.rc = rc; + res.success = (rc == 0); + return true; + })); + + ROS_INFO("AE/AWB debug services ready: " + "/odin1/get_ae /odin1/get_awb /odin1/set_ae /odin1/set_awb"); +#endif + + // Register signal handlers for Ctrl+C + signal(SIGINT, signal_handler); + signal(SIGTERM, signal_handler); + + try { + #ifdef ROS2 + std::string package_path = get_package_source_directory(); + std::cout << "package_path: " << package_path << std::endl; + #else + std::string package_path = get_package_share_path("odin_ros_driver"); + #endif + std::string config_dir = package_path + "/config"; + std::string config_file = config_dir + "/control_command.yaml"; + + // Initialize command file path to /tmp/odin_command.txt + g_command_file_path = "/tmp/odin_command.txt"; + + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("init"), "Command file path set to: %s", g_command_file_path.c_str()); + #else + ROS_INFO("Command file path set to: %s", g_command_file_path.c_str()); + #endif + + g_parser = std::make_shared(config_file); + if (!g_parser->loadConfig()) { + #ifdef ROS2 + RCLCPP_ERROR(node->get_logger(), "Failed to load config file: %s", config_file.c_str()); + #else + ROS_ERROR("Failed to load config file: %s", config_file.c_str()); + #endif + return -1; + } + + auto keys = g_parser->getRegisterKeys(); + auto keys_w_str_val = g_parser->getRegisterKeysStrVal(); + g_parser->printConfig(); + + auto get_key_value = [&](const std::string& key, int default_value) -> int { + auto it = keys.find(key); + return it != keys.end() ? it->second : default_value; + }; + + g_sendrgb = get_key_value("sendrgb", 1); + g_sendimu = get_key_value("sendimu", 1); + g_senddtof = get_key_value("senddtof", 1); + + // SDK IMU smooth sending configuration + g_enable_imu_smooth = get_key_value("enable_imu_smooth", 0); + g_imu_smooth_frequency = get_key_value("imu_smooth_frequency", 400); + g_cloud_raw_confidence_threshold = get_key_value("cloud_raw_confidence_threshold", 35); + g_rosNodeControlImpl.setCloudRawConfidenceThreshold(g_cloud_raw_confidence_threshold); + g_dtof_fps = get_key_value("dtof_fps", 145); // Read DTOF frame rate from config (100=10fps, 145=14.5fps) + g_sendodom = get_key_value("sendodom", 1); + g_send_odom_baselink_tf = get_key_value("send_odom_baselink_tf", 0); + g_sendcloudslam = get_key_value("sendcloudslam", 0); + g_sendcloudrender = get_key_value("sendcloudrender", 1); + g_sendrgb_compressed = get_key_value("sendrgbcompressed", 1); + g_sendrgb_undistort = get_key_value("sendrgbundistort", 0); + g_record_data = get_key_value("recorddata", 0); + g_show_fps = get_key_value("showfps", 0); + g_devstatus_log = get_key_value("devstatuslog", 0); + g_pub_intensity_gray = get_key_value("pubintensitygray", 0); + g_show_path = get_key_value("showpath", 0); + g_show_camerapose = get_key_value("showcamerapose", 0); + g_log_level = get_key_value("log_devel", LOG_LEVEL_INFO); + g_strict_usb3_0_check = get_key_value("strict_usb3.0_check", 1); + g_use_host_ros_time = get_key_value("use_host_ros_time", 0); + g_save_log = get_key_value("save_log", 0); + + if (g_send_odom_baselink_tf) { + g_rosNodeControlImpl.setSendOdomBaseLinkTF(true); + } + + auto get_key_str_value = [&](const std::string& key, const std::string& default_value) -> std::string { + auto it = keys_w_str_val.find(key); + return it != keys_w_str_val.end() ? it->second : default_value; + }; + + g_relocalization_map_abs_path = get_key_str_value("relocalization_map_abs_path", ""); + g_mapping_result_dest_dir = get_key_str_value("mapping_result_dest_dir", ""); + g_mapping_result_file_name = get_key_str_value("mapping_result_file_name", ""); + g_image_mask_abs_path = get_key_str_value("image_mask_abs_path", ""); + + g_send_image_mask = get_key_value("sendimagemask", 0); + g_reset_algo = get_key_value("resetalgo", 0); + g_custom_map_mode = g_parser->getCustomMapMode(2); + + lidar_log_set_level(LIDAR_LOG_INFO); + + const std::string package_name = "odin_ros_driver"; + std::string data_dir = ""; + std::string log_dir = ""; + std::string map_dir = ""; + #ifdef ROS2 + char* ros_workspace = std::getenv("COLCON_PREFIX_PATH"); + if (ros_workspace) { + std::string workspace_path(ros_workspace); + size_t pos = workspace_path.find("/install"); + if (pos != std::string::npos) { + data_dir = workspace_path.substr(0, pos) + "/src/odin_ros_driver/recorddata"; + log_dir = workspace_path.substr(0, pos) + "/src/odin_ros_driver/log"; + map_dir = workspace_path.substr(0, pos) + "/src/odin_ros_driver/map"; + } else { + data_dir = ament_index_cpp::get_package_share_directory(package_name) + "/recorddata"; + log_dir = ament_index_cpp::get_package_share_directory(package_name) + "/log"; + map_dir = ament_index_cpp::get_package_share_directory(package_name) + "/map"; + } + } else { + data_dir = ament_index_cpp::get_package_share_directory(package_name) + "/recorddata"; + log_dir = ament_index_cpp::get_package_share_directory(package_name) + "/log"; + map_dir = ament_index_cpp::get_package_share_directory(package_name) + "/map"; + } + #else + data_dir = ros::package::getPath(package_name) + "/recorddata"; + log_dir = ros::package::getPath(package_name) + "/log"; + map_dir = ros::package::getPath(package_name) + "/map"; + #endif + + if (g_record_data) { + g_ros_object->initialize_data_logger(data_dir); + } + + auto now = std::chrono::system_clock::now(); + std::time_t t = std::chrono::system_clock::to_time_t(now); + std::tm tm{}; + #ifdef _WIN32 + localtime_s(&tm, &t); + #else + localtime_r(&t, &tm); + #endif + std::strftime(driver_start_time, sizeof(driver_start_time), "%Y%m%d_%H%M%S", &tm); + + if (g_devstatus_log) { + std::string folder_name = std::string("Driver_") + std::string(driver_start_time); + log_root_dir_ = std::filesystem::path(log_dir) / folder_name; + std::filesystem::create_directories(log_root_dir_); + } + + if (g_custom_map_mode == 1 && g_mapping_result_dest_dir == "") { + map_root_dir_ = std::filesystem::path(map_dir) / driver_start_time; + std::filesystem::create_directories(map_root_dir_); + } + + if (lidar_system_init(lidar_device_callback)) { + #ifdef ROS2 + RCLCPP_ERROR(node->get_logger(), "Lidar system init failed"); + #else + ROS_ERROR("Lidar system init failed"); + #endif + return -1; + } + + // Configure SDK IMU smooth sending AFTER lidar_system_init + // SDK now defaults to disabled, only enable if configured + if (g_enable_imu_smooth) { + lidar_enable_imu_smooth_sending(1); + lidar_set_imu_smooth_frequency(g_imu_smooth_frequency); + #ifdef ROS2 + RCLCPP_INFO(node->get_logger(), "Enabling SDK IMU smooth sending at %d Hz", g_imu_smooth_frequency); + #else + ROS_INFO("Enabling SDK IMU smooth sending at %d Hz", g_imu_smooth_frequency); + #endif + } else { + #ifdef ROS2 + RCLCPP_INFO(node->get_logger(), "SDK IMU smooth sending disabled"); + #else + ROS_INFO("SDK IMU smooth sending disabled"); + #endif + } + + + bool usbPresent = false; + bool usbVersionChecked = false; + while (!deviceConnected) { + #ifdef ROS2 + if (!rclcpp::ok()) { + break; + } + #else + if (!ros::ok()) // ROS1 shutdown check + { + break; + } + #endif + + usbPresent = isUsbDevicePresent(TARGET_VENDOR, TARGET_PRODUCT); + if (usbPresent) { + if (!usbVersionChecked) { + usbVersionChecked = true; + + if (!isUsb3OrHigher(TARGET_VENDOR, TARGET_PRODUCT)) { + #ifdef ROS2 + RCLCPP_FATAL(node->get_logger(), + "Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program.Please use USB 3.0 and restart the device."); + #else + ROS_FATAL("Device connected to USB 2.0 port. This device requires USB 3.0 or higher. Exiting program .Please use USB 3.0 and restart the device."); + #endif + + lidar_system_deinit(); + return 1; + } + } + } + + #ifdef ROS2 + std::this_thread::sleep_for(std::chrono::seconds(1)); + #else + ros::Duration(1.0).sleep(); + #endif + } + } catch (const std::exception& e) { + #ifdef ROS2 + RCLCPP_ERROR(node->get_logger(), "Exception: %s", e.what()); + #else + ROS_ERROR("Exception: %s", e.what()); + #endif + lidar_system_deinit(); + return -1; + } + + if (!deviceConnected) { + #ifdef ROS2 + if (g_ros_object) { + g_ros_object.reset(); // destroys all publishers/subscribers + } + node.reset(); // destroy the node first + rclcpp::shutdown(); + #else + if (g_ros_object) { + delete g_ros_object; + g_ros_object = nullptr; + } + ros::shutdown(); + #endif + return 1; + } + + bool disconnect_msg_printed = false; + #ifdef ROS2 + // Create 10Hz Rate object + rclcpp::Rate rate(10); + + while (rclcpp::ok()) { + rclcpp::spin_some(node); + // Check device disconnection status + if (deviceDisconnected.load()) { + if (!disconnect_msg_printed) { + RCLCPP_INFO(node->get_logger(), "Device disconnected, waiting for reconnection..."); + disconnect_msg_printed = true; + } + + // Wait 0.1 seconds + rate.sleep(); + continue; // Skip rest of this loop iteration + } + + // Data processing when device is connected + if (g_sendcloudrender) { + g_ros_object->try_process_pair(); + } + + // Check for command file + if (deviceConnected) { + process_command_file(); + } + + disconnect_msg_printed = false; + + // Wait 0.1 seconds + rate.sleep(); + } + rclcpp::shutdown(); + #else + // Create 10Hz Rate object + ros::Rate rate(10); + while (ros::ok()) { + ros::spinOnce(); + + // Check device disconnection status + if (deviceDisconnected.load()) { + if (!disconnect_msg_printed) { + ROS_INFO("Device disconnected, waiting for reconnection..."); + disconnect_msg_printed = true; + } + + // Wait 0.1 seconds + rate.sleep(); + continue; // Skip rest of this loop iteration + } + + // Data processing when device is connected + if (g_sendcloudrender) { + g_ros_object->try_process_pair(); + } + + // Check for command file + if (deviceConnected) { + process_command_file(); + } + + disconnect_msg_printed = false; + + // Wait 0.1 seconds + rate.sleep(); + } + ros::shutdown(); + #endif + + // Cleanup on normal program exit + if (odinDevice) { + // Convert calib.yaml to cam_in_ex.txt at program end + if (g_ros_object) { + const std::filesystem::path out_path = g_ros_object->get_root_dir() / "image" / "cam_in_ex.txt"; + (void)convert_calib_to_cam_in_ex(calib_file_, out_path); + } + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "pose_index: %d", g_ros_object->get_pose_index()); + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "cloud_index: %d", g_ros_object->get_cloud_index()); + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "image_index: %d", g_ros_object->get_image_index()); + #else + ROS_INFO("pose_index: %d", g_ros_object->get_pose_index()); + ROS_INFO("cloud_index: %d", g_ros_object->get_cloud_index()); + ROS_INFO("image_index: %d", g_ros_object->get_image_index()); + #endif + // Perform cleanup on normal exit + // if(lidar_stop_stream(odinDevice, LIDAR_MODE_SLAM)) + // { + // #ifdef ROS2 + // RCLCPP_INFO(rclcpp::get_logger("device_cb"), "lidar_stop_stream failed"); + // #else + // ROS_INFO("lidar_stop_stream failed"); + // #endif + // } + + if(lidar_unregister_stream_callback(odinDevice)) + { + #ifdef ROS2 + RCLCPP_INFO(rclcpp::get_logger("device_cb"), "lidar_unregister_stream_callback failed"); + #else + ROS_INFO("lidar_unregister_stream_callback failed"); + #endif + } + // lidar_close_device(odinDevice); + // lidar_destory_device(odinDevice); + + if (dev_status_csv_file) { + std::fflush(dev_status_csv_file); + fclose(dev_status_csv_file); + dev_status_csv_file = nullptr; + } + } + + // Stop custom parameter monitoring thread on exit + g_param_monitor_running = false; + if (g_param_monitor_thread.joinable()) { + g_param_monitor_thread.join(); + } + + + // lidar_system_deinit(); + + + + return 0; +} diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/image_overlay_node.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/image_overlay_node.cpp new file mode 100644 index 0000000..43de7bf --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/image_overlay_node.cpp @@ -0,0 +1,254 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "image_overlay_node.hpp" + +#ifdef ROS2 +// ==================== ROS2 Implementation ==================== + +ImageOverlayNode::ImageOverlayNode(const rclcpp::NodeOptions& options) + : Node("image_overlay_node", options) +{ + // Read from register_keys (same structure as control_command.yaml) + this->declare_parameter("register_keys.overlay_reprojected_topic", "/odin1/reprojected_image"); + this->declare_parameter("register_keys.overlay_camera_topic", "/odin1/image/undistorted"); + this->declare_parameter("register_keys.overlay_output_topic", "/odin1/overlay_image"); + this->declare_parameter("register_keys.overlay_alpha", 0.6); + + reprojected_topic_ = this->get_parameter("register_keys.overlay_reprojected_topic").as_string(); + camera_topic_ = this->get_parameter("register_keys.overlay_camera_topic").as_string(); + overlay_topic_ = this->get_parameter("register_keys.overlay_output_topic").as_string(); + alpha_ = this->get_parameter("register_keys.overlay_alpha").as_double(); + + RCLCPP_INFO(this->get_logger(), "Subscribing to: %s and %s", + reprojected_topic_.c_str(), camera_topic_.c_str()); + RCLCPP_INFO(this->get_logger(), "Publishing to: %s (alpha=%.2f)", overlay_topic_.c_str(), alpha_); + + // Independent subscriptions - no synchronization needed + reproj_sub_ = this->create_subscription( + reprojected_topic_, 10, + std::bind(&ImageOverlayNode::reprojCallback, this, std::placeholders::_1)); + + camera_sub_ = this->create_subscription( + camera_topic_, 10, + std::bind(&ImageOverlayNode::cameraCallback, this, std::placeholders::_1)); + + overlay_pub_ = this->create_publisher(overlay_topic_, 10); + + RCLCPP_INFO(this->get_logger(), "ImageOverlayNode initialized (no-sync mode)"); +} + +void ImageOverlayNode::reprojCallback(Image::ConstSharedPtr msg) +{ + try { + cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, "bgr8"); + { + std::lock_guard lock(mutex_); + latest_reproj_img_ = cv_ptr->image.clone(); + latest_header_ = msg->header; + } + } catch (cv_bridge::Exception& e) { + RCLCPP_ERROR(this->get_logger(), "cv_bridge exception (reproj): %s", e.what()); + return; + } + publishOverlay(); +} + +void ImageOverlayNode::cameraCallback(Image::ConstSharedPtr msg) +{ + try { + cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, "bgr8"); + { + std::lock_guard lock(mutex_); + latest_camera_img_ = cv_ptr->image.clone(); + } + } catch (cv_bridge::Exception& e) { + RCLCPP_ERROR(this->get_logger(), "cv_bridge exception (camera): %s", e.what()); + return; + } + publishOverlay(); +} + +void ImageOverlayNode::publishOverlay() +{ + cv::Mat reproj_copy, camera_copy; + std_msgs::msg::Header header_copy; + + { + std::lock_guard lock(mutex_); + if (latest_reproj_img_.empty() || latest_camera_img_.empty()) { + return; + } + reproj_copy = latest_reproj_img_.clone(); + camera_copy = latest_camera_img_.clone(); + header_copy = latest_header_; + } + + if (reproj_copy.size() != camera_copy.size()) { + RCLCPP_WARN(this->get_logger(), + "Image sizes don't match: reproj(%dx%d) vs camera(%dx%d)", + reproj_copy.cols, reproj_copy.rows, + camera_copy.cols, camera_copy.rows); + return; + } + + // Create overlay using alpha blending + // Replace white background in reproj with camera image, keep colored points + cv::Mat overlay = camera_copy.clone(); + + // Blend: where reproj has color (non-white), show reproj color semi-transparently + // where reproj is white (background), show camera image + + for (int y = 0; y < reproj_copy.rows; ++y) { + for (int x = 0; x < reproj_copy.cols; ++x) { + cv::Vec3b reproj_pixel = reproj_copy.at(y, x); + // Check if pixel is not white (has point cloud color) + if (reproj_pixel[0] < 250 || reproj_pixel[1] < 250 || reproj_pixel[2] < 250) { + // Blend reproj color with camera color + cv::Vec3b cam_pixel = camera_copy.at(y, x); + overlay.at(y, x) = cv::Vec3b( + static_cast(alpha_ * reproj_pixel[0] + (1 - alpha_) * cam_pixel[0]), + static_cast(alpha_ * reproj_pixel[1] + (1 - alpha_) * cam_pixel[1]), + static_cast(alpha_ * reproj_pixel[2] + (1 - alpha_) * cam_pixel[2]) + ); + } + // else: keep camera image (already in overlay) + } + } + + auto overlay_msg = cv_bridge::CvImage(header_copy, "bgr8", overlay).toImageMsg(); + overlay_pub_->publish(*overlay_msg); +} + +// ==================== ROS2 Main ==================== +int main(int argc, char **argv) +{ + rclcpp::init(argc, argv); + + auto node = std::make_shared(); + + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} + +#else +// ==================== ROS1 Implementation ==================== + +ImageOverlayNode::ImageOverlayNode(ros::NodeHandle& nh, ros::NodeHandle& pnh) + : nh_(nh), pnh_(pnh) +{ + // Read from register_keys (same structure as control_command.yaml) + pnh_.param("register_keys/overlay_reprojected_topic", reprojected_topic_, "/odin1/reprojected_image"); + pnh_.param("register_keys/overlay_camera_topic", camera_topic_, "/odin1/image/undistorted"); + pnh_.param("register_keys/overlay_output_topic", overlay_topic_, "/odin1/overlay_image"); + pnh_.param("register_keys/overlay_alpha", alpha_, 0.6); + + ROS_INFO("Subscribing to: %s and %s", reprojected_topic_.c_str(), camera_topic_.c_str()); + ROS_INFO("Publishing to: %s (alpha=%.2f)", overlay_topic_.c_str(), alpha_); + + // Independent subscriptions - no synchronization needed + reproj_sub_ = nh_.subscribe(reprojected_topic_, 10, &ImageOverlayNode::reprojCallback, this); + camera_sub_ = nh_.subscribe(camera_topic_, 10, &ImageOverlayNode::cameraCallback, this); + + overlay_pub_ = nh_.advertise(overlay_topic_, 10); + + ROS_INFO("ImageOverlayNode initialized (no-sync mode)"); +} + +void ImageOverlayNode::reprojCallback(const sensor_msgs::ImageConstPtr& msg) +{ + try { + cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, "bgr8"); + { + std::lock_guard lock(mutex_); + latest_reproj_img_ = cv_ptr->image.clone(); + latest_header_ = msg->header; + } + } catch (cv_bridge::Exception& e) { + ROS_ERROR("cv_bridge exception (reproj): %s", e.what()); + return; + } + publishOverlay(); +} + +void ImageOverlayNode::cameraCallback(const sensor_msgs::ImageConstPtr& msg) +{ + try { + cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, "bgr8"); + { + std::lock_guard lock(mutex_); + latest_camera_img_ = cv_ptr->image.clone(); + } + } catch (cv_bridge::Exception& e) { + ROS_ERROR("cv_bridge exception (camera): %s", e.what()); + return; + } + publishOverlay(); +} + +void ImageOverlayNode::publishOverlay() +{ + cv::Mat reproj_copy, camera_copy; + std_msgs::Header header_copy; + + { + std::lock_guard lock(mutex_); + if (latest_reproj_img_.empty() || latest_camera_img_.empty()) { + return; + } + reproj_copy = latest_reproj_img_.clone(); + camera_copy = latest_camera_img_.clone(); + header_copy = latest_header_; + } + + if (reproj_copy.size() != camera_copy.size()) { + ROS_WARN_THROTTLE(2, "Image sizes don't match: reproj(%dx%d) vs camera(%dx%d)", + reproj_copy.cols, reproj_copy.rows, camera_copy.cols, camera_copy.rows); + return; + } + + // Create overlay using alpha blending + cv::Mat overlay = camera_copy.clone(); + + for (int y = 0; y < reproj_copy.rows; ++y) { + for (int x = 0; x < reproj_copy.cols; ++x) { + cv::Vec3b reproj_pixel = reproj_copy.at(y, x); + if (reproj_pixel[0] < 250 || reproj_pixel[1] < 250 || reproj_pixel[2] < 250) { + cv::Vec3b cam_pixel = camera_copy.at(y, x); + overlay.at(y, x) = cv::Vec3b( + static_cast(alpha_ * reproj_pixel[0] + (1 - alpha_) * cam_pixel[0]), + static_cast(alpha_ * reproj_pixel[1] + (1 - alpha_) * cam_pixel[1]), + static_cast(alpha_ * reproj_pixel[2] + (1 - alpha_) * cam_pixel[2]) + ); + } + } + } + + sensor_msgs::ImagePtr overlay_msg = cv_bridge::CvImage(header_copy, "bgr8", overlay).toImageMsg(); + overlay_pub_.publish(overlay_msg); +} + +// ==================== ROS1 Main ==================== +int main(int argc, char **argv) +{ + ros::init(argc, argv, "image_overlay_node"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + + ImageOverlayNode node(nh, pnh); + + ros::spin(); + return 0; +} +#endif diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pcd2depth_ros.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pcd2depth_ros.cpp new file mode 100644 index 0000000..5934faa --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pcd2depth_ros.cpp @@ -0,0 +1,74 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include +#include +#include + +#include "depth_image_ros_node.hpp" + +bool fileExists(const std::string& filename) { + struct stat buffer; + return (stat(filename.c_str(), &buffer) == 0); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "depth_projector"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + int senddepth=0; + pnh.param("register_keys/senddepth", senddepth, 0); + if(senddepth==0) + { + ROS_INFO("Depth image will not be published."); + return 0; + } + + std::string calib_file_path; + pnh.param("calib_file_path", calib_file_path, ""); + + ROS_INFO("Waiting for calib.yaml file at: %s", calib_file_path.c_str()); + while(ros::ok() && !fileExists(calib_file_path)) + { + ROS_INFO_THROTTLE(5, "Still waiting for calib.yaml file..."); + ros::Duration(0.5).sleep(); + ros::spinOnce(); + } + + if(!ros::ok()) + { + ROS_INFO("Node shutdown before calib.yaml file was found."); + return 0; + } + + ROS_INFO("Found calib.yaml file! Loading parameters..."); + + std::string node_name = ros::this_node::getName(); + std::string rosparam_command = "rosparam load " + calib_file_path + " " + node_name; + int result = system(rosparam_command.c_str()); + + if(result == 0) + { + ROS_INFO("Successfully loaded parameters from calib.yaml to namespace: %s", node_name.c_str()); + } + else + { + ROS_ERROR("Failed to load parameters from calib.yaml"); + return 1; + } + + DepthImageRosNode projector(nh, pnh); + ros::spin(); + return 0; +} diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pcd2depth_ros2.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pcd2depth_ros2.cpp new file mode 100644 index 0000000..001302c --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pcd2depth_ros2.cpp @@ -0,0 +1,238 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include +#include +#include +#include +#include +#include +#include +#include "depth_image_ros2_node.hpp" +#include +bool fileExists(const std::string& filename) { + struct stat buffer; + return (stat(filename.c_str(), &buffer) == 0); +} + +bool loadCalibParameters(std::shared_ptr node, const std::string& calib_file_path) { + try { + RCLCPP_INFO(node->get_logger(), "Loading parameters from calib.yaml file: %s", calib_file_path.c_str()); + + YAML::Node config = YAML::LoadFile(calib_file_path); + + if (config["cam_num"]) { + int cam_num = config["cam_num"].as(); + node->declare_parameter("cam_num", cam_num); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_num = %d", cam_num); + } + + if (config["img_topic_0"]) { + std::string img_topic = config["img_topic_0"].as(); + node->declare_parameter("img_topic_0", img_topic); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: img_topic_0 = %s", img_topic.c_str()); + } + + if (config["Tcl_0"]) { + std::vector tcl_matrix = config["Tcl_0"].as>(); + node->declare_parameter("Tcl_0", tcl_matrix); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: Tcl_0 (transform matrix with %zu elements)", tcl_matrix.size()); + } + + if (config["cam_0"]) { + YAML::Node cam_0 = config["cam_0"]; + + if (cam_0["cam_model"]) { + std::string cam_model = cam_0["cam_model"].as(); + node->declare_parameter("cam_0.cam_model", cam_model); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.cam_model = %s", cam_model.c_str()); + } + + if (cam_0["image_width"]) { + int image_width = cam_0["image_width"].as(); + node->declare_parameter("cam_0.image_width", image_width); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.image_width = %d", image_width); + } + + if (cam_0["image_height"]) { + int image_height = cam_0["image_height"].as(); + node->declare_parameter("cam_0.image_height", image_height); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.image_height = %d", image_height); + } + + std::vector distortion_params = {"k2", "k3", "k4", "k5", "k6", "k7", "p1", "p2"}; + for (const auto& param : distortion_params) { + if (cam_0[param]) { + double value = cam_0[param].as(); + node->declare_parameter("cam_0." + param, value); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.%s = %f", param.c_str(), value); + } + } + + std::vector intrinsic_params = {"A11", "A12", "A22", "u0", "v0"}; + for (const auto& param : intrinsic_params) { + if (cam_0[param]) { + double value = cam_0[param].as(); + node->declare_parameter("cam_0." + param, value); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.%s = %f", param.c_str(), value); + } + } + + if (cam_0["isFast"]) { + int is_fast = cam_0["isFast"].as(); + node->declare_parameter("cam_0.isFast", is_fast); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.isFast = %d", is_fast); + } + + if (cam_0["numDiff"]) { + int num_diff = cam_0["numDiff"].as(); + node->declare_parameter("cam_0.numDiff", num_diff); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.numDiff = %d", num_diff); + } + + if (cam_0["maxIncidentAngle"]) { + int max_incident_angle = cam_0["maxIncidentAngle"].as(); + node->declare_parameter("cam_0.maxIncidentAngle", max_incident_angle); + RCLCPP_INFO(node->get_logger(), "Loaded parameter: cam_0.maxIncidentAngle = %d", max_incident_angle); + } + } + + RCLCPP_INFO(node->get_logger(), "Successfully loaded all parameters from calib.yaml"); + return true; + + } catch (const YAML::Exception& e) { + RCLCPP_ERROR(node->get_logger(), "YAML parsing error: %s", e.what()); + return false; + } catch (const std::exception& e) { + RCLCPP_ERROR(node->get_logger(), "Error loading calib parameters: %s", e.what()); + return false; + } +} +std::string get_package_source_directory() { + // 使用 rcpputils::fs::path 替代 std::filesystem::path + rcpputils::fs::path current_file(__FILE__); + + // 回溯到包根目录 + auto path = current_file.parent_path(); + + // 使用 rcpputils::fs::exists 替代 std::filesystem::exists + while (!path.empty() && !rcpputils::fs::exists(path / "package.xml")) { + path = path.parent_path(); + } + + if (path.empty()) { + throw std::runtime_error("Failed to locate package root directory"); + } + + return path.string(); +} +int main(int argc, char **argv) +{ + rclcpp::init(argc, argv); + + + auto node = std::make_shared("pcd2depth_node"); + RCLCPP_INFO(node->get_logger(), "Node created"); + std::string package_path = get_package_source_directory(); + RCLCPP_INFO(node->get_logger(), "Package path: %s", package_path.c_str()); + + std::string config_file = package_path + "/config/control_command.yaml"; + RCLCPP_INFO(node->get_logger(), "Loading config from: %s", config_file.c_str()); + + YAML::Node config = YAML::LoadFile(config_file); + + if (!config["register_keys"]) { + throw std::runtime_error("Missing 'register_keys' section"); + } + + if (!config["register_keys"]["senddepth"]) { + throw std::runtime_error("Missing 'senddepth' parameter"); + } + int senddepth = config["register_keys"]["senddepth"].as(); + std::cout << "senddepth: " << senddepth << std::endl; + if(senddepth == 0) + { + RCLCPP_INFO(node->get_logger(), "Depth image will not be published."); + return 0; + } + + std::string calib_file_path = node->declare_parameter("calib_file_path", ""); + + RCLCPP_INFO(node->get_logger(), "Waiting for calib.yaml file at: %s", calib_file_path.c_str()); + while(rclcpp::ok() && !fileExists(calib_file_path)) + { + RCLCPP_INFO_THROTTLE(node->get_logger(), *node->get_clock(), 5000, "Still waiting for calib.yaml file..."); + rclcpp::sleep_for(std::chrono::milliseconds(500)); // 等待0.5秒后再检查 + rclcpp::spin_some(node); + } + + if(!rclcpp::ok()) + { + RCLCPP_INFO(node->get_logger(), "Node shutdown before calib.yaml file was found."); + return 0; + } + + RCLCPP_INFO(node->get_logger(), "Found calib.yaml file! Loading parameters..."); + + if (!loadCalibParameters(node, calib_file_path)) { + RCLCPP_ERROR(node->get_logger(), "Failed to load parameters from calib.yaml file"); + return 1; + } + + rclcpp::NodeOptions depth_node_options; + + std::vector params_override; + + try { + params_override.push_back(rclcpp::Parameter("cam_0.image_width", node->get_parameter("cam_0.image_width").as_int())); + params_override.push_back(rclcpp::Parameter("cam_0.image_height", node->get_parameter("cam_0.image_height").as_int())); + params_override.push_back(rclcpp::Parameter("cam_0.A11", node->get_parameter("cam_0.A11").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.A12", node->get_parameter("cam_0.A12").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.A22", node->get_parameter("cam_0.A22").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.u0", node->get_parameter("cam_0.u0").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.v0", node->get_parameter("cam_0.v0").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.k2", node->get_parameter("cam_0.k2").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.k3", node->get_parameter("cam_0.k3").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.k4", node->get_parameter("cam_0.k4").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.k5", node->get_parameter("cam_0.k5").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.k6", node->get_parameter("cam_0.k6").as_double())); + params_override.push_back(rclcpp::Parameter("cam_0.k7", node->get_parameter("cam_0.k7").as_double())); + params_override.push_back(rclcpp::Parameter("Tcl_0", node->get_parameter("Tcl_0").as_double_array())); + + depth_node_options.parameter_overrides(params_override); + + RCLCPP_INFO(node->get_logger(), "Parameters successfully prepared for DepthImageRos2Node"); + } + catch (const std::exception& e) { + RCLCPP_ERROR(node->get_logger(), "Error preparing parameters for DepthImageRos2Node: %s", e.what()); + return 1; + } + try + { + auto depth_node = std::make_shared(depth_node_options); + + depth_node->initialize(); + + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(depth_node); + executor.spin(); + } + catch (const std::exception& e) + { + RCLCPP_ERROR(node->get_logger(), "Error creating depth node: %s", e.what()); + return 1; + } + + rclcpp::shutdown(); + return 0; +} diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pointcloud_depth_converter.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pointcloud_depth_converter.cpp new file mode 100644 index 0000000..cc15533 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/pointcloud_depth_converter.cpp @@ -0,0 +1,376 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "pointcloud_depth_converter.hpp" +#include +#include + +PointCloudToDepthConverter::PointCloudToDepthConverter(const CameraParams ¶ms) + : params_(params) +{ + initializeInternalParams(); + createDistortionMaps(); +} + +void PointCloudToDepthConverter::initializeInternalParams() +{ + scaled_width_ = static_cast(params_.image_width / params_.scale); + scaled_height_ = static_cast(params_.image_height / params_.scale); + + K_ = Eigen::Matrix3d::Identity(); + K_(0, 0) = params_.A11; + K_(0, 1) = params_.A12; + K_(0, 2) = params_.u0; + K_(1, 1) = params_.A22; + K_(1, 2) = params_.v0; + + Kl_ = Eigen::Matrix3d::Identity(); + Kl_(0, 0) = params_.A11 / params_.scale; + Kl_(0, 1) = 0.0; + Kl_(0, 2) = params_.u0 / params_.scale; + Kl_(1, 1) = params_.A22 / params_.scale; + Kl_(1, 2) = params_.v0 / params_.scale; + + K_4x4_ = Eigen::Matrix4d::Identity(); + K_4x4_.block<3, 3>(0, 0) = Kl_; + + Kcl_ = K_4x4_ * params_.Tcl; +} + +void PointCloudToDepthConverter::createDistortionMaps() +{ + map_x_ = cv::Mat::zeros(params_.image_height, params_.image_width, CV_32FC1); + map_y_ = cv::Mat::zeros(params_.image_height, params_.image_width, CV_32FC1); + + + for (int u = 0; u < params_.image_width; ++u) + { + for (int v = 0; v < params_.image_height; ++v) + { + double y = (v - params_.v0) / params_.A22; + double x = (u - params_.u0 - params_.A12 * y) / params_.A11; + + double r = sqrt(x * x + y * y); + double theta = atan(r); + + double theta_d = theta + params_.k2 * pow(theta, 2) + params_.k3 * pow(theta, 3) + + params_.k4 * pow(theta, 4) + params_.k5 * pow(theta, 5) + + params_.k6 * pow(theta, 6) + params_.k7 * pow(theta, 7); + + double x_distorted = x * (r / theta_d); + double y_distorted = y * (r / theta_d); + + map_x_.at(v, u) = static_cast(x_distorted * params_.A11 + params_.A12 * y_distorted + params_.u0); + map_y_.at(v, u) = static_cast(y_distorted * params_.A22 + params_.v0); + } + } + + inv_map_x_ = cv::Mat::zeros(params_.image_height, params_.image_width, CV_32FC1); + inv_map_y_ = cv::Mat::zeros(params_.image_height, params_.image_width, CV_32FC1); + for (int u = 0; u < params_.image_width; ++u) + { + for (int v = 0; v < params_.image_height; ++v) + { + double y = (v - params_.v0) / params_.A22; + double x = (u - params_.u0 - params_.A12 * y) / params_.A11; + + double r = sqrt(x * x + y * y); + double theta = atan(r); + + double theta_d = theta + params_.k2 * pow(theta, 2) + params_.k3 * pow(theta, 3) + + params_.k4 * pow(theta, 4) + params_.k5 * pow(theta, 5) + + params_.k6 * pow(theta, 6) + params_.k7 * pow(theta, 7); + + double x_distorted = x * (theta_d / r); + double y_distorted = y * (theta_d / r); + + inv_map_x_.at(v, u) = static_cast(x_distorted * params_.A11 + params_.A12 * y_distorted + params_.u0); + inv_map_y_.at(v, u) = static_cast(y_distorted * params_.A22 + params_.v0); + } + } +} + +PointCloudToDepthConverter::ProcessResult PointCloudToDepthConverter::processCloudAndImage( + const pcl::PointCloud &cloud, + const cv::Mat &image) +{ + ProcessResult result; + result.success = false; + + auto validation_result = validateInputs(cloud, image); + if (!validation_result.first) + { + result.error_message = validation_result.second; + return result; + } + + try + { + pcl::PointCloud cloud_in_cam; + pcl::transformPointCloud(cloud, cloud_in_cam, Kcl_); + + cv::Mat depth_img = projectCloudToDepth(cloud_in_cam); + + cv::Mat processed_depth = postProcessDepthImage(depth_img); + + pcl::PointCloud colored_cloud = generateColoredCloud(processed_depth, image); + + result.depth_image = processed_depth; + result.colored_cloud = colored_cloud; + result.success = true; + } + catch (const std::exception &e) + { + result.error_message = std::string("Processing error: ") + e.what(); + } + + return result; +} + +cv::Mat PointCloudToDepthConverter::projectCloudToDepth(const pcl::PointCloud &cloud_in_cam) +{ + cv::Mat depth_img = cv::Mat::zeros(scaled_height_, scaled_width_, CV_32FC1); + + for (const auto &camera_point : cloud_in_cam) + { + if (camera_point.z <= 0) + continue; + + int u = static_cast(std::round(camera_point.x / camera_point.z)); + int v = static_cast(std::round(camera_point.y / camera_point.z)); + + if (u >= 0 && u < scaled_width_ && v >= 0 && v < scaled_height_) + { + depth_img.at(v, u) = static_cast(camera_point.z); + + for (int du = -1; du <= 1; ++du) + { + for (int dv = -1; dv <= 1; ++dv) + { + int nu = u + du; + int nv = v + dv; + if (nu >= 0 && nu < scaled_width_ && nv >= 0 && nv < scaled_height_) + { + if (depth_img.at(nv, nu) == 0.0f) + { + depth_img.at(nv, nu) = static_cast(camera_point.z); + } + } + } + } + } + } + + return depth_img; +} + +cv::Mat PointCloudToDepthConverter::postProcessDepthImage(const cv::Mat &depth_img) { + if (depth_img.empty()) { + std::cerr << "ERROR: Input depth image is empty!" << std::endl; + return cv::Mat(); + } + + if (depth_img.data == nullptr) { + std::cerr << "ERROR: Input depth image has null data pointer!" << std::endl; + return cv::Mat(); + } + + if (depth_img.rows <= 0 || depth_img.cols <= 0) { + std::cerr << "ERROR: Invalid input dimensions: " + << depth_img.rows << "x" << depth_img.cols << std::endl; + return cv::Mat(); + } + + if (params_.image_width <= 0 || params_.image_height <= 0) { + std::cerr << "ERROR: Invalid target size: " + << params_.image_width << "x" << params_.image_height << std::endl; + return cv::Mat(); + } + + cv::Mat safe_input = depth_img.clone(); + if (safe_input.empty()) { + std::cerr << "ERROR: Failed to create safe copy of input image!" << std::endl; + return cv::Mat(); + } + + + cv::Mat depth_img_upsampled; + try { + depth_img_upsampled = customResize(safe_input, cv::Size(1600, 1296)); + } catch (const std::exception& e) { + std::cerr << "ERROR: Custom resize failed: " << e.what() << std::endl; + return cv::Mat(); + } + + if (depth_img_upsampled.empty()) { + std::cerr << "ERROR: Resized image is empty!" << std::endl; + return cv::Mat(); + } + + if (depth_img_upsampled.rows != 1296 || depth_img_upsampled.cols != 1600) { + std::cerr << "ERROR: Resized image has wrong dimensions: " + << depth_img_upsampled.cols << "x" << depth_img_upsampled.rows + << " (expected " << 1600 << "x" << 1296 << ")" << std::endl; + return cv::Mat(); + } + + + cv::Mat grad_x, grad_y, grad_magnitude; + try { + cv::Sobel(depth_img_upsampled, grad_x, CV_32F, 1, 0, 3); + cv::Sobel(depth_img_upsampled, grad_y, CV_32F, 0, 1, 3); + cv::magnitude(grad_x, grad_y, grad_magnitude); + } catch (const cv::Exception& e) { + std::cerr << "ERROR: Sobel/magnitude failed: " << e.what() << std::endl; + return cv::Mat(); + } + + if (grad_magnitude.type() != CV_32F) { + std::cerr << "ERROR: grad_magnitude has wrong type: " + << grad_magnitude.type() << " (expected CV_32F)" << std::endl; + return cv::Mat(); + } + + + cv::Mat threshold_mask; + try { + cv::threshold(grad_magnitude, threshold_mask, 0.75, 1, cv::THRESH_BINARY); + threshold_mask.convertTo(threshold_mask, CV_8U); + + + depth_img_upsampled.setTo(0, threshold_mask); + } catch (const cv::Exception& e) { + std::cerr << "ERROR: Threshold mask failed: " << e.what() << std::endl; + return cv::Mat(); + } + + return depth_img_upsampled; +} + +cv::Mat PointCloudToDepthConverter::customResize(const cv::Mat& src, const cv::Size& size) { + if (src.empty()) { + throw std::runtime_error("Source image is empty"); + } + + if (size.width <= 0 || size.height <= 0) { + throw std::runtime_error("Invalid target size"); + } + + + cv::Mat dst(size.height, size.width, src.type()); + + float scale_x = src.cols / static_cast(size.width); + float scale_y = src.rows / static_cast(size.height); + + if (src.channels() != 1 || src.type() != CV_32F) { + throw std::runtime_error("Unsupported image type - expected single channel float"); + } + + + for (int y = 0; y < dst.rows; y++) { + + int src_y = static_cast(y * scale_y); + src_y = std::min(src_y, src.rows - 1); + + for (int x = 0; x < dst.cols; x++) { + int src_x = static_cast(x * scale_x); + src_x = std::min(src_x, src.cols - 1); + dst.at(y, x) = src.at(src_y, src_x); + } + } + + return dst; +} +pcl::PointCloud PointCloudToDepthConverter::generateColoredCloud( + const cv::Mat &depth_img, const cv::Mat &color_img) +{ + cv::Mat depth_undistorted, color_undistorted; + depth_undistorted = depth_img.clone(); + cv::remap(color_img, color_undistorted, inv_map_x_, inv_map_y_, cv::INTER_LINEAR); + + pcl::PointCloud cloud_colored; + + Eigen::Matrix4d Tlc = params_.Tcl.inverse(); + + for (int v = 0; v < depth_undistorted.rows; v += params_.point_sampling_rate) + { + for (int u = 0; u < depth_undistorted.cols; u += params_.point_sampling_rate) + { + float depth = depth_undistorted.at(v, u); + if (depth > 0.1f && depth < 100.0f) + { + double y_cam = (v - params_.v0) * depth / params_.A22; + double x_cam = ((u - params_.u0) * depth - params_.A12 * y_cam)/ params_.A11; + + double z_cam = depth; + + Eigen::Vector4d point_cam(x_cam, y_cam, z_cam, 1.0); + + Eigen::Vector4d point_lidar = Tlc * point_cam; + + pcl::PointXYZRGB point; + point.x = static_cast(point_lidar[0]); + point.y = static_cast(point_lidar[1]); + point.z = static_cast(point_lidar[2]); + + if (u < color_undistorted.cols && v < color_undistorted.rows) + { + cv::Vec3b color = color_undistorted.at(v, u); + point.b = color[0]; + point.g = color[1]; + point.r = color[2]; + } + else + { + point.r = point.g = point.b = 255; + } + + cloud_colored.points.push_back(point); + } + } + } + + cloud_colored.width = cloud_colored.points.size(); + cloud_colored.height = 1; + cloud_colored.is_dense = false; + + return cloud_colored; +} + +std::pair PointCloudToDepthConverter::validateInputs( + const pcl::PointCloud &cloud, const cv::Mat &image) +{ + if (cloud.empty()) + { + return {false, "Empty point cloud"}; + } + + if (image.empty()) + { + return {false, "Empty image"}; + } + + if (params_.A11 < 1e-6 || params_.A22 < 1e-6) + { + return {false, "Invalid camera intrinsics"}; + } + + return {true, ""}; +} + +void PointCloudToDepthConverter::updateCameraParams(const CameraParams ¶ms) +{ + params_ = params; + initializeInternalParams(); + createDistortionMaps(); +} diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/rawCloudRender.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/rawCloudRender.cpp new file mode 100644 index 0000000..13c47a6 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/rawCloudRender.cpp @@ -0,0 +1,299 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "rawCloudRender.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include + +struct ValidPointInfo { + float x; + float y; + float z; + int u; + int v; +}; + + +namespace GlobalCameraParams { + float g_fx = 0.0f; + float g_fy = 0.0f; + float g_cx = 0.0f; + float g_cy = 0.0f; + float g_skew = 0.0f; + float g_k2 = 0.0f; + float g_k3 = 0.0f; + float g_k4 = 0.0f; + float g_k5 = 0.0f; + float g_k6 = 0.0f; + float g_k7 = 0.0f; + Eigen::Matrix4f g_T_camera_lidar = Eigen::Matrix4f::Identity(); +} +bool raw_debug=0; +bool rawCloudRender::init(const std::string& yamlFilePath) { + YAML::Node config; + try { + config = YAML::LoadFile(yamlFilePath); + } catch (const YAML::BadFile& e) { + std::cerr << "Error: Could not open file '" << yamlFilePath << "' - " << e.what() << std::endl; + return false; + } catch (const YAML::ParserException& e) { + std::cerr << "Error: YAML parsing failed - " << e.what() << std::endl; + return false; + } catch (const std::exception& e) { + std::cerr << "Unexpected error: " << e.what() << std::endl; + return false; + } + + // Intrinsic parameters node (cam_0) + const std::string cam_node_name = "cam_0"; + if (!config[cam_node_name]) { + std::cerr << "Error: Missing camera node '" << cam_node_name << "'" << std::endl; + return false; + } + YAML::Node cam_node = config[cam_node_name]; + + // Directly access Tcl_0 node + const std::string tcl_node_name = "Tcl_0"; + if (!config[tcl_node_name]) { + std::cerr << "Error: Missing transformation matrix node '" << tcl_node_name << "'" << std::endl; + return false; + } + YAML::Node tclNode = config[tcl_node_name]; + if (tclNode.size() != 16) { + std::cerr << "Error: Transformation matrix must be 4x4 (16 elements)" << std::endl; + return false; + } + + // === Read intrinsic parameters === + GlobalCameraParams::g_k2 = cam_node["k2"].as(); + GlobalCameraParams::g_k3 = cam_node["k3"].as(); + GlobalCameraParams::g_k4 = cam_node["k4"].as(); + GlobalCameraParams::g_k5 = cam_node["k5"].as(); + GlobalCameraParams::g_k6 = cam_node["k6"].as(); + GlobalCameraParams::g_k7 = cam_node["k7"].as(); + + GlobalCameraParams::g_fx = cam_node["A11"].as(); + GlobalCameraParams::g_skew = cam_node["A12"].as(); + GlobalCameraParams::g_fy = cam_node["A22"].as(); + + GlobalCameraParams::g_cx = cam_node["u0"].as(); + GlobalCameraParams::g_cy = cam_node["v0"].as(); + + // === Read extrinsic transformation matrix === + GlobalCameraParams::g_T_camera_lidar << + tclNode[0].as(), tclNode[1].as(), tclNode[2].as(), tclNode[3].as(), + tclNode[4].as(), tclNode[5].as(), tclNode[6].as(), tclNode[7].as(), + tclNode[8].as(), tclNode[9].as(), tclNode[10].as(), tclNode[11].as(), + tclNode[12].as(), tclNode[13].as(), tclNode[14].as(), tclNode[15].as(); + + // === Display key parameters concisely === + std::cout << "=== Camera Calibration Parameters ===" << std::endl; + std::cout << "Intrinsics:" << std::endl; + std::cout << " fx: " << GlobalCameraParams::g_fx + << ", fy: " << GlobalCameraParams::g_fy + << ", cx: " << GlobalCameraParams::g_cx + << ", cy: " << GlobalCameraParams::g_cy << std::endl; + std::cout << "Distortion: k2=" << GlobalCameraParams::g_k2 + << ", k3=" << GlobalCameraParams::g_k3 << std::endl; + + Eigen::Vector3f translation = GlobalCameraParams::g_T_camera_lidar.block<3,1>(0,3); + Eigen::Matrix3f rotation = GlobalCameraParams::g_T_camera_lidar.block<3,3>(0,0); + std::cout << "Extrinsics:" << std::endl; + std::cout << " Translation: [" << translation.x() << ", " + << translation.y() << ", " << translation.z() << "]" << std::endl; + std::cout << " Rotation (euler angles): " + << rotation.eulerAngles(0,1,2).transpose() * 180/M_PI << "°" << std::endl; + + return true; +} +void rawCloudRender::render(std::vector>& rgb_image, + capture_Image_List_t* pcd_stream, + int pcdIdx, + std::vector& rgbCloud_flat) +{ + // Initialize constants + constexpr float inv_1000 = 0.001f; + const float fx = GlobalCameraParams::g_fx; + const float fy = GlobalCameraParams::g_fy; + const float cx = GlobalCameraParams::g_cx; + const float cy = GlobalCameraParams::g_cy; + const float skew = GlobalCameraParams::g_skew; + const float k2 = GlobalCameraParams::g_k2; + const float k3 = GlobalCameraParams::g_k3; + const float k4 = GlobalCameraParams::g_k4; + const float k5 = GlobalCameraParams::g_k5; + const float k6 = GlobalCameraParams::g_k6; + const float k7 = GlobalCameraParams::g_k7; + const Eigen::Matrix4f& T = GlobalCameraParams::g_T_camera_lidar; + + // Precompute matrix elements + const float T00 = T(0,0), T01 = T(0,1), T02 = T(0,2), T03 = T(0,3); + const float T10 = T(1,0), T11 = T(1,1), T12 = T(1,2), T13 = T(1,3); + const float T20 = T(2,0), T21 = T(2,1), T22 = T(2,2), T23 = T(2,3); + + // Initialize lookup table + static std::array dist_table; + static bool table_init = [&](){ + for (size_t i=0; i= 10) { + std::cerr << "ERROR: Invalid pcd_stream or index in render function" << std::endl; + return; + } + + buffer_List_t& pcd_buffer = pcd_stream->imageList[pcdIdx]; + const int total_points = pcd_buffer.height * pcd_buffer.width; + + if (!pcd_buffer.pAddr) { + std::cerr << "ERROR: Null point cloud data pointer in render function" << std::endl; + return; + } + + float* data = static_cast(pcd_buffer.pAddr); + + // Prepare output + rgbCloud_flat.clear(); + rgbCloud_flat.resize(total_points * 4); // Preallocate maximum space + float* output_ptr = rgbCloud_flat.data(); + + // Get image dimensions + const int img_height = 1296; + const int img_width = 1600; + + // Process point cloud + int valid_count = 0; + for (int idx = 0; idx < total_points; ++idx) + { + float* pf = data + idx*4; + + // Quick check for invalid points + if (std::abs(pf[0]) < 1e-5f && std::abs(pf[1]) < 1e-5f && std::abs(pf[2]) < 1e-5f) { + continue; + } + + // Coordinate transformation + const float x = pf[2] * inv_1000; + const float y = -pf[0] * inv_1000; + const float z = pf[1] * inv_1000; + + // Manual matrix transformation + const float x1 = T00*x + T01*y + T02*z + T03; + const float y1 = T10*x + T11*y + T12*z + T13; + const float z1 = T20*x + T21*y + T22*z + T23; + + // Check for points behind camera + if (z1 <= 0.0f) continue; + + // Calculate projection + const float x1_sq = x1*x1; + const float y1_sq = y1*y1; + const float z1_sq = z1*z1; + + const float norm = std::sqrt(x1_sq + y1_sq + z1_sq); + if (norm < 1e-7f) continue; + + const float r = std::sqrt(x1_sq + y1_sq); + if (r < 1e-7f) continue; + + const float cost = z1 / norm; + const float theta = std::acos(cost); + + // Safe table lookup + const size_t table_idx = static_cast(theta * (2.0f/M_PI) * dist_table.size()); + const size_t safe_idx = std::min(table_idx, dist_table.size()-1); + const float thetad = dist_table[safe_idx]; + + const float scaling = thetad / r; + const float xd = x1 * scaling; + const float yd = y1 * scaling; + const float pd_2d_x = xd * fx + yd * skew + cx; + const float pd_2d_y = yd * fy + cy; + + // Quick boundary check + const int u = static_cast(pd_2d_x); + const int v = static_cast(pd_2d_y); + + // Strict boundary check + if (u < 0 || u >= img_width || v < 0 || v >= img_height) { + continue; + } + + // Safe image data access + if (v < static_cast(rgb_image.size()) && u < static_cast(rgb_image[v].size())) { + *output_ptr++ = x; + *output_ptr++ = y; + *output_ptr++ = z; + *output_ptr++ = rgb_image[v][u]; + valid_count++; + } else { + // Handle invalid coordinates + static bool warned = false; + if (!warned) { + if(raw_debug) + { + std::cerr << "WARNING: Invalid image coordinates: u=" << u << ", v=" << v + << " (image size: " << rgb_image.size() << "x" + << (rgb_image.empty() ? 0 : rgb_image[0].size()) << ")" << std::endl; + } + + warned = true; + } + } + } + // Resize output + rgbCloud_flat.resize(output_ptr - rgbCloud_flat.data()); + if(raw_debug) + { + std::cout << "Render completed: " << total_points << " points processed, " + << valid_count << " valid points (" + << (100.0 * valid_count / total_points) << "%)" << std::endl; + } +} +void rawCloudRender::print_camera_calib() { + std::cout << model_type_ << std::endl; + std::cout << image_width_ << std::endl; + std::cout << image_height_ << std::endl; + + std::cout << "T_camera_lidar" << std::endl; + std::cout << T_camera_lidar_(0,0) << " " << T_camera_lidar_(0,1) << " " << T_camera_lidar_(0,2) << " " << T_camera_lidar_(0,3) << std::endl; + std::cout << T_camera_lidar_(1,0) << " " << T_camera_lidar_(1,1) << " " << T_camera_lidar_(1,2) << " " << T_camera_lidar_(1,3) << std::endl; + std::cout << T_camera_lidar_(2,0) << " " << T_camera_lidar_(2,1) << " " << T_camera_lidar_(2,2) << " " << T_camera_lidar_(2,3) << std::endl; + std::cout << T_camera_lidar_(3,0) << " " << T_camera_lidar_(3,1) << " " << T_camera_lidar_(3,2) << " " << T_camera_lidar_(3,3) << std::endl; + + std::cout << "cam" << std::endl; + std::cout << k2_ << std::endl; + std::cout << k3_ << std::endl; + std::cout << k4_ << std::endl; + std::cout << k5_ << std::endl; + std::cout << k6_ << std::endl; + std::cout << k7_ << std::endl; + + std::cout << A11_fx_ << std::endl; + std::cout << A12_skew_ << std::endl; + std::cout << A22_fy_ << std::endl; + std::cout << u0_cx_ << std::endl; + std::cout << v0_cy_ << std::endl; +} \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/src/yaml_parser.cpp b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/yaml_parser.cpp new file mode 100644 index 0000000..b8c15c4 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/src/yaml_parser.cpp @@ -0,0 +1,246 @@ +/* +Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co) +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + http://www.apache.org/licenses/LICENSE-2.0 +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. +*/ + +#include "yaml_parser.h" +#include +#include +#include +#include +#include + +#include +namespace odin_ros_driver { + +YamlParser::YamlParser(const std::string& config_file) + : config_file_(config_file) {} + +bool YamlParser::loadConfig() { + try { + std::cerr << "Loading config file: " << config_file_ << std::endl; + + // Check if file exists + if (!std::filesystem::exists(config_file_)) { + std::cerr << "Config file not found: " << config_file_ << std::endl; + return false; + } + + // Print file contents + std::ifstream file(config_file_); + std::string content((std::istreambuf_iterator(file)), + std::istreambuf_iterator()); + std::cerr << "Config file content:\n" << content << "\n--- End of file ---" << std::endl; + + // Load YAML + YAML::Node config = YAML::LoadFile(config_file_); + + // Check if 'register_keys' node exists + if (!config["register_keys"]) { + std::cerr << "Missing 'register_keys' section in config file" << std::endl; + return false; + } + + YAML::Node register_keys = config["register_keys"]; + register_keys_.clear(); + register_keys_str_val_.clear(); + custom_parameters_.clear(); + + // Print number of key-value pairs found + std::cerr << "Found " << register_keys.size() << " keys in config" << std::endl; + + for (YAML::const_iterator it = register_keys.begin(); it != register_keys.end(); ++it) { + std::string key = it->first.as(); + const YAML::Node& value_node = it->second; + + // Convert key to lowercase + std::transform(key.begin(), key.end(), key.begin(), + [](unsigned char c){ return std::tolower(c); }); + + // Check if this is a custom parameter + if (key.substr(0, 7) == "custom_") { + std::string param_name = key.substr(7); + + // Handle different value types + if (value_node.IsScalar()) { + // Single scalar value (int or float) + try { + int int_value = value_node.as(); + ParameterValue param_value; + param_value.type = DataType::INT_TYPE; + param_value.setData(int_value); + custom_parameters_[param_name] = param_value; + std::cerr << "Loaded custom parameter (int): " << param_name << " = " << int_value << std::endl; + } catch (...) { + try { + double float_value = value_node.as(); + ParameterValue param_value; + param_value.type = DataType::FLOAT_ARRAY_TYPE; + std::vector float_array = {static_cast(float_value)}; + param_value.setArray(float_array); + custom_parameters_[param_name] = param_value; + std::cerr << "Loaded custom parameter (float): " << param_name << " = " << float_value << std::endl; + } catch (const std::exception& e) { + std::cerr << "Failed to parse custom parameter " << param_name << ": " << e.what() << std::endl; + } + } + } else if (value_node.IsSequence()) { + // Array of values + size_t array_size = value_node.size(); + if (array_size == 0) { + std::cerr << "Empty array for custom parameter: " << param_name << std::endl; + continue; + } + + // Try to detect if it's a float or int array based on first element + try { + // Try to parse as float array first + std::vector float_array; + for (size_t i = 0; i < array_size; ++i) { + float_array.push_back(value_node[i].as()); + } + ParameterValue param_value; + param_value.type = DataType::FLOAT_ARRAY_TYPE; + param_value.setArray(float_array); + custom_parameters_[param_name] = param_value; + + std::cerr << "Loaded custom parameter (float array): " << param_name << " = ["; + for (size_t i = 0; i < float_array.size(); ++i) { + if (i > 0) std::cerr << ", "; + std::cerr << std::fixed << std::setprecision(4) << float_array[i]; + } + std::cerr << "]" << std::endl; + } catch (const std::exception& e) { + std::cerr << "Failed to parse custom parameter array " << param_name << ": " << e.what() << std::endl; + } + } + } else if (allowed_key_w_str_val.find(key) != allowed_key_w_str_val.end()) { + try { + std::string value = value_node.as(); + register_keys_str_val_[key] = value; + std::cerr << "Loaded key: " << key << " = " << value << std::endl; + } catch (const std::exception& e) { + std::cerr << "Failed to parse key " << key << ": " << e.what() << std::endl; + } + } else if (allowed_key_w_float_val.find(key) != allowed_key_w_float_val.end()) { + try { + double value = value_node.as(); + register_keys_float_val_[key] = value; + std::cerr << "Loaded key: " << key << " = " << value << std::endl; + } catch (const std::exception& e) { + std::cerr << "Failed to parse key " << key << ": " << e.what() << std::endl; + } + } else { + // Regular (non-custom) integer parameter + try { + int value = value_node.as(); + register_keys_[key] = value; + std::cerr << "Loaded key: " << key << " = " << value << std::endl; + } catch (const std::exception& e) { + std::cerr << "Failed to parse key " << key << ": " << e.what() << std::endl; + } + } + } + + return true; + } catch (const YAML::Exception& e) { + std::cerr << "YAML exception: " << e.what() << std::endl; + return false; + } catch (const std::exception& e) { + std::cerr << "Exception: " << e.what() << std::endl; + return false; + } +} + +const std::map& YamlParser::getRegisterKeys() const { + return register_keys_; +} + +const std::map& YamlParser::getCustomParameters() const { + return custom_parameters_; +} + +const std::map& YamlParser::getRegisterKeysStrVal() const { + return register_keys_str_val_; +} + +void YamlParser::printConfig() const { + std::cerr << "Configuration Keys:" << std::endl; + if (register_keys_.empty()) { + std::cerr << " (int val empty)" << std::endl; + } else { + for (const auto& [key, value] : register_keys_) { + std::cerr << " " << key << ": " << value << std::endl; + } + } + + if (register_keys_str_val_.empty()) { + std::cerr << " (str_val empty)" << std::endl; + } else { + for (const auto& [key, value] : register_keys_str_val_) { + std::cerr << " " << key << ": " << value << std::endl; + } + } + + std::cerr << "Custom Parameters:" << std::endl; + if (custom_parameters_.empty()) { + std::cerr << " (custom param empty)" << std::endl; + } else { + for (const auto& [key, param_val] : custom_parameters_) { + std::cerr << " " << key << ": (size=" << param_val.getSize() << " bytes)"; + if (param_val.type == DataType::INT_TYPE && param_val.getSize() == sizeof(int)) { + int int_val = *reinterpret_cast(param_val.getData()); + std::cerr << " = " << int_val; + } else if (param_val.type == DataType::FLOAT_ARRAY_TYPE && param_val.getSize() % sizeof(float) == 0) { + size_t count = param_val.getSize() / sizeof(float); + const float* float_arr = reinterpret_cast(param_val.getData()); + std::cerr << " = ["; + for (size_t i = 0; i < count; ++i) { + if (i > 0) std::cerr << ", "; + std::cerr << std::fixed << std::setprecision(4) << float_arr[i]; + } + std::cerr << "]"; + } + std::cerr << std::endl; + } + } +} + +bool YamlParser::applyCustomParameters(device_handle device) { + bool success = true; + + for (const auto& [param_name, param_value] : custom_parameters_) { + std::cerr << "Setting custom parameter: " << param_name << " (size=" << param_value.getSize() << " bytes)" << std::endl; + + int result = lidar_set_custom_parameter(device, param_name.c_str(), param_value.getData(), param_value.getSize()); + if (result != 0) { + std::cerr << "Failed to set custom parameter " << param_name << ": error code " << result << std::endl; + success = false; + } else { + std::cerr << "Successfully set custom parameter " << param_name << std::endl; + } + } + + return success; +} + +int YamlParser::getCustomParameterInt(const std::string& param_name, int default_value) const { + auto it = custom_parameters_.find(param_name); + if (it != custom_parameters_.end()) { + const ParameterValue& param_value = it->second; + if (param_value.type == DataType::INT_TYPE && param_value.getSize() == sizeof(int)) { + return *reinterpret_cast(param_value.getData()); + } + } + return default_value; +} + +} \ No newline at end of file diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/GetAe.srv b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/GetAe.srv new file mode 100644 index 0000000..46a6b8f --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/GetAe.srv @@ -0,0 +1,13 @@ +# Query current AE (auto exposure) state. +# Request: empty. +# Response: success + raw return code + decoded fields. +--- +bool success # true if rc == 0 +int32 rc # 0=ok, >0=device error (400..405 or 0xFF), <0=SDK error +float32 exposure_time # seconds (manual range 0.0001 .. 0.033) +float32 gain # analog gain +int32 iso # equivalent ISO +float32 brightness # average frame brightness +uint8 is_converged # 1=converged, 0=not converged +float32 env_lv # ambient luminance level +float32 fps # current frame rate diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/GetAwb.srv b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/GetAwb.srv new file mode 100644 index 0000000..aa36770 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/GetAwb.srv @@ -0,0 +1,13 @@ +# Query current AWB (auto white balance) state. +# Request: empty. +# Response: success + raw return code + decoded fields. +--- +bool success # true if rc == 0 +int32 rc # 0=ok, >0=device error (400..405 or 0xFF), <0=SDK error +float32 rgain +float32 grgain +float32 gbgain +float32 bgain +float32 cct # color temperature in Kelvin +float32 ccri # color temperature deviation +uint8 is_converged # 1=converged, 0=not converged diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/SetAe.srv b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/SetAe.srv new file mode 100644 index 0000000..d21aa1e --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/SetAe.srv @@ -0,0 +1,14 @@ +# Set AE (auto exposure) mode and (in manual mode) exposure / gain. +# +# mode == 0 (AUTO) : sends opcode 0x02 only; exposure_time and gain ignored. +# mode == 1 (MANUAL) : sends opcode 0x03 then 0x06 (exposure_time, gain). +# +# Valid manual ranges (device-enforced; out-of-range returns rc=403): +# exposure_time : 0.0001 s .. 0.033 s +# gain : 1.0 .. 64.0 +uint8 mode +float32 exposure_time +float32 gain +--- +bool success +int32 rc # 0=ok, >0=device error (400..405 or 0xFF), <0=SDK error diff --git a/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/SetAwb.srv b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/SetAwb.srv new file mode 100644 index 0000000..be46a11 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/odin_ros_driver/srv/SetAwb.srv @@ -0,0 +1,15 @@ +# Set AWB (auto white balance) mode and (in manual mode) R/B gains. +# +# mode == 0 (AUTO) : sends opcode 0x31 only; rgain and bgain ignored. +# mode == 1 (MANUAL) : sends opcode 0x32 then 0x33 (rgain, bgain). +# Gr/Gb are fixed to 1.0 by the device. +# +# Valid manual ranges: +# rgain : 0.1 .. 4.0 +# bgain : 0.1 .. 4.0 +uint8 mode +float32 rgain +float32 bgain +--- +bool success +int32 rc # 0=ok, >0=device error (400..405 or 0xFF), <0=SDK error diff --git a/05_software/real/sim2real_ros2/src/sim2real_bringup/CMakeLists.txt b/05_software/real/sim2real_ros2/src/sim2real_bringup/CMakeLists.txt new file mode 100644 index 0000000..260fc4a --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_bringup/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.8) +project(sim2real_bringup) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY launch config + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/05_software/real/sim2real_ros2/src/sim2real_bringup/config/deployment_contract.yaml b/05_software/real/sim2real_ros2/src/sim2real_bringup/config/deployment_contract.yaml new file mode 100644 index 0000000..cd931ee --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_bringup/config/deployment_contract.yaml @@ -0,0 +1,103 @@ +# ============================================================================= +# 部署契约参考文件（仅供参考，C++ 代码不读取此文件） +# ============================================================================= +# +# ⚠️ 注意：所有部署参数（电机映射、动作缩放、默认姿态等）均硬编码在 +# sim2real_common/include/sim2real_common/deployment_contract.hpp 中。 +# 本 YAML 文件仅作为可读参考，修改此文件不会影响运行时行为！ +# 如需修改部署参数，请同步更新 .hpp 文件和本文件。 +# +# ============================================================================= + +model: + path: "policies/model_rough.onnx" + source_pt: "policies/model_rough.pt" + backend: "onnxruntime" + obs_dim: 53 + action_dim: 16 + clip_obs: 100.0 + +observation: + terms: + - {name: base_ang_vel, dim: 3, scale: 0.25} + - {name: projected_gravity, dim: 3} + - {name: command, dim: 3} + - {name: joint_pos_rel, dim: 12} + - {name: joint_vel_rel, dim: 12, scale: 0.05} + - {name: wheel_vel, dim: 4, scale: 0.05} + - {name: last_actions, dim: 16} + +action: + joint_order: + - fl_hip_abduction + - fl_hip_pitch + - fl_knee + - fr_hip_abduction + - fr_hip_pitch + - fr_knee + - rl_hip_abduction + - rl_hip_pitch + - rl_knee + - rr_hip_abduction + - rr_hip_pitch + - rr_knee + - fl_wheel + - fr_wheel + - rl_wheel + - rr_wheel + wheel_indices: [12, 13, 14, 15] + scale: [0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 0.125, 0.25, 0.25, 5.0, 5.0, 5.0, 5.0] + default_dof_pos: [0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.0, 0.0, 0.0] + +motor_mapping: + can_id_map: + fl_hip_abduction: [1, 1] + fl_hip_pitch: [1, 2] + fl_knee: [1, 3] + fl_wheel: [1, 4] + fr_hip_abduction: [1, 5] + fr_hip_pitch: [1, 6] + fr_knee: [1, 7] + fr_wheel: [1, 8] + rl_hip_abduction: [2, 1] + rl_hip_pitch: [2, 2] + rl_knee: [2, 3] + rl_wheel: [2, 4] + rr_hip_abduction: [2, 5] + rr_hip_pitch: [2, 6] + rr_knee: [2, 7] + rr_wheel: [2, 8] + direction_map: + fl_hip_abduction: -1 + fl_hip_pitch: -1 + fl_knee: -1 + fl_wheel: -1 + fr_hip_abduction: -1 + fr_hip_pitch: 1 + fr_knee: 1 + fr_wheel: 1 + rl_hip_abduction: 1 + rl_hip_pitch: -1 + rl_knee: -1 + rl_wheel: -1 + rr_hip_abduction: 1 + rr_hip_pitch: 1 + rr_knee: 1 + rr_wheel: 1 + zero_offset_map: + fl_hip_abduction: 0.003 + fl_hip_pitch: 0.030 + fl_knee: 0.028 + fl_wheel: 0.0 + fr_hip_abduction: 0.004 + fr_hip_pitch: 0.038 + fr_knee: 0.011 + fr_wheel: 0.0 + rl_hip_abduction: 0.019 + rl_hip_pitch: -0.034 + rl_knee: 0.025 + rl_wheel: 0.0 + rr_hip_abduction: -0.001 + rr_hip_pitch: 0.039 + rr_knee: 0.018 + rr_wheel: 0.0 diff --git a/05_software/real/sim2real_ros2/src/sim2real_bringup/config/runtime.yaml b/05_software/real/sim2real_ros2/src/sim2real_bringup/config/runtime.yaml new file mode 100644 index 0000000..cb6e208 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_bringup/config/runtime.yaml @@ -0,0 +1,304 @@ +/**: + ros__parameters: + policy_hz: 50.0 + motor_hz: 200.0 + status_hz: 10.0 + target_timeout_ms: 150.0 + event_log_dir: "logs_v2_web" + model_engine_path: policies/model_6800_fp16.engine + prefer_tensorrt: true + model_path: policies/model_6800.onnx + rough_model_engine_path: policies/model_6800_fp16.engine + crawl_model_path: policies/model_crawl.onnx # unused while crawl_backend is "ik" + crawl_model_engine_path: "" + wall_model_path: policies/model_84.onnx + wall_model_engine_path: policies/model_84_fp16.engine + rough_default_dof_pos: [0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.0, 0.0, 0.0] + wall_default_dof_pos: [0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.550, -1.125, 0.0, 0.0, 0.0, 0.0] + crawl_backend: "ik" + crawl_default_dof_pos: [0.2, 1.697, -2.650, -0.2, 1.697, -2.650, 0.2, 1.697, -2.650, -0.2, 1.697, -2.650, 0.0, 0.0, 0.0, 0.0] + crawl_ik_wheel_linear_gain: 12.5 + crawl_ik_wheel_yaw_gain: 8.0 + crawl_ik_max_wheel_speed: 12.0 + crawl_ik_abduction_clip: 0.45 + crawl_ik_yaw_rate_kp: 0.5 + crawl_ik_imu_posture: false + crawl_ik_encoder_posture_kp: 0.0 + crawl_ik_encoder_posture_max: 0.03 + crawl_ik_encoder_guard: false + crawl_ik_encoder_guard_start: 0.28 + crawl_ik_encoder_guard_stop: 0.65 + crawl_ik_imu_guard: true + crawl_ik_imu_guard_start_deg: 12.0 + crawl_ik_imu_guard_stop_deg: 28.0 + model_switch_transition_s: 0.9 + model_switch_min_transition_s: 0.4 + model_switch_to_stand_transition_scale: 2.1 + model_switch_to_model_transition_scale: 2.4 + model_switch_stand_hold_s: 0.45 + model_switch_stand_max_err: 0.18 + model_switch_stand_max_vel: 0.8 + model_switch_release_scale: 1.0 + runtime_max_vx: 0.9 + runtime_max_vy: 0.5 + runtime_max_yaw_rate: 0.85 + debug_trace_enabled: true + debug_trace_decimation: 1 + use_cuda: true # enable CUDA Execution Provider on Orin Nano GPU + contract_file: deployment_contract.yaml + dry_run: false + can0_name: "can0" + can1_name: "can1" + imu_topic: "/odin1/imu" + odom_topic: "/odom" + + # Remote UART / SBUS parameters, aligned with the first-generation Python deployment + remote_enabled: false # true + remote_port: "/dev/ttyACM0" + remote_baudrate: 100000 + remote_timeout: 0.02 + remote_axis_deadzone: 40 + remote_active_threshold: 40 + remote_axis_full_scale: 660.0 + remote_max_vx: 0.9 + remote_max_vy: 0.5 + remote_max_yaw_rate: 0.85 + remote_invert_vx: true + remote_invert_vy: false + remote_invert_yaw: true + remote_publish_inactive_zero: true + remote_estop_latch: true + remote_poll_hz: 50.0 + remote_model_switch_enabled: true + remote_model_switch_channel: 10 + remote_model_switch_debounce_frames: 3 + remote_model_switch_rough_level: "low" + remote_model_switch_ik_level: "high" + + # Command mux parameters + cmd_mux_default_mode: "NAV" + cmd_mux_output_hz: 50.0 + cmd_mux_remote_timeout_ms: 250.0 + cmd_mux_web_timeout_ms: 300.0 + cmd_mux_nav_timeout_ms: 500.0 + cmd_mux_max_vx: 0.9 + cmd_mux_max_vy: 0.5 + cmd_mux_max_yaw_rate: 0.85 + cmd_mux_max_vx_acc: 1.0 + cmd_mux_max_vy_acc: 1.0 + cmd_mux_max_yaw_acc: 1.5 + cmd_mux_max_vx_decel: 2.0 + cmd_mux_max_vy_decel: 2.0 + cmd_mux_max_yaw_decel: 2.0 + # The rough locomotion policy has an approximately 0.2 m/s linear command dead zone. + # Skip that ineffective band on start-up, but still allow exact zero for braking/estop. + cmd_mux_linear_deadzone_epsilon: 0.05 + cmd_mux_yaw_deadzone_epsilon: 0.02 + cmd_mux_min_effective_vx: 0.22 + cmd_mux_min_effective_vy: 0.22 + cmd_mux_min_effective_yaw_rate: 0.0 + cmd_mux_deadzone_sources: "nav" + + # Windows/Nano Web UDP bridge parameters + web_bridge_enabled: true + web_http_host: "0.0.0.0" + web_http_port: 18080 + web_static_dir: "" + # Odom task actual path export; files can be opened by nav_tools over the PCD. + odom_trace_export_dir: "map/load" + web_udp_listen_host: "0.0.0.0" + web_udp_listen_port: 15000 + web_udp_remote_host: "" + web_udp_remote_port: 15001 + web_udp_state_hz: 20.0 + web_udp_cmd_timeout_ms: 300.0 + web_udp_max_packet_bytes: 8192 + web_udp_max_vx: 0.9 + web_udp_max_vy: 0.3 + web_udp_max_yaw_rate: 0.85 + web_udp_estop_on_timeout: false + + # Safety parameters + safety_enabled: true + max_target_offset: 2.4 + model_switch_max_target_offset: 1.8 + hard_target_offset: 3.0 + max_ang_vel: 30.0 + max_tilt_z: -0.3 + clip_to_brake: 0 + imu_age_warn_ms: 60.0 + imu_age_stop_ms: 500.0 + wheel_no_effect_command_threshold: 1.0 + wheel_no_effect_min_response_ratio: 0.20 + wheel_no_effect_velocity_epsilon: 0.25 + wheel_no_effect_max_temperature_c: 90.0 + wheel_no_effect_min_bus_voltage_v: 18.0 + wheel_no_effect_command_warmup_cycles: 12 + wheel_no_effect_trigger_cycles: 30 + wheel_no_effect_attempt_limit: 2 + wheel_no_effect_cooldown_ms: 1200 + wheel_recovery_verify_timeout_ms: 180 + wheel_no_effect_diag_freshness_ms: 350 + wheel_no_effect_diag_request_period_ms: 80 + leg_no_effect_position_error_threshold: 0.18 + leg_no_effect_velocity_epsilon: 0.12 + leg_no_effect_max_estimated_current_arms: 4.0 + leg_no_effect_max_abs_torque_nm: 5.0 + leg_no_effect_max_temperature_c: 100.0 + leg_no_effect_min_bus_voltage_v: 18.0 + leg_no_effect_command_warmup_cycles: 40 + leg_no_effect_trigger_cycles: 25 + leg_no_effect_attempt_limit: 2 + leg_no_effect_cooldown_ms: 1200 + leg_recovery_verify_timeout_ms: 220 + + # Policy alignment with the first-generation Python deployment + command_release_s: 0.35 + release_command_hold_s: 0.12 + release_posture_max_err: 0.35 + release_target_blend_s: 0.30 + clip_obs: 100.0 + hold_zero_command_pose: true + enable_zero_cmd_suppression: true + require_active_command_to_release: true + zero_cmd_use_yaw_rate: true + + # Simple navigation parameters + localization_mode: "relocal" # relocal: wait for Odin map/odom TF; odom: bridge map->odom fallback + nav_map_frame: "map" + nav_odom_frame: "odom" + nav_base_frame: "base_link" + nav_control_hz: 20.0 + nav_goal_tolerance: 0.20 + nav_yaw_stop_threshold: 0.80 + nav_max_vx: 0.90 + nav_max_vy: 0.50 + nav_max_wz: 0.85 + nav_kp_dist: 0.80 + nav_kp_yaw: 1.80 + nav_goal_exit_tolerance_margin: 0.08 + nav_goal_complete_stable_cycles: 2 + nav_final_align_kp_yaw_scale: 0.60 + nav_final_align_max_wz: 0.45 + nav_final_align_creep_speed: 0.05 + nav_goal_yaw_tolerance_deg: 12.0 + nav_astar_enabled: true + nav_astar_resolution: 0.10 + nav_astar_pcd_sample_step: 5 + nav_astar_allow_diagonal: true + nav_astar_smooth_enabled: true + nav_astar_corner_blend_dist: 0.20 + nav_astar_waypoint_reach_dist: 0.18 + nav_astar_lookahead_dist: 0.35 + nav_astar_snap_radius: 0.60 + nav_astar_max_expansions: 120000 + # Slalom is treated as a continuous path by simple_nav even if the route JSON + # was saved without precisionFollow/stableCycles/lookahead metadata. + nav_slalom_auto_precision_enabled: true + nav_slalom_auto_precision_force: true + nav_slalom_task_names: "slalom" + nav_slalom_stable_cycles: 0 + nav_slalom_lookahead: 0.35 + nav_slalom_yaw_rate_limit: 0.45 + nav_slalom_tolerance: 0.15 + nav_slalom_max_vx: 0.58 + nav_slalom_min_vx: 0.22 + nav_slalom_curvature_slowdown_enabled: true + nav_slalom_min_turn_speed_scale: 0.45 + # Execute waypoints marked slalomStraight as odometry-closed scripted moves. + nav_slalom_script_enabled: true + nav_slalom_script_start_tolerance: 0.22 + nav_slalom_script_pos_tolerance: 0.10 + nav_slalom_script_yaw_tolerance_deg: 5.0 + nav_slalom_script_drive_yaw_deadband_deg: 8.0 + nav_slalom_script_stable_cycles: 1 + nav_slalom_script_rotate_steps_enabled: false + nav_slalom_script_final_rotate_enabled: false + nav_slalom_script_require_yaw_at_step: false + nav_slalom_script_kp_dist: 1.00 + nav_slalom_script_kp_yaw: 1.20 + nav_slalom_script_max_vx: 0.58 + nav_slalom_script_max_vy: 0.50 + nav_slalom_script_max_wz: 0.50 + nav_slalom_script_min_cmd_linear: 0.22 + nav_slalom_script_min_cmd_angular: 0.20 + nav_slalom_script_min_cmd_epsilon: 0.05 + nav_slalom_script_min_step_distance: 0.02 + nav_slalom_script_yaw_gate_deg: 8.0 + nav_slalom_script_lateral_gate: 0.07 + nav_slalom_script_lateral_slow_gate: 0.15 + nav_slalom_script_lateral_creep_vx: 0.22 + nav_slalom_script_drive_yaw_source: "segment" + nav_slalom_script_segment_yaw_min_dist: 0.45 + nav_precision_lateral_control_enabled: true + nav_precision_lateral_kp: 0.80 + nav_precision_lateral_max_vy: 0.22 + # Lightweight DWA-style local safety layer over the route/avoid polygons. + nav_local_planner_enabled: true + nav_local_planner_tasks: "slalom" + nav_local_planner_precision_enabled: true + nav_local_planner_sim_time: 0.9 + nav_local_planner_sim_dt: 0.1 + nav_local_planner_v_samples: 5 + nav_local_planner_w_samples: 7 + nav_local_planner_vy_samples: 3 + nav_local_planner_obstacle_margin: 0.08 + nav_local_planner_recovery_clearance_epsilon: 0.005 + # 0.0 means auto: use the nav_tools body+wheel lateral footprint. + nav_local_planner_robot_radius: 0.0 + nav_local_planner_clearance_weight: 2.0 + nav_local_planner_path_weight: 2.0 + nav_local_planner_heading_weight: 0.7 + nav_local_planner_speed_weight: 0.3 + nav_local_planner_nominal_weight: 1.0 + nav_local_planner_min_vx: 0.22 + nav_slalom_script_safety_filter_enabled: true + nav_local_planner_use_astar_grid: false + nav_turn_in_place_enabled: true + nav_turn_in_place_enter_yaw_deg: 70.0 + nav_turn_in_place_exit_yaw_deg: 18.0 + nav_turn_in_place_max_wz: 0.80 + nav_pre_dock_enabled: true + nav_pre_dock_distance: 0.35 + nav_pre_dock_tolerance: 0.18 + nav_pre_dock_skip_within_goal_dist: 0.45 + nav_goals_file: "" + nav_missions_file: "" + # Keep the legacy YAML route for reference; active task is selected by nav_route_task_file below. + nav_route_file: "" + # Task switch entry: change this path to another .json/.yaml route file, then relaunch or reload the nav nodes. + # The web "odom" button uses the first waypoint of this route as the fixed odom fallback start pose. + nav_route_task_file: map/routes/1hao_reall.json + nav_route_auto_align_enabled: false + nav_route_rotation_offset_deg: 0.0 + nav_route_align_max_angle_deg: 6.0 + nav_route_align_angle_step_deg: 0.5 + nav_route_align_search_radius: 0.35 + nav_avoid_regions_enabled: true + nav_avoid_region_margin: 0.0 + # 0.0 means auto: use the nav_tools body+wheel lateral footprint for avoid-region inflation. + nav_avoid_footprint_radius: 0.0 + nav_robot_body_length: 0.356 + nav_robot_body_width: 0.235 + nav_robot_body_center_x: 0.1518 + nav_robot_origin_from_front: 0.105 + nav_robot_pose_hip: 0.550 + nav_robot_pose_knee: -1.125 + nav_robot_wheel_vis_length: 0.16 + nav_robot_wheel_vis_width: 0.055 + nav_robot_footprint_padding: 0.02 + odom_fallback_require_odom_fresh: true + odom_fallback_max_odom_age_ms: 500.0 + odom_fallback_block_existing_map_odom_tf: true + odom_fallback_tf_conflict_window_s: 1.0 + odom_fallback_tf_conflict_xy_tolerance: 0.05 + odom_fallback_tf_conflict_yaw_tolerance_deg: 2.0 + # Keep odom fallback running if Odin relocalizes mid-task; hand off after mission end or Exit odom. + odom_fallback_stop_on_external_tf: false + pcd_nav_file: map/1hao.pcd + pcd_floor_z_min: -1.6 + pcd_floor_z_max: 0.4 + pcd_sample_step: 25 + pcd_robot_radius: 0.18 + + diff --git a/05_software/real/sim2real_ros2/src/sim2real_bringup/launch/sim2real_system.launch.py b/05_software/real/sim2real_ros2/src/sim2real_bringup/launch/sim2real_system.launch.py new file mode 100644 index 0000000..807d751 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_bringup/launch/sim2real_system.launch.py @@ -0,0 +1,173 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression +from launch.conditions import IfCondition +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterFile +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + runtime_params = ParameterFile( + PathJoinSubstitution([ + FindPackageShare("sim2real_bringup"), + "config", + "runtime.yaml", + ]), + allow_substs=True, + ) + + # Declare launch configurations + launch_driver_arg = DeclareLaunchArgument( + 'launch_driver', + default_value='true', + description='Whether to launch the odin_ros_driver sensor node' + ) + + launch_nav2_arg = DeclareLaunchArgument( + 'launch_nav2', + default_value='false', + description='Whether to launch the Nav2 navigation stack' + ) + + launch_remote_arg = DeclareLaunchArgument( + 'launch_remote', + default_value='true', + description='Whether to launch the SBUS UART remote control node' + ) + + launch_web_bridge_arg = DeclareLaunchArgument( + 'launch_web_bridge', + default_value='true', + description='Whether to launch the Windows/Nano UDP web debug bridge' + ) + + launch_simple_nav_arg = DeclareLaunchArgument( + 'launch_simple_nav', + default_value='true', + description='Whether to launch the simple waypoint navigation node' + ) + + localization_mode_arg = DeclareLaunchArgument( + 'localization_mode', + default_value='relocal', + description='Localization profile: odom uses bridge fallback; relocal waits for Odin map/odom TF' + ) + + odin_config_file_arg = DeclareLaunchArgument( + 'odin_config_file', + default_value=PathJoinSubstitution([ + FindPackageShare('odin_ros_driver'), + 'config', + 'control_command_relocal.yaml', + ]), + description='Odin control config YAML for the selected localization profile' + ) + + event_log_dir_arg = DeclareLaunchArgument( + 'event_log_dir', + default_value=PythonExpression([ + "'logs_v2_web/run_' + __import__('datetime').datetime.now().strftime('%Y-%m-%d_%H-%M-%S_%f')[:-3]" + ]), + description='Per-run event log directory' + ) + + # Include odin_ros_driver launch + driver_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + FindPackageShare('odin_ros_driver'), + 'launch', + 'odin1_ros2.launch.py' + ]) + ), + launch_arguments={ + 'launch_rviz': 'false', + 'config_file': LaunchConfiguration('odin_config_file'), + }.items(), + condition=IfCondition(LaunchConfiguration('launch_driver')) + ) + + # Include sim2real_nav2 launch + nav2_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + FindPackageShare('sim2real_nav2'), + 'launch', + 'nav2.launch.py' + ]) + ), + condition=IfCondition(LaunchConfiguration('launch_nav2')) + ) + + return LaunchDescription([ + launch_driver_arg, + launch_nav2_arg, + launch_remote_arg, + launch_web_bridge_arg, + launch_simple_nav_arg, + localization_mode_arg, + odin_config_file_arg, + event_log_dir_arg, + Node( + package="sim2real_hw", + executable="sim2real_hw_node", + name="sim2real_hw_node", + output="screen", + parameters=[runtime_params, {"event_log_dir": LaunchConfiguration("event_log_dir")}], + ), + Node( + package="sim2real_runtime", + executable="sim2real_runtime_node", + name="sim2real_runtime_node", + output="screen", + parameters=[runtime_params, {"event_log_dir": LaunchConfiguration("event_log_dir")}], + ), + Node( + package="sim2real_runtime", + executable="cmd_mux_node.py", + name="sim2real_cmd_mux_node", + output="screen", + parameters=[runtime_params], + ), + Node( + package="sim2real_runtime", + executable="web_udp_bridge_node.py", + name="sim2real_web_udp_bridge_node", + output="screen", + parameters=[runtime_params, {"localization_mode": LaunchConfiguration("localization_mode")}], + condition=IfCondition(LaunchConfiguration('launch_web_bridge')), + ), + Node( + package="sim2real_runtime", + executable="remote_uart_node.py", + name="sim2real_remote_uart_node", + output="screen", + parameters=[runtime_params], + condition=IfCondition(LaunchConfiguration('launch_remote')), + ), + Node( + package="sim2real_runtime", + executable="simple_nav_node.py", + name="sim2real_simple_nav_node", + output="screen", + parameters=[runtime_params], + condition=IfCondition(LaunchConfiguration('launch_simple_nav')), + ), + Node( + package="sim2real_runtime", + executable="odom_relay_node", + name="odom_relay_node", + output="screen", + parameters=[{ + "odom_input_topic": "/odin1/odometry", + "odom_output_topic": "/odom", + "base_frame": "base_link", + "publish_tf": True, + }], + condition=IfCondition(LaunchConfiguration('launch_driver')), + ), + driver_launch, + nav2_launch, + ]) diff --git a/05_software/real/sim2real_ros2/src/sim2real_bringup/package.xml b/05_software/real/sim2real_ros2/src/sim2real_bringup/package.xml new file mode 100644 index 0000000..990dda7 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_bringup/package.xml @@ -0,0 +1,24 @@ + + + sim2real_bringup + 0.1.0 + Launch and configuration package for sim2real_ros2. + todo + Proprietary + + ament_cmake + + launch + launch_ros + sim2real_common + sim2real_hw + sim2real_interfaces + sim2real_runtime + sim2real_nav2 + odin_ros_driver + tf2_ros + + + ament_cmake + + diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/CMakeLists.txt b/05_software/real/sim2real_ros2/src/sim2real_common/CMakeLists.txt new file mode 100644 index 0000000..79683b9 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.8) +project(sim2real_common) + +find_package(ament_cmake REQUIRED) + +add_library(${PROJECT_NAME} INTERFACE) +target_include_directories(${PROJECT_NAME} INTERFACE + $ + $ +) +target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17) + +install( + DIRECTORY include/ + DESTINATION include +) + +install( + TARGETS ${PROJECT_NAME} + EXPORT export_${PROJECT_NAME} +) + +ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET) +ament_package() diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/deployment_contract.hpp b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/deployment_contract.hpp new file mode 100644 index 0000000..eb8cee7 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/deployment_contract.hpp @@ -0,0 +1,94 @@ +#pragma once + +#include +#include + +namespace sim2real_common +{ + +struct DeploymentContract +{ + static constexpr std::size_t kObsDim = 53; + static constexpr std::size_t kActionDim = 16; + static constexpr std::size_t kLegJointCount = 12; + static constexpr std::size_t kWheelCount = 4; + static constexpr double kPolicyHz = 50.0; + static constexpr double kMotorHz = 200.0; + static constexpr double kStatusHz = 10.0; + + static constexpr std::array kWheelIndices = {12, 13, 14, 15}; + static constexpr float kLegKp = 50.0f; + static constexpr float kLegKd = 1.5f; + static constexpr float kLegHoldKp = kLegKp; + static constexpr float kLegHoldKd = kLegKd; + static constexpr float kWheelKd = 1.0f; + + static constexpr std::array kCanBusMap = { + 1, 1, 1, // fl legs + 1, 1, 1, // fr legs + 2, 2, 2, // rl legs + 2, 2, 2, // rr legs + 1, 1, 2, 2 // wheels: fl, fr, rl, rr + }; + + static constexpr std::array kCanIdMap = { + 1, 2, 3, // fl legs + 5, 6, 7, // fr legs + 1, 2, 3, // rl legs + 5, 6, 7, // rr legs + 4, 8, 4, 8 // wheels: fl, fr, rl, rr + }; + + static constexpr std::array kDirectionMap = { + -1.0f, -1.0f, -1.0f, // fl + -1.0f, 1.0f, 1.0f, // fr + 1.0f, -1.0f, -1.0f, // rl + 1.0f, 1.0f, 1.0f, // rr + -1.0f, 1.0f, -1.0f, 1.0f // wheels + }; + + static constexpr std::array kZeroOffsetMap = { + 0.003f, 0.030f, 0.028f, // fl + 0.004f, 0.038f, 0.011f, // fr + 0.019f, -0.034f, 0.025f, // rl + -0.001f, 0.039f, 0.018f, // rr + 0.000f, 0.000f, 0.000f, 0.000f // wheels + }; + + static constexpr std::array kActionScale = { + 0.125f, 0.25f, 0.25f, + 0.125f, 0.25f, 0.25f, + 0.125f, 0.25f, 0.25f, + 0.125f, 0.25f, 0.25f, + 5.0f, 5.0f, 5.0f, 5.0f + }; + + static constexpr std::array kDefaultDofPos = { + 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 + }; +}; + +static constexpr std::array kJointLabels = { + "fl_hip_abduction", + "fl_hip_pitch", + "fl_knee", + "fr_hip_abduction", + "fr_hip_pitch", + "fr_knee", + "rl_hip_abduction", + "rl_hip_pitch", + "rl_knee", + "rr_hip_abduction", + "rr_hip_pitch", + "rr_knee", + "fl_wheel", + "fr_wheel", + "rl_wheel", + "rr_wheel" +}; + +} // namespace sim2real_common diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/event_logger.hpp b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/event_logger.hpp new file mode 100644 index 0000000..9df670d --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/event_logger.hpp @@ -0,0 +1,167 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sim2real_common +{ + +class EventLogger +{ +public: + static std::string makeRunId() + { + const auto now = std::chrono::system_clock::now(); + const auto millis = std::chrono::duration_cast( + now.time_since_epoch()).count() % 1000; + const std::time_t now_time = std::chrono::system_clock::to_time_t(now); + const std::tm tm_value = toLocalTm(now_time); + + std::ostringstream oss; + oss << "run_" + << std::put_time(&tm_value, "%Y-%m-%d_%H-%M-%S") + << "_" + << std::setw(3) << std::setfill('0') << millis; + return oss.str(); + } + + void configure(const std::string & log_dir, const std::string & file_stem) + { + std::scoped_lock lock(mutex_); + log_dir_ = log_dir; + file_stem_ = file_stem; + } + + std::string componentLogPath() const + { + std::scoped_lock lock(mutex_); + return componentLogPathUnlocked(); + } + + std::string timelineLogPath() const + { + std::scoped_lock lock(mutex_); + return timelineLogPathUnlocked(); + } + + std::string summaryLogPath() const + { + std::scoped_lock lock(mutex_); + return summaryLogPathUnlocked(); + } + + void log( + const std::string & level, + const std::string & component, + const std::string & event, + const std::string & message) + { + std::scoped_lock lock(mutex_); + if (!isConfiguredUnlocked()) { + return; + } + + const std::string line = buildLogLine(level, component, event, message); + appendLineUnlocked(componentLogPathUnlocked(), line); + appendLineUnlocked(timelineLogPathUnlocked(), line); + } + + void logSummary(const std::string & component, const std::string & message) + { + std::scoped_lock lock(mutex_); + if (!isConfiguredUnlocked()) { + return; + } + + const std::string line = buildLogLine("SUMMARY", component, "session_summary", message); + appendLineUnlocked(summaryLogPathUnlocked(), line); + appendLineUnlocked(timelineLogPathUnlocked(), line); + } + +private: + static std::tm toLocalTm(std::time_t now_time) + { + std::tm tm_value{}; +#ifdef _WIN32 + localtime_s(&tm_value, &now_time); +#else + localtime_r(&now_time, &tm_value); +#endif + return tm_value; + } + + static std::string formatTimestamp() + { + const auto now = std::chrono::system_clock::now(); + const auto millis = std::chrono::duration_cast( + now.time_since_epoch()).count() % 1000; + const std::time_t now_time = std::chrono::system_clock::to_time_t(now); + const std::tm tm_value = toLocalTm(now_time); + + std::ostringstream oss; + oss << std::put_time(&tm_value, "%Y-%m-%d %H:%M:%S") + << '.' + << std::setw(3) << std::setfill('0') << millis; + return oss.str(); + } + + static std::string buildLogLine( + const std::string & level, + const std::string & component, + const std::string & event, + const std::string & message) + { + std::ostringstream oss; + oss << "[" << formatTimestamp() << "]" + << "[" << level << "]" + << "[" << component << "]" + << "[" << event << "] " + << message; + return oss.str(); + } + + bool isConfiguredUnlocked() const + { + return !log_dir_.empty() && !file_stem_.empty(); + } + + void appendLineUnlocked(const std::string & path, const std::string & line) const + { + std::error_code ec; + std::filesystem::create_directories(log_dir_, ec); + + std::ofstream stream(path, std::ios::app); + if (!stream.is_open()) { + return; + } + stream << line << '\n'; + } + + std::string componentLogPathUnlocked() const + { + return (std::filesystem::path(log_dir_) / (file_stem_ + ".log")).string(); + } + + std::string timelineLogPathUnlocked() const + { + return (std::filesystem::path(log_dir_) / "timeline.log").string(); + } + + std::string summaryLogPathUnlocked() const + { + return (std::filesystem::path(log_dir_) / "summary.log").string(); + } + + mutable std::mutex mutex_; + std::string log_dir_; + std::string file_stem_; +}; + +} // namespace sim2real_common diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/low_pass_filter.hpp b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/low_pass_filter.hpp new file mode 100644 index 0000000..b05e187 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/low_pass_filter.hpp @@ -0,0 +1,55 @@ +#pragma once + +#include +#include +#include + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +namespace sim2real_common +{ + +class LowPassFilter +{ +public: + LowPassFilter(double cutoff_freq, double dt, std::size_t dim) + : dim_(dim), initialized_(false) + { + alpha_ = static_cast(1.0 - std::exp(-2.0 * M_PI * cutoff_freq * dt)); + y_prev_.resize(dim, 0.0f); + } + + void filter(const float* x, float* y) + { + if (!initialized_) { + for (std::size_t i = 0; i < dim_; ++i) { + y_prev_[i] = x[i]; + } + initialized_ = true; + } + for (std::size_t i = 0; i < dim_; ++i) { + y[i] = alpha_ * x[i] + (1.0f - alpha_) * y_prev_[i]; + y_prev_[i] = y[i]; + } + } + + void filter(const std::vector& x, std::vector& y) + { + filter(x.data(), y.data()); + } + + void reset() + { + initialized_ = false; + } + +private: + float alpha_; + std::size_t dim_; + bool initialized_; + std::vector y_prev_; +}; + +} // namespace sim2real_common diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/mahony_filter.hpp b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/mahony_filter.hpp new file mode 100644 index 0000000..8d9b964 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/mahony_filter.hpp @@ -0,0 +1,152 @@ +#pragma once + +#include +#include +#include + +namespace sim2real_common +{ + +// Helper to calculate gravity orientation from quaternion [w, x, y, z] +inline std::array get_gravity_orientation(const std::array& quat_wxyz) +{ + float qw = quat_wxyz[0]; + float qx = quat_wxyz[1]; + float qy = quat_wxyz[2]; + float qz = quat_wxyz[3]; + + float gx = 2.0f * (-qz * qx + qw * qy); + float gy = -2.0f * (qz * qy + qw * qx); + float gz = 1.0f - 2.0f * (qw * qw + qz * qz); + return {gx, gy, gz}; +} + +// Helper to create quaternion from acceleration vector +inline std::array quat_from_accel(const std::array& accel) +{ + float norm_a = std::sqrt(accel[0]*accel[0] + accel[1]*accel[1] + accel[2]*accel[2]); + if (norm_a < 1e-9f) { + return {1.0f, 0.0f, 0.0f, 0.0f}; + } + + float ax = accel[0] / norm_a; + float ay = accel[1] / norm_a; + float az = accel[2] / norm_a; + + // Ref gravity vector is [0.0, 0.0, 1.0] + float cross_x = -ay; + float cross_y = ax; + float cross_z = 0.0f; + float dot = az; + + if (dot < -0.999999f) { + return {0.0f, 1.0f, 0.0f, 0.0f}; + } + + float s = std::sqrt((1.0f + dot) * 2.0f); + std::array q = { + s * 0.5f, + cross_x / s, + cross_y / s, + cross_z / s + }; + + float norm_q = std::sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]); + if (norm_q < 1e-9f) { + return {1.0f, 0.0f, 0.0f, 0.0f}; + } + q[0] /= norm_q; + q[1] /= norm_q; + q[2] /= norm_q; + q[3] /= norm_q; + + return q; +} + +class MahonyFilter +{ +public: + MahonyFilter(float kp = 2.0f, float ki = 0.0f) + : kp_(kp), ki_(ki) + { + q_ = {1.0f, 0.0f, 0.0f, 0.0f}; + e_int_ = {0.0f, 0.0f, 0.0f}; + } + + void reset_with_accel(const std::array& accel) + { + q_ = quat_from_accel(accel); + e_int_ = {0.0f, 0.0f, 0.0f}; + } + + std::array update(const std::array& accel, const std::array& gyro, float dt) + { + float norm_a = std::sqrt(accel[0]*accel[0] + accel[1]*accel[1] + accel[2]*accel[2]); + std::array gyro_corr = gyro; + + if (norm_a > 1e-6f) { + float ax = accel[0] / norm_a; + float ay = accel[1] / norm_a; + float az = accel[2] / norm_a; + + float qw = q_[0]; + float qx = q_[1]; + float qy = q_[2]; + float qz = q_[3]; + + float vx = 2.0f * (qx * qz - qw * qy); + float vy = 2.0f * (qw * qx + qy * qz); + float vz = qw * qw - qx * qx - qy * qy + qz * qz; + + // Error = cross(a, v) + float ex = ay * vz - az * vy; + float ey = az * vx - ax * vz; + float ez = ax * vy - ay * vx; + + if (ki_ > 0.0f) { + e_int_[0] += ex * dt; + e_int_[1] += ey * dt; + e_int_[2] += ez * dt; + } else { + e_int_ = {0.0f, 0.0f, 0.0f}; + } + + gyro_corr[0] += kp_ * ex + ki_ * e_int_[0]; + gyro_corr[1] += kp_ * ey + ki_ * e_int_[1]; + gyro_corr[2] += kp_ * ez + ki_ * e_int_[2]; + } + + float qw = q_[0]; + float qx = q_[1]; + float qy = q_[2]; + float qz = q_[3]; + + float q_dot_w = 0.5f * (-qx * gyro_corr[0] - qy * gyro_corr[1] - qz * gyro_corr[2]); + float q_dot_x = 0.5f * ( qw * gyro_corr[0] + qy * gyro_corr[2] - qz * gyro_corr[1]); + float q_dot_y = 0.5f * ( qw * gyro_corr[1] - qx * gyro_corr[2] + qz * gyro_corr[0]); + float q_dot_z = 0.5f * ( qw * gyro_corr[2] + qx * gyro_corr[1] - qy * gyro_corr[0]); + + q_[0] += q_dot_w * dt; + q_[1] += q_dot_x * dt; + q_[2] += q_dot_y * dt; + q_[3] += q_dot_z * dt; + + float norm_q = std::sqrt(q_[0]*q_[0] + q_[1]*q_[1] + q_[2]*q_[2] + q_[3]*q_[3]) + 1e-9f; + q_[0] /= norm_q; + q_[1] /= norm_q; + q_[2] /= norm_q; + q_[3] /= norm_q; + + return q_; + } + + const std::array& get_q() const { return q_; } + +private: + float kp_; + float ki_; + std::array q_; + std::array e_int_; +}; + +} // namespace sim2real_common diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/runtime_guard.hpp b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/runtime_guard.hpp new file mode 100644 index 0000000..5abe453 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/runtime_guard.hpp @@ -0,0 +1,114 @@ +#pragma once + +#include +#include +#include +#include + +namespace sim2real_common +{ + +enum class GuardLevel : int { + OK = 0, + WARN = 1, + STOP = 2 +}; + +struct GuardDecision { + GuardLevel level{GuardLevel::OK}; + std::string reason; +}; + +class RuntimeGuard { +public: + RuntimeGuard( + float max_ang_vel = 12.0f, + float max_tilt_z = -0.30f, + float imu_age_warn_ms = 60.0f, + float imu_age_stop_ms = 200.0f) + : max_ang_vel_(max_ang_vel), + max_tilt_z_(max_tilt_z), + imu_age_warn_ms_(imu_age_warn_ms), + imu_age_stop_ms_(imu_age_stop_ms) + {} + + GuardDecision check( + const std::array& imu_gyro, + const std::array& projected_gravity, + float imu_age_ms, + bool estop_triggered, + const std::vector& extra_vals = {}) + { + GuardDecision decision; + + // 1) user E-stop + if (estop_triggered) { + decision.level = GuardLevel::STOP; + decision.reason = "user E-stop"; + return decision; + } + + // 2) NaN/Inf check + for (float v : imu_gyro) { + if (std::isnan(v) || std::isinf(v)) { + decision.level = GuardLevel::STOP; + decision.reason = "NaN/Inf detected in imu_gyro"; + return decision; + } + } + for (float v : projected_gravity) { + if (std::isnan(v) || std::isinf(v)) { + decision.level = GuardLevel::STOP; + decision.reason = "NaN/Inf detected in projected_gravity"; + return decision; + } + } + for (float v : extra_vals) { + if (std::isnan(v) || std::isinf(v)) { + decision.level = GuardLevel::STOP; + decision.reason = "NaN/Inf detected in checked values"; + return decision; + } + } + + // 3) IMU stale + if (imu_age_ms > imu_age_stop_ms_) { + decision.level = GuardLevel::STOP; + decision.reason = "IMU stale " + std::to_string(imu_age_ms) + "ms"; + return decision; + } + bool warned_imu = (imu_age_ms > imu_age_warn_ms_); + + // 4) Tilt check + if (projected_gravity[2] > max_tilt_z_) { + decision.level = GuardLevel::STOP; + decision.reason = "tilt: g_z=" + std::to_string(projected_gravity[2]); + return decision; + } + + // 5) Angular velocity check + float ang_norm = std::sqrt(imu_gyro[0] * imu_gyro[0] + imu_gyro[1] * imu_gyro[1] + imu_gyro[2] * imu_gyro[2]); + if (ang_norm > max_ang_vel_) { + decision.level = GuardLevel::STOP; + decision.reason = "ang_vel overflow: |w|=" + std::to_string(ang_norm); + return decision; + } + + if (warned_imu) { + decision.level = GuardLevel::WARN; + decision.reason = "IMU age " + std::to_string(imu_age_ms) + "ms"; + return decision; + } + + decision.level = GuardLevel::OK; + return decision; + } + +private: + float max_ang_vel_; + float max_tilt_z_; + float imu_age_warn_ms_; + float imu_age_stop_ms_; +}; + +} // namespace sim2real_common diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/safety_monitor.hpp b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/safety_monitor.hpp new file mode 100644 index 0000000..628f87f --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/safety_monitor.hpp @@ -0,0 +1,119 @@ +#pragma once + +#include +#include +#include +#include + +namespace sim2real_common +{ + +enum class SafetyLevel : int { + NORMAL = 0, + CLIP = 1, + BRAKE = 2, + ESTOP = 3 +}; + +struct SafetyDecision { + SafetyLevel level{SafetyLevel::NORMAL}; + std::string message; + std::array clipped_target{}; +}; + +class SafetyMonitor { +public: + SafetyMonitor( + float max_target_offset = 0.6f, + float max_ang_vel = 10.0f, + float max_tilt_z = -0.3f, + int clip_to_brake = 0, + float hard_target_offset = 1.2f) + : max_target_offset_(max_target_offset), + max_ang_vel_(max_ang_vel), + max_tilt_z_(max_tilt_z), + clip_to_brake_(clip_to_brake), + hard_target_offset_(hard_target_offset), + consecutive_clips_(0) + {} + + SafetyDecision check( + const std::array& target_pose, + const std::array& default_pose, + const std::array& imu_gyro, + const std::array& projected_gravity, + bool estop_triggered) + { + SafetyDecision decision; + decision.clipped_target = target_pose; + + if (estop_triggered) { + decision.level = SafetyLevel::ESTOP; + decision.message = "user E-stop"; + return decision; + } + + // Tilt check (g_z should be ~ -1.0, if it is > max_tilt_z e.g. -0.3, it is tilted) + if (projected_gravity[2] > max_tilt_z_) { + decision.level = SafetyLevel::BRAKE; + decision.message = "tilt detected: g_z=" + std::to_string(projected_gravity[2]); + return decision; + } + + // Angular velocity norm check + float ang_vel_norm = std::sqrt(imu_gyro[0] * imu_gyro[0] + imu_gyro[1] * imu_gyro[1] + imu_gyro[2] * imu_gyro[2]); + if (ang_vel_norm > max_ang_vel_) { + decision.level = SafetyLevel::BRAKE; + decision.message = "angular velocity overflow: |w|=" + std::to_string(ang_vel_norm); + return decision; + } + + // Offset check + bool needs_clip = false; + float max_offset = 0.0f; + for (std::size_t i = 0; i < 12; ++i) { // check leg joint offsets from default pose + float offset = target_pose[i] - default_pose[i]; + max_offset = std::max(max_offset, std::abs(offset)); + if (std::abs(offset) > max_target_offset_) { + needs_clip = true; + float clipped_val = std::clamp(offset, -max_target_offset_, max_target_offset_); + decision.clipped_target[i] = default_pose[i] + clipped_val; + } + } + + if (needs_clip) { + consecutive_clips_++; + if (hard_target_offset_ > 0.0f && max_offset > hard_target_offset_) { + decision.level = SafetyLevel::BRAKE; + decision.message = "target leg offset exceeds hard limit: " + std::to_string(max_offset); + return decision; + } + if (clip_to_brake_ > 0 && consecutive_clips_ >= clip_to_brake_) { + decision.level = SafetyLevel::BRAKE; + decision.message = "clipped " + std::to_string(consecutive_clips_) + " frames in a row"; + return decision; + } + decision.level = SafetyLevel::CLIP; + decision.message = "target leg offset out of range"; + return decision; + } + + consecutive_clips_ = 0; + decision.level = SafetyLevel::NORMAL; + return decision; + } + + void reset() { + consecutive_clips_ = 0; + } + +private: + float max_target_offset_; + float max_ang_vel_; + float max_tilt_z_; + int clip_to_brake_; + float hard_target_offset_; + int consecutive_clips_; +}; + +} // namespace sim2real_common diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/stand_balance_controller.hpp b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/stand_balance_controller.hpp new file mode 100644 index 0000000..c696572 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/include/sim2real_common/stand_balance_controller.hpp @@ -0,0 +1,107 @@ +#pragma once + +#include +#include +#include + +#include "sim2real_common/deployment_contract.hpp" + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +namespace sim2real_common +{ + +class StandBalanceController +{ +public: + StandBalanceController(double control_dt = 0.02) + : control_dt_(control_dt) + { + reset(); + } + + void setNominalLegPose(float hip_pitch, float knee) + { + nominal_hip_pitch_ = hip_pitch; + nominal_knee_ = knee; + } + + void reset() + { + stable_time_ = 0.0f; + } + + std::array computeTarget( + const std::array& projected_gravity, + const std::array& imu_gyro, + const std::array& cmd) + { + const float hip_base = nominal_hip_pitch_; + const float knee_base = nominal_knee_; + + float roll = 0.0f; + float pitch = 0.0f; + estimateRollPitch(projected_gravity, roll, pitch); + + float roll_rate = imu_gyro[0]; + float pitch_rate = imu_gyro[1]; + + float roll_corr = -kp_roll_ * roll - kd_roll_rate_ * roll_rate; + + float lateral_lean = lateral_lean_gain_ * cmd[1]; + + std::array target{}; + for (int leg_idx = 0; leg_idx < 4; ++leg_idx) { + float side = (leg_idx == 0 || leg_idx == 2) ? 1.0f : -1.0f; + + target[leg_idx * 3 + 0] = std::clamp(side * roll_corr + lateral_lean, -hip_abduction_clip_, hip_abduction_clip_); + target[leg_idx * 3 + 1] = std::clamp(hip_base, hip_pitch_clip_[0], hip_pitch_clip_[1]); + target[leg_idx * 3 + 2] = std::clamp(knee_base, knee_clip_[0], knee_clip_[1]); + } + // wheels 0 + target[12] = target[13] = target[14] = target[15] = 0.0f; + + bool stable = (std::abs(roll * 180.0f / static_cast(M_PI)) <= stable_roll_deg_) && + (std::abs(pitch * 180.0f / static_cast(M_PI)) <= stable_pitch_deg_) && + (std::max(std::abs(roll_rate * 180.0f / static_cast(M_PI)), std::abs(pitch_rate * 180.0f / static_cast(M_PI))) <= stable_gyro_deg_s_); + + stable_time_ = stable ? (stable_time_ + static_cast(control_dt_)) : 0.0f; + + return target; + } + + bool isStable() const + { + return stable_time_ >= enter_hold_s_; + } + +private: + void estimateRollPitch(const std::array& projected_gravity, float& roll, float& pitch) + { + float gx = projected_gravity[0]; + float gy = projected_gravity[1]; + float gz = projected_gravity[2]; + roll = std::atan2(-gy, std::max(1e-6f, -gz)); + pitch = std::atan2(gx, std::sqrt(std::max(1e-6f, gy * gy + gz * gz))); + } + + double control_dt_; + float nominal_hip_pitch_{DeploymentContract::kDefaultDofPos[1]}; + float nominal_knee_{DeploymentContract::kDefaultDofPos[2]}; + float kp_roll_{0.85f}; + float kd_roll_rate_{0.03f}; + float lateral_lean_gain_{0.0f}; + float hip_abduction_clip_{0.45f}; + std::array hip_pitch_clip_{-1.0f, 2.5f}; + std::array knee_clip_{-2.6f, -0.3f}; + float stable_roll_deg_{6.0f}; + float stable_pitch_deg_{8.0f}; + float stable_gyro_deg_s_{45.0f}; + float enter_hold_s_{1.0f}; + + float stable_time_{0.0f}; +}; + +} // namespace sim2real_common diff --git a/05_software/real/sim2real_ros2/src/sim2real_common/package.xml b/05_software/real/sim2real_ros2/src/sim2real_common/package.xml new file mode 100644 index 0000000..da27c1e --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_common/package.xml @@ -0,0 +1,10 @@ + + + sim2real_common + 0.1.0 + Shared constants and deployment contract helpers for sim2real_ros2. + todo + Proprietary + + ament_cmake + diff --git a/05_software/real/sim2real_ros2/src/sim2real_hw/CMakeLists.txt b/05_software/real/sim2real_ros2/src/sim2real_hw/CMakeLists.txt new file mode 100644 index 0000000..d1b38b5 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_hw/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.8) +project(sim2real_hw) + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sim2real_common REQUIRED) +find_package(sim2real_interfaces REQUIRED) + +add_executable(sim2real_hw_node + src/hardware_bridge_node.cpp +) + +target_include_directories(sim2real_hw_node PRIVATE include) +target_compile_features(sim2real_hw_node PRIVATE cxx_std_17) +ament_target_dependencies(sim2real_hw_node + rclcpp + sensor_msgs + std_msgs + nav_msgs + sim2real_common + sim2real_interfaces +) + +install( + DIRECTORY include/ + DESTINATION include +) + +install( + TARGETS sim2real_hw_node + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/05_software/real/sim2real_ros2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp b/05_software/real/sim2real_ros2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp new file mode 100644 index 0000000..7612333 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp @@ -0,0 +1,323 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "sensor_msgs/msg/imu.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/string.hpp" +#include "sim2real_interfaces/msg/runtime_state.hpp" +#include "sim2real_interfaces/msg/runtime_target.hpp" +#include "sim2real_common/event_logger.hpp" +#include "sim2real_common/low_pass_filter.hpp" +#include "sim2real_common/mahony_filter.hpp" +#include "sim2real_common/safety_monitor.hpp" +#include "sim2real_common/runtime_guard.hpp" + +struct can_frame; + +namespace sim2real_hw +{ + +enum class RecoveryKind +{ + None, + Stale, + NoEffect +}; + +enum class RecoveryStage +{ + Idle, + AwaitInitFeedback, + AwaitEffectVerification +}; + +enum class ActiveModelMode +{ + Rough, + Crawl, + Wall +}; + +struct MotorConfig +{ + int bus; // 1 or 2 + int id; // motor CAN id + float direction; + float offset; +}; + +struct MotorStateInternal +{ + float position{0.0f}; + float velocity{0.0f}; + float torque{0.0f}; + float temperature{0.0f}; + float bus_voltage{0.0f}; + float estimated_current_arms{0.0f}; + float last_command_sim{0.0f}; + std::uint32_t update_count{0}; + std::uint32_t stale_count{0}; + std::uint32_t command_active_count{0}; + std::uint32_t no_effect_count{0}; + std::uint16_t fault_code{0}; + std::uint16_t fault_detail_1{0}; + std::uint16_t fault_detail_2{0}; + // Hold-over state + float last_valid_pos{0.0f}; + float last_valid_vel{0.0f}; + float last_valid_torque{0.0f}; + std::uint32_t prev_update_count{0}; + bool has_valid_data{false}; + bool has_bus_voltage{false}; + bool has_fault_snapshot{false}; + bool stale_reported{false}; + bool recovered_reported{false}; + bool disable_reported{false}; + bool command_effect_monitoring_active{false}; + bool no_effect_reported{false}; + bool high_temp_reported{false}; + bool high_current_reported{false}; + bool high_voltage_reported{false}; + bool low_voltage_reported{false}; + bool fault_code_reported{false}; + bool init_confirmed{false}; + std::uint32_t init_attempt_count{0}; + std::uint32_t recovery_attempt_count{0}; + std::uint32_t no_effect_recovery_attempt_count{0}; + std::chrono::steady_clock::time_point last_recovery_attempt_time_{}; + std::chrono::steady_clock::time_point last_no_effect_recovery_attempt_time_{}; + std::chrono::steady_clock::time_point last_diag_snapshot_time_{}; + std::chrono::steady_clock::time_point last_diag_request_time_{}; + std::chrono::steady_clock::time_point recovery_stage_deadline_{}; + std::uint32_t recovery_start_update_count{0}; + std::uint32_t recovery_active_attempt_number{0}; + RecoveryKind recovery_kind{RecoveryKind::None}; + RecoveryStage recovery_stage{RecoveryStage::Idle}; + std::string recovery_trigger; + std::string last_power_event_reason; +}; + +class HardwareBridgeNode : public rclcpp::Node +{ +public: + HardwareBridgeNode(); + ~HardwareBridgeNode(); + +private: + void onTarget(const sim2real_interfaces::msg::RuntimeTarget::SharedPtr msg); + void onModelStatus(const std_msgs::msg::String::SharedPtr msg); + void onReadLoop(); + void onWriteLoop(); + void onImu(const sensor_msgs::msg::Imu::SharedPtr msg); + void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg); + + bool initCan(const std::string& ifname, int& fd); + bool sendCanFrame(int fd, std::uint32_t can_id, const std::uint8_t* data, std::uint8_t dlc); + bool readCanFrame(int fd, void* frame, int timeout_us); + + bool enableMotor(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); + bool writeOperationFrame(int fd, int motor_id, double pos, double vel, double kp, double kd, double torque); + bool initializeMotor(std::size_t index, const std::string & reason, int max_attempts = 3); + bool initializeMotorsOnBus(int bus_id, const std::string & reason); + bool waitForMotorFeedback(std::size_t index, std::chrono::milliseconds timeout); + void processCanFrame(const struct can_frame & frame, int bus_id); + void drainCanFrames(int fd, int bus_id, int timeout_us); + bool isLegMotor(std::size_t index) const; + bool isWheelMotor(std::size_t index) const; + bool motorHasBlockingFault(std::size_t index) const; + bool isNoEffectConditionPresent(std::size_t index) const; + std::uint32_t noEffectCommandWarmupCycles(std::size_t index) const; + std::uint32_t noEffectTriggerCycles(std::size_t index) const; + std::uint32_t noEffectAttemptLimit(std::size_t index) const; + std::uint32_t noEffectCooldownMs(std::size_t index) const; + std::uint32_t noEffectVerifyTimeoutMs(std::size_t index) const; + bool hasFreshNoEffectDiagnostics(std::size_t index) const; + void requestMotorDiagnostics(std::size_t index); + std::string classifyNoEffectSuspect(std::size_t index) const; + std::string buildNoEffectSummary(std::size_t index) const; + void updateMotorCommandTracking(std::size_t index, float sim_command, const std::string & target_source); + void updateNoEffectDetection(std::size_t index); + bool startMotorRecoverySequence( + std::size_t index, + const std::string & trigger, + RecoveryKind kind, + std::uint32_t attempt_number); + void processMotorRecoverySequence(std::size_t index); + void clearMotorRecoverySequence(std::size_t index); + bool shouldAttemptMotorRecovery(std::size_t index) const; + bool attemptMotorRecovery(std::size_t index, const std::string & trigger); + bool shouldAttemptNoEffectRecovery(std::size_t index) const; + bool attemptNoEffectRecovery(std::size_t index, const std::string & trigger); + const char * jointName(std::size_t index) const; + std::string motorTag(std::size_t index) const; + float estimateCurrentArms(float torque_nm) const; + std::string decodeFaultCode(std::uint16_t fault_code) const; + std::string decodeFaultDetailRegister(std::uint16_t register_value, int register_index) const; + std::string buildMotorFaultSummary(std::size_t index) const; + std::string formatProtectionReason(const std::string & trigger, const std::string & reason) const; + void logProtectionEvent(const std::string & trigger, const std::string & reason, const std::string & action); + void logMotorPowerEvent(std::size_t index, const std::string & state, const std::string & reason); + void logMotorDiagnosticEvent(std::size_t index, const std::string & event, const std::string & reason, const char * level = "WARN"); + void updateMotorTelemetry(std::size_t index, float pos_sim, float vel_sim, float torque_sim, float temperature_c); + void handleParameterResponse(const struct can_frame & frame, int bus_id); + void updateMotorDiagnostics(std::size_t index); + void pollMotorDiagnostics(); + void finalizeRunSummary(); + + rclcpp::Publisher::SharedPtr state_pub_; + rclcpp::Subscription::SharedPtr target_sub_; + rclcpp::Subscription::SharedPtr model_status_sub_; + rclcpp::Subscription::SharedPtr imu_sub_; + rclcpp::Subscription::SharedPtr estop_sub_; + rclcpp::Subscription::SharedPtr odom_sub_; + + rclcpp::TimerBase::SharedPtr read_timer_; + rclcpp::TimerBase::SharedPtr write_timer_; + rclcpp::CallbackGroup::SharedPtr motor_callback_group_; + rclcpp::CallbackGroup::SharedPtr sensor_callback_group_; + rclcpp::CallbackGroup::SharedPtr control_callback_group_; + + std::mutex target_mutex_; + std::array latest_target_{}; + std::array latest_raw_action_{}; + std::string latest_target_source_{"boot_hold"}; + rclcpp::Time latest_target_stamp_{0, 0, RCL_ROS_TIME}; + std::array rough_default_dof_pos_{}; + std::array crawl_default_dof_pos_{}; + std::array wall_default_dof_pos_{}; + std::array active_default_dof_pos_{}; + ActiveModelMode active_model_mode_{ActiveModelMode::Rough}; + bool model_switch_active_{false}; + std::uint32_t target_sequence_{0}; + std::uint32_t state_sequence_{0}; + double target_timeout_ms_{150.0}; + + // SocketCAN file descriptors + int can0_fd_{-1}; + int can1_fd_{-1}; + std::string can0_name_{"can0"}; + std::string can1_name_{"can1"}; + + // CAN error recovery + static constexpr int kCanErrorThreshold = 50; // consecutive errors before reinit + int can0_error_count_{0}; + int can1_error_count_{0}; + bool reinitCan(const std::string& ifname, int& fd, int& error_count); + + // Hold-over constants + static constexpr std::uint32_t kHoldoverThreshold = 2; + static constexpr std::uint32_t kMotorDropReportThreshold = 40; + + // Motor configurations and states + std::array motors_; + std::array motor_states_; + + // IMU state + std::mutex imu_mutex_; + std::array imu_gyro_{}; + std::array imu_accel_{}; + std::array projected_gravity_{0.0f, 0.0f, -1.0f}; + bool imu_fresh_{false}; + rclcpp::Time last_imu_stamp_{0, 0, RCL_ROS_TIME}; + std::chrono::steady_clock::time_point last_imu_recv_time_{}; + bool has_received_imu_{false}; + std::array imu_gravity_sum_{0.0f, 0.0f, 0.0f}; + std::uint32_t imu_gravity_sample_count_{0}; + static constexpr std::uint32_t kImuGravityAlignSamples = 50; + + // Odom state + std::mutex odom_mutex_; + rclcpp::Time last_odom_stamp_{0, 0, RCL_ROS_TIME}; + std::array odom_pos_{}; + std::array odom_quat_wxyz_{1.0f, 0.0f, 0.0f, 0.0f}; + std::array odom_linear_vel_{}; + std::array odom_angular_vel_{}; + bool odom_fresh_{false}; + + // Filters and Estimators + std::unique_ptr lpf_legs_; + std::unique_ptr lpf_wheels_; + std::unique_ptr mahony_filter_; + std::unique_ptr safety_monitor_; + std::unique_ptr model_switch_safety_monitor_; + std::unique_ptr runtime_guard_; + std::atomic mahony_initialized_{false}; + rclcpp::Time last_read_time_{0, 0, RCL_ROS_TIME}; + rclcpp::Time startup_soft_hold_start_time_{0, 0, RCL_ROS_TIME}; + rclcpp::Time last_diag_poll_time_{0, 0, RCL_ROS_TIME}; + std::size_t diag_poll_motor_index_{0}; + + // Telemetry + std::uint32_t fresh_count_{0}; + std::uint32_t holdover_count_{0}; + std::uint32_t stale_max_{0}; + std::uint32_t holdover_events_total_{0}; + std::uint32_t protection_trigger_count_{0}; + std::uint32_t motor_drop_event_count_{0}; + std::uint32_t motor_recover_event_count_{0}; + std::uint32_t motor_fault_event_count_{0}; + bool timeout_hold_logged_{false}; + bool clip_active_logged_{false}; + + bool dry_run_{false}; + std::atomic estop_triggered_{false}; + std::atomic safety_enabled_{true}; + std::atomic safety_triggered_{false}; + std::string safety_reason_{""}; + sim2real_common::EventLogger event_logger_; + std::string run_log_dir_; + float motor_temp_warn_c_{100.0f}; + float motor_temp_fault_c_{135.0f}; + float motor_bus_overvoltage_v_{60.0f}; + float motor_bus_undervoltage_v_{12.0f}; + float motor_current_warn_arms_{10.5f}; + float motor_current_peak_arms_{14.0f}; + float motor_torque_warn_nm_{13.0f}; + float motor_torque_peak_nm_{17.0f}; + double diag_poll_period_s_{0.10}; + float wheel_no_effect_command_threshold_{1.0f}; + float wheel_no_effect_min_response_ratio_{0.20f}; + float wheel_no_effect_velocity_epsilon_{0.25f}; + float wheel_no_effect_max_temperature_c_{90.0f}; + float wheel_no_effect_min_bus_voltage_v_{18.0f}; + std::uint32_t wheel_no_effect_command_warmup_cycles_{12}; + std::uint32_t wheel_no_effect_trigger_cycles_{30}; + std::uint32_t wheel_no_effect_attempt_limit_{2}; + std::uint32_t wheel_no_effect_cooldown_ms_{1200}; + std::uint32_t wheel_recovery_verify_timeout_ms_{180}; + std::uint32_t wheel_no_effect_diag_freshness_ms_{350}; + std::uint32_t wheel_no_effect_diag_request_period_ms_{80}; + float leg_no_effect_position_error_threshold_{0.18f}; + float leg_no_effect_velocity_epsilon_{0.12f}; + float leg_no_effect_max_estimated_current_arms_{4.0f}; + float leg_no_effect_max_abs_torque_nm_{5.0f}; + float leg_no_effect_max_temperature_c_{100.0f}; + float leg_no_effect_min_bus_voltage_v_{18.0f}; + std::uint32_t leg_no_effect_command_warmup_cycles_{40}; + std::uint32_t leg_no_effect_trigger_cycles_{25}; + std::uint32_t leg_no_effect_attempt_limit_{2}; + std::uint32_t leg_no_effect_cooldown_ms_{1200}; + std::uint32_t leg_recovery_verify_timeout_ms_{220}; + + void onEstop(const std_msgs::msg::Bool::SharedPtr msg); + void logEvent( + const std::string & level, + const std::string & event, + const std::string & message); +}; + +} // namespace sim2real_hw diff --git a/05_software/real/sim2real_ros2/src/sim2real_hw/package.xml b/05_software/real/sim2real_ros2/src/sim2real_hw/package.xml new file mode 100644 index 0000000..acbe32f --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_hw/package.xml @@ -0,0 +1,17 @@ + + + sim2real_hw + 0.1.0 + Hardware bridge and safety boundary for sim2real_ros2. + todo + Proprietary + + ament_cmake + + rclcpp + sensor_msgs + std_msgs + nav_msgs + sim2real_common + sim2real_interfaces + diff --git a/05_software/real/sim2real_ros2/src/sim2real_hw/src/hardware_bridge_node.cpp b/05_software/real/sim2real_ros2/src/sim2real_hw/src/hardware_bridge_node.cpp new file mode 100644 index 0000000..0331bf2 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_hw/src/hardware_bridge_node.cpp @@ -0,0 +1,2097 @@ +#include "sim2real_hw/hardware_bridge_node.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "rclcpp/executors/multi_threaded_executor.hpp" +#include "sim2real_common/deployment_contract.hpp" + +using namespace std::chrono_literals; + +namespace sim2real_hw +{ + +// Protocol constants +const std::uint32_t COMM_ENABLE = 3; +const std::uint32_t COMM_DISABLE = 4; +const std::uint32_t COMM_WRITE_PARAMETER = 18; +const std::uint32_t COMM_READ_PARAMETER = 17; +const std::uint32_t COMM_OPERATION_CONTROL = 1; +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 = 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; +const std::uint16_t PARAM_DRV_FAULT_DETAIL_2 = 0x3025; +const std::uint8_t HOST_ID = 0xFD; +constexpr int kMotorInitRetrySleepMs = 15; +constexpr int kMotorInitConfirmTimeoutMs = 120; +constexpr int kMotorRecoveryCooldownMs = 500; +constexpr std::uint32_t kMotorRecoveryTriggerStaleCount = 10; +constexpr std::uint32_t kMotorRecoveryAttemptLimit = 3; +inline void pack_u16_be(std::uint8_t* buf, std::uint16_t val) +{ + buf[0] = (val >> 8) & 0xFF; + buf[1] = val & 0xFF; +} + +inline float nearest_periodic(float val, float ref) +{ + float diff = val - ref; + float wrapped = diff - 2.0f * static_cast(M_PI) * std::floor((diff + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + return ref + wrapped; +} + +std::string extractJsonStringField(const std::string & payload, const std::string & key) +{ + const std::string needle = "\"" + key + "\":\""; + const std::size_t start = payload.find(needle); + if (start == std::string::npos) { + return {}; + } + + const std::size_t value_start = start + needle.size(); + const std::size_t value_end = payload.find('"', value_start); + if (value_end == std::string::npos) { + return {}; + } + + return payload.substr(value_start, value_end - value_start); +} + +std::string toLowerCopy(std::string value) +{ + std::transform(value.begin(), value.end(), value.begin(), [](unsigned char c) { + return static_cast(std::tolower(c)); + }); + return value; +} + +HardwareBridgeNode::HardwareBridgeNode() +: Node("sim2real_hw_node") +{ + // 1. Declare and get parameters + const std::string event_log_dir = declare_parameter( + "event_log_dir", "logs_v2_web"); + run_log_dir_ = event_log_dir; + event_logger_.configure(event_log_dir, "sim2real_hw_events"); + target_timeout_ms_ = declare_parameter("target_timeout_ms", 150.0); + can0_name_ = declare_parameter("can0_name", "can0"); + can1_name_ = declare_parameter("can1_name", "can1"); + dry_run_ = declare_parameter("dry_run", true); // Default to dry-run for safety + const std::vector default_rough_pose( + sim2real_common::DeploymentContract::kDefaultDofPos.begin(), + sim2real_common::DeploymentContract::kDefaultDofPos.end()); + const std::vector configured_rough_pose = declare_parameter>( + "rough_default_dof_pos", default_rough_pose); + if (configured_rough_pose.size() == rough_default_dof_pos_.size()) { + for (std::size_t i = 0; i < rough_default_dof_pos_.size(); ++i) { + rough_default_dof_pos_[i] = static_cast(configured_rough_pose[i]); + } + } else { + rough_default_dof_pos_ = sim2real_common::DeploymentContract::kDefaultDofPos; + RCLCPP_WARN( + get_logger(), + "Parameter rough_default_dof_pos has %zu entries, expected 16. Falling back to deployment default pose.", + configured_rough_pose.size()); + } + active_default_dof_pos_ = rough_default_dof_pos_; + const std::vector default_crawl_pose = declare_parameter>( + "crawl_default_dof_pos", + std::vector{ + 0.2, 1.697, -2.650, + -0.2, 1.697, -2.650, + 0.2, 1.697, -2.650, + -0.2, 1.697, -2.650, + 0.0, 0.0, 0.0, 0.0 + }); + if (default_crawl_pose.size() == crawl_default_dof_pos_.size()) { + for (std::size_t i = 0; i < crawl_default_dof_pos_.size(); ++i) { + crawl_default_dof_pos_[i] = static_cast(default_crawl_pose[i]); + } + } else { + crawl_default_dof_pos_ = { + 0.2f, 1.697f, -2.650f, + -0.2f, 1.697f, -2.650f, + 0.2f, 1.697f, -2.650f, + -0.2f, 1.697f, -2.650f, + 0.0f, 0.0f, 0.0f, 0.0f + }; + RCLCPP_WARN( + get_logger(), + "Parameter crawl_default_dof_pos has %zu entries, expected 16. Falling back to configured crawl pose.", + default_crawl_pose.size()); + } + const std::vector default_wall_pose_param( + rough_default_dof_pos_.begin(), rough_default_dof_pos_.end()); + const std::vector default_wall_pose = declare_parameter>( + "wall_default_dof_pos", default_wall_pose_param); + if (default_wall_pose.size() == wall_default_dof_pos_.size()) { + for (std::size_t i = 0; i < wall_default_dof_pos_.size(); ++i) { + wall_default_dof_pos_[i] = static_cast(default_wall_pose[i]); + } + } else { + wall_default_dof_pos_ = rough_default_dof_pos_; + RCLCPP_WARN( + get_logger(), + "Parameter wall_default_dof_pos has %zu entries, expected 16. Falling back to rough default pose.", + default_wall_pose.size()); + } + + // Safety parameters + safety_enabled_ = declare_parameter("safety_enabled", true); + double max_target_offset = declare_parameter("max_target_offset", 0.6); + double model_switch_max_target_offset = declare_parameter( + "model_switch_max_target_offset", std::max(max_target_offset, 1.8)); + double hard_target_offset = declare_parameter("hard_target_offset", 1.2); + double max_ang_vel = declare_parameter("max_ang_vel", 10.0); + double max_tilt_z = declare_parameter("max_tilt_z", -0.3); + int clip_to_brake = declare_parameter("clip_to_brake", 0); + double imu_age_warn_ms = declare_parameter("imu_age_warn_ms", 60.0); + double imu_age_stop_ms = declare_parameter("imu_age_stop_ms", 200.0); + motor_temp_warn_c_ = static_cast(declare_parameter("motor_temp_warn_c", 100.0)); + motor_temp_fault_c_ = static_cast(declare_parameter("motor_temp_fault_c", 135.0)); + motor_bus_overvoltage_v_ = static_cast(declare_parameter("motor_bus_overvoltage_v", 60.0)); + motor_bus_undervoltage_v_ = static_cast(declare_parameter("motor_bus_undervoltage_v", 12.0)); + motor_current_warn_arms_ = static_cast(declare_parameter("motor_current_warn_arms", 10.5)); + motor_current_peak_arms_ = static_cast(declare_parameter("motor_current_peak_arms", 14.0)); + motor_torque_warn_nm_ = static_cast(declare_parameter("motor_torque_warn_nm", 13.0)); + motor_torque_peak_nm_ = static_cast(declare_parameter("motor_torque_peak_nm", 17.0)); + diag_poll_period_s_ = declare_parameter("motor_diag_poll_period_s", 0.10); + wheel_no_effect_command_threshold_ = static_cast( + declare_parameter("wheel_no_effect_command_threshold", 1.0)); + wheel_no_effect_min_response_ratio_ = static_cast( + declare_parameter("wheel_no_effect_min_response_ratio", 0.20)); + wheel_no_effect_velocity_epsilon_ = static_cast( + declare_parameter("wheel_no_effect_velocity_epsilon", 0.25)); + wheel_no_effect_max_temperature_c_ = static_cast( + declare_parameter("wheel_no_effect_max_temperature_c", 90.0)); + wheel_no_effect_min_bus_voltage_v_ = static_cast( + declare_parameter("wheel_no_effect_min_bus_voltage_v", 18.0)); + wheel_no_effect_command_warmup_cycles_ = static_cast( + declare_parameter("wheel_no_effect_command_warmup_cycles", 12)); + wheel_no_effect_trigger_cycles_ = static_cast( + declare_parameter("wheel_no_effect_trigger_cycles", 30)); + wheel_no_effect_attempt_limit_ = static_cast( + declare_parameter("wheel_no_effect_attempt_limit", 2)); + wheel_no_effect_cooldown_ms_ = static_cast( + declare_parameter("wheel_no_effect_cooldown_ms", 1200)); + wheel_recovery_verify_timeout_ms_ = static_cast( + declare_parameter("wheel_recovery_verify_timeout_ms", 180)); + wheel_no_effect_diag_freshness_ms_ = static_cast( + declare_parameter("wheel_no_effect_diag_freshness_ms", 350)); + wheel_no_effect_diag_request_period_ms_ = static_cast( + declare_parameter("wheel_no_effect_diag_request_period_ms", 80)); + leg_no_effect_position_error_threshold_ = static_cast( + declare_parameter("leg_no_effect_position_error_threshold", 0.18)); + leg_no_effect_velocity_epsilon_ = static_cast( + declare_parameter("leg_no_effect_velocity_epsilon", 0.12)); + leg_no_effect_max_estimated_current_arms_ = static_cast( + declare_parameter("leg_no_effect_max_estimated_current_arms", 4.0)); + leg_no_effect_max_abs_torque_nm_ = static_cast( + declare_parameter("leg_no_effect_max_abs_torque_nm", 5.0)); + leg_no_effect_max_temperature_c_ = static_cast( + declare_parameter("leg_no_effect_max_temperature_c", 100.0)); + leg_no_effect_min_bus_voltage_v_ = static_cast( + declare_parameter("leg_no_effect_min_bus_voltage_v", 18.0)); + leg_no_effect_command_warmup_cycles_ = static_cast( + declare_parameter("leg_no_effect_command_warmup_cycles", 40)); + leg_no_effect_trigger_cycles_ = static_cast( + declare_parameter("leg_no_effect_trigger_cycles", 25)); + leg_no_effect_attempt_limit_ = static_cast( + declare_parameter("leg_no_effect_attempt_limit", 2)); + leg_no_effect_cooldown_ms_ = static_cast( + declare_parameter("leg_no_effect_cooldown_ms", 1200)); + leg_recovery_verify_timeout_ms_ = static_cast( + declare_parameter("leg_recovery_verify_timeout_ms", 220)); + + RCLCPP_INFO(get_logger(), "Initializing hardware bridge node (Dry run: %s)", dry_run_ ? "true" : "false"); + RCLCPP_INFO(get_logger(), "Event log file: %s", event_logger_.componentLogPath().c_str()); + RCLCPP_INFO(get_logger(), "Run log directory: %s", run_log_dir_.c_str()); + logEvent("INFO", "node_start", dry_run_ ? "Hardware bridge node started in dry-run mode." : "Hardware bridge node started."); + if (safety_enabled_) { + RCLCPP_INFO(get_logger(), "Safety monitoring is ENABLED (tilt threshold: %f, ang_vel threshold: %f)", max_tilt_z, max_ang_vel); + } else { + RCLCPP_WARN(get_logger(), "Safety monitoring is DISABLED!"); + } + + // 2. Set up logical motors mapping matching contract + // Mapping index in array matches joint ordering in kJointLabels + for (std::size_t i = 0; i < 16; ++i) { + motors_[i].direction = sim2real_common::DeploymentContract::kDirectionMap[i]; + motors_[i].offset = sim2real_common::DeploymentContract::kZeroOffsetMap[i]; + motors_[i].bus = sim2real_common::DeploymentContract::kCanBusMap[i]; + motors_[i].id = sim2real_common::DeploymentContract::kCanIdMap[i]; + } + + // 3. Initialize filters & safety monitors + lpf_legs_ = std::make_unique(5.0, 0.005, 12); + lpf_wheels_ = std::make_unique(15.0, 0.005, 4); + mahony_filter_ = std::make_unique(2.0f, 0.0f); + + safety_monitor_ = std::make_unique( + static_cast(max_target_offset), + static_cast(max_ang_vel), + static_cast(max_tilt_z), + clip_to_brake, + static_cast(hard_target_offset) + ); + model_switch_safety_monitor_ = std::make_unique( + static_cast(model_switch_max_target_offset), + static_cast(max_ang_vel), + static_cast(max_tilt_z), + clip_to_brake, + static_cast(hard_target_offset) + ); + + runtime_guard_ = std::make_unique( + static_cast(max_ang_vel + 2.0), // slightly higher limit for runtime guard stop + static_cast(max_tilt_z), + static_cast(imu_age_warn_ms), + static_cast(imu_age_stop_ms) + ); + + // 4. Initialize CAN sockets if not in dry-run + if (!dry_run_) { + if (!initCan(can0_name_, can0_fd_) || !initCan(can1_name_, can1_fd_)) { + RCLCPP_ERROR(get_logger(), "CAN initialization failed! Falling back to dry-run."); + dry_run_ = true; + } + } + + // 5. Initialize motor target states + latest_target_ = rough_default_dof_pos_; + latest_raw_action_.fill(0.0f); + + // 6. Set up ROS publishers & subscriptions + motor_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + sensor_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + control_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + + rclcpp::SubscriptionOptions sensor_sub_options; + sensor_sub_options.callback_group = sensor_callback_group_; + rclcpp::SubscriptionOptions control_sub_options; + control_sub_options.callback_group = control_callback_group_; + + state_pub_ = create_publisher("runtime/state", 10); + target_sub_ = create_subscription( + "runtime/target", 10, + std::bind(&HardwareBridgeNode::onTarget, this, std::placeholders::_1), + control_sub_options); + model_status_sub_ = create_subscription( + "runtime/model_status", 10, + std::bind(&HardwareBridgeNode::onModelStatus, this, std::placeholders::_1), + control_sub_options); + std::string imu_topic = declare_parameter("imu_topic", "/odin1/imu"); + imu_sub_ = create_subscription( + imu_topic, 10, + std::bind(&HardwareBridgeNode::onImu, this, std::placeholders::_1), + sensor_sub_options); + estop_sub_ = create_subscription( + "/safety/estop", 10, + std::bind(&HardwareBridgeNode::onEstop, this, std::placeholders::_1), + control_sub_options); + + // Odom subscription + std::string odom_topic = declare_parameter("odom_topic", "/odom"); + odom_sub_ = create_subscription( + odom_topic, 10, + std::bind(&HardwareBridgeNode::onOdom, this, std::placeholders::_1), + sensor_sub_options); + + // 7. Enable motors on total startup + if (!dry_run_) { + RCLCPP_INFO(get_logger(), "Enabling RobStride motors..."); + for (std::size_t i = 0; i < 16; ++i) { + initializeMotor(i, "startup_init"); + } + } + + // 8. Timers at 200Hz (5ms) + read_timer_ = create_wall_timer( + 5ms, std::bind(&HardwareBridgeNode::onReadLoop, this), motor_callback_group_); + write_timer_ = create_wall_timer( + 5ms, std::bind(&HardwareBridgeNode::onWriteLoop, this), motor_callback_group_); +} + +HardwareBridgeNode::~HardwareBridgeNode() +{ + if (!dry_run_) { + RCLCPP_INFO(get_logger(), "Disabling RobStride motors on shutdown..."); + for (std::size_t i = 0; i < 16; ++i) { + int fd = (motors_[i].bus == 1) ? can0_fd_ : can1_fd_; + logMotorPowerEvent(i, "disabled", "node shutdown requested motor disable"); + disableMotor(fd, motors_[i].id); + } + if (can0_fd_ >= 0) { + if (::close(can0_fd_) < 0) { + RCLCPP_WARN(get_logger(), "Failed to close can0 socket: %s", strerror(errno)); + } + } + if (can1_fd_ >= 0) { + if (::close(can1_fd_) < 0) { + RCLCPP_WARN(get_logger(), "Failed to close can1 socket: %s", strerror(errno)); + } + } + } + logEvent("INFO", "node_stop", "Hardware bridge node stopped."); + finalizeRunSummary(); +} + +void HardwareBridgeNode::logEvent( + const std::string & level, + const std::string & event, + const std::string & message) +{ + event_logger_.log(level, "sim2real_hw_node", event, message); +} + +const char * HardwareBridgeNode::jointName(std::size_t index) const +{ + return sim2real_common::kJointLabels[index]; +} + +std::string HardwareBridgeNode::motorTag(std::size_t index) const +{ + std::ostringstream oss; + oss << jointName(index) + << "(index=" << index + << ",bus=" << motors_[index].bus + << ",id=" << motors_[index].id + << ")"; + return oss.str(); +} + +float HardwareBridgeNode::estimateCurrentArms(float torque_nm) const +{ + constexpr float kTorqueConstantNmPerArms = 1.22f; + return std::abs(torque_nm) / kTorqueConstantNmPerArms; +} + +std::string HardwareBridgeNode::decodeFaultCode(std::uint16_t fault_code) const +{ + if (fault_code == 0) { + return "none"; + } + + std::vector reasons; + if (fault_code & (1u << 14)) reasons.emplace_back("stall_or_overload"); + if (fault_code & (1u << 7)) reasons.emplace_back("encoder_not_calibrated"); + if (fault_code & (1u << 3)) reasons.emplace_back("bus_overvoltage"); + if (fault_code & (1u << 2)) reasons.emplace_back("bus_undervoltage"); + if (fault_code & (1u << 1)) reasons.emplace_back("driver_chip_fault"); + if (fault_code & (1u << 0)) reasons.emplace_back("overtemperature"); + if (reasons.empty()) reasons.emplace_back("unknown_fault_bits"); + + std::ostringstream oss; + for (std::size_t i = 0; i < reasons.size(); ++i) { + if (i > 0) { + oss << '|'; + } + oss << reasons[i]; + } + return oss.str(); +} + +std::string HardwareBridgeNode::decodeFaultDetailRegister(std::uint16_t register_value, int register_index) const +{ + if (register_value == 0) { + return "none"; + } + + std::ostringstream oss; + if (register_index == 1) { + oss << "driver_fault_reg1=0x" << std::hex << register_value + << " (possible: mos_overcurrent_or_uvlo)"; + } else { + oss << "driver_fault_reg2=0x" << std::hex << register_value + << " (possible: gate_driver_short_or_half_bridge_damage)"; + } + return oss.str(); +} + +std::string HardwareBridgeNode::buildMotorFaultSummary(std::size_t index) const +{ + const auto & state = motor_states_[index]; + std::ostringstream oss; + oss << "motor=" << motorTag(index) + << ", fault_code=0x" << std::hex << state.fault_code << std::dec + << ", decoded_fault=" << decodeFaultCode(state.fault_code) + << ", temperature_c=" << state.temperature + << ", estimated_current_arms=" << state.estimated_current_arms; + if (state.has_bus_voltage) { + oss << ", bus_voltage_v=" << state.bus_voltage; + } + if (state.fault_detail_1 != 0) { + oss << ", " << decodeFaultDetailRegister(state.fault_detail_1, 1); + } + if (state.fault_detail_2 != 0) { + oss << ", " << decodeFaultDetailRegister(state.fault_detail_2, 2); + } + return oss.str(); +} + +std::string HardwareBridgeNode::formatProtectionReason( + const std::string & trigger, + const std::string & reason) const +{ + std::ostringstream oss; + oss << "trigger=" << trigger + << ", protection_action=safety_brake, reason=" << reason; + return oss.str(); +} + +void HardwareBridgeNode::logProtectionEvent( + const std::string & trigger, + const std::string & reason, + const std::string & action) +{ + protection_trigger_count_++; + std::ostringstream oss; + oss << "trigger=" << trigger + << ", protection_action=" << action + << ", reason=" << reason; + std::size_t suspect_index = motors_.size(); + float suspect_score = -1.0f; + for (std::size_t i = 0; i < motors_.size(); ++i) { + float score = 0.0f; + if (motor_states_[i].fault_code != 0 || motor_states_[i].fault_detail_1 != 0 || motor_states_[i].fault_detail_2 != 0) { + score += 100.0f; + } + score += motor_states_[i].temperature; + score += 2.0f * motor_states_[i].estimated_current_arms; + score += std::min(50.0f, static_cast(motor_states_[i].stale_count)); + if (score > suspect_score) { + suspect_score = score; + suspect_index = i; + } + } + if (suspect_index < motors_.size()) { + oss << ", suspect_motor={" << buildMotorFaultSummary(suspect_index) << "}"; + } + logEvent("ERROR", "protection_triggered", oss.str()); +} + +void HardwareBridgeNode::logMotorPowerEvent( + std::size_t index, + const std::string & state, + const std::string & reason) +{ + std::ostringstream oss; + oss << "motor=" << motorTag(index) + << ", state=" << state + << ", reason=" << reason; + logEvent(state == "recovered" ? "INFO" : "WARN", "motor_power_state", oss.str()); +} + +void HardwareBridgeNode::logMotorDiagnosticEvent( + std::size_t index, + const std::string & event, + const std::string & reason, + const char * level) +{ + std::ostringstream oss; + oss << "motor=" << motorTag(index) << ", " << reason; + logEvent(level, event, oss.str()); +} + +void HardwareBridgeNode::finalizeRunSummary() +{ + std::ostringstream oss; + oss << "run_dir=" << run_log_dir_ + << ", protection_trigger_count=" << protection_trigger_count_ + << ", motor_drop_event_count=" << motor_drop_event_count_ + << ", motor_recover_event_count=" << motor_recover_event_count_ + << ", motor_fault_event_count=" << motor_fault_event_count_ + << ", holdover_events_total=" << holdover_events_total_ + << ", final_safety_triggered=" << (safety_triggered_ ? "true" : "false"); + if (!safety_reason_.empty()) { + oss << ", final_safety_reason=" << safety_reason_; + } + event_logger_.logSummary("sim2real_hw_node", oss.str()); +} + +void HardwareBridgeNode::updateMotorTelemetry( + std::size_t index, + float pos_sim, + float vel_sim, + float torque_sim, + float temperature_c) +{ + auto & state = motor_states_[index]; + state.position = pos_sim; + state.velocity = vel_sim; + state.torque = torque_sim; + state.temperature = temperature_c; + state.estimated_current_arms = estimateCurrentArms(torque_sim); + state.update_count++; + state.stale_count = 0; + state.last_valid_pos = pos_sim; + state.last_valid_vel = vel_sim; + state.last_valid_torque = torque_sim; + state.has_valid_data = true; + state.init_confirmed = true; + state.recovery_attempt_count = 0; +} + +bool HardwareBridgeNode::isWheelMotor(std::size_t index) const +{ + return index >= sim2real_common::DeploymentContract::kLegJointCount; +} + +bool HardwareBridgeNode::isLegMotor(std::size_t index) const +{ + return index < sim2real_common::DeploymentContract::kLegJointCount; +} + +bool HardwareBridgeNode::motorHasBlockingFault(std::size_t index) const +{ + const auto & state = motor_states_[index]; + if (state.fault_code != 0 || state.fault_detail_1 != 0 || state.fault_detail_2 != 0) { + return true; + } + const float max_temperature = isWheelMotor(index) + ? wheel_no_effect_max_temperature_c_ + : leg_no_effect_max_temperature_c_; + if (state.temperature >= max_temperature) { + return true; + } + const float min_bus_voltage = isWheelMotor(index) + ? wheel_no_effect_min_bus_voltage_v_ + : leg_no_effect_min_bus_voltage_v_; + if (state.has_bus_voltage && state.bus_voltage <= min_bus_voltage) { + return true; + } + return false; +} + +std::uint32_t HardwareBridgeNode::noEffectCommandWarmupCycles(std::size_t index) const +{ + return isWheelMotor(index) ? wheel_no_effect_command_warmup_cycles_ : leg_no_effect_command_warmup_cycles_; +} + +std::uint32_t HardwareBridgeNode::noEffectTriggerCycles(std::size_t index) const +{ + return isWheelMotor(index) ? wheel_no_effect_trigger_cycles_ : leg_no_effect_trigger_cycles_; +} + +std::uint32_t HardwareBridgeNode::noEffectAttemptLimit(std::size_t index) const +{ + return isWheelMotor(index) ? wheel_no_effect_attempt_limit_ : leg_no_effect_attempt_limit_; +} + +std::uint32_t HardwareBridgeNode::noEffectCooldownMs(std::size_t index) const +{ + return isWheelMotor(index) ? wheel_no_effect_cooldown_ms_ : leg_no_effect_cooldown_ms_; +} + +std::uint32_t HardwareBridgeNode::noEffectVerifyTimeoutMs(std::size_t index) const +{ + return isWheelMotor(index) ? wheel_recovery_verify_timeout_ms_ : leg_recovery_verify_timeout_ms_; +} + +bool HardwareBridgeNode::hasFreshNoEffectDiagnostics(std::size_t index) const +{ + const auto & state = motor_states_[index]; + if (!state.has_bus_voltage || !state.has_fault_snapshot) { + return false; + } + if (state.last_diag_snapshot_time_.time_since_epoch().count() == 0) { + return false; + } + const auto age = std::chrono::steady_clock::now() - state.last_diag_snapshot_time_; + return age <= std::chrono::milliseconds(wheel_no_effect_diag_freshness_ms_); +} + +void HardwareBridgeNode::requestMotorDiagnostics(std::size_t index) +{ + if (dry_run_ || index >= motors_.size()) { + return; + } + + auto & state = motor_states_[index]; + const auto now_tp = std::chrono::steady_clock::now(); + if (state.last_diag_request_time_.time_since_epoch().count() != 0) { + const auto since_last = now_tp - state.last_diag_request_time_; + if (since_last < std::chrono::milliseconds(wheel_no_effect_diag_request_period_ms_)) { + return; + } + } + + const int fd = motors_[index].bus == 1 ? can0_fd_ : can1_fd_; + readParameter(fd, motors_[index].id, PARAM_VBUS); + readParameter(fd, motors_[index].id, PARAM_DRV_FAULT); + readParameter(fd, motors_[index].id, PARAM_DRV_FAULT_DETAIL_1); + readParameter(fd, motors_[index].id, PARAM_DRV_FAULT_DETAIL_2); + state.last_diag_request_time_ = now_tp; +} + +std::string HardwareBridgeNode::classifyNoEffectSuspect(std::size_t index) const +{ + const auto & state = motor_states_[index]; + if (state.fault_code != 0 || state.fault_detail_1 != 0 || state.fault_detail_2 != 0) { + return "suspect_driver_fault_or_protection"; + } + const float min_bus_voltage = isWheelMotor(index) + ? wheel_no_effect_min_bus_voltage_v_ + : leg_no_effect_min_bus_voltage_v_; + if (state.has_bus_voltage && state.bus_voltage <= min_bus_voltage) { + return "suspect_low_voltage"; + } + const float max_temperature = isWheelMotor(index) + ? wheel_no_effect_max_temperature_c_ + : leg_no_effect_max_temperature_c_; + if (state.temperature >= max_temperature) { + return "suspect_overtemp"; + } + if (state.estimated_current_arms >= motor_current_warn_arms_ || + std::abs(state.torque) >= motor_torque_warn_nm_) { + return "suspect_mechanical_stall_or_overload"; + } + if (isLegMotor(index)) { + return "suspect_enable_or_position_loop_drop"; + } + return "suspect_enable_or_mode_drop"; +} + +std::string HardwareBridgeNode::buildNoEffectSummary(std::size_t index) const +{ + const auto & state = motor_states_[index]; + const float commanded = std::abs(state.last_command_sim); + const float actual = std::abs(state.velocity); + const float response_ratio = isWheelMotor(index) && commanded > 1.0e-4f ? actual / commanded : 1.0f; + const float position_error = std::abs(state.last_command_sim - state.position); + + std::ostringstream oss; + oss << "suspect=" << classifyNoEffectSuspect(index) + << ", command=" << state.last_command_sim + << ", position=" << state.position + << ", position_error=" << position_error + << ", feedback_vel=" << state.velocity + << ", response_ratio=" << response_ratio + << ", torque_nm=" << state.torque + << ", estimated_current_arms=" << state.estimated_current_arms + << ", temperature_c=" << state.temperature; + if (state.has_bus_voltage) { + oss << ", bus_voltage_v=" << state.bus_voltage; + } + if (state.fault_code != 0 || state.fault_detail_1 != 0 || state.fault_detail_2 != 0) { + oss << ", fault_summary={" << buildMotorFaultSummary(index) << "}"; + } + return oss.str(); +} + +void HardwareBridgeNode::updateMotorCommandTracking( + std::size_t index, + float sim_command, + const std::string & target_source) +{ + auto & state = motor_states_[index]; + state.last_command_sim = sim_command; + + if (target_source == "safety_brake" || target_source == "safety_estop") { + state.command_active_count = 0; + state.no_effect_count = 0; + state.no_effect_recovery_attempt_count = 0; + state.command_effect_monitoring_active = false; + state.no_effect_reported = false; + return; + } + + bool command_active = false; + if (isWheelMotor(index)) { + command_active = std::abs(sim_command) >= wheel_no_effect_command_threshold_; + } else { + command_active = std::abs(sim_command - state.position) >= leg_no_effect_position_error_threshold_; + } + + if (command_active) { + state.command_active_count++; + state.command_effect_monitoring_active = true; + } else { + state.command_active_count = 0; + state.no_effect_count = 0; + state.no_effect_recovery_attempt_count = 0; + state.command_effect_monitoring_active = false; + state.no_effect_reported = false; + } +} + +void HardwareBridgeNode::updateNoEffectDetection(std::size_t index) +{ + auto & state = motor_states_[index]; + if (!state.has_valid_data || state.stale_count > 0) { + state.no_effect_count = 0; + state.command_effect_monitoring_active = false; + state.no_effect_reported = false; + return; + } + + if (!state.command_effect_monitoring_active || + state.command_active_count < noEffectCommandWarmupCycles(index)) { + state.no_effect_count = 0; + state.no_effect_reported = false; + return; + } + + if (!hasFreshNoEffectDiagnostics(index)) { + requestMotorDiagnostics(index); + state.no_effect_count = 0; + return; + } + + if (motorHasBlockingFault(index)) { + state.no_effect_count = 0; + return; + } + + if (isNoEffectConditionPresent(index)) { + state.no_effect_count++; + if (!state.no_effect_reported && + state.no_effect_count >= noEffectTriggerCycles(index)) { + state.no_effect_reported = true; + std::ostringstream oss; + oss << "trigger=" << (isWheelMotor(index) ? "wheel_no_effect" : "leg_no_effect") + << ", no_effect_count=" << state.no_effect_count + << ", " << buildNoEffectSummary(index); + logMotorDiagnosticEvent(index, "motor_no_effect_detected", oss.str(), "WARN"); + } + } else { + state.no_effect_count = 0; + state.no_effect_recovery_attempt_count = 0; + state.no_effect_reported = false; + } +} + +bool HardwareBridgeNode::isNoEffectConditionPresent(std::size_t index) const +{ + const auto & state = motor_states_[index]; + if (isWheelMotor(index)) { + const float commanded = std::abs(state.last_command_sim); + const float actual = std::abs(state.velocity); + const float response_ratio = commanded > 1.0e-4f ? actual / commanded : 1.0f; + return actual <= wheel_no_effect_velocity_epsilon_ || + response_ratio < wheel_no_effect_min_response_ratio_; + } + + const float position_error = std::abs(state.last_command_sim - state.position); + const float actual_velocity = std::abs(state.velocity); + const float estimated_current = std::abs(state.estimated_current_arms); + const float measured_torque = std::abs(state.torque); + return position_error >= leg_no_effect_position_error_threshold_ && + actual_velocity <= leg_no_effect_velocity_epsilon_ && + estimated_current <= leg_no_effect_max_estimated_current_arms_ && + measured_torque <= leg_no_effect_max_abs_torque_nm_; +} + +void HardwareBridgeNode::handleParameterResponse(const struct can_frame & frame, int bus_id) +{ + const std::uint32_t extra_data = (frame.can_id >> 8) & 0xFFFF; + const int motor_id = extra_data & 0xFF; + const std::uint16_t param_id = static_cast((frame.data[1] << 8) | frame.data[0]); + + for (std::size_t i = 0; i < motors_.size(); ++i) { + if (motors_[i].bus != bus_id || motors_[i].id != motor_id) { + continue; + } + + auto & state = motor_states_[i]; + if (param_id == PARAM_VBUS) { + float vbus = 0.0f; + std::memcpy(&vbus, &frame.data[4], sizeof(float)); + state.bus_voltage = vbus; + state.has_bus_voltage = true; + state.last_diag_snapshot_time_ = std::chrono::steady_clock::now(); + } else if (param_id == PARAM_DRV_FAULT) { + const std::uint16_t fault = static_cast((frame.data[5] << 8) | frame.data[4]); + state.fault_code = fault; + state.has_fault_snapshot = true; + state.last_diag_snapshot_time_ = std::chrono::steady_clock::now(); + } else if (param_id == PARAM_DRV_FAULT_DETAIL_1) { + state.fault_detail_1 = static_cast((frame.data[5] << 8) | frame.data[4]); + state.has_fault_snapshot = true; + state.last_diag_snapshot_time_ = std::chrono::steady_clock::now(); + } else if (param_id == PARAM_DRV_FAULT_DETAIL_2) { + state.fault_detail_2 = static_cast((frame.data[5] << 8) | frame.data[4]); + state.has_fault_snapshot = true; + state.last_diag_snapshot_time_ = std::chrono::steady_clock::now(); + } + break; + } +} + +bool HardwareBridgeNode::waitForMotorFeedback(std::size_t index, std::chrono::milliseconds timeout) +{ + const auto deadline = std::chrono::steady_clock::now() + timeout; + const std::uint32_t prev_update_count = motor_states_[index].update_count; + + while (std::chrono::steady_clock::now() < deadline) { + if (motor_states_[index].update_count > prev_update_count) { + motor_states_[index].init_confirmed = true; + return true; + } + + if (can0_fd_ >= 0) { + drainCanFrames(can0_fd_, 1, 1000); + } + if (can1_fd_ >= 0) { + drainCanFrames(can1_fd_, 2, 1000); + } + std::this_thread::sleep_for(2ms); + } + + return motor_states_[index].update_count > prev_update_count; +} + +bool HardwareBridgeNode::startMotorRecoverySequence( + std::size_t index, + const std::string & trigger, + RecoveryKind kind, + std::uint32_t attempt_number) +{ + if (dry_run_ || index >= motors_.size()) { + return false; + } + + auto & state = motor_states_[index]; + if (state.recovery_stage != RecoveryStage::Idle) { + return false; + } + + const int fd = motors_[index].bus == 1 ? can0_fd_ : can1_fd_; + if (fd < 0) { + logMotorDiagnosticEvent(index, "motor_init_failed", + "reason=" + trigger + ", detail=invalid_can_fd", "ERROR"); + return false; + } + + bool step_ok = true; + 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", + "reason=" + trigger + ", attempt=1, sent_ok=false, feedback_confirmed=false", "ERROR"); + return false; + } + + state.recovery_kind = kind; + state.recovery_stage = RecoveryStage::AwaitInitFeedback; + state.recovery_start_update_count = state.update_count; + state.recovery_active_attempt_number = attempt_number; + state.recovery_trigger = trigger; + state.recovery_stage_deadline_ = + std::chrono::steady_clock::now() + std::chrono::milliseconds(kMotorInitConfirmTimeoutMs); + state.init_confirmed = false; + return true; +} + +void HardwareBridgeNode::clearMotorRecoverySequence(std::size_t index) +{ + auto & state = motor_states_[index]; + state.recovery_kind = RecoveryKind::None; + state.recovery_stage = RecoveryStage::Idle; + state.recovery_start_update_count = 0; + state.recovery_active_attempt_number = 0; + state.recovery_stage_deadline_ = std::chrono::steady_clock::time_point{}; + state.recovery_trigger.clear(); +} + +void HardwareBridgeNode::processMotorRecoverySequence(std::size_t index) +{ + auto & state = motor_states_[index]; + if (state.recovery_stage == RecoveryStage::Idle) { + return; + } + + const auto now_tp = std::chrono::steady_clock::now(); + if (state.recovery_stage == RecoveryStage::AwaitInitFeedback) { + if (state.update_count > state.recovery_start_update_count) { + state.init_confirmed = true; + if (state.recovery_kind == RecoveryKind::NoEffect) { + state.recovery_stage = RecoveryStage::AwaitEffectVerification; + state.recovery_stage_deadline_ = + now_tp + std::chrono::milliseconds(noEffectVerifyTimeoutMs(index)); + } else { + state.recovered_reported = true; + state.stale_reported = false; + logMotorPowerEvent(index, "recovered_after_reinit", + "trigger=" + state.recovery_trigger + ", recovery_attempt=" + + std::to_string(state.recovery_active_attempt_number)); + clearMotorRecoverySequence(index); + } + return; + } + + if (now_tp >= state.recovery_stage_deadline_) { + logMotorDiagnosticEvent(index, "motor_init_retry", + "reason=" + state.recovery_trigger + + ", attempt=" + std::to_string(state.recovery_active_attempt_number) + + ", sent_ok=true, feedback_confirmed=false", "ERROR"); + clearMotorRecoverySequence(index); + } + return; + } + + if (state.recovery_stage == RecoveryStage::AwaitEffectVerification) { + if (state.stale_count == 0 && !motorHasBlockingFault(index)) { + bool recovered = false; + if (isWheelMotor(index)) { + const float commanded = std::abs(state.last_command_sim); + const float actual = std::abs(state.velocity); + const float response_ratio = commanded > 1.0e-4f ? actual / commanded : 1.0f; + recovered = + commanded >= wheel_no_effect_command_threshold_ && + actual > wheel_no_effect_velocity_epsilon_ && + response_ratio >= wheel_no_effect_min_response_ratio_; + } else { + const float position_error = std::abs(state.last_command_sim - state.position); + recovered = position_error < (leg_no_effect_position_error_threshold_ * 0.5f); + } + if (recovered) { + state.no_effect_count = 0; + state.no_effect_reported = false; + state.command_active_count = 0; + state.no_effect_recovery_attempt_count = 0; + logMotorPowerEvent(index, "recovered_after_no_effect_reinit", + "trigger=" + state.recovery_trigger + ", recovery_attempt=" + + std::to_string(state.recovery_active_attempt_number)); + clearMotorRecoverySequence(index); + return; + } + } + + if (now_tp >= state.recovery_stage_deadline_) { + logMotorDiagnosticEvent(index, "motor_no_effect_recovery_failed", + "trigger=" + state.recovery_trigger + + ", no_effect_count=" + std::to_string(state.no_effect_count) + + ", recovery_attempt=" + std::to_string(state.recovery_active_attempt_number) + + ", " + buildNoEffectSummary(index), "ERROR"); + clearMotorRecoverySequence(index); + } + } +} + +bool HardwareBridgeNode::initializeMotor(std::size_t index, const std::string & reason, int max_attempts) +{ + if (dry_run_ || index >= motors_.size()) { + return true; + } + + auto & state = motor_states_[index]; + const int fd = motors_[index].bus == 1 ? can0_fd_ : can1_fd_; + if (fd < 0) { + logMotorDiagnosticEvent(index, "motor_init_failed", + "reason=" + reason + ", detail=invalid_can_fd", "ERROR"); + return false; + } + + state.init_confirmed = false; + bool success = false; + for (int attempt = 1; attempt <= max_attempts; ++attempt) { + state.init_attempt_count++; + bool step_ok = true; + 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)); + } + + if (success) { + std::ostringstream oss; + oss << "reason=" << reason + << ", attempt=" << attempt + << ", init_attempt_count=" << state.init_attempt_count; + logMotorDiagnosticEvent(index, "motor_init_confirmed", oss.str(), "INFO"); + return true; + } + + std::ostringstream oss; + oss << "reason=" << reason + << ", attempt=" << attempt + << ", sent_ok=" << (step_ok ? "true" : "false") + << ", feedback_confirmed=" << (state.init_confirmed ? "true" : "false"); + logMotorDiagnosticEvent(index, "motor_init_retry", oss.str(), attempt == max_attempts ? "ERROR" : "WARN"); + std::this_thread::sleep_for(std::chrono::milliseconds(kMotorInitRetrySleepMs)); + } + + return false; +} + +bool HardwareBridgeNode::initializeMotorsOnBus(int bus_id, const std::string & reason) +{ + bool all_ok = true; + for (std::size_t i = 0; i < motors_.size(); ++i) { + if (motors_[i].bus != bus_id) { + continue; + } + const bool ok = initializeMotor(i, reason, 3); + all_ok = ok && all_ok; + } + return all_ok; +} + +void HardwareBridgeNode::processCanFrame(const struct can_frame & frame, int bus_id) +{ + if (!(frame.can_id & CAN_EFF_FLAG)) { + return; + } + + const std::uint32_t comm_type = (frame.can_id >> 24) & 0x1F; + if (comm_type == 2) { + const std::uint32_t extra_data = (frame.can_id >> 8) & 0xFFFF; + const int motor_id = extra_data & 0xFF; + + for (std::size_t i = 0; i < motors_.size(); ++i) { + if (motors_[i].bus != bus_id || motors_[i].id != motor_id) { + continue; + } + + std::uint16_t p_u16 = (frame.data[0] << 8) | frame.data[1]; + std::uint16_t v_u16 = (frame.data[2] << 8) | frame.data[3]; + std::uint16_t t_u16 = (frame.data[4] << 8) | frame.data[5]; + std::uint16_t temp_u16 = (frame.data[6] << 8) | frame.data[7]; + + double pos_raw = (static_cast(p_u16) / 32767.0 - 1.0) * (4.0 * M_PI); + double vel_raw = (static_cast(v_u16) / 32767.0 - 1.0) * 44.0; + double torque_raw = (static_cast(t_u16) / 32767.0 - 1.0) * 17.0; + + float pos_sim = (static_cast(pos_raw) - motors_[i].offset) / motors_[i].direction; + float vel_sim = static_cast(vel_raw) / motors_[i].direction; + float torque_sim = static_cast(torque_raw) / motors_[i].direction; + + if (i < 12) { + pos_sim = nearest_periodic(pos_sim, rough_default_dof_pos_[i]); + } + + updateMotorTelemetry(i, pos_sim, vel_sim, torque_sim, static_cast(temp_u16) * 0.1f); + updateMotorDiagnostics(i); + return; + } + } else if (comm_type == COMM_READ_PARAMETER) { + handleParameterResponse(frame, bus_id); + } +} + +void HardwareBridgeNode::drainCanFrames(int fd, int bus_id, int timeout_us) +{ + if (fd < 0) { + return; + } + + struct can_frame frame; + while (readCanFrame(fd, &frame, timeout_us)) { + processCanFrame(frame, bus_id); + timeout_us = 0; + } +} + +bool HardwareBridgeNode::shouldAttemptMotorRecovery(std::size_t index) const +{ + const auto & state = motor_states_[index]; + if (state.recovery_stage != RecoveryStage::Idle) { + return false; + } + if (!state.has_valid_data) { + return false; + } + if (state.stale_count < kMotorRecoveryTriggerStaleCount) { + return false; + } + if (state.recovery_attempt_count >= kMotorRecoveryAttemptLimit) { + return false; + } + if (state.fault_code != 0 || state.fault_detail_1 != 0 || state.fault_detail_2 != 0) { + return false; + } + + const auto now_tp = std::chrono::steady_clock::now(); + if (state.last_recovery_attempt_time_.time_since_epoch().count() != 0) { + const auto since_last = now_tp - state.last_recovery_attempt_time_; + if (since_last < std::chrono::milliseconds(kMotorRecoveryCooldownMs)) { + return false; + } + } + return true; +} + +bool HardwareBridgeNode::attemptMotorRecovery(std::size_t index, const std::string & trigger) +{ + if (!shouldAttemptMotorRecovery(index)) { + return false; + } + + auto & state = motor_states_[index]; + const std::uint32_t attempt_number = state.recovery_attempt_count + 1; + + std::ostringstream start_oss; + start_oss << "trigger=" << trigger + << ", stale_count=" << state.stale_count + << ", recovery_attempt=" << attempt_number; + logMotorDiagnosticEvent(index, "motor_recovery_attempt", start_oss.str(), + attempt_number >= kMotorRecoveryAttemptLimit ? "ERROR" : "WARN"); + + if (!startMotorRecoverySequence(index, trigger, RecoveryKind::Stale, attempt_number)) { + return false; + } + state.recovery_attempt_count = attempt_number; + state.last_recovery_attempt_time_ = std::chrono::steady_clock::now(); + return true; +} + +bool HardwareBridgeNode::shouldAttemptNoEffectRecovery(std::size_t index) const +{ + const auto & state = motor_states_[index]; + if (state.recovery_stage != RecoveryStage::Idle) { + return false; + } + if (!state.has_valid_data || state.stale_count > 0) { + return false; + } + if (!hasFreshNoEffectDiagnostics(index)) { + return false; + } + if (state.no_effect_count < noEffectTriggerCycles(index)) { + return false; + } + if (motorHasBlockingFault(index)) { + return false; + } + if (state.no_effect_recovery_attempt_count >= noEffectAttemptLimit(index)) { + return false; + } + + const auto now_tp = std::chrono::steady_clock::now(); + if (state.last_no_effect_recovery_attempt_time_.time_since_epoch().count() != 0) { + const auto since_last = now_tp - state.last_no_effect_recovery_attempt_time_; + if (since_last < std::chrono::milliseconds(noEffectCooldownMs(index))) { + return false; + } + } + return true; +} + +bool HardwareBridgeNode::attemptNoEffectRecovery(std::size_t index, const std::string & trigger) +{ + if (!shouldAttemptNoEffectRecovery(index)) { + return false; + } + + auto & state = motor_states_[index]; + const std::uint32_t attempt_number = state.no_effect_recovery_attempt_count + 1; + + std::ostringstream start_oss; + start_oss << "trigger=" << trigger + << ", no_effect_count=" << state.no_effect_count + << ", recovery_attempt=" << attempt_number + << ", " << buildNoEffectSummary(index); + logMotorDiagnosticEvent(index, "motor_no_effect_recovery_attempt", start_oss.str(), + attempt_number >= noEffectAttemptLimit(index) ? "ERROR" : "WARN"); + + if (!startMotorRecoverySequence(index, trigger, RecoveryKind::NoEffect, attempt_number)) { + return false; + } + state.no_effect_recovery_attempt_count = attempt_number; + state.last_no_effect_recovery_attempt_time_ = std::chrono::steady_clock::now(); + return true; +} + +void HardwareBridgeNode::updateMotorDiagnostics(std::size_t index) +{ + auto & state = motor_states_[index]; + + if (state.temperature >= motor_temp_warn_c_) { + if (!state.high_temp_reported) { + state.high_temp_reported = true; + motor_fault_event_count_++; + std::ostringstream oss; + oss << "temperature_c=" << state.temperature + << ", trigger=temperature_high" + << ", protection_hint=" << (state.temperature >= motor_temp_fault_c_ ? "motor_overtemperature_fault" : "thermal_warning") + << ", estimated_current_arms=" << state.estimated_current_arms; + logMotorDiagnosticEvent(index, "motor_temperature_alert", oss.str(), + state.temperature >= motor_temp_fault_c_ ? "ERROR" : "WARN"); + } + } else { + state.high_temp_reported = false; + } + + if (state.estimated_current_arms >= motor_current_warn_arms_ || std::abs(state.torque) >= motor_torque_warn_nm_) { + if (!state.high_current_reported) { + state.high_current_reported = true; + motor_fault_event_count_++; + std::ostringstream oss; + oss << "estimated_current_arms=" << state.estimated_current_arms + << ", torque_nm=" << state.torque + << ", trigger=" << (std::abs(state.torque) >= motor_torque_peak_nm_ || state.estimated_current_arms >= motor_current_peak_arms_ + ? "overload_peak" : "overload_warning") + << ", protection_hint=stall_or_overload_protection"; + logMotorDiagnosticEvent(index, "motor_overload_alert", oss.str(), + (std::abs(state.torque) >= motor_torque_peak_nm_ || state.estimated_current_arms >= motor_current_peak_arms_) ? "ERROR" : "WARN"); + } + } else { + state.high_current_reported = false; + } + + if (state.has_bus_voltage) { + if (state.bus_voltage >= motor_bus_overvoltage_v_) { + if (!state.high_voltage_reported) { + state.high_voltage_reported = true; + motor_fault_event_count_++; + logMotorDiagnosticEvent(index, "motor_bus_voltage_alert", + "bus_voltage_v=" + std::to_string(state.bus_voltage) + + ", trigger=bus_overvoltage, protection_hint=overvoltage_fault", "ERROR"); + } + } else { + state.high_voltage_reported = false; + } + + if (state.bus_voltage <= motor_bus_undervoltage_v_) { + if (!state.low_voltage_reported) { + state.low_voltage_reported = true; + motor_fault_event_count_++; + logMotorDiagnosticEvent(index, "motor_bus_voltage_alert", + "bus_voltage_v=" + std::to_string(state.bus_voltage) + + ", trigger=bus_undervoltage, protection_hint=undervoltage_fault", "ERROR"); + } + } else { + state.low_voltage_reported = false; + } + } + + if (state.fault_code != 0 || state.fault_detail_1 != 0 || state.fault_detail_2 != 0) { + if (!state.fault_code_reported) { + state.fault_code_reported = true; + motor_fault_event_count_++; + logMotorDiagnosticEvent(index, "motor_fault_code", buildMotorFaultSummary(index), "ERROR"); + } + } else { + state.fault_code_reported = false; + } +} + +void HardwareBridgeNode::pollMotorDiagnostics() +{ + if (dry_run_ || diag_poll_period_s_ <= 0.0) { + return; + } + + const auto now_time = now(); + if (last_diag_poll_time_.nanoseconds() > 0 && + (now_time - last_diag_poll_time_).seconds() < diag_poll_period_s_) { + return; + } + last_diag_poll_time_ = now_time; + + const std::size_t index = diag_poll_motor_index_ % motors_.size(); + const int fd = motors_[index].bus == 1 ? can0_fd_ : can1_fd_; + readParameter(fd, motors_[index].id, PARAM_VBUS); + readParameter(fd, motors_[index].id, PARAM_DRV_FAULT); + readParameter(fd, motors_[index].id, PARAM_DRV_FAULT_DETAIL_1); + readParameter(fd, motors_[index].id, PARAM_DRV_FAULT_DETAIL_2); + diag_poll_motor_index_ = (diag_poll_motor_index_ + 1) % motors_.size(); +} + +void HardwareBridgeNode::onTarget(const sim2real_interfaces::msg::RuntimeTarget::SharedPtr msg) +{ + std::scoped_lock lock(target_mutex_); + latest_target_ = msg->target; + latest_raw_action_ = msg->raw_action; + latest_target_source_ = msg->target_source; + latest_target_stamp_ = rclcpp::Time(msg->stamp); + target_sequence_ = msg->sequence; +} + +void HardwareBridgeNode::onModelStatus(const std_msgs::msg::String::SharedPtr msg) +{ + const std::string current_model = toLowerCopy(extractJsonStringField(msg->data, "current_model")); + const std::string switch_state = toLowerCopy(extractJsonStringField(msg->data, "switch_state")); + + std::scoped_lock lock(target_mutex_); + model_switch_active_ = !switch_state.empty() && switch_state != "idle"; + if (current_model.empty()) { + return; + } + ActiveModelMode next_mode = ActiveModelMode::Rough; + if (current_model == "crawl" || current_model == "ik") { + next_mode = ActiveModelMode::Crawl; + } else if (current_model == "wall") { + next_mode = ActiveModelMode::Wall; + } + if (next_mode == active_model_mode_) { + return; + } + + active_model_mode_ = next_mode; + const char * mode_name = "rough"; + if (active_model_mode_ == ActiveModelMode::Crawl) { + active_default_dof_pos_ = crawl_default_dof_pos_; + mode_name = "ik/crawl"; + } else if (active_model_mode_ == ActiveModelMode::Wall) { + active_default_dof_pos_ = wall_default_dof_pos_; + mode_name = "wall"; + } else { + active_default_dof_pos_ = rough_default_dof_pos_; + } + RCLCPP_INFO( + get_logger(), + "Hardware active model reference updated to %s pose.", + mode_name); +} + +void HardwareBridgeNode::onImu(const sensor_msgs::msg::Imu::SharedPtr msg) +{ + std::scoped_lock lock(imu_mutex_); + + const float gyro_x = static_cast(msg->angular_velocity.x); + const float gyro_y = static_cast(msg->angular_velocity.y); + const float gyro_z = static_cast(msg->angular_velocity.z); + + const float accel_x = static_cast(msg->linear_acceleration.x); + const float accel_y = static_cast(msg->linear_acceleration.y); + const float accel_z = static_cast(msg->linear_acceleration.z); + + imu_gyro_ = {gyro_x, gyro_y, gyro_z}; + imu_accel_ = {accel_x, accel_y, accel_z}; + if (!mahony_initialized_.load(std::memory_order_relaxed) && + imu_gravity_sample_count_ < kImuGravityAlignSamples) { + imu_gravity_sum_[0] += accel_x; + imu_gravity_sum_[1] += accel_y; + imu_gravity_sum_[2] += accel_z; + imu_gravity_sample_count_++; + } + // Track both ROS header time and local receive time. The local steady clock + // is used for stale detection so scheduler jitter or device timestamp quirks + // don't falsely trip the runtime guard. + last_imu_stamp_ = rclcpp::Time(msg->header.stamp); + last_imu_recv_time_ = std::chrono::steady_clock::now(); + has_received_imu_ = true; + imu_fresh_ = true; +} + +void HardwareBridgeNode::onEstop(const std_msgs::msg::Bool::SharedPtr msg) +{ + std::scoped_lock lock(target_mutex_); + const bool was_estop = estop_triggered_; + estop_triggered_ = msg->data; + if (estop_triggered_) { + RCLCPP_WARN(get_logger(), "!!! E-stop received over /safety/estop !!!"); + logEvent("WARN", "estop_triggered", "E-stop received over /safety/estop."); + } else { + RCLCPP_INFO(get_logger(), "E-stop reset."); + logEvent("INFO", "estop_reset", "E-stop reset via /safety/estop."); + const bool user_estop_latch = + safety_reason_.find("user E-stop") != std::string::npos || + (was_estop && safety_reason_.empty()); + if (safety_triggered_ && user_estop_latch) { + safety_triggered_ = false; + safety_reason_.clear(); + clip_active_logged_ = false; + RCLCPP_INFO(get_logger(), "Cleared user E-stop safety latch."); + logEvent("INFO", "safety_latch_reset", "Cleared user E-stop safety latch."); + } + } +} + +void HardwareBridgeNode::onOdom(const nav_msgs::msg::Odometry::SharedPtr msg) +{ + std::scoped_lock lock(odom_mutex_); + last_odom_stamp_ = rclcpp::Time(msg->header.stamp); + + odom_pos_[0] = static_cast(msg->pose.pose.position.x); + odom_pos_[1] = static_cast(msg->pose.pose.position.y); + odom_pos_[2] = static_cast(msg->pose.pose.position.z); + + odom_quat_wxyz_[0] = static_cast(msg->pose.pose.orientation.w); + odom_quat_wxyz_[1] = static_cast(msg->pose.pose.orientation.x); + odom_quat_wxyz_[2] = static_cast(msg->pose.pose.orientation.y); + odom_quat_wxyz_[3] = static_cast(msg->pose.pose.orientation.z); + + odom_linear_vel_[0] = static_cast(msg->twist.twist.linear.x); + odom_linear_vel_[1] = static_cast(msg->twist.twist.linear.y); + odom_linear_vel_[2] = static_cast(msg->twist.twist.linear.z); + + odom_angular_vel_[0] = static_cast(msg->twist.twist.angular.x); + odom_angular_vel_[1] = static_cast(msg->twist.twist.angular.y); + odom_angular_vel_[2] = static_cast(msg->twist.twist.angular.z); + + odom_fresh_ = true; +} + +void HardwareBridgeNode::onReadLoop() +{ + // 1. Process CAN messages (only if CAN is open) + if (!dry_run_) { + for (std::size_t i = 0; i < 16; ++i) { + motor_states_[i].stale_count++; + } + + drainCanFrames(can0_fd_, 1, 50); + drainCanFrames(can1_fd_, 2, 50); + + // Hold-over: apply last valid data for stale motors + for (std::size_t i = 0; i < 16; ++i) { + if (motor_states_[i].stale_count >= kHoldoverThreshold && motor_states_[i].has_valid_data) { + motor_states_[i].position = motor_states_[i].last_valid_pos; + motor_states_[i].velocity = motor_states_[i].last_valid_vel; + motor_states_[i].torque = motor_states_[i].last_valid_torque; + holdover_events_total_++; + if (!motor_states_[i].stale_reported && + motor_states_[i].stale_count >= kMotorDropReportThreshold) { + motor_states_[i].stale_reported = true; + motor_states_[i].recovered_reported = false; + motor_states_[i].disable_reported = true; + motor_states_[i].last_power_event_reason = + "no status frame received, stale_count=" + std::to_string(motor_states_[i].stale_count); + motor_drop_event_count_++; + logMotorPowerEvent(i, "dropped_or_unresponsive", motor_states_[i].last_power_event_reason); + } + if (shouldAttemptMotorRecovery(i)) { + attemptMotorRecovery(i, "stale_feedback"); + } + } else if (motor_states_[i].stale_count == 0 && motor_states_[i].stale_reported) { + motor_states_[i].stale_reported = false; + if (!motor_states_[i].recovered_reported) { + motor_states_[i].recovered_reported = true; + motor_recover_event_count_++; + logMotorPowerEvent(i, "recovered", "status frame reception resumed"); + } + } + + processMotorRecoverySequence(i); + + if (motor_states_[i].stale_count == 0) { + updateNoEffectDetection(i); + if (shouldAttemptNoEffectRecovery(i)) { + attemptNoEffectRecovery(i, "wheel_no_effect"); + } + } + } + } + + pollMotorDiagnostics(); + + // 2. Fetch IMU data & update MahonyFilter + auto now_time = now(); + double dt = 0.005; + if (last_read_time_.nanoseconds() > 0) { + dt = (now_time - last_read_time_).seconds(); + if (dt <= 0.0 || dt > 0.5) { + dt = 0.005; + } + } + last_read_time_ = now_time; + + std::array gyro{}; + std::array accel{0.0f, 0.0f, 9.81f}; + bool imu_fresh = false; + double imu_age_ms = 0.0; + { + std::scoped_lock lock(imu_mutex_); + gyro = imu_gyro_; + accel = imu_accel_; + imu_fresh = imu_fresh_; + imu_fresh_ = false; + + if (has_received_imu_) { + const auto age = std::chrono::steady_clock::now() - last_imu_recv_time_; + imu_age_ms = std::chrono::duration(age).count(); + } else if (last_imu_stamp_.nanoseconds() > 0) { + const auto age_ns = (now_time - last_imu_stamp_).nanoseconds(); + imu_age_ms = age_ns > 0 ? static_cast(age_ns) / 1.0e6 : 0.0; + } + } + + std::array quat{1.0f, 0.0f, 0.0f, 0.0f}; + const bool mahony_initialized = mahony_initialized_.load(std::memory_order_relaxed); + if (imu_fresh || mahony_initialized) { + if (!mahony_initialized) { + std::array gravity_init = accel; + { + std::scoped_lock lock(imu_mutex_); + if (imu_gravity_sample_count_ >= kImuGravityAlignSamples) { + gravity_init = { + imu_gravity_sum_[0] / static_cast(imu_gravity_sample_count_), + imu_gravity_sum_[1] / static_cast(imu_gravity_sample_count_), + imu_gravity_sum_[2] / static_cast(imu_gravity_sample_count_) + }; + } + } + mahony_filter_->reset_with_accel(gravity_init); + mahony_initialized_.store(true, std::memory_order_relaxed); + } + quat = mahony_filter_->update(accel, gyro, static_cast(dt)); + } + std::array projected_gravity = sim2real_common::get_gravity_orientation(quat); + { + std::scoped_lock lock(imu_mutex_); + projected_gravity_ = projected_gravity; + } + + // Run RuntimeGuard check + if (safety_enabled_ && !safety_triggered_) { + std::vector extra_vals; + extra_vals.reserve(32); + for (std::size_t i = 0; i < 16; ++i) { + extra_vals.push_back(motor_states_[i].position); + extra_vals.push_back(motor_states_[i].velocity); + } + bool estop_active = false; + { + std::scoped_lock lock(target_mutex_); + estop_active = estop_triggered_; + } + + auto guard_decision = runtime_guard_->check(gyro, projected_gravity, imu_age_ms, estop_active, extra_vals); + if (guard_decision.level == sim2real_common::GuardLevel::STOP) { + safety_triggered_ = true; + safety_reason_ = "Runtime Guard Stop: " + guard_decision.reason; + RCLCPP_ERROR(get_logger(), "SAFETY TRIGGERED: %s", safety_reason_.c_str()); + logEvent("ERROR", "safety_triggered", safety_reason_); + logProtectionEvent("runtime_guard_stop", guard_decision.reason, "safety_brake"); + } else if (guard_decision.level == sim2real_common::GuardLevel::WARN) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000, "Safety Guard Warning: %s", guard_decision.reason.c_str()); + } + } + + // 3. Populate RuntimeState message + sim2real_interfaces::msg::RuntimeState msg; + msg.stamp = now_time; + msg.sequence = state_sequence_++; + msg.source = dry_run_ ? "stub_hw" : "socket_can_hw"; + + fresh_count_ = 0; + holdover_count_ = 0; + stale_max_ = 0; + std::array dry_run_target_snapshot{}; + std::uint32_t dry_run_target_sequence = 0; + if (dry_run_) { + std::scoped_lock lock(target_mutex_); + dry_run_target_snapshot = latest_target_; + dry_run_target_sequence = target_sequence_; + } + + for (std::size_t i = 0; i < 16; ++i) { + // Stale frames detection & holdover count + if (!dry_run_) { + if (motor_states_[i].stale_count > 0) { + holdover_count_++; + stale_max_ = std::max(stale_max_, motor_states_[i].stale_count); + } else { + fresh_count_++; + } + } + + if (dry_run_) { + // Mock motor positions tracking target + msg.joint_pos[i] = dry_run_target_snapshot[i]; + msg.joint_vel[i] = 0.0f; + msg.joint_torque[i] = 0.0f; + msg.update_counts[i] = dry_run_target_sequence; + } else { + msg.joint_pos[i] = motor_states_[i].position; + msg.joint_vel[i] = motor_states_[i].velocity; + msg.joint_torque[i] = motor_states_[i].torque; + msg.update_counts[i] = motor_states_[i].update_count; + } + } + + msg.imu_gyro = gyro; + msg.imu_accel = accel; + msg.quat_wxyz = quat; + msg.projected_gravity = projected_gravity; + msg.imu_age_ms = imu_age_ms; + msg.imu_fresh = imu_fresh || (imu_age_ms < 60.0); // Allow brief staleness + + msg.odom_age_ms = 0.0f; + msg.odom_fresh = false; + msg.odom_pos = {0.0f, 0.0f, 0.0f}; + msg.odom_quat_wxyz = {1.0f, 0.0f, 0.0f, 0.0f}; + msg.odom_linear_vel = {0.0f, 0.0f, 0.0f}; + msg.odom_angular_vel = {0.0f, 0.0f, 0.0f}; + msg.odom_local_pos = {0.0f, 0.0f, 0.0f}; + msg.odom_local_yaw = 0.0f; + + // Populate odom fields from subscriber data + { + std::scoped_lock lock(odom_mutex_); + if (odom_fresh_) { + double odom_age = (now_time - last_odom_stamp_).seconds() * 1000.0; + msg.odom_age_ms = static_cast(odom_age); + msg.odom_fresh = (odom_age < 200.0); // 200ms threshold + msg.odom_pos = odom_pos_; + msg.odom_quat_wxyz = odom_quat_wxyz_; + msg.odom_linear_vel = odom_linear_vel_; + msg.odom_angular_vel = odom_angular_vel_; + msg.odom_local_pos = odom_pos_; + // Compute yaw from quaternion + float qw = odom_quat_wxyz_[0], qx = odom_quat_wxyz_[1]; + float qy = odom_quat_wxyz_[2], qz = odom_quat_wxyz_[3]; + float siny_c = 2.0f * (qw * qz + qx * qy); + float cosy_c = 1.0f - 2.0f * (qy * qy + qz * qz); + msg.odom_local_yaw = std::atan2(siny_c, cosy_c); + } + } + + msg.fresh_count = dry_run_ ? 16 : fresh_count_; + msg.holdover_count = dry_run_ ? 0 : holdover_count_; + msg.stale_max = dry_run_ ? 0 : stale_max_; + + state_pub_->publish(msg); +} + +void HardwareBridgeNode::onWriteLoop() +{ + const auto now_time = now(); + std::array target{}; + std::array active_default_pose = rough_default_dof_pos_; + std::string target_source; + bool model_switch_active = false; + rclcpp::Time latest_target_stamp{0, 0, RCL_ROS_TIME}; + double age_ms = 0.0; + + { + std::scoped_lock lock(target_mutex_); + target = latest_target_; + target_source = latest_target_source_; + active_default_pose = active_default_dof_pos_; + model_switch_active = model_switch_active_; + latest_target_stamp = latest_target_stamp_; + + if (latest_target_stamp.nanoseconds() > 0) { + const auto age_ns = (now_time - latest_target_stamp).nanoseconds(); + age_ms = age_ns > 0 ? static_cast(age_ns) / 1.0e6 : 0.0; + } + } + + if (target_source == "model_switch_to_model_pose") { + active_default_pose = rough_default_dof_pos_; + } + const bool target_is_model_switch = + target_source.rfind("model_switch_", 0) == 0; + + // Timeout guard: fall back to the active model's reference pose if target is stale + if (latest_target_stamp.nanoseconds() == 0 || age_ms > target_timeout_ms_) { + target = active_default_pose; + target_source = "timeout_hold"; + if (!timeout_hold_logged_) { + timeout_hold_logged_ = true; + logEvent("WARN", "target_timeout_hold", + "runtime target stale, switched to timeout_hold, age_ms=" + std::to_string(age_ms)); + } + } else { + timeout_hold_logged_ = false; + } + + // Run SafetyMonitor check on incoming target commands + std::array gyro{}; + std::array proj_grav{}; + bool estop_active = false; + { + std::scoped_lock lock(imu_mutex_); + gyro = imu_gyro_; + proj_grav = projected_gravity_; + } + { + std::scoped_lock lock(target_mutex_); + estop_active = estop_triggered_; + } + + if (safety_enabled_ && !safety_triggered_) { + auto * active_safety_monitor = + (model_switch_active || target_is_model_switch) && model_switch_safety_monitor_ ? + model_switch_safety_monitor_.get() : + safety_monitor_.get(); + auto safety_decision = active_safety_monitor->check(target, active_default_pose, gyro, proj_grav, estop_active); + if (safety_decision.level == sim2real_common::SafetyLevel::ESTOP || safety_decision.level == sim2real_common::SafetyLevel::BRAKE) { + safety_triggered_ = true; + safety_reason_ = "Safety Monitor Stop: " + safety_decision.message; + RCLCPP_ERROR(get_logger(), "SAFETY TRIGGERED: %s", safety_reason_.c_str()); + logEvent("ERROR", "safety_triggered", safety_reason_); + logProtectionEvent("safety_monitor_stop", safety_decision.message, "safety_brake"); + } else if (safety_decision.level == sim2real_common::SafetyLevel::CLIP) { + target = safety_decision.clipped_target; + target_source = "safety_clip"; + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000, "Safety Monitor: Joint target clipped."); + if (!clip_active_logged_) { + clip_active_logged_ = true; + logEvent("WARN", "target_clipped", + "protection=safety_clip, reason=" + safety_decision.message + ", source=" + target_source); + } + } else { + clip_active_logged_ = false; + } + } + + // Override to safety_brake if safety is triggered locally or by estop + if (safety_triggered_) { + target_source = "safety_brake"; + } + + // 1. Joint LPF command filtering (200Hz, dt=0.005s) + std::array legs_in{}; + std::array legs_out{}; + std::array wheels_in{}; + std::array wheels_out{}; + + std::copy(target.begin(), target.begin() + 12, legs_in.begin()); + std::copy(target.begin() + 12, target.end(), wheels_in.begin()); + + lpf_legs_->filter(legs_in.data(), legs_out.data()); + lpf_wheels_->filter(wheels_in.data(), wheels_out.data()); + + std::array filtered_target{}; + std::copy(legs_out.begin(), legs_out.end(), filtered_target.begin()); + std::copy(wheels_out.begin(), wheels_out.end(), filtered_target.begin() + 12); + + // 2. Control execution (MIT mode write over CAN) + if (!dry_run_) { + for (std::size_t i = 0; i < 16; ++i) { + // Coordinate transform: sim_to_real + // real = sign * sim + offset + float sim_val = filtered_target[i]; + float real_val = motors_[i].direction * sim_val + motors_[i].offset; + + int fd = (motors_[i].bus == 1) ? can0_fd_ : can1_fd_; + + if (i < 12) { + // Leg joints: MIT position control + // Kp & Kd depend on whether we are holding pose, running policy, or in safety damping mode + double kp_val = sim2real_common::DeploymentContract::kLegKp; + double kd_val = sim2real_common::DeploymentContract::kLegKd; + + if (target_source == "safety_brake" || target_source == "safety_estop") { + kp_val = 0.0; + kd_val = 2.5; // Leg damping Kd + real_val = 0.0; // Set to zero position (sign/offset will be ignored anyway under kp=0) + } else if (target_source == "startup_soft_hold") { + if (startup_soft_hold_start_time_.nanoseconds() == 0) { + startup_soft_hold_start_time_ = now_time; + } + double elapsed = (now_time - startup_soft_hold_start_time_).seconds(); + double kp_scale = 0.125 + (1.0 - 0.125) * std::min(1.0, elapsed / 1.0); // 1.0s ramp + kp_val = sim2real_common::DeploymentContract::kLegKp * kp_scale; + kd_val = sim2real_common::DeploymentContract::kLegKd; + } else { + startup_soft_hold_start_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME); + if ( + target_source == "timeout_hold" || + target_source == "boot_hold" || + target_source == "runtime_zero_hold" || + target_source == "runtime_keep_pose" || + target_source == "runtime_keep_return_default" || + target_source == "startup_hold" || + target_source == "model_switch_to_stand" || + target_source == "model_switch_stand_hold" || + target_source == "model_switch_to_model_pose") + { + kp_val = sim2real_common::DeploymentContract::kLegKp; + kd_val = sim2real_common::DeploymentContract::kLegKd; + } + } + updateMotorCommandTracking(i, sim_val, target_source); + writeOperationFrame(fd, motors_[i].id, real_val, 0.0, kp_val, kd_val, 0.0); + } else { + // Wheel joints: MIT velocity control (Kp = 0, Kd = kWheelKd, velocity = target, position = 0) + double vel_real = motors_[i].direction * sim_val; // Wheels actions are in velocity, apply sign + double kd_val = sim2real_common::DeploymentContract::kWheelKd; + if (target_source == "safety_brake" || target_source == "safety_estop") { + vel_real = 0.0; + kd_val = 2.0; // Wheel damping Kd + } + updateMotorCommandTracking(i, sim_val, target_source); + writeOperationFrame(fd, motors_[i].id, 0.0, vel_real, 0.0, kd_val, 0.0); + } + } + } +} + +bool HardwareBridgeNode::enableMotor(int fd, int motor_id) +{ + std::uint32_t ext_id = (COMM_ENABLE << 24) | (HOST_ID << 8) | motor_id; + std::uint8_t data[8] = {0}; + return sendCanFrame(fd, ext_id, data, 8); +} + +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); +} + +bool HardwareBridgeNode::readParameter(int fd, int motor_id, std::uint16_t param_id) +{ + std::uint32_t ext_id = (COMM_READ_PARAMETER << 24) | (HOST_ID << 8) | motor_id; + std::uint8_t data[8] = {0}; + data[0] = param_id & 0xFF; + data[1] = (param_id >> 8) & 0xFF; + return sendCanFrame(fd, ext_id, data, 8); +} + +bool HardwareBridgeNode::setModeRaw(int fd, int motor_id, std::int8_t mode) +{ + 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) +{ + 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], &limit, sizeof(float)); + 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; + const double V_LIMIT = 44.0; + const double T_LIMIT = 17.0; + const double KP_LIMIT = 500.0; + const double KD_LIMIT = 5.0; + + double pos_clamped = std::max(-P_LIMIT, std::min(P_LIMIT, pos)); + double vel_clamped = std::max(-V_LIMIT, std::min(V_LIMIT, vel)); + double kp_clamped = std::max(0.0, std::min(KP_LIMIT, kp_val)); + double kd_clamped = std::max(0.0, std::min(KD_LIMIT, kd_val)); + double torque_clamped = std::max(-T_LIMIT, std::min(T_LIMIT, torque)); + + std::uint16_t pos_u16 = static_cast(((pos_clamped / P_LIMIT) + 1.0) * 32767.0); + std::uint16_t vel_u16 = static_cast(((vel_clamped / V_LIMIT) + 1.0) * 32767.0); + std::uint16_t kp_u16 = static_cast((kp_clamped / KP_LIMIT) * 65535.0); + std::uint16_t kd_u16 = static_cast((kd_clamped / KD_LIMIT) * 65535.0); + std::uint16_t torque_u16 = static_cast(((torque_clamped / T_LIMIT) + 1.0) * 32767.0); + + std::uint8_t data[8]; + pack_u16_be(&data[0], pos_u16); + pack_u16_be(&data[2], vel_u16); + pack_u16_be(&data[4], kp_u16); + pack_u16_be(&data[6], kd_u16); + + std::uint32_t ext_id = (COMM_OPERATION_CONTROL << 24) | (torque_u16 << 8) | motor_id; + return sendCanFrame(fd, ext_id, data, 8); +} + +bool HardwareBridgeNode::initCan(const std::string& ifname, int& fd) +{ + struct sockaddr_can addr; + struct ifreq 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()); + return false; + } + + // Set non-blocking mode + int flags = ::fcntl(fd, F_GETFL, 0); + if (flags < 0 || ::fcntl(fd, F_SETFL, flags | O_NONBLOCK) < 0) { + RCLCPP_ERROR(get_logger(), "Failed to set socket to non-blocking for %s", ifname.c_str()); + ::close(fd); + fd = -1; + return false; + } + + std::strncpy(ifr.ifr_name, ifname.c_str(), IFNAMSIZ - 1); + if (::ioctl(fd, SIOCGIFINDEX, &ifr) < 0) { + RCLCPP_ERROR(get_logger(), "Failed to ioctl SIOCGIFINDEX for %s", ifname.c_str()); + ::close(fd); + fd = -1; + return false; + } + + addr.can_family = AF_CAN; + addr.can_ifindex = ifr.ifr_ifindex; + + 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; + return false; + } + + RCLCPP_INFO(get_logger(), "Successfully bound to SocketCAN interface %s", ifname.c_str()); + return true; +} + +bool HardwareBridgeNode::sendCanFrame(int fd, std::uint32_t can_id, const std::uint8_t* data, std::uint8_t dlc) +{ + if (fd < 0) return false; + struct can_frame frame; + frame.can_id = can_id | CAN_EFF_FLAG; // Extended frame format (29-bit CAN ID) + frame.can_dlc = dlc; + if (data) { + std::memcpy(frame.data, data, dlc); + } else { + std::memset(frame.data, 0, 8); + } + + ssize_t bytes_written = ::write(fd, &frame, sizeof(struct can_frame)); + if (bytes_written != sizeof(struct can_frame)) { + int err = errno; + // Track errors per bus for recovery logic + if (fd == can0_fd_) { + can0_error_count_++; + if (can0_error_count_ >= kCanErrorThreshold) { + RCLCPP_ERROR(get_logger(), "CAN0 write: %d consecutive errors (errno=%d: %s). Attempting reinit.", + can0_error_count_, err, strerror(err)); + if (!reinitCan(can0_name_, can0_fd_, can0_error_count_)) { + RCLCPP_FATAL(get_logger(), "CAN0 reinit failed! Triggering safety brake."); + safety_triggered_ = true; + safety_reason_ = "CAN0 bus failure - reinit failed"; + logEvent("FATAL", "safety_triggered", safety_reason_); + } + } + } else if (fd == can1_fd_) { + can1_error_count_++; + if (can1_error_count_ >= kCanErrorThreshold) { + RCLCPP_ERROR(get_logger(), "CAN1 write: %d consecutive errors (errno=%d: %s). Attempting reinit.", + can1_error_count_, err, strerror(err)); + if (!reinitCan(can1_name_, can1_fd_, can1_error_count_)) { + RCLCPP_FATAL(get_logger(), "CAN1 reinit failed! Triggering safety brake."); + safety_triggered_ = true; + safety_reason_ = "CAN1 bus failure - reinit failed"; + logEvent("FATAL", "safety_triggered", safety_reason_); + } + } + } + return false; + } + // Reset error count on success + if (fd == can0_fd_) can0_error_count_ = 0; + else if (fd == can1_fd_) can1_error_count_ = 0; + return true; +} + +bool HardwareBridgeNode::readCanFrame(int fd, void* frame_ptr, int timeout_us) +{ + if (fd < 0) return false; + auto* frame = static_cast(frame_ptr); + + if (timeout_us > 0) { + struct timeval tv; + tv.tv_sec = 0; + tv.tv_usec = timeout_us; + fd_set rdfs; + FD_ZERO(&rdfs); + FD_SET(fd, &rdfs); + + int ret = ::select(fd + 1, &rdfs, nullptr, nullptr, &tv); + if (ret < 0) { + int err = errno; + if (err != EINTR) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 2000, + "CAN select error (fd=%d): %s", fd, strerror(err)); + } + return false; + } + if (ret == 0) { + return false; // timeout, normal + } + } + + ssize_t bytes_read = ::read(fd, frame, sizeof(struct can_frame)); + if (bytes_read < 0) { + int err = errno; + if (err != EAGAIN && err != EWOULDBLOCK) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 2000, + "CAN read error (fd=%d): %s", fd, strerror(err)); + } + return false; + } + return (bytes_read == sizeof(struct can_frame)); +} + +bool HardwareBridgeNode::reinitCan(const std::string& ifname, int& fd, int& error_count) +{ + RCLCPP_WARN(get_logger(), "Attempting to reinitialize CAN interface: %s", ifname.c_str()); + logEvent("WARN", "can_reinit_attempt", "interface=" + ifname + ", consecutive_errors=" + std::to_string(error_count)); + if (fd >= 0) { + ::close(fd); + fd = -1; + } + bool success = initCan(ifname, fd); + if (success) { + error_count = 0; + const int recovered_bus = (&fd == &can0_fd_) ? 1 : 2; + if (!initializeMotorsOnBus(recovered_bus, "can_reinit")) { + logEvent("ERROR", "motor_reinit_after_can_reinit_failed", + "interface=" + ifname + ", bus=" + std::to_string(recovered_bus)); + } + RCLCPP_INFO(get_logger(), "CAN interface %s reinitialized successfully.", ifname.c_str()); + logEvent("INFO", "can_reinit_success", "interface=" + ifname); + } else { + logEvent("ERROR", "can_reinit_failed", "interface=" + ifname); + } + return success; +} + +} // namespace sim2real_hw + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 6); + executor.add_node(node); + executor.spin(); + rclcpp::shutdown(); + return 0; +} diff --git a/05_software/real/sim2real_ros2/src/sim2real_interfaces/CMakeLists.txt b/05_software/real/sim2real_ros2/src/sim2real_interfaces/CMakeLists.txt new file mode 100644 index 0000000..c09fc21 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_interfaces/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.8) +project(sim2real_interfaces) + +find_package(ament_cmake REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/RuntimeState.msg" + "msg/RuntimeTarget.msg" + DEPENDENCIES builtin_interfaces std_msgs +) + +ament_export_dependencies(rosidl_default_runtime) +ament_package() diff --git a/05_software/real/sim2real_ros2/src/sim2real_interfaces/msg/RuntimeState.msg b/05_software/real/sim2real_ros2/src/sim2real_interfaces/msg/RuntimeState.msg new file mode 100644 index 0000000..03cd276 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_interfaces/msg/RuntimeState.msg @@ -0,0 +1,30 @@ +builtin_interfaces/Time stamp +uint32 sequence + +float32[16] joint_pos +float32[16] joint_vel +float32[16] joint_torque + +float32[3] imu_gyro +float32[3] imu_accel +float32[4] quat_wxyz +float32[3] projected_gravity + +float32 imu_age_ms +bool imu_fresh + +float32 odom_age_ms +bool odom_fresh +float32[3] odom_pos +float32[4] odom_quat_wxyz +float32[3] odom_linear_vel +float32[3] odom_angular_vel +float32[3] odom_local_pos +float32 odom_local_yaw + +uint32 fresh_count +uint32 holdover_count +uint32 stale_max +uint32[16] update_counts + +string source diff --git a/05_software/real/sim2real_ros2/src/sim2real_interfaces/msg/RuntimeTarget.msg b/05_software/real/sim2real_ros2/src/sim2real_interfaces/msg/RuntimeTarget.msg new file mode 100644 index 0000000..0fe3831 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_interfaces/msg/RuntimeTarget.msg @@ -0,0 +1,15 @@ +builtin_interfaces/Time stamp +uint32 sequence + +float32[16] target +float32[16] raw_action +float32[16] scaled_action +float32[3] command +float32[3] raw_command + +bool zero_command +bool runtime_released +float32 release_alpha +float32 target_age_ms + +string target_source diff --git a/05_software/real/sim2real_ros2/src/sim2real_interfaces/package.xml b/05_software/real/sim2real_ros2/src/sim2real_interfaces/package.xml new file mode 100644 index 0000000..58379b2 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_interfaces/package.xml @@ -0,0 +1,18 @@ + + + sim2real_interfaces + 0.1.0 + ROS 2 interfaces for the sim2real wheel-leg runtime. + todo + Proprietary + + ament_cmake + rosidl_default_generators + + builtin_interfaces + std_msgs + + rosidl_default_runtime + + rosidl_interface_packages + diff --git a/05_software/real/sim2real_ros2/src/sim2real_nav2/CMakeLists.txt b/05_software/real/sim2real_ros2/src/sim2real_nav2/CMakeLists.txt new file mode 100644 index 0000000..a1a51d4 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_nav2/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.5) +project(sim2real_nav2) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY + config + launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/a_min/test_route.yaml b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/a_min/test_route.yaml new file mode 100644 index 0000000..8d0a7a4 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/a_min/test_route.yaml @@ -0,0 +1,155 @@ +name: test_route +map: map_b +frame_id: map +yaw_tolerance_deg_default: 30.0 +segments: + - name: segment_1 + obstacle: slalom + waypoints: + - id: 1 + x: 5.3590 + y: 2.4420 + yaw_deg: 0.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 2 + x: 6.9240 + y: 2.3880 + yaw_deg: -90.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 3 + x: 6.8340 + y: 0.9200 + yaw_deg: -5.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 4 + x: 9.3680 + y: 0.7060 + yaw_deg: -3.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 5 + x: 11.3730 + y: 0.4300 + yaw_deg: 0.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 6 + x: 12.8770 + y: 0.4320 + yaw_deg: 90.0 + speed: 0.35 + policy: rough + tolerance: 0.10 + - id: 7 + x: 12.9350 + y: 2.2410 + yaw_deg: 88.2 + speed: 0.35 + policy: rough + tolerance: 0.10 + - id: 8 + x: 12.9910 + y: 4.2770 + yaw_deg: 180.0 + speed: 0.35 + policy: rough + tolerance: 0.10 + - id: 9 + x: 12.0040 + y: 4.3390 + yaw_deg: -90.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 10 + x: 11.8720 + y: 2.5830 + yaw_deg: 180.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 11 + x: 9.5719 + y: 2.7972 + yaw_deg: 174.7 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 12 + x: 9.5080 + y: 3.5620 + yaw_deg: 180.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 13 + x: 8.4140 + y: 3.5730 + yaw_deg: 125.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 14 + x: 7.8670 + y: 4.5280 + yaw_deg: 180.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 15 + x: 5.8060 + y: 4.7430 + yaw_deg: 180.0 + speed: 0.35 + policy: rough + tolerance: 0.15 + - id: 16 + x: 4.9260 + y: 4.7850 + yaw_deg: 180.0 + speed: 0.35 + policy: ik + tolerance: 0.10 + - id: 17 + x: 3.2951 + y: 4.7963 + yaw_deg: 179.6 + speed: 0.35 + policy: ik + tolerance: 0.10 + - id: 18 + x: 3.0920 + y: 4.7770 + yaw_deg: -180.0 + speed: 0.35 + policy: ik + tolerance: 0.10 + - id: 19 + x: 1.6940 + y: 4.8860 + yaw_deg: 210.0 + speed: 0.35 + policy: rough + tolerance: 0.10 + - id: 20 + x: 1.0550 + y: 4.5480 + yaw_deg: -90.0 + speed: 0.35 + policy: rough + tolerance: 0.10 + - id: 21 + x: 1.0420 + y: 2.9200 + yaw_deg: -90.4 + speed: 0.35 + policy: rough + tolerance: 0.10 diff --git a/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/factory_a/goals.yaml b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/factory_a/goals.yaml new file mode 100644 index 0000000..8ae632d --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/factory_a/goals.yaml @@ -0,0 +1,16 @@ +frame_id: map +goals: + dock: + position: [0.0, 0.0, 0.0] + yaw_deg: 0.0 + description: "dock" + + test_p1: + position: [4.73, 1.75, 0.0] + yaw_deg: 0.0 + description: "test point 1" + + test_p2: + position: [4.94, 0.40, 0.0] + yaw_deg: 0.0 + description: "test point 2" diff --git a/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/factory_a/missions.yaml b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/factory_a/missions.yaml new file mode 100644 index 0000000..ff36968 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/maps/factory_a/missions.yaml @@ -0,0 +1,8 @@ +missions: + test_roundtrip: + description: "test_p1 -> test_p2 -> test_p1" + loop: false + goals: + - test_p1 + - test_p2 + - test_p1 diff --git a/05_software/real/sim2real_ros2/src/sim2real_nav2/config/nav2_params.yaml b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/nav2_params.yaml new file mode 100644 index 0000000..52c755b --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_nav2/config/nav2_params.yaml @@ -0,0 +1,232 @@ +amcl: + ros__parameters: + use_sim_time: false + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + odom_frame_id: "odom" + laser_likelihood_max_dist: 2.0 + laser_max_range: -1.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + transform_tolerance: 1.0 + update_min_d: 0.25 + update_min_a: 0.2 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: "scan" + +bt_navigator: + ros__parameters: + use_sim_time: false + global_frame: map + robot_base_frame: base_link + odom_frame: odom + default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml" + plugin_lib_names: + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_recompute_path_to_pose_action_bt_node + - nav2_compute_path_to_pose_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node + - nav2_recovery_node + - nav2_pipeline_sequence_node + - nav2_round_robin_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + +controller_server: + ros__parameters: + use_sim_time: false + controller_frequency: 10.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.001 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] + controller_plugins: ["FollowPath"] + + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + + general_goal_checker: + stateful: true + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + prune_plan: true + prune_distance: 1.0 + debug_trajectory_details: false + trajectory_generator_name: "dwb_plugins::StandardTrajectoryGenerator" + velocity_iterator_name: "dwb_plugins::LimitedVelocityIterator" + critics: ["ObstacleFootprint", "PathAlign", "GoalAlign", "PathDist", "GoalDist"] + + # DWB Velocity parameters matching Units + min_vel_x: 0.0 + max_vel_x: 0.6 + min_vel_y: 0.0 + max_vel_y: 0.0 + max_vel_theta: 2.0 + min_speed_xy: 0.0 + max_speed_xy: 0.6 + min_speed_theta: 0.0 + + # DWB Acceleration parameters matching Units + acc_lim_x: 15.0 + acc_lim_y: 15.0 + acc_lim_theta: 12.0 + decel_lim_x: -15.0 + decel_lim_y: -15.0 + decel_lim_theta: -12.0 + + # Critics tuning + ObstacleFootprint.scale: 0.2 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + +planner_server: + ros__parameters: + expected_planner_frequency: 1.0 + use_sim_time: false + planner_plugins: ["GridTransition"] + GridTransition: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: true + allow_unknown: true + +behavior_server: + ros__parameters: + use_sim_time: false + recovery_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::Backup" + wait: + plugin: "nav2_behaviors::Wait" + global_frame: odom + robot_base_frame: base_link + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: false + robot_radius: 0.25 + obstacle_range: 2.5 + raytrace_range: 3.0 + publish_frequency: 1.0 + update_frequency: 1.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 30 + height: 30 + resolution: 0.05 + track_unknown_space: true + plugins: ["obstacle_layer", "inflation_layer"] + + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: pointcloud + pointcloud: + topic: /odin1/cloud_slam + sensor_frame: base_link + data_type: "PointCloud2" + clearing: true + marking: true + max_obstacle_height: 2.0 + min_obstacle_height: 0.05 + obstacle_max_range: 2.5 + obstacle_min_range: 0.1 + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + enabled: true + inflation_radius: 0.6 + cost_scaling_factor: 4.0 + +local_costmap: + local_costmap: + ros__parameters: + use_sim_time: false + robot_radius: 0.25 + obstacle_range: 2.5 + raytrace_range: 3.0 + publish_frequency: 5.0 + update_frequency: 5.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 4 + height: 4 + resolution: 0.05 + plugins: ["obstacle_layer", "inflation_layer"] + + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: pointcloud + pointcloud: + topic: /odin1/cloud_slam + sensor_frame: base_link + data_type: "PointCloud2" + clearing: true + marking: true + max_obstacle_height: 2.0 + min_obstacle_height: 0.05 + obstacle_max_range: 2.5 + obstacle_min_range: 0.1 + + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + enabled: true + inflation_radius: 0.4 + cost_scaling_factor: 4.0 diff --git a/05_software/real/sim2real_ros2/src/sim2real_nav2/launch/nav2.launch.py b/05_software/real/sim2real_ros2/src/sim2real_nav2/launch/nav2.launch.py new file mode 100644 index 0000000..1547754 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_nav2/launch/nav2.launch.py @@ -0,0 +1,146 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + # Get package directories + my_share_dir = get_package_share_directory('sim2real_nav2') + + # Declare launch configuration variables + params_file_arg = DeclareLaunchArgument( + 'params_file', + default_value=os.path.join(my_share_dir, 'config', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes' + ) + + params_file = LaunchConfiguration('params_file') + + # Define Nav2 lifecycle nodes to run + lifecycle_nodes = ['controller_server', 'planner_server', 'behavior_server', 'bt_navigator', + 'global_costmap', 'local_costmap', 'amcl'] + + # Controller server node + controller_server_node = Node( + package='nav2_controller', + executable='controller_server', + name='controller_server', + output='screen', + parameters=[params_file] + ) + + # Planner server node + planner_server_node = Node( + package='nav2_planner', + executable='planner_server', + name='planner_server', + output='screen', + parameters=[params_file] + ) + + # Behavior server node (called recovery_server in Galactic, behavior_server in Humble) + behavior_server_node = Node( + package='nav2_behaviors', + executable='behavior_server', + name='behavior_server', + output='screen', + parameters=[params_file] + ) + + # BT Navigator node + bt_navigator_node = Node( + package='nav2_bt_navigator', + executable='bt_navigator', + name='bt_navigator', + output='screen', + parameters=[params_file] + ) + + # Global costmap node + global_costmap_node = Node( + package='nav2_costmap_2d', + executable='nav2_costmap_2d', + name='global_costmap', + output='screen', + parameters=[params_file] + ) + + # Local costmap node + local_costmap_node = Node( + package='nav2_costmap_2d', + executable='nav2_costmap_2d', + name='local_costmap', + output='screen', + parameters=[params_file] + ) + + # AMCL node (Adaptive Monte Carlo Localization), now receives /scan from pointcloud_to_laserscan + amcl_node = Node( + package='nav2_amcl', + executable='amcl', + name='amcl', + output='screen', + parameters=[params_file] + ) + + # PointCloud2 to LaserScan converter (AMCL needs LaserScan, LiDAR publishes PointCloud2) + pointcloud_to_laserscan_node = Node( + package='pointcloud_to_laserscan', + executable='pointcloud_to_laserscan_node', + name='pointcloud_to_laserscan', + output='screen', + remappings=[ + ('cloud_in', '/odin1/cloud_slam'), + ('scan', '/scan') + ], + parameters=[{ + 'target_frame': 'base_link', + 'transform_tolerance': 0.01, + 'min_height': 0.05, + 'max_height': 2.0, + 'angle_min': -3.14159, + 'angle_max': 3.14159, + 'angle_increment': 0.0087, # ~0.5 degrees + 'scan_time': 0.1, + 'range_min': 0.1, + 'range_max': 10.0, + 'use_inf': True, + 'inf_epsilon': 1.0, + 'concurrency_level': 1 + }] + ) + + # Lifecycle manager node to transition Nav2 nodes to ACTIVE state + lifecycle_manager_node = Node( + package='nav2_lifecycle_manager', + executable='lifecycle_manager', + name='lifecycle_manager_navigation', + output='screen', + parameters=[{ + 'use_sim_time': False, + 'autostart': True, + 'node_names': lifecycle_nodes + }] + ) + + # Create launch description + ld = LaunchDescription() + + # Set stdout line buffering + ld.add_action(SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1')) + + # Add actions + ld.add_action(params_file_arg) + ld.add_action(controller_server_node) + ld.add_action(planner_server_node) + ld.add_action(behavior_server_node) + ld.add_action(bt_navigator_node) + ld.add_action(global_costmap_node) + ld.add_action(local_costmap_node) + ld.add_action(amcl_node) + ld.add_action(pointcloud_to_laserscan_node) + ld.add_action(lifecycle_manager_node) + + return ld diff --git a/05_software/real/sim2real_ros2/src/sim2real_nav2/package.xml b/05_software/real/sim2real_ros2/src/sim2real_nav2/package.xml new file mode 100644 index 0000000..58e97c3 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_nav2/package.xml @@ -0,0 +1,18 @@ + + + sim2real_nav2 + 0.0.1 + ROS2 Nav2 configuration package for legged-wheeled quadruped + USER + MIT + + ament_cmake + + nav2_bringup + navigation2 + pointcloud_to_laserscan + + + ament_cmake + + diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/CMakeLists.txt b/05_software/real/sim2real_ros2/src/sim2real_runtime/CMakeLists.txt new file mode 100644 index 0000000..152afd2 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/CMakeLists.txt @@ -0,0 +1,181 @@ +cmake_minimum_required(VERSION 3.8) +project(sim2real_runtime) + +find_package(ament_cmake REQUIRED) +find_package(CUDAToolkit QUIET) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(sim2real_common REQUIRED) +find_package(sim2real_interfaces REQUIRED) + +# Search for ONNX Runtime headers and library +find_path(ONNXRUNTIME_INCLUDE_DIR onnxruntime_cxx_api.h + PATHS + /usr/include + /usr/include/onnxruntime + /usr/local/include + /usr/local/include/onnxruntime + /opt/onnxruntime/include +) + +find_library(ONNXRUNTIME_LIBRARY NAMES onnxruntime + PATHS + /usr/lib + /usr/lib/x86_64-linux-gnu + /usr/lib/aarch64-linux-gnu + /usr/local/lib + /opt/onnxruntime/lib +) + +get_filename_component(ONNXRUNTIME_LIBRARY_DIR ${ONNXRUNTIME_LIBRARY} DIRECTORY) + +find_path(TENSORRT_INCLUDE_DIR NvInfer.h + PATHS + /usr/include + /usr/include/aarch64-linux-gnu + /usr/local/include +) + +find_library(TENSORRT_LIBRARY NAMES nvinfer + PATHS + /usr/lib + /usr/lib/aarch64-linux-gnu + /usr/lib/x86_64-linux-gnu + /usr/local/lib +) + +if(NOT ONNXRUNTIME_INCLUDE_DIR OR NOT ONNXRUNTIME_LIBRARY) + message(FATAL_ERROR "ONNX Runtime not found! Please install it or specify include/library paths.") +endif() + +set(SIM2REAL_RUNTIME_HAS_TENSORRT FALSE) +if(TENSORRT_INCLUDE_DIR AND TENSORRT_LIBRARY AND CUDAToolkit_FOUND) + set(SIM2REAL_RUNTIME_HAS_TENSORRT TRUE) + message(STATUS "TensorRT support enabled for sim2real_runtime") +else() + message(STATUS "TensorRT support disabled for sim2real_runtime (missing TensorRT or CUDA toolkit)") +endif() + +add_executable(sim2real_runtime_node + src/policy_runtime_node.cpp +) + +add_executable(odom_relay_node + src/odom_relay_node.cpp +) + +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + add_executable(compare_onnx_trt + src/compare_onnx_trt.cpp + ) +endif() + +target_include_directories(sim2real_runtime_node PRIVATE + include + ${ONNXRUNTIME_INCLUDE_DIR} +) + +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + target_include_directories(sim2real_runtime_node PRIVATE + ${TENSORRT_INCLUDE_DIR} + ) + target_include_directories(compare_onnx_trt PRIVATE + ${TENSORRT_INCLUDE_DIR} + ${ONNXRUNTIME_INCLUDE_DIR} + ) +endif() + +target_include_directories(odom_relay_node PRIVATE include) + +target_link_libraries(sim2real_runtime_node + ${ONNXRUNTIME_LIBRARY} +) + +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + target_link_libraries(sim2real_runtime_node + ${TENSORRT_LIBRARY} + CUDA::cudart + ) + target_link_libraries(compare_onnx_trt + ${ONNXRUNTIME_LIBRARY} + ${TENSORRT_LIBRARY} + CUDA::cudart + ) + target_compile_definitions(sim2real_runtime_node PRIVATE + SIM2REAL_RUNTIME_HAS_TENSORRT=1 + ) + target_compile_definitions(compare_onnx_trt PRIVATE + SIM2REAL_RUNTIME_HAS_TENSORRT=1 + ) +endif() + +set_target_properties(sim2real_runtime_node PROPERTIES + BUILD_RPATH "${ONNXRUNTIME_LIBRARY_DIR}" + INSTALL_RPATH "${ONNXRUNTIME_LIBRARY_DIR}" +) + +target_compile_features(sim2real_runtime_node PRIVATE cxx_std_17) +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + target_compile_features(compare_onnx_trt PRIVATE cxx_std_17) +endif() + +ament_target_dependencies(sim2real_runtime_node + geometry_msgs + nav_msgs + rclcpp + std_msgs + tf2_ros + sim2real_common + sim2real_interfaces +) + +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + ament_target_dependencies(compare_onnx_trt + sim2real_common + ) +endif() + +ament_target_dependencies(odom_relay_node + geometry_msgs + nav_msgs + rclcpp + tf2_ros +) + +install( + DIRECTORY include/ + DESTINATION include +) + +install( + TARGETS sim2real_runtime_node odom_relay_node + DESTINATION lib/${PROJECT_NAME} +) + +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + install( + TARGETS compare_onnx_trt + DESTINATION lib/${PROJECT_NAME} + ) +endif() + +install( + PROGRAMS + src/remote_uart_node.py + src/cmd_mux_node.py + src/web_udp_bridge_node.py + src/simple_nav_node.py + src/pcd_nav_click_tool.py + DESTINATION lib/${PROJECT_NAME} +) + +install( + FILES + src/deadzone_velocity_limiter.py + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/include/sim2real_runtime/odom_relay_node.hpp b/05_software/real/sim2real_ros2/src/sim2real_runtime/include/sim2real_runtime/odom_relay_node.hpp new file mode 100644 index 0000000..8da8166 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/include/sim2real_runtime/odom_relay_node.hpp @@ -0,0 +1,32 @@ +#pragma once + +#include "rclcpp/rclcpp.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "geometry_msgs/msg/transform_stamped.hpp" +#include "tf2_ros/transform_broadcaster.h" + +namespace sim2real_runtime +{ + +/// Subscribes to odin_ros_driver's odometry (e.g. /odin1/odometry), +/// remaps child_frame_id to "base_link", republishes on /odom, +/// and broadcasts the odom → base_link TF. +class OdomRelayNode : public rclcpp::Node +{ +public: + OdomRelayNode(); + +private: + void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg); + + rclcpp::Subscription::SharedPtr odom_sub_; + rclcpp::Publisher::SharedPtr odom_pub_; + std::unique_ptr tf_broadcaster_; + + std::string odom_input_topic_; + std::string odom_output_topic_; + std::string base_frame_; + bool publish_tf_; +}; + +} // namespace sim2real_runtime diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/include/sim2real_runtime/policy_runtime_node.hpp b/05_software/real/sim2real_ros2/src/sim2real_runtime/include/sim2real_runtime/policy_runtime_node.hpp new file mode 100644 index 0000000..4c689cb --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/include/sim2real_runtime/policy_runtime_node.hpp @@ -0,0 +1,297 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "geometry_msgs/msg/twist.hpp" +#include "geometry_msgs/msg/twist_stamped.hpp" +#include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/string.hpp" +#include "rclcpp/rclcpp.hpp" +#include "sim2real_interfaces/msg/runtime_state.hpp" +#include "sim2real_interfaces/msg/runtime_target.hpp" +#include "sim2real_common/event_logger.hpp" +#include "sim2real_common/stand_balance_controller.hpp" +#include "sim2real_common/safety_monitor.hpp" +#include "sim2real_common/runtime_guard.hpp" + +// ONNXRuntime C++ API +#include + +#ifdef SIM2REAL_RUNTIME_HAS_TENSORRT +#include +#include +#endif + +namespace sim2real_runtime +{ + +class PolicyRuntimeNode : public rclcpp::Node +{ +public: + PolicyRuntimeNode(); + ~PolicyRuntimeNode() override; + +private: + enum class InferenceBackend { + None, + TensorRT, + OnnxRuntime, + }; + + enum class ModelMode { + Rough, + Crawl, + Wall, + }; + + enum class CrawlBackend { + Ik, + Rl, + }; + + enum class ModelSwitchState { + Idle, + ToStand, + StandHold, + ToModelPose, + }; + + enum class StartupState { + BOOT_HOLD, + STARTUP_SOFT_HOLD, + STARTUP_TRANSITION, + STARTUP_HOLD_AFTER, + RUNTIME + }; + + enum class PostureHoldMode { + None, + Keep, + ReturnDefault, + }; + + void onState(const sim2real_interfaces::msg::RuntimeState::SharedPtr msg); + void onCmdVel(const geometry_msgs::msg::Twist::SharedPtr msg); + void onCmdVelStamped(const geometry_msgs::msg::TwistStamped::SharedPtr msg); + void onModelSwitchCmd(const std_msgs::msg::String::SharedPtr msg); + void onPostureCmd(const std_msgs::msg::String::SharedPtr msg); + void applyCmdVel(float vx, float vy, float vyaw); + void onPolicyLoop(); + bool initInferenceBackend(); + bool initTensorRt(); + bool initOnnxRuntime(); + void shutdownOnnxRuntime(); + void shutdownTensorRt(); + std::string deriveTensorRtEnginePath(const std::string & onnx_model_path) const; + const std::array & defaultPoseForMode(ModelMode mode) const; + const std::string & modelPathForMode(ModelMode mode) const; + const std::string & modelEnginePathForMode(ModelMode mode) const; + bool switchInferenceModel(ModelMode target_mode); + void publishModelStatus(); + bool modeUsesInference(ModelMode mode) const; + std::array computeHoldTarget( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & cmd); + std::array computeIkCrawlTarget( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & cmd); + float computeCrawlIkCommandScale( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & leg_target) const; + float projectedGravityTiltRad(const std::array & projected_gravity) const; + const char * startupStateName(StartupState state) const; + const char * modelModeName(ModelMode mode) const; + const char * modelSwitchStateName(ModelSwitchState state) const; + const char * postureHoldModeName(PostureHoldMode mode) const; + const char * inferenceBackendName() const; + const char * crawlBackendName() const; + void initializeDebugTrace(); + void appendDebugTrace( + const sim2real_interfaces::msg::RuntimeState & state, + const sim2real_interfaces::msg::RuntimeTarget & target); + + std::array buildObservation( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & cmd, + const std::array & last_actions) const; + + std::array runPolicy(const std::array & obs); + bool isZeroCommand(const std::array & cmd, const std::array & imu_gyro) const; + bool isCommandActive(const std::array & cmd) const; + void startPostureTransition( + PostureHoldMode mode, + const std::array & start_pose, + const std::array & target_pose, + const rclcpp::Time & now_time); + + rclcpp::Publisher::SharedPtr target_pub_; + rclcpp::Publisher::SharedPtr model_status_pub_; + rclcpp::Subscription::SharedPtr state_sub_; + rclcpp::Subscription::SharedPtr cmd_sub_; + rclcpp::Subscription::SharedPtr cmd_stamped_sub_; + rclcpp::Subscription::SharedPtr model_switch_sub_; + rclcpp::Subscription::SharedPtr posture_cmd_sub_; + rclcpp::TimerBase::SharedPtr policy_timer_; + + std::mutex mutex_; + sim2real_interfaces::msg::RuntimeState latest_state_; + bool has_state_{false}; + std::chrono::steady_clock::time_point last_state_recv_time_{}; + std::array cmd_{{0.0f, 0.0f, 0.0f}}; + std::array raw_cmd_{{0.0f, 0.0f, 0.0f}}; + std::array last_actions_{}; + std::uint32_t sequence_{0}; + + // Startup State Machine + StartupState startup_state_{StartupState::BOOT_HOLD}; + std::array start_pose_{}; + std::array startup_delta_{}; + rclcpp::Time state_start_time_{0, 0, RCL_ROS_TIME}; + double transition_time_{4.0}; + double hold_time_{1.0}; + std::unique_ptr stand_balance_; + + ModelMode current_model_mode_{ModelMode::Rough}; + ModelMode requested_model_mode_{ModelMode::Rough}; + ModelMode loaded_model_mode_{ModelMode::Rough}; + CrawlBackend crawl_backend_{CrawlBackend::Ik}; + ModelSwitchState model_switch_state_{ModelSwitchState::Idle}; + bool model_switch_requested_{false}; + bool hold_active_model_pose_when_unreleased_{false}; + std::array rough_default_dof_pos_{}; + std::array crawl_default_dof_pos_{}; + std::array wall_default_dof_pos_{}; + std::array active_default_dof_pos_{}; + std::array safety_reference_dof_pos_{}; + std::array keep_pose_dof_pos_{}; + std::array posture_start_pose_{}; + std::array posture_target_pose_{}; + std::array posture_delta_{}; + PostureHoldMode posture_hold_mode_{PostureHoldMode::None}; + bool posture_transition_active_{false}; + rclcpp::Time posture_transition_start_time_{0, 0, RCL_ROS_TIME}; + double posture_transition_s_{0.8}; + std::array switch_start_pose_{}; + std::array switch_delta_{}; + rclcpp::Time model_switch_state_start_time_{0, 0, RCL_ROS_TIME}; + double model_switch_transition_s_{1.2}; + double model_switch_to_stand_transition_scale_{1.35}; + double model_switch_to_model_transition_scale_{1.55}; + double model_switch_min_transition_s_{0.35}; + double model_switch_stand_hold_s_{0.45}; + double model_switch_stand_max_err_{0.18}; + double model_switch_stand_max_vel_{0.8}; + double active_switch_transition_s_{1.2}; + + std::string rough_model_path_{"policies/model_rough.onnx"}; + std::string rough_model_engine_path_{""}; + std::string crawl_model_path_{"policies/model_crawl.onnx"}; + std::string crawl_model_engine_path_{""}; + std::string wall_model_path_{"policies/model_wall.onnx"}; + std::string wall_model_engine_path_{""}; + float crawl_ik_wheel_linear_gain_{6.25f}; + float crawl_ik_wheel_yaw_gain_{4.0f}; + float crawl_ik_max_wheel_speed_{6.0f}; + float crawl_ik_abduction_clip_{0.45f}; + float crawl_ik_yaw_rate_kp_{0.0f}; + bool crawl_ik_imu_posture_{false}; + float crawl_ik_encoder_posture_kp_{0.0f}; + float crawl_ik_encoder_posture_max_{0.03f}; + bool crawl_ik_encoder_guard_{true}; + float crawl_ik_encoder_guard_start_{0.28f}; + float crawl_ik_encoder_guard_stop_{0.65f}; + bool crawl_ik_imu_guard_{true}; + float crawl_ik_imu_guard_start_rad_{0.20943952f}; + float crawl_ik_imu_guard_stop_rad_{0.48869219f}; + + // ONNX Runtime members + std::string model_path_{"policies/model_rough.onnx"}; + std::string model_engine_path_{""}; + bool prefer_tensorrt_{true}; + bool use_cuda_{false}; // enable CUDA Execution Provider on Orin Nano + InferenceBackend inference_backend_{InferenceBackend::None}; + std::unique_ptr env_; + std::unique_ptr session_; + std::unique_ptr memory_info_; + + std::vector input_names_str_; + std::vector output_names_str_; + std::vector input_names_char_; + std::vector output_names_char_; + + std::vector input_shape_; + std::vector output_shape_; + +#ifdef SIM2REAL_RUNTIME_HAS_TENSORRT + nvinfer1::IRuntime * trt_runtime_{nullptr}; + nvinfer1::ICudaEngine * trt_engine_{nullptr}; + nvinfer1::IExecutionContext * trt_context_{nullptr}; + cudaStream_t trt_stream_{nullptr}; + void * trt_input_buffer_{nullptr}; + void * trt_output_buffer_{nullptr}; + std::string trt_input_name_; + std::string trt_output_name_; +#endif + + // Command filter and release states + std::array filtered_cmd_{{0.0f, 0.0f, 0.0f}}; + float runtime_max_vx_{1.0f}; + float runtime_max_vy_{0.3f}; + float runtime_max_yaw_rate_{1.0f}; + float release_alpha_{0.0f}; + float command_release_s_{0.35f}; + float release_command_hold_s_{0.12f}; + float release_posture_max_err_{0.35f}; + float release_target_blend_s_{0.30f}; + float model_switch_release_scale_{1.3f}; + float clip_obs_{100.0f}; + bool hold_zero_command_pose_{true}; + bool enable_zero_cmd_suppression_{true}; + bool require_active_command_to_release_{true}; + bool zero_cmd_use_yaw_rate_{false}; + bool runtime_released_{false}; + bool slow_release_after_model_switch_{false}; + float release_active_time_{0.0f}; + float zero_cmd_lin_thresh_{0.05f}; + float zero_cmd_yaw_thresh_{0.05f}; + float zero_yaw_rate_thresh_{0.10f}; + + // E-stop and Safety variables + rclcpp::Subscription::SharedPtr estop_sub_; + std::atomic estop_triggered_{false}; + std::atomic safety_enabled_{true}; + std::atomic safety_triggered_{false}; + std::string safety_reason_{""}; + sim2real_common::EventLogger event_logger_; + std::string run_log_dir_; + std::string debug_trace_path_; + bool debug_trace_enabled_{true}; + std::uint32_t debug_trace_decimation_{1}; + std::uint32_t debug_trace_counter_{0}; + std::uint32_t protection_trigger_count_{0}; + std::uint32_t target_clip_count_{0}; + bool clip_active_logged_{false}; + std::unique_ptr safety_monitor_; + std::unique_ptr model_switch_safety_monitor_; + std::unique_ptr runtime_guard_; + + void onEstop(const std_msgs::msg::Bool::SharedPtr msg); + void logEvent( + const std::string & level, + const std::string & event, + const std::string & message); + void logProtectionEvent( + const std::string & trigger, + const std::string & reason, + const std::string & action); + void finalizeRunSummary(); +}; + +} // namespace sim2real_runtime diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/package.xml b/05_software/real/sim2real_ros2/src/sim2real_runtime/package.xml new file mode 100644 index 0000000..00ea0e8 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/package.xml @@ -0,0 +1,27 @@ + + + sim2real_runtime + 0.1.0 + Policy runtime node for sim2real_ros2. + todo + Proprietary + + ament_cmake + + geometry_msgs + nav_msgs + rclcpp + std_msgs + tf2_msgs + tf2_ros + sim2real_common + sim2real_interfaces + python3-matplotlib + python3-serial + python3-yaml + rclpy + + + ament_cmake + + diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/cmd_mux_node.py b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/cmd_mux_node.py new file mode 100644 index 0000000..2a4fd9c --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/cmd_mux_node.py @@ -0,0 +1,255 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +from enum import Enum +from typing import Optional + +import rclpy +from geometry_msgs.msg import Twist +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node +from std_msgs.msg import Bool, String + +from deadzone_velocity_limiter import limit_deadzone_axis + + +class ControlMode(str, Enum): + DISABLED = "DISABLED" + REMOTE = "REMOTE" + WEB = "WEB" + NAV = "NAV" + KEEP = "KEEP" + + +class CmdMuxNode(Node): + def __init__(self) -> None: + super().__init__("sim2real_cmd_mux_node", allow_undeclared_parameters=True) + + self.default_mode = str(self.declare_parameter("cmd_mux_default_mode", "REMOTE").value).upper() + self.output_hz = float(self.declare_parameter("cmd_mux_output_hz", 50.0).value) + self.remote_timeout_ms = float(self.declare_parameter("cmd_mux_remote_timeout_ms", 250.0).value) + self.web_timeout_ms = float(self.declare_parameter("cmd_mux_web_timeout_ms", 300.0).value) + self.nav_timeout_ms = float(self.declare_parameter("cmd_mux_nav_timeout_ms", 500.0).value) + self.max_vx = float(self.declare_parameter("cmd_mux_max_vx", 0.8).value) + self.max_vy = float(self.declare_parameter("cmd_mux_max_vy", 0.3).value) + self.max_yaw = float(self.declare_parameter("cmd_mux_max_yaw_rate", 0.5).value) + self.max_vx_acc = float(self.declare_parameter("cmd_mux_max_vx_acc", 1.0).value) + self.max_vy_acc = float(self.declare_parameter("cmd_mux_max_vy_acc", 1.0).value) + self.max_yaw_acc = float(self.declare_parameter("cmd_mux_max_yaw_acc", 1.5).value) + self.max_vx_decel = float( + self.declare_parameter("cmd_mux_max_vx_decel", self.max_vx_acc).value + ) + self.max_vy_decel = float( + self.declare_parameter("cmd_mux_max_vy_decel", self.max_vy_acc).value + ) + self.max_yaw_decel = float( + self.declare_parameter("cmd_mux_max_yaw_decel", self.max_yaw_acc).value + ) + self.linear_deadzone_epsilon = float( + self.declare_parameter("cmd_mux_linear_deadzone_epsilon", 0.0).value + ) + self.yaw_deadzone_epsilon = float( + self.declare_parameter("cmd_mux_yaw_deadzone_epsilon", 0.0).value + ) + self.min_effective_vx = float( + self.declare_parameter("cmd_mux_min_effective_vx", 0.0).value + ) + self.min_effective_vy = float( + self.declare_parameter("cmd_mux_min_effective_vy", 0.0).value + ) + self.min_effective_yaw = float( + self.declare_parameter("cmd_mux_min_effective_yaw_rate", 0.0).value + ) + self.deadzone_sources = { + item.strip().lower() + for item in str( + self.declare_parameter("cmd_mux_deadzone_sources", "nav").value + ).split(",") + if item.strip() + } + + self.mode = self.parse_mode(self.default_mode) + self.estop = False + self.remote_enabled = self.mode == ControlMode.REMOTE + self.web_enabled = self.mode == ControlMode.WEB + self.nav_enabled = self.mode == ControlMode.NAV + + self.latest_remote = Twist() + self.latest_web = Twist() + self.latest_nav = Twist() + self.remote_stamp: Optional[rclpy.time.Time] = None + self.web_stamp: Optional[rclpy.time.Time] = None + self.nav_stamp: Optional[rclpy.time.Time] = None + self.last_output = Twist() + self.last_pub_time = self.get_clock().now() + + self.cmd_pub = self.create_publisher(Twist, "cmd_vel", 10) + self.mode_pub = self.create_publisher(String, "control/mode_state", 10) + self.status_pub = self.create_publisher(String, "control/mux_status", 10) + + self.create_subscription(Twist, "cmd_vel_remote", self.on_remote, 10) + self.create_subscription(Twist, "cmd_vel_web", self.on_web, 10) + self.create_subscription(Twist, "cmd_vel_nav", self.on_nav, 10) + self.create_subscription(String, "control/mode", self.on_mode, 10) + self.create_subscription(Bool, "remote/enabled", self.on_remote_enabled, 10) + self.create_subscription(Bool, "web/enabled", self.on_web_enabled, 10) + self.create_subscription(Bool, "nav/enabled", self.on_nav_enabled, 10) + self.create_subscription(Bool, "/safety/estop", self.on_estop, 10) + + period = 1.0 / self.output_hz if self.output_hz > 0.0 else 0.02 + self.timer = self.create_timer(period, self.on_timer) + self.get_logger().info(f"Command mux started in mode {self.mode.value}") + + def parse_mode(self, value: str) -> ControlMode: + try: + return ControlMode(value.upper()) + except ValueError: + self.get_logger().warn(f"Unknown control mode '{value}', using DISABLED") + return ControlMode.DISABLED + + def on_remote(self, msg: Twist) -> None: + self.latest_remote = msg + self.remote_stamp = self.get_clock().now() + + def on_web(self, msg: Twist) -> None: + self.latest_web = msg + self.web_stamp = self.get_clock().now() + + def on_nav(self, msg: Twist) -> None: + self.latest_nav = msg + self.nav_stamp = self.get_clock().now() + + def on_mode(self, msg: String) -> None: + new_mode = self.parse_mode(msg.data) + if new_mode != self.mode: + self.mode = new_mode + self.remote_enabled = self.mode == ControlMode.REMOTE + self.web_enabled = self.mode == ControlMode.WEB + self.nav_enabled = self.mode == ControlMode.NAV + self.get_logger().info(f"Control mode changed to {self.mode.value}") + + def on_remote_enabled(self, msg: Bool) -> None: + self.remote_enabled = bool(msg.data) + if self.remote_enabled: + self.mode = ControlMode.REMOTE + + def on_web_enabled(self, msg: Bool) -> None: + self.web_enabled = bool(msg.data) + if self.web_enabled: + self.mode = ControlMode.WEB + + def on_nav_enabled(self, msg: Bool) -> None: + self.nav_enabled = bool(msg.data) + if self.nav_enabled: + self.mode = ControlMode.NAV + + def on_estop(self, msg: Bool) -> None: + self.estop = bool(msg.data) + if self.estop: + self.mode = ControlMode.DISABLED + + def on_timer(self) -> None: + now = self.get_clock().now() + target = Twist() + source = "zero" + + if not self.estop: + if self.mode == ControlMode.REMOTE and self.remote_enabled and self.is_fresh(self.remote_stamp, self.remote_timeout_ms, now): + target = self.latest_remote + source = "remote" + elif self.mode == ControlMode.WEB and self.web_enabled and self.is_fresh(self.web_stamp, self.web_timeout_ms, now): + target = self.latest_web + source = "web" + elif self.mode == ControlMode.NAV and self.nav_enabled and self.is_fresh(self.nav_stamp, self.nav_timeout_ms, now): + target = self.latest_nav + source = "nav" + elif self.mode == ControlMode.KEEP: + source = "keep" + + target = self.limit_twist(target) + if self.estop: + target = Twist() + self.last_output = Twist() + self.last_pub_time = now + else: + target = self.accel_limit(target, now, source in self.deadzone_sources) + self.cmd_pub.publish(target) + self.mode_pub.publish(String(data=self.mode.value)) + self.status_pub.publish(String(data=f"mode={self.mode.value},source={source},estop={self.estop}")) + + def is_fresh(self, stamp: Optional[rclpy.time.Time], timeout_ms: float, now: rclpy.time.Time) -> bool: + if stamp is None: + return False + age_ms = (now - stamp).nanoseconds / 1.0e6 + return age_ms <= timeout_ms + + def limit_twist(self, msg: Twist) -> Twist: + out = Twist() + out.linear.x = self.clamp(msg.linear.x, -self.max_vx, self.max_vx) + out.linear.y = self.clamp(msg.linear.y, -self.max_vy, self.max_vy) + out.angular.z = self.clamp(msg.angular.z, -self.max_yaw, self.max_yaw) + return out + + def accel_limit( + self, + target: Twist, + now: rclpy.time.Time, + apply_deadzone: bool, + ) -> Twist: + dt = max((now - self.last_pub_time).nanoseconds / 1.0e9, 1.0e-3) + min_effective_vx = self.min_effective_vx if apply_deadzone else 0.0 + min_effective_vy = self.min_effective_vy if apply_deadzone else 0.0 + min_effective_yaw = self.min_effective_yaw if apply_deadzone else 0.0 + linear_deadzone_epsilon = self.linear_deadzone_epsilon if apply_deadzone else 0.0 + yaw_deadzone_epsilon = self.yaw_deadzone_epsilon if apply_deadzone else 0.0 + out = Twist() + out.linear.x = limit_deadzone_axis( + self.last_output.linear.x, + target.linear.x, + dt, + self.max_vx_acc, + self.max_vx_decel, + min_effective_vx, + linear_deadzone_epsilon, + ) + out.linear.y = limit_deadzone_axis( + self.last_output.linear.y, + target.linear.y, + dt, + self.max_vy_acc, + self.max_vy_decel, + min_effective_vy, + linear_deadzone_epsilon, + ) + out.angular.z = limit_deadzone_axis( + self.last_output.angular.z, + target.angular.z, + dt, + self.max_yaw_acc, + self.max_yaw_decel, + min_effective_yaw, + yaw_deadzone_epsilon, + ) + self.last_output = out + self.last_pub_time = now + return out + + @staticmethod + def clamp(value: float, low: float, high: float) -> float: + return max(low, min(high, float(value))) + +def main(args: Optional[list[str]] = None) -> None: + rclpy.init(args=args) + node = CmdMuxNode() + try: + rclpy.spin(node) + except (KeyboardInterrupt, ExternalShutdownException): + pass + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/compare_onnx_trt.cpp b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/compare_onnx_trt.cpp new file mode 100644 index 0000000..e383604 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/compare_onnx_trt.cpp @@ -0,0 +1,330 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include + +#include "sim2real_common/deployment_contract.hpp" + +namespace +{ + +class TensorRtLogger final : public nvinfer1::ILogger +{ +public: + void log(Severity severity, const char * msg) noexcept override + { + if (msg == nullptr) { + return; + } + if (severity <= Severity::kWARNING) { + std::cerr << "[TensorRT] " << msg << std::endl; + } + } +}; + +template +void destroyTensorRtObject(T *& object) +{ + if (object == nullptr) { + return; + } +#if NV_TENSORRT_MAJOR >= 10 + delete object; +#else + object->destroy(); +#endif + object = nullptr; +} + +class TensorRtRunner +{ +public: + explicit TensorRtRunner(const std::string & engine_path) + { + std::ifstream engine_file(engine_path, std::ios::binary); + if (!engine_file) { + throw std::runtime_error("Failed to open TensorRT engine: " + engine_path); + } + engine_file.seekg(0, std::ios::end); + const std::streamsize engine_size = engine_file.tellg(); + engine_file.seekg(0, std::ios::beg); + if (engine_size <= 0) { + throw std::runtime_error("TensorRT engine is empty: " + engine_path); + } + + std::vector engine_data(static_cast(engine_size)); + if (!engine_file.read(engine_data.data(), engine_size)) { + throw std::runtime_error("Failed to read TensorRT engine: " + engine_path); + } + + runtime_ = nvinfer1::createInferRuntime(logger_); + if (runtime_ == nullptr) { + throw std::runtime_error("Failed to create TensorRT runtime"); + } + + engine_ = runtime_->deserializeCudaEngine(engine_data.data(), engine_data.size()); + if (engine_ == nullptr) { + throw std::runtime_error("Failed to deserialize TensorRT engine"); + } + + context_ = engine_->createExecutionContext(); + if (context_ == nullptr) { + throw std::runtime_error("Failed to create TensorRT execution context"); + } + + for (int i = 0; i < engine_->getNbIOTensors(); ++i) { + const char * tensor_name = engine_->getIOTensorName(i); + if (engine_->getTensorIOMode(tensor_name) == nvinfer1::TensorIOMode::kINPUT) { + input_name_ = tensor_name; + } else { + output_name_ = tensor_name; + } + } + + if (input_name_.empty() || output_name_.empty()) { + throw std::runtime_error("Failed to resolve TensorRT IO tensor names"); + } + + if (!context_->setInputShape( + input_name_.c_str(), + nvinfer1::Dims2{1, static_cast(sim2real_common::DeploymentContract::kObsDim)})) { + throw std::runtime_error("Failed to set TensorRT input shape"); + } + + if (cudaStreamCreate(&stream_) != cudaSuccess) { + throw std::runtime_error("Failed to create CUDA stream"); + } + + const std::size_t input_bytes = sizeof(float) * sim2real_common::DeploymentContract::kObsDim; + const std::size_t output_bytes = sizeof(float) * sim2real_common::DeploymentContract::kActionDim; + if (cudaMalloc(&input_buffer_, input_bytes) != cudaSuccess || + cudaMalloc(&output_buffer_, output_bytes) != cudaSuccess) { + throw std::runtime_error("Failed to allocate TensorRT buffers"); + } + + if (!context_->setTensorAddress(input_name_.c_str(), input_buffer_) || + !context_->setTensorAddress(output_name_.c_str(), output_buffer_)) { + throw std::runtime_error("Failed to bind TensorRT buffers"); + } + } + + ~TensorRtRunner() + { + if (input_buffer_ != nullptr) { + cudaFree(input_buffer_); + } + if (output_buffer_ != nullptr) { + cudaFree(output_buffer_); + } + if (stream_ != nullptr) { + cudaStreamDestroy(stream_); + } + destroyTensorRtObject(context_); + destroyTensorRtObject(engine_); + destroyTensorRtObject(runtime_); + } + + std::array run( + const std::array & obs) + { + std::array out{}; + const std::size_t input_bytes = sizeof(float) * obs.size(); + const std::size_t output_bytes = sizeof(float) * out.size(); + + if (cudaMemcpyAsync(input_buffer_, obs.data(), input_bytes, cudaMemcpyHostToDevice, stream_) != cudaSuccess) { + throw std::runtime_error("TensorRT H2D copy failed"); + } + if (!context_->enqueueV3(stream_)) { + throw std::runtime_error("TensorRT enqueue failed"); + } + if (cudaMemcpyAsync(out.data(), output_buffer_, output_bytes, cudaMemcpyDeviceToHost, stream_) != cudaSuccess) { + throw std::runtime_error("TensorRT D2H copy failed"); + } + if (cudaStreamSynchronize(stream_) != cudaSuccess) { + throw std::runtime_error("TensorRT stream sync failed"); + } + return out; + } + +private: + TensorRtLogger logger_; + nvinfer1::IRuntime * runtime_{nullptr}; + nvinfer1::ICudaEngine * engine_{nullptr}; + nvinfer1::IExecutionContext * context_{nullptr}; + cudaStream_t stream_{nullptr}; + void * input_buffer_{nullptr}; + void * output_buffer_{nullptr}; + std::string input_name_; + std::string output_name_; +}; + +class OnnxRunner +{ +public: + explicit OnnxRunner(const std::string & onnx_path) + : env_(ORT_LOGGING_LEVEL_WARNING, "compare_onnx_trt") + { + Ort::SessionOptions session_options; + session_options.SetIntraOpNumThreads(1); + session_options.SetInterOpNumThreads(1); + session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_ALL); + + session_ = std::make_unique(env_, onnx_path.c_str(), session_options); + memory_info_ = std::make_unique( + Ort::MemoryInfo::CreateCpu(OrtDeviceAllocator, OrtMemTypeCPU)); + + Ort::AllocatorWithDefaultOptions allocator; + auto input_name = session_->GetInputNameAllocated(0, allocator); + auto output_name = session_->GetOutputNameAllocated(0, allocator); + input_name_ = input_name.get(); + output_name_ = output_name.get(); + input_name_ptr_ = input_name_.c_str(); + output_name_ptr_ = output_name_.c_str(); + + input_shape_ = {1, static_cast(sim2real_common::DeploymentContract::kObsDim)}; + output_shape_ = {1, static_cast(sim2real_common::DeploymentContract::kActionDim)}; + } + + std::array run( + const std::array & obs) + { + std::array out{}; + + auto input_tensor = Ort::Value::CreateTensor( + *memory_info_, + const_cast(obs.data()), + obs.size(), + input_shape_.data(), + input_shape_.size()); + + auto output_tensor = Ort::Value::CreateTensor( + *memory_info_, + out.data(), + out.size(), + output_shape_.data(), + output_shape_.size()); + + session_->Run( + Ort::RunOptions{nullptr}, + &input_name_ptr_, + &input_tensor, + 1, + &output_name_ptr_, + &output_tensor, + 1); + + return out; + } + +private: + Ort::Env env_; + std::unique_ptr session_; + std::unique_ptr memory_info_; + std::string input_name_; + std::string output_name_; + const char * input_name_ptr_{nullptr}; + const char * output_name_ptr_{nullptr}; + std::array input_shape_{}; + std::array output_shape_{}; +}; + +struct DiffStats +{ + double max_abs_diff{0.0}; + double mean_abs_diff{0.0}; +}; + +DiffStats compareOutputs( + const std::array & a, + const std::array & b) +{ + DiffStats stats; + double sum = 0.0; + for (std::size_t i = 0; i < a.size(); ++i) { + const double diff = std::abs(static_cast(a[i]) - static_cast(b[i])); + stats.max_abs_diff = std::max(stats.max_abs_diff, diff); + sum += diff; + } + stats.mean_abs_diff = sum / static_cast(a.size()); + return stats; +} + +} // namespace + +int main(int argc, char ** argv) +{ + if (argc < 3) { + std::cerr << "Usage: compare_onnx_trt [num_samples] [seed] [max_abs_threshold]\n"; + return 2; + } + + const std::string onnx_path = argv[1]; + const std::string engine_path = argv[2]; + const int num_samples = argc >= 4 ? std::max(1, std::atoi(argv[3])) : 32; + const std::uint32_t seed = argc >= 5 ? static_cast(std::strtoul(argv[4], nullptr, 10)) : 12345U; + const double max_abs_threshold = argc >= 6 ? std::atof(argv[5]) : 1.0e-2; + + try { + OnnxRunner onnx_runner(onnx_path); + TensorRtRunner trt_runner(engine_path); + + std::mt19937 rng(seed); + std::uniform_real_distribution dist(-1.0f, 1.0f); + + double worst_max_abs = 0.0; + double worst_mean_abs = 0.0; + int worst_sample = -1; + + for (int sample_idx = 0; sample_idx < num_samples; ++sample_idx) { + std::array obs{}; + for (float & v : obs) { + v = dist(rng); + } + + const auto onnx_out = onnx_runner.run(obs); + const auto trt_out = trt_runner.run(obs); + const auto diff = compareOutputs(onnx_out, trt_out); + + if (diff.max_abs_diff > worst_max_abs) { + worst_max_abs = diff.max_abs_diff; + worst_mean_abs = diff.mean_abs_diff; + worst_sample = sample_idx; + } + + std::cout << "sample=" << sample_idx + << " max_abs_diff=" << diff.max_abs_diff + << " mean_abs_diff=" << diff.mean_abs_diff + << '\n'; + } + + std::cout << "summary worst_sample=" << worst_sample + << " worst_max_abs_diff=" << worst_max_abs + << " worst_mean_abs_diff=" << worst_mean_abs + << " threshold=" << max_abs_threshold + << '\n'; + + if (worst_max_abs > max_abs_threshold) { + std::cerr << "FAILED: TensorRT output deviates from ONNX Runtime beyond threshold.\n"; + return 1; + } + + std::cout << "PASSED: TensorRT output matches ONNX Runtime within threshold.\n"; + return 0; + } catch (const std::exception & e) { + std::cerr << "ERROR: " << e.what() << '\n'; + return 1; + } +} diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/deadzone_velocity_limiter.py b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/deadzone_velocity_limiter.py new file mode 100644 index 0000000..4fa53d8 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/deadzone_velocity_limiter.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import math + + +def step_towards(current: float, target: float, max_delta: float) -> float: + delta = target - current + if delta > max_delta: + return current + max_delta + if delta < -max_delta: + return current - max_delta + return target + + +def shape_deadzone_target(target: float, min_effective: float, zero_epsilon: float) -> float: + if abs(target) <= zero_epsilon: + return 0.0 + if min_effective > 0.0 and abs(target) < min_effective: + return math.copysign(min_effective, target) + return target + + +def limit_deadzone_axis( + current: float, + target: float, + dt: float, + max_accel: float, + max_decel: float, + min_effective: float, + zero_epsilon: float, +) -> float: + dt = max(float(dt), 1.0e-3) + max_accel = max(float(max_accel), 0.0) + max_decel = max(float(max_decel), 0.0) + min_effective = max(float(min_effective), 0.0) + zero_epsilon = max(float(zero_epsilon), 0.0) + shaped_target = shape_deadzone_target(target, min_effective, zero_epsilon) + + if min_effective <= 0.0: + accelerating = current * shaped_target >= 0.0 and abs(shaped_target) > abs(current) + limit = max_accel if accelerating else max_decel + return step_towards(current, shaped_target, limit * dt) + + effective_current = 0.0 if abs(current) < min_effective else current + if shaped_target == 0.0: + stepped = step_towards(effective_current, 0.0, max_decel * dt) + return 0.0 if abs(stepped) < min_effective else stepped + + if effective_current == 0.0: + return math.copysign(min_effective, shaped_target) + + if effective_current * shaped_target < 0.0: + stepped = step_towards(effective_current, 0.0, max_decel * dt) + if stepped == 0.0 or abs(stepped) < min_effective: + return 0.0 + return stepped + + accelerating = abs(shaped_target) > abs(effective_current) + limit = max_accel if accelerating else max_decel + stepped = step_towards(effective_current, shaped_target, limit * dt) + if abs(stepped) < min_effective: + return math.copysign(min_effective, shaped_target) + return stepped diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/odom_relay_node.cpp b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/odom_relay_node.cpp new file mode 100644 index 0000000..ec733b8 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/odom_relay_node.cpp @@ -0,0 +1,60 @@ +#include "sim2real_runtime/odom_relay_node.hpp" + +namespace sim2real_runtime +{ + +OdomRelayNode::OdomRelayNode() +: Node("odom_relay_node") +{ + odom_input_topic_ = declare_parameter("odom_input_topic", "/odin1/odometry"); + odom_output_topic_ = declare_parameter("odom_output_topic", "/odom"); + base_frame_ = declare_parameter("base_frame", "base_link"); + publish_tf_ = declare_parameter("publish_tf", true); + + odom_sub_ = create_subscription( + odom_input_topic_, 10, + std::bind(&OdomRelayNode::onOdom, this, std::placeholders::_1)); + + odom_pub_ = create_publisher(odom_output_topic_, 10); + + if (publish_tf_) { + tf_broadcaster_ = std::make_unique(*this); + } + + RCLCPP_INFO(get_logger(), + "Odom relay: %s -> %s (base_frame=%s, publish_tf=%s)", + odom_input_topic_.c_str(), odom_output_topic_.c_str(), + base_frame_.c_str(), publish_tf_ ? "true" : "false"); +} + +void OdomRelayNode::onOdom(const nav_msgs::msg::Odometry::SharedPtr msg) +{ + // Remap child_frame_id and republish + auto out_msg = *msg; + out_msg.header.frame_id = "odom"; + out_msg.child_frame_id = base_frame_; + odom_pub_->publish(out_msg); + + // Broadcast TF: odom → base_link + if (publish_tf_ && tf_broadcaster_) { + geometry_msgs::msg::TransformStamped tf; + tf.header.stamp = msg->header.stamp; + tf.header.frame_id = "odom"; + tf.child_frame_id = base_frame_; + tf.transform.translation.x = msg->pose.pose.position.x; + tf.transform.translation.y = msg->pose.pose.position.y; + tf.transform.translation.z = msg->pose.pose.position.z; + tf.transform.rotation = msg->pose.pose.orientation; + tf_broadcaster_->sendTransform(tf); + } +} + +} // namespace sim2real_runtime + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/pcd_nav_click_tool.py b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/pcd_nav_click_tool.py new file mode 100644 index 0000000..8433286 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/pcd_nav_click_tool.py @@ -0,0 +1,170 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import math +from pathlib import Path +from typing import Optional + +import matplotlib.pyplot as plt +from matplotlib.patches import Circle, FancyArrow +import rclpy +from rclpy.node import Node +from std_msgs.msg import String +from tf2_ros import Buffer, TransformException, TransformListener + + +class PcdNavClickTool(Node): + def __init__(self) -> None: + super().__init__("pcd_nav_click_tool") + + self.map_frame = str(self.declare_parameter("nav_map_frame", "map").value) + self.base_frame = str(self.declare_parameter("nav_base_frame", "base_link").value) + self.pcd_file = str(self.declare_parameter("pcd_nav_file", "").value) + self.floor_z_min = float(self.declare_parameter("pcd_floor_z_min", -1.6).value) + self.floor_z_max = float(self.declare_parameter("pcd_floor_z_max", 0.4).value) + self.sample_step = max(1, int(self.declare_parameter("pcd_sample_step", 25).value)) + self.robot_radius = float(self.declare_parameter("pcd_robot_radius", 0.18).value) + + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + self.cmd_pub = self.create_publisher(String, "/simple_nav/cmd", 10) + + self.xy_points = self.load_filtered_pcd(Path(self.pcd_file)) + self.current_target: Optional[tuple[float, float]] = None + + def load_filtered_pcd(self, path: Path) -> list[tuple[float, float]]: + if not path.exists(): + raise FileNotFoundError(f"PCD file not found: {path}") + + points: list[tuple[float, float]] = [] + data_started = False + with path.open("r", encoding="utf-8") as f: + for line in f: + stripped = line.strip() + if not stripped: + continue + if data_started: + parts = stripped.split() + if len(parts) < 3: + continue + try: + x = float(parts[0]) + y = float(parts[1]) + z = float(parts[2]) + except ValueError: + continue + if self.floor_z_min <= z <= self.floor_z_max: + points.append((x, y)) + elif stripped.upper().startswith("DATA"): + if "ascii" not in stripped.lower(): + raise RuntimeError("Only ASCII PCD is supported by this simple tool") + data_started = True + + if not points: + raise RuntimeError("No usable floor points after z filtering") + return points[:: self.sample_step] + + def lookup_pose(self) -> Optional[tuple[float, float, float]]: + try: + transform = self.tf_buffer.lookup_transform(self.map_frame, self.base_frame, rclpy.time.Time()) + except TransformException: + return None + t = transform.transform.translation + q = transform.transform.rotation + yaw = self.quaternion_to_yaw(q.x, q.y, q.z, q.w) + return float(t.x), float(t.y), float(yaw) + + def publish_command(self, text: str) -> None: + self.cmd_pub.publish(String(data=text)) + self.get_logger().info(text) + + def on_click(self, event) -> None: + if event.inaxes is None or event.xdata is None or event.ydata is None: + return + x = float(event.xdata) + y = float(event.ydata) + self.current_target = (x, y) + self.publish_command(f"go {x:.3f} {y:.3f}") + self.refresh_plot() + + def on_key(self, event) -> None: + if event.key == "r": + pose = self.lookup_pose() + if pose is not None: + x, y, _ = pose + self.publish_command("record p_click") + self.current_target = (x, y) + self.refresh_plot() + elif event.key == "s": + self.publish_command("stop") + elif event.key == "escape": + plt.close("all") + + def refresh_plot(self) -> None: + self.ax.clear() + xs = [p[0] for p in self.xy_points] + ys = [p[1] for p in self.xy_points] + self.ax.scatter(xs, ys, s=1, c="black", alpha=0.35) + + pose = self.lookup_pose() + if pose is not None: + rx, ry, ryaw = pose + self.ax.add_patch(Circle((rx, ry), self.robot_radius, color="tab:blue", alpha=0.8)) + self.ax.add_patch( + FancyArrow( + rx, + ry, + 0.35 * math.cos(ryaw), + 0.35 * math.sin(ryaw), + width=0.03, + color="tab:blue", + ) + ) + self.ax.text(rx, ry, f" robot\n({rx:.2f},{ry:.2f})", color="tab:blue") + + if self.current_target is not None: + gx, gy = self.current_target + self.ax.scatter([gx], [gy], s=80, c="tab:red", marker="x") + self.ax.text(gx, gy, f" goal\n({gx:.2f},{gy:.2f})", color="tab:red") + + self.ax.set_title( + "PCD 2D Click Nav\nLeft click: go absolute | r: record | s: stop | Esc: quit" + ) + self.ax.set_xlabel("map x") + self.ax.set_ylabel("map y") + self.ax.set_aspect("equal", adjustable="box") + self.ax.grid(True, alpha=0.2) + self.fig.canvas.draw_idle() + + def run(self) -> None: + self.fig, self.ax = plt.subplots(figsize=(10, 8)) + self.fig.canvas.mpl_connect("button_press_event", self.on_click) + self.fig.canvas.mpl_connect("key_press_event", self.on_key) + self.refresh_plot() + + timer = self.create_timer(0.5, self.refresh_plot) + try: + plt.show() + finally: + timer.cancel() + + @staticmethod + def quaternion_to_yaw(x: float, y: float, z: float, w: float) -> float: + siny_cosp = 2.0 * (w * z + x * y) + cosy_cosp = 1.0 - 2.0 * (y * y + z * z) + return math.atan2(siny_cosp, cosy_cosp) + + +def main(args=None) -> None: + rclpy.init(args=args) + node = PcdNavClickTool() + try: + node.run() + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/policy_runtime_node.cpp b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/policy_runtime_node.cpp new file mode 100644 index 0000000..97a6d6c --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/policy_runtime_node.cpp @@ -0,0 +1,2013 @@ +#include "sim2real_runtime/policy_runtime_node.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "sim2real_common/deployment_contract.hpp" + +using namespace std::chrono_literals; + +namespace sim2real_runtime +{ + +#ifdef SIM2REAL_RUNTIME_HAS_TENSORRT +namespace +{ + +class TensorRtLogger final : public nvinfer1::ILogger +{ +public: + explicit TensorRtLogger(rclcpp::Logger logger) + : logger_(std::move(logger)) + { + } + + void log(Severity severity, const char * msg) noexcept override + { + if (msg == nullptr) { + return; + } + + switch (severity) { + case Severity::kINTERNAL_ERROR: + case Severity::kERROR: + RCLCPP_ERROR(logger_, "[TensorRT] %s", msg); + break; + case Severity::kWARNING: + RCLCPP_WARN(logger_, "[TensorRT] %s", msg); + break; + case Severity::kINFO: + RCLCPP_INFO(logger_, "[TensorRT] %s", msg); + break; + default: + RCLCPP_DEBUG(logger_, "[TensorRT] %s", msg); + break; + } + } + +private: + rclcpp::Logger logger_; +}; + +TensorRtLogger & getTensorRtLogger(rclcpp::Logger logger) +{ + static TensorRtLogger trt_logger(logger); + return trt_logger; +} + +template +void destroyTensorRtObject(T *& object) +{ + if (object == nullptr) { + return; + } +#if NV_TENSORRT_MAJOR >= 10 + delete object; +#else + object->destroy(); +#endif + object = nullptr; +} + +} // namespace +#endif + +// Named constants for timing and command filtering +constexpr float kCmdAccelLimitXY = 0.02f; // m/s per step (at 50Hz) +constexpr float kCmdAccelLimitYaw = 0.03f; // rad/s per step (at 50Hz) +constexpr float kPolicyDt = 0.02f; // policy loop period (50Hz) + +std::string toLowerCopy(std::string value) +{ + std::transform(value.begin(), value.end(), value.begin(), [](unsigned char c) { + return static_cast(std::tolower(c)); + }); + return value; +} + +double rosTimeToSeconds(const builtin_interfaces::msg::Time & stamp) +{ + return static_cast(stamp.sec) + static_cast(stamp.nanosec) * 1.0e-9; +} + +PolicyRuntimeNode::PolicyRuntimeNode() +: Node("sim2real_runtime_node") +{ + // 1. Declare and get parameters + const std::string event_log_dir = declare_parameter( + "event_log_dir", "logs_v2_web"); + run_log_dir_ = event_log_dir; + event_logger_.configure(event_log_dir, "sim2real_runtime_events"); + model_path_ = declare_parameter("model_path", "policies/model_rough.onnx"); + model_engine_path_ = declare_parameter("model_engine_path", ""); + prefer_tensorrt_ = declare_parameter("prefer_tensorrt", true); + use_cuda_ = declare_parameter("use_cuda", false); // enable CUDA EP on Orin Nano + const std::vector default_rough_pose( + sim2real_common::DeploymentContract::kDefaultDofPos.begin(), + sim2real_common::DeploymentContract::kDefaultDofPos.end()); + const std::vector configured_rough_pose = declare_parameter>( + "rough_default_dof_pos", default_rough_pose); + if (configured_rough_pose.size() == rough_default_dof_pos_.size()) { + for (std::size_t i = 0; i < rough_default_dof_pos_.size(); ++i) { + rough_default_dof_pos_[i] = static_cast(configured_rough_pose[i]); + } + } else { + rough_default_dof_pos_ = sim2real_common::DeploymentContract::kDefaultDofPos; + RCLCPP_WARN( + get_logger(), + "Parameter rough_default_dof_pos has %zu entries, expected 16. Falling back to deployment default pose.", + configured_rough_pose.size()); + } + active_default_dof_pos_ = rough_default_dof_pos_; + safety_reference_dof_pos_ = rough_default_dof_pos_; + const std::vector default_crawl_pose = declare_parameter>( + "crawl_default_dof_pos", + std::vector{ + 0.2, 1.697, -2.650, + -0.2, 1.697, -2.650, + 0.2, 1.697, -2.650, + -0.2, 1.697, -2.650, + 0.0, 0.0, 0.0, 0.0 + }); + if (default_crawl_pose.size() == crawl_default_dof_pos_.size()) { + for (std::size_t i = 0; i < crawl_default_dof_pos_.size(); ++i) { + crawl_default_dof_pos_[i] = static_cast(default_crawl_pose[i]); + } + } else { + crawl_default_dof_pos_ = { + 0.2f, 1.697f, -2.650f, + -0.2f, 1.697f, -2.650f, + 0.2f, 1.697f, -2.650f, + -0.2f, 1.697f, -2.650f, + 0.0f, 0.0f, 0.0f, 0.0f + }; + RCLCPP_WARN( + get_logger(), + "Parameter crawl_default_dof_pos has %zu entries, expected 16. Falling back to training default pose.", + default_crawl_pose.size()); + } + const std::vector default_wall_pose_param( + rough_default_dof_pos_.begin(), rough_default_dof_pos_.end()); + const std::vector default_wall_pose = declare_parameter>( + "wall_default_dof_pos", default_wall_pose_param); + if (default_wall_pose.size() == wall_default_dof_pos_.size()) { + for (std::size_t i = 0; i < wall_default_dof_pos_.size(); ++i) { + wall_default_dof_pos_[i] = static_cast(default_wall_pose[i]); + } + } else { + wall_default_dof_pos_ = rough_default_dof_pos_; + RCLCPP_WARN( + get_logger(), + "Parameter wall_default_dof_pos has %zu entries, expected 16. Falling back to rough default pose.", + default_wall_pose.size()); + } + const double keep_pose_hip_pitch = declare_parameter("keep_pose_hip_pitch", 0.610); + const double keep_pose_knee = declare_parameter("keep_pose_knee", -1.250); + const std::vector default_keep_pose = { + 0.0, keep_pose_hip_pitch, keep_pose_knee, + 0.0, keep_pose_hip_pitch, keep_pose_knee, + 0.0, keep_pose_hip_pitch, keep_pose_knee, + 0.0, keep_pose_hip_pitch, keep_pose_knee, + 0.0, 0.0, 0.0, 0.0 + }; + const std::vector configured_keep_pose = declare_parameter>( + "keep_pose_dof_pos", default_keep_pose); + if (configured_keep_pose.size() == keep_pose_dof_pos_.size()) { + for (std::size_t i = 0; i < keep_pose_dof_pos_.size(); ++i) { + keep_pose_dof_pos_[i] = static_cast(configured_keep_pose[i]); + } + } else { + for (std::size_t i = 0; i < keep_pose_dof_pos_.size(); ++i) { + keep_pose_dof_pos_[i] = static_cast(default_keep_pose[i]); + } + RCLCPP_WARN( + get_logger(), + "Parameter keep_pose_dof_pos has %zu entries, expected 16. Falling back to keep_pose_hip_pitch/keep_pose_knee.", + configured_keep_pose.size()); + } + posture_transition_s_ = declare_parameter("keep_pose_transition_s", 0.8); + rough_model_path_ = model_path_; + rough_model_engine_path_ = declare_parameter("rough_model_engine_path", model_engine_path_); + crawl_model_path_ = declare_parameter("crawl_model_path", "policies/model_crawl.onnx"); + crawl_model_engine_path_ = declare_parameter("crawl_model_engine_path", ""); + wall_model_path_ = declare_parameter("wall_model_path", "policies/model_wall.onnx"); + wall_model_engine_path_ = declare_parameter("wall_model_engine_path", ""); + const std::string crawl_backend = toLowerCopy( + declare_parameter("crawl_backend", "ik")); + crawl_backend_ = crawl_backend == "rl" ? CrawlBackend::Rl : CrawlBackend::Ik; + crawl_ik_wheel_linear_gain_ = static_cast( + declare_parameter("crawl_ik_wheel_linear_gain", 6.25)); + crawl_ik_wheel_yaw_gain_ = static_cast( + declare_parameter("crawl_ik_wheel_yaw_gain", 4.0)); + crawl_ik_max_wheel_speed_ = static_cast( + declare_parameter("crawl_ik_max_wheel_speed", 6.0)); + crawl_ik_abduction_clip_ = static_cast( + declare_parameter("crawl_ik_abduction_clip", 0.45)); + crawl_ik_yaw_rate_kp_ = static_cast( + declare_parameter("crawl_ik_yaw_rate_kp", 1.6)); + crawl_ik_imu_posture_ = declare_parameter("crawl_ik_imu_posture", false); + crawl_ik_encoder_posture_kp_ = static_cast( + declare_parameter("crawl_ik_encoder_posture_kp", 0.0)); + crawl_ik_encoder_posture_max_ = static_cast( + declare_parameter("crawl_ik_encoder_posture_max", 0.03)); + crawl_ik_encoder_guard_ = declare_parameter("crawl_ik_encoder_guard", true); + crawl_ik_encoder_guard_start_ = static_cast( + declare_parameter("crawl_ik_encoder_guard_start", 0.28)); + crawl_ik_encoder_guard_stop_ = static_cast( + declare_parameter("crawl_ik_encoder_guard_stop", 0.65)); + crawl_ik_imu_guard_ = declare_parameter("crawl_ik_imu_guard", true); + const double crawl_ik_imu_guard_start_deg = declare_parameter( + "crawl_ik_imu_guard_start_deg", 12.0); + const double crawl_ik_imu_guard_stop_deg = declare_parameter( + "crawl_ik_imu_guard_stop_deg", 28.0); + constexpr double kPi = 3.14159265358979323846; + crawl_ik_imu_guard_start_rad_ = static_cast( + crawl_ik_imu_guard_start_deg * kPi / 180.0); + crawl_ik_imu_guard_stop_rad_ = static_cast( + crawl_ik_imu_guard_stop_deg * kPi / 180.0); + model_switch_transition_s_ = declare_parameter("model_switch_transition_s", 1.2); + model_switch_to_stand_transition_scale_ = declare_parameter( + "model_switch_to_stand_transition_scale", 1.35); + model_switch_to_model_transition_scale_ = declare_parameter( + "model_switch_to_model_transition_scale", 1.55); + model_switch_min_transition_s_ = declare_parameter("model_switch_min_transition_s", 0.35); + model_switch_stand_hold_s_ = declare_parameter("model_switch_stand_hold_s", 0.45); + model_switch_stand_max_err_ = declare_parameter("model_switch_stand_max_err", 0.18); + model_switch_stand_max_vel_ = declare_parameter("model_switch_stand_max_vel", 0.8); + + // Safety parameters + safety_enabled_ = declare_parameter("safety_enabled", true); + double max_target_offset = declare_parameter("max_target_offset", 0.6); + double model_switch_max_target_offset = declare_parameter( + "model_switch_max_target_offset", std::max(max_target_offset, 1.8)); + double hard_target_offset = declare_parameter("hard_target_offset", 1.2); + double max_ang_vel = declare_parameter("max_ang_vel", 10.0); + double max_tilt_z = declare_parameter("max_tilt_z", -0.3); + int clip_to_brake = declare_parameter("clip_to_brake", 0); + double imu_age_warn_ms = declare_parameter("imu_age_warn_ms", 60.0); + double imu_age_stop_ms = declare_parameter("imu_age_stop_ms", 200.0); + + command_release_s_ = static_cast(declare_parameter("command_release_s", 0.35)); + release_command_hold_s_ = static_cast(declare_parameter("release_command_hold_s", 0.12)); + release_posture_max_err_ = static_cast(declare_parameter("release_posture_max_err", 0.35)); + release_target_blend_s_ = static_cast(declare_parameter("release_target_blend_s", 0.30)); + model_switch_release_scale_ = static_cast( + declare_parameter("model_switch_release_scale", 1.3)); + runtime_max_vx_ = static_cast(declare_parameter("runtime_max_vx", 1.0)); + runtime_max_vy_ = static_cast(declare_parameter("runtime_max_vy", 0.3)); + runtime_max_yaw_rate_ = static_cast( + declare_parameter("runtime_max_yaw_rate", 1.0)); + debug_trace_enabled_ = declare_parameter("debug_trace_enabled", true); + const int debug_trace_decimation = declare_parameter("debug_trace_decimation", 1); + debug_trace_decimation_ = static_cast(std::max(debug_trace_decimation, 1)); + clip_obs_ = static_cast(declare_parameter("clip_obs", 100.0)); + hold_zero_command_pose_ = declare_parameter("hold_zero_command_pose", true); + enable_zero_cmd_suppression_ = declare_parameter("enable_zero_cmd_suppression", true); + require_active_command_to_release_ = declare_parameter("require_active_command_to_release", true); + zero_cmd_use_yaw_rate_ = declare_parameter("zero_cmd_use_yaw_rate", true); + runtime_released_ = !require_active_command_to_release_; + + if (rough_model_engine_path_.empty()) { + rough_model_engine_path_ = deriveTensorRtEnginePath(rough_model_path_); + } + if (model_engine_path_.empty()) { + model_engine_path_ = rough_model_engine_path_; + } + if (crawl_model_engine_path_.empty()) { + crawl_model_engine_path_ = deriveTensorRtEnginePath(crawl_model_path_); + } + if (wall_model_engine_path_.empty()) { + wall_model_engine_path_ = deriveTensorRtEnginePath(wall_model_path_); + } + + RCLCPP_INFO( + get_logger(), + "Policy inference setup: rough_model=%s, rough_engine=%s, crawl_model=%s, crawl_engine=%s, wall_model=%s, wall_engine=%s, crawl_backend=%s, prefer_tensorrt=%s", + rough_model_path_.c_str(), + rough_model_engine_path_.c_str(), + crawl_model_path_.c_str(), + crawl_model_engine_path_.c_str(), + wall_model_path_.c_str(), + wall_model_engine_path_.c_str(), + crawlBackendName(), + prefer_tensorrt_ ? "true" : "false"); + RCLCPP_INFO( + get_logger(), + "Event log file: %s", + event_logger_.componentLogPath().c_str()); + RCLCPP_INFO( + get_logger(), + "Run log directory: %s", + 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 = + (rough_default_dof_pos_[1] + rough_default_dof_pos_[4] + + rough_default_dof_pos_[7] + rough_default_dof_pos_[10]) * 0.25f; + const float rough_knee_mean = + (rough_default_dof_pos_[2] + rough_default_dof_pos_[5] + + rough_default_dof_pos_[8] + rough_default_dof_pos_[11]) * 0.25f; + stand_balance_->setNominalLegPose(rough_hip_mean, rough_knee_mean); + + // Initialize SafetyMonitor and RuntimeGuard + safety_monitor_ = std::make_unique( + static_cast(max_target_offset), + static_cast(max_ang_vel), + static_cast(max_tilt_z), + clip_to_brake, + static_cast(hard_target_offset) + ); + model_switch_safety_monitor_ = std::make_unique( + static_cast(model_switch_max_target_offset), + static_cast(max_ang_vel), + static_cast(max_tilt_z), + clip_to_brake, + static_cast(hard_target_offset) + ); + + runtime_guard_ = std::make_unique( + static_cast(max_ang_vel + 2.0), + static_cast(max_tilt_z), + static_cast(imu_age_warn_ms), + static_cast(imu_age_stop_ms) + ); + + // 2. Initialize inference backend + if (!initInferenceBackend()) { + RCLCPP_FATAL(get_logger(), "Failed to initialize any inference backend."); + throw std::runtime_error("failed to initialize inference backend"); + } + + // 3. Create publishers and subscriptions + target_pub_ = create_publisher("runtime/target", 10); + model_status_pub_ = create_publisher("runtime/model_status", 10); + state_sub_ = create_subscription( + "runtime/state", 10, + std::bind(&PolicyRuntimeNode::onState, this, std::placeholders::_1)); + cmd_sub_ = create_subscription( + "cmd_vel", 10, + std::bind(&PolicyRuntimeNode::onCmdVel, this, std::placeholders::_1)); + cmd_stamped_sub_ = create_subscription( + "cmd_vel_stamped", 10, + std::bind(&PolicyRuntimeNode::onCmdVelStamped, this, std::placeholders::_1)); + model_switch_sub_ = create_subscription( + "runtime/model_cmd", 10, + std::bind(&PolicyRuntimeNode::onModelSwitchCmd, this, std::placeholders::_1)); + posture_cmd_sub_ = create_subscription( + "runtime/posture_cmd", 10, + std::bind(&PolicyRuntimeNode::onPostureCmd, this, std::placeholders::_1)); + estop_sub_ = create_subscription( + "/safety/estop", 10, + std::bind(&PolicyRuntimeNode::onEstop, this, std::placeholders::_1)); + + // 4. Timer at 50Hz (20ms) + policy_timer_ = create_wall_timer(20ms, std::bind(&PolicyRuntimeNode::onPolicyLoop, this)); + + last_actions_.fill(0.0f); + publishModelStatus(); +} + +PolicyRuntimeNode::~PolicyRuntimeNode() +{ + logEvent("INFO", "node_stop", "Policy runtime node stopped."); + finalizeRunSummary(); + shutdownTensorRt(); + shutdownOnnxRuntime(); +} + +void PolicyRuntimeNode::logEvent( + const std::string & level, + const std::string & event, + const std::string & message) +{ + event_logger_.log(level, "sim2real_runtime_node", event, message); +} + +void PolicyRuntimeNode::initializeDebugTrace() +{ + if (!debug_trace_enabled_ || run_log_dir_.empty()) { + return; + } + + std::error_code ec; + std::filesystem::create_directories(run_log_dir_, ec); + debug_trace_path_ = (std::filesystem::path(run_log_dir_) / "runtime_debug_trace.csv").string(); + + std::ofstream stream(debug_trace_path_, std::ios::trunc); + if (!stream.is_open()) { + RCLCPP_WARN(get_logger(), "Failed to open runtime debug trace file: %s", debug_trace_path_.c_str()); + debug_trace_enabled_ = false; + return; + } + + stream + << "stamp_sec,target_seq,state_seq,state_source,startup_state,current_model,requested_model,loaded_model," + << "switch_state,target_source,runtime_released,release_alpha,zero_command,target_age_ms,imu_age_ms,odom_age_ms," + << "cmd_vx,cmd_vy,cmd_wz,raw_cmd_vx,raw_cmd_vy,raw_cmd_wz"; + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kActionDim; ++i) { + stream << ",joint_pos_" << i; + } + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kActionDim; ++i) { + stream << ",target_" << i; + } + stream << '\n'; +} + +void PolicyRuntimeNode::appendDebugTrace( + const sim2real_interfaces::msg::RuntimeState & state, + const sim2real_interfaces::msg::RuntimeTarget & target) +{ + if (!debug_trace_enabled_ || debug_trace_path_.empty()) { + return; + } + + if ((debug_trace_counter_++ % debug_trace_decimation_) != 0) { + return; + } + + std::ofstream stream(debug_trace_path_, std::ios::app); + if (!stream.is_open()) { + return; + } + + stream + << std::fixed << std::setprecision(6) + << rosTimeToSeconds(target.stamp) + << ',' << target.sequence + << ',' << state.sequence + << ',' << state.source + << ',' << startupStateName(startup_state_) + << ',' << modelModeName(current_model_mode_) + << ',' << modelModeName(requested_model_mode_) + << ',' << modelModeName(loaded_model_mode_) + << ',' << modelSwitchStateName(model_switch_state_) + << ',' << target.target_source + << ',' << (target.runtime_released ? 1 : 0) + << ',' << target.release_alpha + << ',' << (target.zero_command ? 1 : 0) + << ',' << target.target_age_ms + << ',' << state.imu_age_ms + << ',' << state.odom_age_ms + << ',' << target.command[0] + << ',' << target.command[1] + << ',' << target.command[2] + << ',' << target.raw_command[0] + << ',' << target.raw_command[1] + << ',' << target.raw_command[2]; + + for (float value : state.joint_pos) { + stream << ',' << value; + } + for (float value : target.target) { + stream << ',' << value; + } + stream << '\n'; +} + +void PolicyRuntimeNode::logProtectionEvent( + const std::string & trigger, + const std::string & reason, + const std::string & action) +{ + protection_trigger_count_++; + std::ostringstream oss; + oss << "trigger=" << trigger + << ", protection_action=" << action + << ", reason=" << reason; + logEvent("ERROR", "protection_triggered", oss.str()); +} + +void PolicyRuntimeNode::finalizeRunSummary() +{ + std::ostringstream oss; + oss << "run_dir=" << run_log_dir_ + << ", protection_trigger_count=" << protection_trigger_count_ + << ", target_clip_count=" << target_clip_count_ + << ", final_safety_triggered=" << (safety_triggered_ ? "true" : "false"); + if (!safety_reason_.empty()) { + oss << ", final_safety_reason=" << safety_reason_; + } + event_logger_.logSummary("sim2real_runtime_node", oss.str()); +} + +std::string PolicyRuntimeNode::deriveTensorRtEnginePath(const std::string & onnx_model_path) const +{ + constexpr const char * kSuffix = ".onnx"; + if (onnx_model_path.size() > std::strlen(kSuffix) && + onnx_model_path.compare(onnx_model_path.size() - std::strlen(kSuffix), std::strlen(kSuffix), kSuffix) == 0) { + return onnx_model_path.substr(0, onnx_model_path.size() - std::strlen(kSuffix)) + "_fp16.engine"; + } + return onnx_model_path + ".engine"; +} + +bool PolicyRuntimeNode::initInferenceBackend() +{ + if (prefer_tensorrt_) { + if (initTensorRt()) { + inference_backend_ = InferenceBackend::TensorRT; + return true; + } + RCLCPP_WARN(get_logger(), "TensorRT initialization failed. Falling back to ONNX Runtime."); + } + + if (initOnnxRuntime()) { + inference_backend_ = InferenceBackend::OnnxRuntime; + return true; + } + + inference_backend_ = InferenceBackend::None; + return false; +} + +#ifdef SIM2REAL_RUNTIME_HAS_TENSORRT +bool PolicyRuntimeNode::initTensorRt() +{ + shutdownTensorRt(); + inference_backend_ = InferenceBackend::None; + + if (model_engine_path_.empty()) { + RCLCPP_WARN(get_logger(), "TensorRT engine path is empty."); + return false; + } + + std::ifstream engine_file(model_engine_path_, std::ios::binary); + if (!engine_file) { + RCLCPP_WARN(get_logger(), "TensorRT engine file not found: %s", model_engine_path_.c_str()); + return false; + } + + engine_file.seekg(0, std::ios::end); + const std::streamsize engine_size = engine_file.tellg(); + if (engine_size <= 0) { + RCLCPP_WARN(get_logger(), "TensorRT engine file is empty: %s", model_engine_path_.c_str()); + return false; + } + engine_file.seekg(0, std::ios::beg); + + std::vector engine_data(static_cast(engine_size)); + if (!engine_file.read(engine_data.data(), engine_size)) { + RCLCPP_WARN(get_logger(), "Failed to read TensorRT engine file: %s", model_engine_path_.c_str()); + return false; + } + + auto & logger = getTensorRtLogger(get_logger()); + trt_runtime_ = nvinfer1::createInferRuntime(logger); + if (trt_runtime_ == nullptr) { + RCLCPP_WARN(get_logger(), "Failed to create TensorRT runtime."); + return false; + } + + trt_engine_ = trt_runtime_->deserializeCudaEngine(engine_data.data(), engine_data.size()); + if (trt_engine_ == nullptr) { + RCLCPP_WARN(get_logger(), "Failed to deserialize TensorRT engine: %s", model_engine_path_.c_str()); + shutdownTensorRt(); + return false; + } + + trt_context_ = trt_engine_->createExecutionContext(); + if (trt_context_ == nullptr) { + RCLCPP_WARN(get_logger(), "Failed to create TensorRT execution context."); + shutdownTensorRt(); + return false; + } + + if (trt_engine_->getNbIOTensors() != 2) { + RCLCPP_WARN( + get_logger(), + "Unexpected TensorRT IO tensor count: %d (expected 2).", + trt_engine_->getNbIOTensors()); + shutdownTensorRt(); + return false; + } + + for (int i = 0; i < trt_engine_->getNbIOTensors(); ++i) { + const char * tensor_name = trt_engine_->getIOTensorName(i); + if (trt_engine_->getTensorIOMode(tensor_name) == nvinfer1::TensorIOMode::kINPUT) { + trt_input_name_ = tensor_name; + } else { + trt_output_name_ = tensor_name; + } + } + + if (trt_input_name_.empty() || trt_output_name_.empty()) { + RCLCPP_WARN(get_logger(), "Failed to resolve TensorRT input/output tensor names."); + shutdownTensorRt(); + return false; + } + + const auto input_dims = trt_engine_->getTensorShape(trt_input_name_.c_str()); + const auto output_dims = trt_engine_->getTensorShape(trt_output_name_.c_str()); + if (input_dims.nbDims != 2 || output_dims.nbDims != 2) { + RCLCPP_WARN(get_logger(), "Unexpected TensorRT tensor ranks. input=%d output=%d", input_dims.nbDims, output_dims.nbDims); + shutdownTensorRt(); + return false; + } + + if (input_dims.d[1] != 53 || output_dims.d[1] != static_cast(sim2real_common::DeploymentContract::kActionDim)) { + RCLCPP_WARN( + get_logger(), + "TensorRT engine shape mismatch. input second dim=%ld output second dim=%ld", + static_cast(input_dims.d[1]), + static_cast(output_dims.d[1])); + shutdownTensorRt(); + return false; + } + + input_shape_ = {1, 53}; + output_shape_ = {1, static_cast(sim2real_common::DeploymentContract::kActionDim)}; + + if (cudaStreamCreate(&trt_stream_) != cudaSuccess) { + RCLCPP_WARN(get_logger(), "Failed to create CUDA stream for TensorRT."); + shutdownTensorRt(); + return false; + } + + const std::size_t input_bytes = sizeof(float) * 53; + const std::size_t output_bytes = sizeof(float) * sim2real_common::DeploymentContract::kActionDim; + if (cudaMalloc(&trt_input_buffer_, input_bytes) != cudaSuccess || + cudaMalloc(&trt_output_buffer_, output_bytes) != cudaSuccess) { + RCLCPP_WARN(get_logger(), "Failed to allocate TensorRT CUDA buffers."); + shutdownTensorRt(); + return false; + } + + if (!trt_context_->setInputShape(trt_input_name_.c_str(), nvinfer1::Dims2{1, 53})) { + RCLCPP_WARN(get_logger(), "Failed to set TensorRT input shape."); + shutdownTensorRt(); + return false; + } + + if (!trt_context_->setTensorAddress(trt_input_name_.c_str(), trt_input_buffer_) || + !trt_context_->setTensorAddress(trt_output_name_.c_str(), trt_output_buffer_)) { + RCLCPP_WARN(get_logger(), "Failed to bind TensorRT IO buffers."); + shutdownTensorRt(); + return false; + } + + RCLCPP_INFO( + get_logger(), + "TensorRT engine loaded successfully from %s. Input=%s[1x53], Output=%s[1x%ld]", + model_engine_path_.c_str(), + trt_input_name_.c_str(), + trt_output_name_.c_str(), + static_cast(sim2real_common::DeploymentContract::kActionDim)); + return true; +} +#else +bool PolicyRuntimeNode::initTensorRt() +{ + RCLCPP_INFO(get_logger(), "TensorRT support not compiled in; skipping TensorRT initialization."); + return false; +} +#endif + +bool PolicyRuntimeNode::initOnnxRuntime() +{ + shutdownOnnxRuntime(); + + try { + env_ = std::make_unique(ORT_LOGGING_LEVEL_WARNING, "sim2real_onnx_env"); + + const auto available_providers = Ort::GetAvailableProviders(); + std::ostringstream provider_stream; + for (std::size_t i = 0; i < available_providers.size(); ++i) { + if (i > 0) { + provider_stream << ", "; + } + provider_stream << available_providers[i]; + } + RCLCPP_INFO( + get_logger(), + "ONNX Runtime available providers: [%s]", + provider_stream.str().c_str()); + + if (use_cuda_) { + const bool has_cuda_provider = std::find( + available_providers.begin(), + available_providers.end(), + "CUDAExecutionProvider") != available_providers.end(); + if (!has_cuda_provider) { + RCLCPP_WARN( + get_logger(), + "Parameter use_cuda=true, but CUDAExecutionProvider is not available in the current ONNX Runtime build."); + } + } + + Ort::SessionOptions session_options; + session_options.SetIntraOpNumThreads(1); + session_options.SetInterOpNumThreads(1); + session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_ALL); + + if (use_cuda_) { + try { + OrtCUDAProviderOptions cuda_opts{}; + cuda_opts.device_id = 0; + session_options.AppendExecutionProvider_CUDA(cuda_opts); + RCLCPP_INFO(get_logger(), "CUDA Execution Provider enabled (device 0)"); + } catch (const std::exception& e) { + RCLCPP_WARN( + get_logger(), + "CUDA EP init failed (ONNX Runtime built without CUDA?): %s. Falling back to CPU.", + e.what()); + use_cuda_ = false; + } + } + + session_ = std::make_unique(*env_, model_path_.c_str(), session_options); + memory_info_ = std::make_unique(Ort::MemoryInfo::CreateCpu(OrtDeviceAllocator, OrtMemTypeCPU)); + + Ort::AllocatorWithDefaultOptions allocator; + input_names_str_.clear(); + output_names_str_.clear(); + input_names_char_.clear(); + output_names_char_.clear(); + + const std::size_t num_inputs = session_->GetInputCount(); + for (std::size_t i = 0; i < num_inputs; ++i) { + auto name = session_->GetInputNameAllocated(i, allocator); + input_names_str_.push_back(std::string(name.get())); + } + for (const auto & name : input_names_str_) { + input_names_char_.push_back(name.c_str()); + } + + const std::size_t num_outputs = session_->GetOutputCount(); + for (std::size_t i = 0; i < num_outputs; ++i) { + auto name = session_->GetOutputNameAllocated(i, allocator); + output_names_str_.push_back(std::string(name.get())); + } + for (const auto & name : output_names_str_) { + output_names_char_.push_back(name.c_str()); + } + + auto input_type_info = session_->GetInputTypeInfo(0); + auto input_tensor_info = input_type_info.GetTensorTypeAndShapeInfo(); + input_shape_ = input_tensor_info.GetShape(); + if (input_shape_[0] < 0) { + input_shape_[0] = 1; + } + + auto output_type_info = session_->GetOutputTypeInfo(0); + auto output_tensor_info = output_type_info.GetTensorTypeAndShapeInfo(); + output_shape_ = output_tensor_info.GetShape(); + if (output_shape_[0] < 0) { + output_shape_[0] = 1; + } + + if (output_shape_.size() < 2 || output_shape_[1] != static_cast(sim2real_common::DeploymentContract::kActionDim)) { + throw std::runtime_error("ONNX model output shape mismatch"); + } + + RCLCPP_INFO( + get_logger(), + "ONNX Runtime model loaded successfully from %s. Input shape: [%ld, %ld], Output shape: [%ld, %ld]", + model_path_.c_str(), + input_shape_[0], + input_shape_[1], + output_shape_[0], + output_shape_[1]); + return true; + } catch (const std::exception& e) { + RCLCPP_ERROR(get_logger(), "Failed to load ONNX Runtime model: %s", e.what()); + shutdownOnnxRuntime(); + return false; + } +} + +void PolicyRuntimeNode::shutdownOnnxRuntime() +{ + memory_info_.reset(); + session_.reset(); + env_.reset(); + input_names_char_.clear(); + output_names_char_.clear(); + input_names_str_.clear(); + output_names_str_.clear(); +} + +void PolicyRuntimeNode::shutdownTensorRt() +{ +#ifdef SIM2REAL_RUNTIME_HAS_TENSORRT + if (trt_input_buffer_ != nullptr) { + cudaFree(trt_input_buffer_); + trt_input_buffer_ = nullptr; + } + if (trt_output_buffer_ != nullptr) { + cudaFree(trt_output_buffer_); + trt_output_buffer_ = nullptr; + } + if (trt_stream_ != nullptr) { + cudaStreamDestroy(trt_stream_); + trt_stream_ = nullptr; + } + if (trt_context_ != nullptr) { + destroyTensorRtObject(trt_context_); + } + if (trt_engine_ != nullptr) { + destroyTensorRtObject(trt_engine_); + } + if (trt_runtime_ != nullptr) { + destroyTensorRtObject(trt_runtime_); + } + trt_input_name_.clear(); + trt_output_name_.clear(); +#endif +} + +void PolicyRuntimeNode::onState(const sim2real_interfaces::msg::RuntimeState::SharedPtr msg) +{ + std::scoped_lock lock(mutex_); + latest_state_ = *msg; + has_state_ = true; + last_state_recv_time_ = std::chrono::steady_clock::now(); +} + +void PolicyRuntimeNode::applyCmdVel(float vx, float vy, float vyaw) +{ + std::scoped_lock lock(mutex_); + raw_cmd_[0] = std::clamp(vx, -runtime_max_vx_, runtime_max_vx_); + raw_cmd_[1] = std::clamp(vy, -runtime_max_vy_, runtime_max_vy_); + raw_cmd_[2] = std::clamp(vyaw, -runtime_max_yaw_rate_, runtime_max_yaw_rate_); + cmd_ = raw_cmd_; +} + +void PolicyRuntimeNode::onCmdVel(const geometry_msgs::msg::Twist::SharedPtr msg) +{ + applyCmdVel( + static_cast(msg->linear.x), + static_cast(msg->linear.y), + static_cast(msg->angular.z)); +} + +void PolicyRuntimeNode::onCmdVelStamped(const geometry_msgs::msg::TwistStamped::SharedPtr msg) +{ + applyCmdVel( + static_cast(msg->twist.linear.x), + static_cast(msg->twist.linear.y), + static_cast(msg->twist.angular.z)); +} + +void PolicyRuntimeNode::onModelSwitchCmd(const std_msgs::msg::String::SharedPtr msg) +{ + const std::string command = msg ? msg->data : ""; + const auto to_lower = [](std::string value) { + std::transform(value.begin(), value.end(), value.begin(), [](unsigned char c) { + return static_cast(std::tolower(c)); + }); + return value; + }; + + const std::string normalized = to_lower(command); + ModelMode target_mode = current_model_mode_; + bool recognized = true; + if (normalized == "toggle" || normalized == "switch") { + target_mode = current_model_mode_ == ModelMode::Rough ? ModelMode::Crawl : ModelMode::Rough; + } else if (normalized == "rough") { + target_mode = ModelMode::Rough; + } else if (normalized == "crawl" || normalized == "ik") { + target_mode = ModelMode::Crawl; + } else if (normalized == "wall") { + target_mode = ModelMode::Wall; + } else { + recognized = false; + } + + if (!recognized) { + RCLCPP_WARN(get_logger(), "Ignoring unknown model switch command: %s", command.c_str()); + return; + } + + if (startup_state_ != StartupState::RUNTIME) { + RCLCPP_WARN(get_logger(), "Ignoring model switch command before runtime release: %s", command.c_str()); + return; + } + + if (model_switch_state_ != ModelSwitchState::Idle) { + RCLCPP_WARN( + get_logger(), + "Ignoring model switch command while another switch is active. current_state=%s", + modelSwitchStateName(model_switch_state_)); + return; + } + + if (posture_hold_mode_ != PostureHoldMode::None) { + RCLCPP_WARN( + get_logger(), + "Ignoring model switch command while posture hold is active. posture=%s", + postureHoldModeName(posture_hold_mode_)); + return; + } + if (target_mode == current_model_mode_) { + RCLCPP_INFO(get_logger(), "Model switch requested to current model %s; ignoring.", modelModeName(target_mode)); + return; + } + + { + std::scoped_lock lock(mutex_); + requested_model_mode_ = target_mode; + model_switch_requested_ = true; + } + RCLCPP_INFO( + get_logger(), + "Queued model switch from %s to %s", + modelModeName(current_model_mode_), + modelModeName(target_mode)); + publishModelStatus(); +} + +void PolicyRuntimeNode::startPostureTransition( + PostureHoldMode mode, + const std::array & start_pose, + const std::array & target_pose, + const rclcpp::Time & now_time) +{ + posture_hold_mode_ = mode; + posture_transition_active_ = true; + posture_transition_start_time_ = now_time; + posture_start_pose_ = start_pose; + posture_target_pose_ = target_pose; + posture_start_pose_[12] = posture_start_pose_[13] = posture_start_pose_[14] = posture_start_pose_[15] = 0.0f; + posture_target_pose_[12] = posture_target_pose_[13] = posture_target_pose_[14] = posture_target_pose_[15] = 0.0f; + + for (std::size_t i = 0; i < posture_delta_.size(); ++i) { + float delta = posture_target_pose_[i] - posture_start_pose_[i]; + if (i < sim2real_common::DeploymentContract::kLegJointCount) { + delta = delta - 2.0f * static_cast(M_PI) * std::floor( + (delta + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + } + posture_delta_[i] = delta; + } + + cmd_.fill(0.0f); + raw_cmd_.fill(0.0f); + filtered_cmd_.fill(0.0f); + last_actions_.fill(0.0f); + runtime_released_ = false; + release_alpha_ = 0.0f; + release_active_time_ = 0.0f; + hold_active_model_pose_when_unreleased_ = true; + slow_release_after_model_switch_ = true; + safety_reference_dof_pos_ = mode == PostureHoldMode::Keep ? keep_pose_dof_pos_ : active_default_dof_pos_; +} + +void PolicyRuntimeNode::onPostureCmd(const std_msgs::msg::String::SharedPtr msg) +{ + const std::string command = msg ? msg->data : ""; + const std::string normalized = toLowerCopy(command); + const rclcpp::Time now_time = now(); + + std::scoped_lock lock(mutex_); + if (startup_state_ != StartupState::RUNTIME) { + RCLCPP_WARN(get_logger(), "Ignoring posture command before runtime release: %s", command.c_str()); + return; + } + if (model_switch_state_ != ModelSwitchState::Idle) { + RCLCPP_WARN( + get_logger(), + "Ignoring posture command while model switch is active. current_state=%s", + modelSwitchStateName(model_switch_state_)); + return; + } + std::array start_pose = has_state_ ? latest_state_.joint_pos : active_default_dof_pos_; + start_pose[12] = start_pose[13] = start_pose[14] = start_pose[15] = 0.0f; + + if (normalized == "keep") { + if (posture_hold_mode_ == PostureHoldMode::Keep && !posture_transition_active_) { + return; + } + startPostureTransition(PostureHoldMode::Keep, start_pose, keep_pose_dof_pos_, now_time); + RCLCPP_INFO(get_logger(), "Posture hold requested: keep pose."); + } else if (normalized == "default" || normalized == "release" || normalized == "off") { + if (posture_hold_mode_ == PostureHoldMode::None && !posture_transition_active_) { + return; + } + startPostureTransition(PostureHoldMode::ReturnDefault, start_pose, active_default_dof_pos_, now_time); + RCLCPP_INFO(get_logger(), "Posture hold requested: return to default pose."); + } else if (!normalized.empty()) { + RCLCPP_WARN(get_logger(), "Ignoring unknown posture command: %s", command.c_str()); + } +} +void PolicyRuntimeNode::onEstop(const std_msgs::msg::Bool::SharedPtr msg) +{ + std::scoped_lock lock(mutex_); + const bool was_estop = estop_triggered_; + estop_triggered_ = msg->data; + if (estop_triggered_) { + RCLCPP_WARN(get_logger(), "!!! E-stop triggered via /safety/estop !!!"); + logEvent("WARN", "estop_triggered", "E-stop triggered via /safety/estop."); + } else { + RCLCPP_INFO(get_logger(), "E-stop reset."); + logEvent("INFO", "estop_reset", "E-stop reset via /safety/estop."); + const bool user_estop_latch = + safety_reason_.find("user E-stop") != std::string::npos || + (was_estop && safety_reason_.empty()); + if (safety_triggered_ && user_estop_latch) { + safety_triggered_ = false; + safety_reason_.clear(); + clip_active_logged_ = false; + RCLCPP_INFO(get_logger(), "Cleared user E-stop safety latch."); + logEvent("INFO", "safety_latch_reset", "Cleared user E-stop safety latch."); + } + } +} + +std::array PolicyRuntimeNode::buildObservation( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & cmd, + const std::array & last_actions) const +{ + std::array obs{}; + std::size_t cursor = 0; + + for (int i = 0; i < 3; ++i) { + obs[cursor++] = state.imu_gyro[i] * 0.25f; + } + for (int i = 0; i < 3; ++i) { + obs[cursor++] = state.projected_gravity[i]; + } + for (float v : cmd) { + obs[cursor++] = v; + } + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kLegJointCount; ++i) { + obs[cursor++] = state.joint_pos[i] - active_default_dof_pos_[i]; + } + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kLegJointCount; ++i) { + obs[cursor++] = state.joint_vel[i] * 0.05f; + } + for (std::size_t i = 12; i < sim2real_common::DeploymentContract::kActionDim; ++i) { + obs[cursor++] = state.joint_vel[i] * 0.05f; + } + for (float v : last_actions) { + obs[cursor++] = v; + } + + // Clip observations values to ±clip_obs_ + if (clip_obs_ > 0.0f) { + for (float & v : obs) { + v = std::clamp(v, -clip_obs_, clip_obs_); + } + } + + return obs; +} + +std::array PolicyRuntimeNode::runPolicy(const std::array & obs) +{ + std::array action{}; + + switch (inference_backend_) { + case InferenceBackend::TensorRT: +#ifdef SIM2REAL_RUNTIME_HAS_TENSORRT + if (cudaMemcpyAsync( + trt_input_buffer_, + obs.data(), + sizeof(float) * obs.size(), + cudaMemcpyHostToDevice, + trt_stream_) != cudaSuccess) { + RCLCPP_ERROR(get_logger(), "TensorRT H2D copy failed."); + action.fill(0.0f); + break; + } + if (!trt_context_->enqueueV3(trt_stream_)) { + RCLCPP_ERROR(get_logger(), "TensorRT enqueue failed."); + action.fill(0.0f); + break; + } + if (cudaMemcpyAsync( + action.data(), + trt_output_buffer_, + sizeof(float) * action.size(), + cudaMemcpyDeviceToHost, + trt_stream_) != cudaSuccess) { + RCLCPP_ERROR(get_logger(), "TensorRT D2H copy failed."); + action.fill(0.0f); + break; + } + if (cudaStreamSynchronize(trt_stream_) != cudaSuccess) { + RCLCPP_ERROR(get_logger(), "TensorRT stream synchronization failed."); + action.fill(0.0f); + } +#else + action.fill(0.0f); +#endif + break; + case InferenceBackend::OnnxRuntime: + try { + auto input_tensor = Ort::Value::CreateTensor( + *memory_info_, + const_cast(obs.data()), + obs.size(), + input_shape_.data(), + input_shape_.size() + ); + + auto output_tensor = Ort::Value::CreateTensor( + *memory_info_, + action.data(), + action.size(), + output_shape_.data(), + output_shape_.size() + ); + + session_->Run( + Ort::RunOptions{nullptr}, + input_names_char_.data(), + &input_tensor, + 1, + output_names_char_.data(), + &output_tensor, + 1 + ); + } catch (const std::exception& e) { + RCLCPP_ERROR(get_logger(), "ONNX Runtime inference exception: %s", e.what()); + action.fill(0.0f); + } + break; + default: + RCLCPP_ERROR(get_logger(), "No inference backend available."); + action.fill(0.0f); + break; + } + + for (float& v : action) { + v = std::clamp(v, -10.0f, 10.0f); + } + + return action; +} + +bool PolicyRuntimeNode::isZeroCommand(const std::array & cmd, const std::array & imu_gyro) const +{ + const float planar_cmd = std::sqrt(cmd[0] * cmd[0] + cmd[1] * cmd[1]); + const bool cmd_is_zero = planar_cmd < zero_cmd_lin_thresh_ && std::abs(cmd[2]) < zero_cmd_yaw_thresh_; + if (!zero_cmd_use_yaw_rate_) { + return cmd_is_zero; + } + return cmd_is_zero && std::abs(imu_gyro[2]) < zero_yaw_rate_thresh_; +} + +bool PolicyRuntimeNode::isCommandActive(const std::array & cmd) const +{ + const float planar_cmd = std::sqrt(cmd[0] * cmd[0] + cmd[1] * cmd[1]); + return planar_cmd >= zero_cmd_lin_thresh_ || std::abs(cmd[2]) >= zero_cmd_yaw_thresh_; +} + +bool PolicyRuntimeNode::modeUsesInference(ModelMode mode) const +{ + return mode == ModelMode::Rough || + mode == ModelMode::Wall || + (mode == ModelMode::Crawl && crawl_backend_ == CrawlBackend::Rl); +} + +const std::array & PolicyRuntimeNode::defaultPoseForMode(ModelMode mode) const +{ + switch (mode) { + case ModelMode::Crawl: + return crawl_default_dof_pos_; + case ModelMode::Wall: + return wall_default_dof_pos_; + case ModelMode::Rough: + default: + return rough_default_dof_pos_; + } +} + +const std::string & PolicyRuntimeNode::modelPathForMode(ModelMode mode) const +{ + switch (mode) { + case ModelMode::Crawl: + return crawl_model_path_; + case ModelMode::Wall: + return wall_model_path_; + case ModelMode::Rough: + default: + return rough_model_path_; + } +} + +const std::string & PolicyRuntimeNode::modelEnginePathForMode(ModelMode mode) const +{ + switch (mode) { + case ModelMode::Crawl: + return crawl_model_engine_path_; + case ModelMode::Wall: + return wall_model_engine_path_; + case ModelMode::Rough: + default: + return rough_model_engine_path_; + } +} + +std::array PolicyRuntimeNode::computeHoldTarget( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & cmd) +{ + if (current_model_mode_ == ModelMode::Crawl && crawl_backend_ == CrawlBackend::Ik) { + auto target = crawl_default_dof_pos_; + if (crawl_ik_imu_posture_) { + const auto balance_target = stand_balance_->computeTarget( + state.projected_gravity, state.imu_gyro, cmd); + for (std::size_t leg_idx = 0; leg_idx < 4; ++leg_idx) { + const std::size_t abduction_index = leg_idx * 3; + target[abduction_index] = std::clamp( + balance_target[abduction_index], -crawl_ik_abduction_clip_, crawl_ik_abduction_clip_); + } + } else { + stand_balance_->computeTarget( + state.projected_gravity, state.imu_gyro, std::array{0.0f, 0.0f, 0.0f}); + } + if (crawl_ik_encoder_posture_kp_ > 0.0f) { + for (std::size_t i = 0; i < 12; ++i) { + const float encoder_err = target[i] - state.joint_pos[i]; + const float correction = std::clamp( + crawl_ik_encoder_posture_kp_ * encoder_err, + -crawl_ik_encoder_posture_max_, + crawl_ik_encoder_posture_max_); + target[i] += correction; + } + } + target[12] = 0.0f; + target[13] = 0.0f; + target[14] = 0.0f; + target[15] = 0.0f; + return target; + } + + // Keep the balance controller updated for stability monitoring, while holding + // the active model's default pose for rough/wall runtime zero-command holds. + stand_balance_->computeTarget( + state.projected_gravity, state.imu_gyro, std::array{0.0f, 0.0f, 0.0f}); + return active_default_dof_pos_; +} + +std::array PolicyRuntimeNode::computeIkCrawlTarget( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & cmd) +{ + auto target = computeHoldTarget(state, cmd); + const float yaw_rate_cmd = + cmd[2] + crawl_ik_yaw_rate_kp_ * (cmd[2] - state.imu_gyro[2]); + const float command_scale = computeCrawlIkCommandScale(state, target); + + const float left_wheel = std::clamp( + cmd[0] * crawl_ik_wheel_linear_gain_ - yaw_rate_cmd * crawl_ik_wheel_yaw_gain_, + -crawl_ik_max_wheel_speed_, crawl_ik_max_wheel_speed_) * command_scale; + const float right_wheel = std::clamp( + cmd[0] * crawl_ik_wheel_linear_gain_ + yaw_rate_cmd * crawl_ik_wheel_yaw_gain_, + -crawl_ik_max_wheel_speed_, crawl_ik_max_wheel_speed_) * command_scale; + + target[12] = left_wheel; + target[13] = right_wheel; + target[14] = left_wheel; + target[15] = right_wheel; + return target; +} + +float PolicyRuntimeNode::projectedGravityTiltRad( + const std::array & projected_gravity) const +{ + const float lateral = std::hypot(projected_gravity[0], projected_gravity[1]); + const float vertical = std::max(1.0e-6f, std::abs(projected_gravity[2])); + return std::atan2(lateral, vertical); +} + +float PolicyRuntimeNode::computeCrawlIkCommandScale( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & leg_target) const +{ + float scale = 1.0f; + if (crawl_ik_encoder_guard_) { + float max_leg_err = 0.0f; + for (std::size_t i = 0; i < 12; ++i) { + max_leg_err = std::max(max_leg_err, std::abs(state.joint_pos[i] - leg_target[i])); + } + if (max_leg_err >= crawl_ik_encoder_guard_stop_) { + scale = 0.0f; + } else if (max_leg_err > crawl_ik_encoder_guard_start_) { + const float span = std::max( + 1.0e-6f, crawl_ik_encoder_guard_stop_ - crawl_ik_encoder_guard_start_); + scale *= 1.0f - (max_leg_err - crawl_ik_encoder_guard_start_) / span; + } + } + + if (crawl_ik_imu_guard_) { + const float tilt = projectedGravityTiltRad(state.projected_gravity); + if (tilt >= crawl_ik_imu_guard_stop_rad_) { + scale = 0.0f; + } else if (tilt > crawl_ik_imu_guard_start_rad_) { + const float span = std::max( + 1.0e-6f, crawl_ik_imu_guard_stop_rad_ - crawl_ik_imu_guard_start_rad_); + scale *= 1.0f - (tilt - crawl_ik_imu_guard_start_rad_) / span; + } + } + + return std::clamp(scale, 0.0f, 1.0f); +} + +bool PolicyRuntimeNode::switchInferenceModel(ModelMode target_mode) +{ + const ModelMode previous_mode = current_model_mode_; + const ModelMode previous_loaded_mode = loaded_model_mode_; + const std::array previous_default_pose = active_default_dof_pos_; + const std::string previous_model_path = model_path_; + const std::string previous_model_engine_path = model_engine_path_; + const bool target_uses_inference = modeUsesInference(target_mode); + + if (!target_uses_inference) { + current_model_mode_ = target_mode; + active_default_dof_pos_ = defaultPoseForMode(target_mode); + RCLCPP_INFO( + get_logger(), + "Switched active model to %s using backend %s", + modelModeName(current_model_mode_), + crawlBackendName()); + publishModelStatus(); + return true; + } + + if (loaded_model_mode_ == target_mode) { + current_model_mode_ = target_mode; + active_default_dof_pos_ = defaultPoseForMode(target_mode); + RCLCPP_INFO( + get_logger(), + "Switched active model to %s using already loaded backend %s", + modelModeName(current_model_mode_), + inferenceBackendName()); + publishModelStatus(); + return true; + } + + const std::string next_model_path = modelPathForMode(target_mode); + const std::string next_model_engine_path = modelEnginePathForMode(target_mode); + + shutdownTensorRt(); + shutdownOnnxRuntime(); + + model_path_ = next_model_path; + model_engine_path_ = next_model_engine_path; + + if (!initInferenceBackend()) { + RCLCPP_ERROR( + get_logger(), + "Failed to switch inference model to %s (model=%s engine=%s)", + modelModeName(target_mode), + model_path_.c_str(), + model_engine_path_.c_str()); + shutdownTensorRt(); + shutdownOnnxRuntime(); + model_path_ = previous_model_path; + model_engine_path_ = previous_model_engine_path; + current_model_mode_ = previous_mode; + loaded_model_mode_ = previous_loaded_mode; + active_default_dof_pos_ = previous_default_pose; + if (!initInferenceBackend()) { + RCLCPP_FATAL( + get_logger(), + "Failed to restore previous inference model %s after switch failure.", + modelModeName(previous_loaded_mode)); + } else { + RCLCPP_WARN( + get_logger(), + "Restored previous inference model %s after switch failure.", + modelModeName(previous_loaded_mode)); + } + publishModelStatus(); + return false; + } + + loaded_model_mode_ = target_mode; + current_model_mode_ = target_mode; + active_default_dof_pos_ = defaultPoseForMode(target_mode); + RCLCPP_INFO( + get_logger(), + "Switched active model to %s using backend %s", + modelModeName(current_model_mode_), + inferenceBackendName()); + publishModelStatus(); + return true; +} + +const char * PolicyRuntimeNode::modelModeName(ModelMode mode) const +{ + switch (mode) { + case ModelMode::Rough: + return "rough"; + case ModelMode::Crawl: + return crawl_backend_ == CrawlBackend::Ik ? "ik" : "crawl"; + case ModelMode::Wall: + return "wall"; + default: + return "unknown"; + } +} + +const char * PolicyRuntimeNode::startupStateName(StartupState state) const +{ + switch (state) { + case StartupState::BOOT_HOLD: + return "boot_hold"; + case StartupState::STARTUP_SOFT_HOLD: + return "startup_soft_hold"; + case StartupState::STARTUP_TRANSITION: + return "startup_transition"; + case StartupState::STARTUP_HOLD_AFTER: + return "startup_hold_after"; + case StartupState::RUNTIME: + return "runtime"; + default: + return "unknown"; + } +} + +const char * PolicyRuntimeNode::modelSwitchStateName(ModelSwitchState state) const +{ + switch (state) { + case ModelSwitchState::Idle: + return "idle"; + case ModelSwitchState::ToStand: + return "to_stand"; + case ModelSwitchState::StandHold: + return "stand_hold"; + case ModelSwitchState::ToModelPose: + return "to_model_pose"; + default: + return "unknown"; + } +} + +const char * PolicyRuntimeNode::postureHoldModeName(PostureHoldMode mode) const +{ + switch (mode) { + case PostureHoldMode::Keep: + return "keep"; + case PostureHoldMode::ReturnDefault: + return "return_default"; + case PostureHoldMode::None: + default: + return "none"; + } +} +const char * PolicyRuntimeNode::inferenceBackendName() const +{ + switch (inference_backend_) { + case InferenceBackend::TensorRT: + return "tensorrt"; + case InferenceBackend::OnnxRuntime: + return "onnxruntime"; + default: + return "none"; + } +} + +const char * PolicyRuntimeNode::crawlBackendName() const +{ + switch (crawl_backend_) { + case CrawlBackend::Ik: + return "ik"; + case CrawlBackend::Rl: + return "rl"; + default: + return "unknown"; + } +} + +void PolicyRuntimeNode::publishModelStatus() +{ + if (!model_status_pub_) { + return; + } + + const char * active_backend = + (current_model_mode_ == ModelMode::Crawl && crawl_backend_ == CrawlBackend::Ik) ? + crawlBackendName() : inferenceBackendName(); + + std::ostringstream stream; + stream << "{" + << "\"current_model\":\"" << modelModeName(current_model_mode_) << "\"," + << "\"requested_model\":\"" << modelModeName(requested_model_mode_) << "\"," + << "\"switch_state\":\"" << modelSwitchStateName(model_switch_state_) << "\"," + << "\"backend\":\"" << active_backend << "\"," + << "\"crawl_backend\":\"" << crawlBackendName() << "\"," + << "\"inference_backend\":\"" << inferenceBackendName() << "\"," + << "\"switching\":" << (model_switch_state_ != ModelSwitchState::Idle ? "true" : "false") + << "}"; + std_msgs::msg::String msg; + msg.data = stream.str(); + model_status_pub_->publish(msg); +} + +void PolicyRuntimeNode::onPolicyLoop() +{ + sim2real_interfaces::msg::RuntimeState state; + std::array cmd{}; + std::array raw_cmd{}; + std::array last_actions{}; + bool estop_active = false; + bool safety_active = false; + double state_age_ms = 0.0; + bool model_switch_requested = false; + ModelMode requested_model_mode = current_model_mode_; + PostureHoldMode posture_hold_mode = PostureHoldMode::None; + bool posture_transition_active = false; + std::array posture_start_pose{}; + std::array posture_target_pose{}; + std::array posture_delta{}; + rclcpp::Time posture_transition_start_time{0, 0, RCL_ROS_TIME}; + double posture_transition_s = posture_transition_s_; + { + std::scoped_lock lock(mutex_); + if (!has_state_) { + return; + } + state = latest_state_; + cmd = cmd_; + raw_cmd = raw_cmd_; + last_actions = last_actions_; + estop_active = estop_triggered_; + safety_active = safety_triggered_; + model_switch_requested = model_switch_requested_; + requested_model_mode = requested_model_mode_; + posture_hold_mode = posture_hold_mode_; + posture_transition_active = posture_transition_active_; + posture_start_pose = posture_start_pose_; + posture_target_pose = posture_target_pose_; + posture_delta = posture_delta_; + posture_transition_start_time = posture_transition_start_time_; + posture_transition_s = posture_transition_s_; + if (last_state_recv_time_.time_since_epoch().count() != 0) { + state_age_ms = std::chrono::duration( + std::chrono::steady_clock::now() - last_state_recv_time_).count(); + } + } + + // 1) Run RuntimeGuard check + if (safety_enabled_ && !safety_active) { + std::vector extra_vals; + extra_vals.reserve(48); + for (float v : state.joint_pos) extra_vals.push_back(v); + for (float v : state.joint_vel) extra_vals.push_back(v); + for (float v : last_actions) extra_vals.push_back(v); + + const float effective_imu_age_ms = static_cast(std::max( + static_cast(state.imu_age_ms), state_age_ms)); + + auto guard_decision = runtime_guard_->check( + state.imu_gyro, state.projected_gravity, effective_imu_age_ms, estop_active, extra_vals); + if (guard_decision.level == sim2real_common::GuardLevel::STOP) { + { + std::scoped_lock lock(mutex_); + safety_triggered_ = true; + } + safety_active = true; + safety_reason_ = "Runtime Guard Stop: " + guard_decision.reason; + RCLCPP_ERROR(get_logger(), "SAFETY STOP TRIGGERED in Policy Runtime: %s", safety_reason_.c_str()); + logEvent("ERROR", "safety_triggered", safety_reason_); + logProtectionEvent("runtime_guard_stop", guard_decision.reason, "safety_brake"); + } else if (guard_decision.level == sim2real_common::GuardLevel::WARN) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000, "Safety Guard Warning in Policy Runtime: %s", guard_decision.reason.c_str()); + } + } + + if (safety_active) { + sim2real_interfaces::msg::RuntimeTarget target; + target.stamp = now(); + target.sequence = sequence_++; + target.raw_command = raw_cmd; + target.command = cmd; + target.raw_action.fill(0.0f); + target.scaled_action.fill(0.0f); + target.target = safety_reference_dof_pos_; + target.target_source = "safety_brake"; + target.target_age_ms = 0.0f; + target_pub_->publish(target); + appendDebugTrace(state, target); + return; + } + + sim2real_interfaces::msg::RuntimeTarget target; + target.stamp = now(); + target.sequence = sequence_++; + target.raw_command = raw_cmd; + target.raw_action.fill(0.0f); + target.scaled_action.fill(0.0f); + target.command = cmd; + + const auto now_time = rclcpp::Time(target.stamp); + + if (startup_state_ == StartupState::BOOT_HOLD) { + // 1. Initial State Read + start_pose_ = state.joint_pos; + start_pose_[12] = start_pose_[13] = start_pose_[14] = start_pose_[15] = 0.0f; // Wheel starts at 0 + + // 2. Shortest periodic delta to stand pose + float max_dev = 0.0f; + for (std::size_t i = 0; i < 12; ++i) { + float delta = active_default_dof_pos_[i] - start_pose_[i]; + delta = delta - 2.0f * static_cast(M_PI) * std::floor((delta + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + startup_delta_[i] = delta; + max_dev = std::max(max_dev, std::abs(delta)); + } + startup_delta_[12] = startup_delta_[13] = startup_delta_[14] = startup_delta_[15] = 0.0f; + + if (max_dev > 3.0f) { + RCLCPP_WARN(get_logger(), "Measured joint dev too large (%f rad > 3.0 rad). Aborting standup transition.", max_dev); + target.target = start_pose_; + target.target_source = "boot_hold"; + target_pub_->publish(target); + appendDebugTrace(state, target); + return; + } + + // Adapt transition time: min 2s, max 6s, 1.5s per rad + transition_time_ = std::clamp(max_dev * 1.5, 2.0, 6.0); + startup_state_ = StartupState::STARTUP_SOFT_HOLD; + state_start_time_ = now_time; + RCLCPP_INFO(get_logger(), "Standup sequence started. Starting dev: %f rad, transition time: %f s", max_dev, transition_time_); + } + + if (startup_state_ == StartupState::STARTUP_SOFT_HOLD) { + double elapsed = (now_time - state_start_time_).seconds(); + target.target = start_pose_; + target.target_source = "startup_soft_hold"; + + if (elapsed >= 1.0) { // 1s soft hold + startup_state_ = StartupState::STARTUP_TRANSITION; + state_start_time_ = now_time; + RCLCPP_INFO(get_logger(), "Transitioning to stand pose..."); + } + } + else if (startup_state_ == StartupState::STARTUP_TRANSITION) { + double elapsed = (now_time - state_start_time_).seconds(); + double phase = std::min(1.0, elapsed / transition_time_); + + // Cosine blend interpolation + double blend = 0.5 - 0.5 * std::cos(M_PI * phase); + for (std::size_t i = 0; i < 16; ++i) { + target.target[i] = start_pose_[i] + blend * startup_delta_[i]; + } + target.target_source = "startup_hold"; + + if (phase >= 1.0) { + // Settle check + float max_pos_err = 0.0f; + for (std::size_t i = 0; i < 12; ++i) { + float delta = active_default_dof_pos_[i] - state.joint_pos[i]; + delta = delta - 2.0f * static_cast(M_PI) * std::floor((delta + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + max_pos_err = std::max(max_pos_err, std::abs(delta)); + } + float max_vel_err = 0.0f; + for (std::size_t i = 0; i < 12; ++i) { + max_vel_err = std::max(max_vel_err, std::abs(state.joint_vel[i])); + } + + if (max_pos_err <= 0.30f && max_vel_err <= 0.6f) { + startup_state_ = StartupState::STARTUP_HOLD_AFTER; + state_start_time_ = now_time; + RCLCPP_INFO(get_logger(), "Pose settled. Holding for 1.0s..."); + } + } + } + else if (startup_state_ == StartupState::STARTUP_HOLD_AFTER) { + double elapsed = (now_time - state_start_time_).seconds(); + + // Keep balance stability tracking running, while holding the exact default + // rough pose so startup hold matches the runtime stand posture. + stand_balance_->computeTarget(state.projected_gravity, state.imu_gyro, cmd); + target.target = rough_default_dof_pos_; + target.target_source = "startup_hold"; + + if (elapsed >= 1.0 && stand_balance_->isStable()) { + startup_state_ = StartupState::RUNTIME; + RCLCPP_INFO(get_logger(), "Standup sequence completed. Entering Policy RUNTIME mode!"); + } + } + else if (startup_state_ == StartupState::RUNTIME) { + if (model_switch_requested && posture_hold_mode == PostureHoldMode::None && + model_switch_state_ == ModelSwitchState::Idle && requested_model_mode != current_model_mode_) { + switch_start_pose_ = state.joint_pos; + switch_start_pose_[12] = switch_start_pose_[13] = switch_start_pose_[14] = switch_start_pose_[15] = 0.0f; + float max_dev = 0.0f; + for (std::size_t i = 0; i < 12; ++i) { + float delta = rough_default_dof_pos_[i] - switch_start_pose_[i]; + delta = delta - 2.0f * static_cast(M_PI) * std::floor((delta + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + switch_delta_[i] = delta; + max_dev = std::max(max_dev, std::abs(delta)); + } + switch_delta_[12] = switch_delta_[13] = switch_delta_[14] = switch_delta_[15] = 0.0f; + const double min_switch_s = std::max(0.05, model_switch_min_transition_s_); + active_switch_transition_s_ = std::clamp( + max_dev * 1.2, min_switch_s, std::max(min_switch_s, model_switch_transition_s_)) * + std::max(0.1, model_switch_to_stand_transition_scale_); + model_switch_state_ = ModelSwitchState::ToStand; + model_switch_state_start_time_ = now_time; + safety_reference_dof_pos_ = rough_default_dof_pos_; + runtime_released_ = false; + release_active_time_ = 0.0f; + release_alpha_ = 0.0f; + last_actions.fill(0.0f); + hold_active_model_pose_when_unreleased_ = true; + { + std::scoped_lock lock(mutex_); + model_switch_requested_ = false; + } + RCLCPP_INFO( + get_logger(), + "Starting model switch transition: %s -> stand -> %s", + modelModeName(current_model_mode_), + modelModeName(requested_model_mode)); + publishModelStatus(); + } + + if (model_switch_state_ == ModelSwitchState::ToStand) { + const double elapsed = (now_time - model_switch_state_start_time_).seconds(); + const double phase = std::min(1.0, elapsed / std::max(1.0e-3, active_switch_transition_s_)); + const double blend = 0.5 - 0.5 * std::cos(M_PI * phase); + for (std::size_t i = 0; i < 16; ++i) { + target.target[i] = switch_start_pose_[i] + static_cast(blend) * switch_delta_[i]; + } + target.target_source = "model_switch_to_stand"; + if (phase >= 1.0) { + model_switch_state_ = ModelSwitchState::StandHold; + model_switch_state_start_time_ = now_time; + publishModelStatus(); + } + } else if (model_switch_state_ == ModelSwitchState::StandHold) { + target.target = rough_default_dof_pos_; + target.target_source = "model_switch_stand_hold"; + const double elapsed = (now_time - model_switch_state_start_time_).seconds(); + float max_pos_err = 0.0f; + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kLegJointCount; ++i) { + float delta = rough_default_dof_pos_[i] - state.joint_pos[i]; + delta = delta - 2.0f * static_cast(M_PI) * std::floor( + (delta + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + max_pos_err = std::max(max_pos_err, std::abs(delta)); + } + float max_vel_err = 0.0f; + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kLegJointCount; ++i) { + max_vel_err = std::max(max_vel_err, std::abs(state.joint_vel[i])); + } + const bool hold_elapsed = elapsed >= model_switch_stand_hold_s_; + const bool stand_ready = + max_pos_err <= static_cast(model_switch_stand_max_err_) && + max_vel_err <= static_cast(model_switch_stand_max_vel_); + if (hold_elapsed && stand_ready) { + switch_start_pose_ = state.joint_pos; + switch_start_pose_[12] = switch_start_pose_[13] = switch_start_pose_[14] = switch_start_pose_[15] = 0.0f; + if (switchInferenceModel(requested_model_mode)) { + float max_dev = 0.0f; + for (std::size_t i = 0; i < 16; ++i) { + float delta = active_default_dof_pos_[i] - switch_start_pose_[i]; + if (i < sim2real_common::DeploymentContract::kLegJointCount) { + delta = delta - 2.0f * static_cast(M_PI) * std::floor( + (delta + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + max_dev = std::max(max_dev, std::abs(delta)); + } + switch_delta_[i] = delta; + } + const double min_switch_s = std::max(0.05, model_switch_min_transition_s_); + active_switch_transition_s_ = std::clamp( + max_dev * 1.2, min_switch_s, std::max(min_switch_s, model_switch_transition_s_)) * + std::max(0.1, model_switch_to_model_transition_scale_); + const bool has_pose_delta = std::any_of( + switch_delta_.begin(), switch_delta_.end(), [](float value) { return std::abs(value) > 1.0e-4f; }); + model_switch_state_ = has_pose_delta ? ModelSwitchState::ToModelPose : ModelSwitchState::Idle; + model_switch_state_start_time_ = now_time; + if (!has_pose_delta) { + safety_reference_dof_pos_ = active_default_dof_pos_; + slow_release_after_model_switch_ = true; + } + hold_active_model_pose_when_unreleased_ = true; + publishModelStatus(); + } else { + float max_dev = 0.0f; + for (std::size_t i = 0; i < 16; ++i) { + float delta = active_default_dof_pos_[i] - switch_start_pose_[i]; + if (i < sim2real_common::DeploymentContract::kLegJointCount) { + delta = delta - 2.0f * static_cast(M_PI) * std::floor( + (delta + static_cast(M_PI)) / (2.0f * static_cast(M_PI))); + max_dev = std::max(max_dev, std::abs(delta)); + } + switch_delta_[i] = delta; + } + const double min_switch_s = std::max(0.05, model_switch_min_transition_s_); + active_switch_transition_s_ = std::clamp( + max_dev * 1.2, min_switch_s, std::max(min_switch_s, model_switch_transition_s_)) * + std::max(0.1, model_switch_to_model_transition_scale_); + model_switch_state_ = ModelSwitchState::ToModelPose; + model_switch_state_start_time_ = now_time; + hold_active_model_pose_when_unreleased_ = true; + publishModelStatus(); + } + } else if (hold_elapsed) { + RCLCPP_INFO_THROTTLE( + get_logger(), *get_clock(), 1000, + "Model switch stand hold waiting for settle: max_pos_err=%.3f rad, max_vel_err=%.3f rad/s", + max_pos_err, max_vel_err); + } + } else if (model_switch_state_ == ModelSwitchState::ToModelPose) { + const double elapsed = (now_time - model_switch_state_start_time_).seconds(); + const double to_model_transition_s = std::max(1.0e-3, active_switch_transition_s_); + const double phase = std::min(1.0, elapsed / to_model_transition_s); + const double blend = 0.5 - 0.5 * std::cos(M_PI * phase); + for (std::size_t i = 0; i < 16; ++i) { + target.target[i] = switch_start_pose_[i] + static_cast(blend) * switch_delta_[i]; + } + target.target_source = "model_switch_to_model_pose"; + if (phase >= 1.0) { + model_switch_state_ = ModelSwitchState::Idle; + safety_reference_dof_pos_ = active_default_dof_pos_; + hold_active_model_pose_when_unreleased_ = true; + slow_release_after_model_switch_ = true; + publishModelStatus(); + } + } else if (posture_hold_mode != PostureHoldMode::None) { + const double elapsed = posture_transition_active ? + (now_time - posture_transition_start_time).seconds() : posture_transition_s; + const double phase = posture_transition_active ? + std::min(1.0, elapsed / std::max(1.0e-3, posture_transition_s)) : 1.0; + const double blend = 0.5 - 0.5 * std::cos(M_PI * phase); + for (std::size_t i = 0; i < target.target.size(); ++i) { + target.target[i] = posture_start_pose[i] + static_cast(blend) * posture_delta[i]; + } + target.target_source = posture_hold_mode == PostureHoldMode::Keep ? + "runtime_keep_pose" : "runtime_keep_return_default"; + target.runtime_released = false; + target.release_alpha = 0.0f; + target.zero_command = true; + target.command.fill(0.0f); + target.raw_command.fill(0.0f); + target.raw_action.fill(0.0f); + target.scaled_action.fill(0.0f); + last_actions.fill(0.0f); + release_alpha_ = 0.0f; + runtime_released_ = false; + release_active_time_ = 0.0f; + + if (phase >= 1.0) { + std::scoped_lock lock(mutex_); + if (posture_hold_mode_ == posture_hold_mode) { + posture_transition_active_ = false; + if (posture_hold_mode == PostureHoldMode::ReturnDefault) { + posture_hold_mode_ = PostureHoldMode::None; + safety_reference_dof_pos_ = active_default_dof_pos_; + } else { + safety_reference_dof_pos_ = keep_pose_dof_pos_; + } + } + } + } else { + // Python template uses the command directly in policy obs/release logic. + // Upstream cmd mux may already smooth it, so do not apply an extra runtime filter here. + filtered_cmd_ = cmd; + + const auto target_hold = computeHoldTarget(state, cmd); + const bool zero_command = isZeroCommand(cmd, state.imu_gyro); + + if (!runtime_released_) { + if (require_active_command_to_release_) { + if (isCommandActive(cmd)) { + release_active_time_ += kPolicyDt; + } else { + release_active_time_ = 0.0f; + } + + const auto & unreleased_hold_target = + hold_active_model_pose_when_unreleased_ ? active_default_dof_pos_ : target_hold; + float max_hold_err = 0.0f; + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kLegJointCount; ++i) { + max_hold_err = std::max(max_hold_err, std::abs(state.joint_pos[i] - unreleased_hold_target[i])); + } + + const bool active_ready = release_active_time_ >= release_command_hold_s_; + const bool posture_ready = max_hold_err <= release_posture_max_err_; + if (active_ready && posture_ready) { + runtime_released_ = true; + } + } else { + runtime_released_ = true; + } + } + + if (!runtime_released_ || zero_command) { + release_alpha_ = 0.0f; + target.runtime_released = false; + target.release_alpha = 0.0f; + target.zero_command = zero_command; + target.raw_action.fill(0.0f); + target.scaled_action.fill(0.0f); + last_actions.fill(0.0f); + target.target_source = "runtime_zero_hold"; + target.target = hold_active_model_pose_when_unreleased_ ? active_default_dof_pos_ : target_hold; + if (!runtime_released_) { + target.target_source = "runtime_hold"; + } + } else { + hold_active_model_pose_when_unreleased_ = false; + const float effective_release_scale = slow_release_after_model_switch_ ? + std::max(1.0f, model_switch_release_scale_) : 1.0f; + const float effective_command_release_s = command_release_s_ * effective_release_scale; + const float effective_release_target_blend_s = release_target_blend_s_ * effective_release_scale; + release_alpha_ = std::min(1.0f, release_alpha_ + kPolicyDt / std::max(effective_command_release_s, 1.0e-3f)); + target.runtime_released = (release_alpha_ >= 1.0f); + target.release_alpha = release_alpha_; + target.zero_command = false; + target.command = cmd; + + if (current_model_mode_ == ModelMode::Crawl && crawl_backend_ == CrawlBackend::Ik) { + target.target = computeIkCrawlTarget(state, cmd); + target.target_source = "runtime_crawl_ik"; + target.raw_action.fill(0.0f); + target.scaled_action.fill(0.0f); + last_actions.fill(0.0f); + } else { + auto raw = runPolicy(buildObservation(state, cmd, last_actions)); + for (float & v : raw) { + v *= release_alpha_; + } + target.raw_action = raw; + + const float blend = std::min( + 1.0f, + release_alpha_ * (effective_command_release_s / std::max(effective_release_target_blend_s, kPolicyDt))); + for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kActionDim; ++i) { + target.scaled_action[i] = raw[i] * sim2real_common::DeploymentContract::kActionScale[i]; + const float policy_target = target.scaled_action[i] + active_default_dof_pos_[i]; + target.target[i] = (1.0f - blend) * target_hold[i] + blend * policy_target; + last_actions[i] = raw[i]; + } + target.target_source = blend < 0.999f ? "runtime_blend" : "runtime_policy"; + } + if (release_alpha_ >= 1.0f) { + slow_release_after_model_switch_ = false; + } + } + } + } + + // 2) Run SafetyMonitor check on computed target + if (safety_enabled_) { + auto * active_safety_monitor = + (model_switch_state_ != ModelSwitchState::Idle || posture_hold_mode != PostureHoldMode::None) && model_switch_safety_monitor_ ? + model_switch_safety_monitor_.get() : + safety_monitor_.get(); + auto safety_decision = active_safety_monitor->check( + target.target, safety_reference_dof_pos_, state.imu_gyro, state.projected_gravity, estop_active); + if (safety_decision.level == sim2real_common::SafetyLevel::ESTOP || safety_decision.level == sim2real_common::SafetyLevel::BRAKE) { + { + std::scoped_lock lock(mutex_); + safety_triggered_ = true; + } + safety_reason_ = "Safety Monitor Stop: " + safety_decision.message; + RCLCPP_ERROR(get_logger(), "SAFETY STOP TRIGGERED in Policy Runtime: %s", safety_reason_.c_str()); + logEvent("ERROR", "safety_triggered", safety_reason_); + logProtectionEvent("safety_monitor_stop", safety_decision.message, "safety_brake"); + + // Override target to safety_brake damping pose + target.target = safety_reference_dof_pos_; + target.target_source = "safety_brake"; + } else if (safety_decision.level == sim2real_common::SafetyLevel::CLIP) { + target.target = safety_decision.clipped_target; + target.target_source = "safety_clip"; + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000, "Safety Monitor: Joint target clipped in Policy Runtime."); + target_clip_count_++; + if (!clip_active_logged_) { + clip_active_logged_ = true; + logEvent("WARN", "target_clipped", + "protection=safety_clip, reason=" + safety_decision.message + ", source=" + target.target_source); + } + } else { + clip_active_logged_ = false; + } + } + + target.target_age_ms = 0.0f; + + { + std::scoped_lock lock(mutex_); + last_actions_ = last_actions; + } + + target_pub_->publish(target); + appendDebugTrace(state, target); +} + +} // namespace sim2real_runtime + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/remote_uart_node.py b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/remote_uart_node.py new file mode 100644 index 0000000..5e38c97 --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/remote_uart_node.py @@ -0,0 +1,349 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +from dataclasses import dataclass, field +from typing import Optional + +import serial + +import rclpy +from geometry_msgs.msg import Twist +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node +from std_msgs.msg import Bool, String + +SBUS_FRAME_SIZE = 25 +SBUS_RC_MID = 1024 +SBUS_AXIS_SCALE = 660.0 + +SWITCH_LOW = -1 +SWITCH_MID = 0 +SWITCH_HIGH = 1 + + +@dataclass +class RemoteSwitchState: + ch5: int = SWITCH_MID + ch6: int = SWITCH_MID + ch7: int = SWITCH_MID + ch8: int = SWITCH_MID + ch9: int = SWITCH_MID + ch10: int = SWITCH_MID + + def get(self, channel: int) -> Optional[int]: + return { + 5: self.ch5, + 6: self.ch6, + 7: self.ch7, + 8: self.ch8, + 9: self.ch9, + 10: self.ch10, + }.get(int(channel)) + + +@dataclass +class RemoteControlState: + ch1: int = 0 + ch2: int = 0 + ch3: int = 0 + ch4: int = 0 + switches: RemoteSwitchState = field(default_factory=RemoteSwitchState) + frame_ok: bool = False + + @property + def estop_requested(self) -> bool: + return self.switches.ch7 == SWITCH_HIGH + + +class SbusUartReceiver: + def __init__(self, port: str, baudrate: int, timeout: float, axis_deadzone: int): + self.port = port + self.baudrate = int(baudrate) + self.timeout = float(timeout) + self.axis_deadzone = int(axis_deadzone) + self.serial: Optional[serial.Serial] = None + self.buffer = bytearray() + self.state = RemoteControlState() + + def open(self) -> None: + if self.serial and self.serial.is_open: + return + self.serial = serial.Serial( + port=self.port, + baudrate=self.baudrate, + timeout=self.timeout, + bytesize=serial.EIGHTBITS, + parity=serial.PARITY_EVEN, + stopbits=serial.STOPBITS_TWO, + ) + + def close(self) -> None: + if self.serial and self.serial.is_open: + self.serial.close() + + def poll(self) -> RemoteControlState: + if not self.serial or not self.serial.is_open: + raise RuntimeError("remote uart is not open") + + waiting = self.serial.in_waiting + if waiting: + self.buffer.extend(self.serial.read(waiting)) + + while len(self.buffer) >= SBUS_FRAME_SIZE: + start_idx = self.buffer.find(0x0F) + if start_idx < 0: + self.buffer.clear() + break + if start_idx > 0: + del self.buffer[:start_idx] + if len(self.buffer) < SBUS_FRAME_SIZE: + break + frame = bytes(self.buffer[:SBUS_FRAME_SIZE]) + del self.buffer[:SBUS_FRAME_SIZE] + parsed = self._parse_frame(frame) + if parsed is not None: + self.state = parsed + return self.state + + def _parse_frame(self, frame: bytes) -> Optional[RemoteControlState]: + if len(frame) != SBUS_FRAME_SIZE or frame[0] != 0x0F: + return None + + channels = [0] * 16 + channels[0] = (frame[1] | (frame[2] << 8)) & 0x07FF + channels[1] = ((frame[2] >> 3) | (frame[3] << 5)) & 0x07FF + channels[2] = ((frame[3] >> 6) | (frame[4] << 2) | (frame[5] << 10)) & 0x07FF + channels[3] = ((frame[5] >> 1) | (frame[6] << 7)) & 0x07FF + channels[4] = ((frame[6] >> 4) | (frame[7] << 4)) & 0x07FF + channels[5] = ((frame[7] >> 7) | (frame[8] << 1) | (frame[9] << 9)) & 0x07FF + channels[6] = ((frame[9] >> 2) | (frame[10] << 6)) & 0x07FF + channels[7] = ((frame[10] >> 5) | (frame[11] << 3)) & 0x07FF + channels[8] = (frame[12] | (frame[13] << 8)) & 0x07FF + channels[9] = ((frame[13] >> 3) | (frame[14] << 5)) & 0x07FF + + if channels[0] < 100: + return None + + state = RemoteControlState( + ch1=self._normalize_axis(channels[0]), + ch2=self._normalize_axis(channels[1]), + ch3=self._normalize_axis(channels[3]), + ch4=self._normalize_axis(channels[2]), + switches=RemoteSwitchState( + ch5=self._decode_switch(channels[4]), + ch6=self._decode_switch(channels[5]), + ch7=self._decode_switch(channels[6]), + ch8=self._decode_switch(channels[7]), + ch9=self._decode_switch(channels[8]), + ch10=self._decode_switch(channels[9]), + ), + frame_ok=True, + ) + if any(abs(value) > 800 for value in (state.ch1, state.ch2, state.ch3, state.ch4)): + return None + return state + + def _normalize_axis(self, value: int) -> int: + mapped = int(round((value - SBUS_RC_MID) * SBUS_AXIS_SCALE / 800.0)) + return 0 if abs(mapped) <= self.axis_deadzone else mapped + + @staticmethod + def _decode_switch(value: int) -> int: + if value < 500: + return SWITCH_LOW + if value > 1500: + return SWITCH_HIGH + return SWITCH_MID + + +class RemoteUartNode(Node): + def __init__(self) -> None: + super().__init__("sim2real_remote_uart_node", allow_undeclared_parameters=True) + + self.enabled = bool(self.declare_parameter("remote_enabled", True).value) + self.port = str(self.declare_parameter("remote_port", "/dev/ttyACM0").value) + self.baudrate = int(self.declare_parameter("remote_baudrate", 100000).value) + self.timeout = float(self.declare_parameter("remote_timeout", 0.02).value) + self.axis_deadzone = int(self.declare_parameter("remote_axis_deadzone", 40).value) + self.active_threshold = int(self.declare_parameter("remote_active_threshold", 40).value) + self.axis_full_scale = max(float(self.declare_parameter("remote_axis_full_scale", 660.0).value), 1.0) + self.max_vx = float(self.declare_parameter("remote_max_vx", 0.8).value) + self.max_vy = float(self.declare_parameter("remote_max_vy", 0.3).value) + self.max_yaw = float(self.declare_parameter("remote_max_yaw_rate", 0.5).value) + self.invert_vx = bool(self.declare_parameter("remote_invert_vx", True).value) + self.invert_vy = bool(self.declare_parameter("remote_invert_vy", False).value) + self.invert_yaw = bool(self.declare_parameter("remote_invert_yaw", True).value) + self.publish_inactive_zero = bool(self.declare_parameter("remote_publish_inactive_zero", True).value) + self.estop_latch = bool(self.declare_parameter("remote_estop_latch", True).value) + self.poll_hz = float(self.declare_parameter("remote_poll_hz", 50.0).value) + self.default_mode = str(self.declare_parameter("cmd_mux_default_mode", "REMOTE").value).strip().upper() + self.model_switch_enabled = bool(self.declare_parameter("remote_model_switch_enabled", True).value) + self.model_switch_channel = int(self.declare_parameter("remote_model_switch_channel", 10).value) + self.model_switch_debounce_frames = max(int(self.declare_parameter("remote_model_switch_debounce_frames", 3).value), 1) + self.model_switch_rough_level = self.parse_switch_level( + str(self.declare_parameter("remote_model_switch_rough_level", "low").value) + ) + legacy_ik_level = str(self.declare_parameter("remote_model_switch_crawl_level", "").value).strip() + ik_level_default = legacy_ik_level if legacy_ik_level else "high" + self.model_switch_ik_level = self.parse_switch_level( + str(self.declare_parameter("remote_model_switch_ik_level", ik_level_default).value) + ) + + self.cmd_pub = self.create_publisher(Twist, "cmd_vel_remote", 10) + self.estop_pub = self.create_publisher(Bool, "/safety/estop", 10) + self.model_cmd_pub = self.create_publisher(String, "runtime/model_cmd", 10) + self.receiver: Optional[SbusUartReceiver] = None + self.estop_published = False + self.open_error_logged = False + self.remote_mode_active = self.default_mode == "REMOTE" + self.model_switch_candidate: Optional[int] = None + self.model_switch_candidate_count = 0 + self.model_switch_stable: Optional[int] = None + + self.create_subscription(String, "control/mode_state", self.on_mode_state, 10) + + if self.enabled: + self.receiver = SbusUartReceiver( + port=self.port, + baudrate=self.baudrate, + timeout=self.timeout, + axis_deadzone=self.axis_deadzone, + ) + try: + self.receiver.open() + self.get_logger().info(f"Remote UART opened on {self.port} at {self.baudrate} baud") + except Exception as exc: + self.get_logger().error(f"Failed to open remote UART {self.port}: {exc}") + self.open_error_logged = True + else: + self.get_logger().warn("Remote UART node is disabled by parameter") + + period = 1.0 / self.poll_hz if self.poll_hz > 0.0 else 0.02 + self.timer = self.create_timer(period, self.on_timer) + + def destroy_node(self) -> bool: + if self.receiver is not None: + self.receiver.close() + return super().destroy_node() + + def on_timer(self) -> None: + if not self.enabled or self.receiver is None: + return + + try: + if not self.receiver.serial or not self.receiver.serial.is_open: + self.receiver.open() + state = self.receiver.poll() + except Exception as exc: + if not self.open_error_logged: + self.get_logger().error(f"Remote UART poll failed: {exc}") + self.open_error_logged = True + return + + self.open_error_logged = False + + if state.estop_requested: + if not self.estop_published or not self.estop_latch: + self.estop_pub.publish(Bool(data=True)) + self.get_logger().warn("Remote E-stop requested by CH7 high") + self.estop_published = True + self.publish_zero_cmd() + return + + if not self.estop_latch and self.estop_published: + self.estop_pub.publish(Bool(data=False)) + self.estop_published = False + + self.handle_model_switch(state) + + active = any(abs(value) > self.active_threshold for value in (state.ch1, state.ch2, state.ch4)) + if active or self.publish_inactive_zero: + cmd = Twist() + cmd.linear.x = self.axis_to_velocity(state.ch2, self.max_vx, self.invert_vx) + cmd.linear.y = self.axis_to_velocity(state.ch4, self.max_vy, self.invert_vy) + cmd.angular.z = self.axis_to_velocity(state.ch1, self.max_yaw, self.invert_yaw) + self.cmd_pub.publish(cmd) + + def publish_zero_cmd(self) -> None: + self.cmd_pub.publish(Twist()) + + def on_mode_state(self, msg: String) -> None: + mode = str(msg.data).strip().upper() + remote_mode_active = mode == "REMOTE" + if remote_mode_active == self.remote_mode_active: + return + + self.remote_mode_active = remote_mode_active + self.reset_model_switch_tracking() + + def axis_to_velocity(self, raw_value: int, limit: float, invert: bool) -> float: + if abs(raw_value) <= self.active_threshold: + return 0.0 + scaled = max(-1.0, min(1.0, raw_value / self.axis_full_scale)) + if invert: + scaled = -scaled + return float(scaled * limit) + + @staticmethod + def parse_switch_level(value: str) -> int: + normalized = value.strip().lower() + if normalized == "low": + return SWITCH_LOW + if normalized == "high": + return SWITCH_HIGH + return SWITCH_MID + + def handle_model_switch(self, state: RemoteControlState) -> None: + if not self.model_switch_enabled or not self.remote_mode_active: + return + + switch_level = state.switches.get(self.model_switch_channel) + if switch_level is None: + return + + if switch_level == self.model_switch_candidate: + self.model_switch_candidate_count += 1 + else: + self.model_switch_candidate = switch_level + self.model_switch_candidate_count = 1 + + if self.model_switch_candidate_count < self.model_switch_debounce_frames: + return + + if switch_level == self.model_switch_stable: + return + + self.model_switch_stable = switch_level + + if switch_level == self.model_switch_rough_level: + self.model_cmd_pub.publish(String(data="rough")) + self.get_logger().info( + f"Remote model switch: CH{self.model_switch_channel} -> rough" + ) + elif switch_level == self.model_switch_ik_level: + self.model_cmd_pub.publish(String(data="ik")) + self.get_logger().info( + f"Remote model switch: CH{self.model_switch_channel} -> ik" + ) + + def reset_model_switch_tracking(self) -> None: + self.model_switch_candidate = None + self.model_switch_candidate_count = 0 + self.model_switch_stable = None + + +def main(args: Optional[list[str]] = None) -> None: + rclpy.init(args=args) + node = RemoteUartNode() + try: + rclpy.spin(node) + except (KeyboardInterrupt, ExternalShutdownException): + pass + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/simple_nav_node.py b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/simple_nav_node.py new file mode 100644 index 0000000..d659dca --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/simple_nav_node.py @@ -0,0 +1,3213 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +from dataclasses import dataclass +import heapq +import json +import math +from pathlib import Path +from typing import Any, Optional + +import rclpy +import yaml +from geometry_msgs.msg import PoseStamped, Twist +from rclpy.executors import ExternalShutdownException +from rclpy.node import Node +from std_msgs.msg import String +from tf2_ros import Buffer, TransformException, TransformListener + + +@dataclass(frozen=True) +class GoalSpec: + name: str + x: float + y: float + waypoint_id: Optional[int] = None + task: Optional[str] = None + segment: Optional[str] = None + yaw: Optional[float] = None + yaw_tolerance: Optional[float] = None + tolerance: float = 0.20 + speed: Optional[float] = None + policy: Optional[str] = None + require_yaw: bool = False + pre_dock_distance: Optional[float] = None + pre_dock_tolerance: Optional[float] = None + precision_follow: bool = False + stable_cycles: Optional[int] = None + lookahead: Optional[float] = None + yaw_rate_limit: Optional[float] = None + slalom_straight: bool = False + slalom_script_pos_tolerance: Optional[float] = None + + +@dataclass(frozen=True) +class SlalomScriptStep: + kind: str + start_index: int + end_index: int + target_x: float + target_y: float + target_yaw: Optional[float] + pos_tolerance: Optional[float] = None + forward: float = 0.0 + left: float = 0.0 + + +@dataclass(frozen=True) +class AvoidRegion: + name: str + kind: str + polygon: tuple[tuple[float, float], ...] + + +class SimpleNavNode(Node): + def __init__(self) -> None: + super().__init__("sim2real_simple_nav_node") + + self.map_frame = str(self.declare_parameter("nav_map_frame", "map").value) + self.base_frame = str(self.declare_parameter("nav_base_frame", "base_link").value) + self.control_hz = float(self.declare_parameter("nav_control_hz", 20.0).value) + self.goal_tolerance = float(self.declare_parameter("nav_goal_tolerance", 0.20).value) + self.yaw_stop_threshold = float(self.declare_parameter("nav_yaw_stop_threshold", 0.80).value) + self.max_vx = float(self.declare_parameter("nav_max_vx", 0.45).value) + self.max_vy = max(0.0, float(self.declare_parameter("nav_max_vy", 0.0).value)) + self.max_wz = float(self.declare_parameter("nav_max_wz", 0.8).value) + self.kp_dist = float(self.declare_parameter("nav_kp_dist", 0.8).value) + self.kp_yaw = float(self.declare_parameter("nav_kp_yaw", 1.8).value) + self.goal_exit_tolerance_margin = max( + 0.0, + float(self.declare_parameter("nav_goal_exit_tolerance_margin", 0.08).value), + ) + self.goal_complete_stable_cycles = max( + 1, + int(self.declare_parameter("nav_goal_complete_stable_cycles", 4).value), + ) + self.final_align_kp_yaw_scale = max( + 0.1, + float(self.declare_parameter("nav_final_align_kp_yaw_scale", 0.6).value), + ) + self.final_align_max_wz = max( + 0.05, + float(self.declare_parameter("nav_final_align_max_wz", 0.45).value), + ) + self.final_align_creep_speed = max( + 0.0, + float(self.declare_parameter("nav_final_align_creep_speed", 0.05).value), + ) + self.goals_file = str(self.declare_parameter("nav_goals_file", "").value) + self.missions_file = str(self.declare_parameter("nav_missions_file", "").value) + self.route_file = str(self.declare_parameter("nav_route_file", "").value) + self.route_task_file = str(self.declare_parameter("nav_route_task_file", "").value) + self.goal_yaw_tolerance = math.radians( + float(self.declare_parameter("nav_goal_yaw_tolerance_deg", 12.0).value) + ) + self.turn_in_place_enabled = bool( + self.declare_parameter("nav_turn_in_place_enabled", True).value + ) + self.turn_in_place_enter_yaw = math.radians( + max(0.0, float(self.declare_parameter("nav_turn_in_place_enter_yaw_deg", 70.0).value)) + ) + self.turn_in_place_exit_yaw = math.radians( + max(0.0, float(self.declare_parameter("nav_turn_in_place_exit_yaw_deg", 18.0).value)) + ) + self.turn_in_place_max_wz = max( + 0.05, + float(self.declare_parameter("nav_turn_in_place_max_wz", 0.8).value), + ) + self.astar_enabled = bool(self.declare_parameter("nav_astar_enabled", True).value) + self.astar_resolution = max( + 0.05, + float(self.declare_parameter("nav_astar_resolution", 0.10).value), + ) + self.astar_pcd_sample_step = max( + 1, + int(self.declare_parameter("nav_astar_pcd_sample_step", 5).value), + ) + self.astar_allow_diagonal = bool( + self.declare_parameter("nav_astar_allow_diagonal", True).value + ) + self.astar_smooth_enabled = bool( + self.declare_parameter("nav_astar_smooth_enabled", True).value + ) + self.astar_corner_blend_dist = max( + 0.0, + float(self.declare_parameter("nav_astar_corner_blend_dist", 0.20).value), + ) + self.astar_waypoint_reach_dist = max( + 0.05, + float(self.declare_parameter("nav_astar_waypoint_reach_dist", 0.18).value), + ) + self.astar_lookahead_dist = max( + self.astar_waypoint_reach_dist, + float(self.declare_parameter("nav_astar_lookahead_dist", 0.35).value), + ) + self.astar_snap_radius = max( + self.astar_resolution, + float(self.declare_parameter("nav_astar_snap_radius", 0.60).value), + ) + self.astar_max_expansions = max( + 1000, + int(self.declare_parameter("nav_astar_max_expansions", 120000).value), + ) + self.slalom_auto_precision_enabled = bool( + self.declare_parameter("nav_slalom_auto_precision_enabled", True).value + ) + self.slalom_auto_precision_force = bool( + self.declare_parameter("nav_slalom_auto_precision_force", True).value + ) + self.slalom_task_names = self.parse_csv_set( + self.declare_parameter("nav_slalom_task_names", "slalom").value, + {"slalom"}, + ) + self.slalom_stable_cycles = max( + 0, + int(self.declare_parameter("nav_slalom_stable_cycles", 0).value), + ) + self.slalom_lookahead = max( + self.astar_waypoint_reach_dist, + float(self.declare_parameter("nav_slalom_lookahead", 0.35).value), + ) + self.slalom_yaw_rate_limit = max( + 0.01, + float(self.declare_parameter("nav_slalom_yaw_rate_limit", 0.45).value), + ) + self.slalom_tolerance = max( + 0.01, + float(self.declare_parameter("nav_slalom_tolerance", 0.15).value), + ) + self.slalom_max_vx = max( + 0.0, + float(self.declare_parameter("nav_slalom_max_vx", 0.55).value), + ) + self.slalom_min_vx = max( + 0.0, + float(self.declare_parameter("nav_slalom_min_vx", 0.08).value), + ) + self.slalom_curvature_slowdown_enabled = bool( + self.declare_parameter("nav_slalom_curvature_slowdown_enabled", True).value + ) + self.slalom_min_turn_speed_scale = self.clamp( + float(self.declare_parameter("nav_slalom_min_turn_speed_scale", 0.45).value), + 0.05, + 1.0, + ) + self.slalom_script_enabled = bool( + self.declare_parameter("nav_slalom_script_enabled", False).value + ) + self.slalom_script_start_tolerance = max( + 0.01, + float(self.declare_parameter("nav_slalom_script_start_tolerance", 0.10).value), + ) + self.slalom_script_pos_tolerance = max( + 0.01, + float(self.declare_parameter("nav_slalom_script_pos_tolerance", 0.08).value), + ) + self.slalom_script_yaw_tolerance = math.radians( + max(0.0, float(self.declare_parameter("nav_slalom_script_yaw_tolerance_deg", 5.0).value)) + ) + self.slalom_script_drive_yaw_deadband = math.radians( + max(0.0, float(self.declare_parameter("nav_slalom_script_drive_yaw_deadband_deg", 5.0).value)) + ) + self.slalom_script_segment_yaw_min_dist = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_segment_yaw_min_dist", 0.0).value), + ) + self.slalom_script_stable_cycles = max( + 1, + int(self.declare_parameter("nav_slalom_script_stable_cycles", 1).value), + ) + self.slalom_script_rotate_steps_enabled = bool( + self.declare_parameter("nav_slalom_script_rotate_steps_enabled", False).value + ) + self.slalom_script_final_rotate_enabled = bool( + self.declare_parameter("nav_slalom_script_final_rotate_enabled", False).value + ) + self.slalom_script_require_yaw_at_step = bool( + self.declare_parameter("nav_slalom_script_require_yaw_at_step", False).value + ) + self.slalom_script_kp_dist = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_kp_dist", 1.0).value), + ) + self.slalom_script_kp_yaw = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_kp_yaw", 1.6).value), + ) + self.slalom_script_max_vx = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_max_vx", 0.60).value), + ) + self.slalom_script_max_vy = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_max_vy", 0.50).value), + ) + self.slalom_script_max_wz = max( + 0.01, + float(self.declare_parameter("nav_slalom_script_max_wz", 0.50).value), + ) + self.slalom_script_min_cmd_linear = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_min_cmd_linear", 0.20).value), + ) + self.slalom_script_min_cmd_angular = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_min_cmd_angular", 0.0).value), + ) + self.slalom_script_min_cmd_epsilon = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_min_cmd_epsilon", 0.05).value), + ) + self.slalom_script_min_step_distance = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_min_step_distance", 0.02).value), + ) + self.slalom_script_yaw_gate = math.radians( + max(0.0, float(self.declare_parameter("nav_slalom_script_yaw_gate_deg", 25.0).value)) + ) + self.slalom_script_lateral_gate = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_lateral_gate", 0.08).value), + ) + self.slalom_script_lateral_slow_gate = max( + self.slalom_script_lateral_gate, + float(self.declare_parameter("nav_slalom_script_lateral_slow_gate", 0.18).value), + ) + self.slalom_script_lateral_creep_vx = max( + 0.0, + float(self.declare_parameter("nav_slalom_script_lateral_creep_vx", 0.22).value), + ) + self.slalom_script_drive_yaw_source = str( + self.declare_parameter("nav_slalom_script_drive_yaw_source", "segment").value + ).strip().lower() + if self.slalom_script_drive_yaw_source not in {"current", "next", "segment"}: + self.slalom_script_drive_yaw_source = "current" + self.precision_lateral_control_enabled = bool( + self.declare_parameter("nav_precision_lateral_control_enabled", False).value + ) + self.precision_lateral_kp = max( + 0.0, + float(self.declare_parameter("nav_precision_lateral_kp", 0.8).value), + ) + self.precision_lateral_max_vy = max( + 0.0, + float(self.declare_parameter("nav_precision_lateral_max_vy", 0.15).value), + ) + self.local_planner_enabled = bool( + self.declare_parameter("nav_local_planner_enabled", True).value + ) + self.local_planner_task_names = self.parse_csv_set( + self.declare_parameter("nav_local_planner_tasks", "slalom").value, + {"slalom"}, + ) + self.local_planner_precision_enabled = bool( + self.declare_parameter("nav_local_planner_precision_enabled", True).value + ) + self.local_planner_sim_time = max( + 0.05, + float(self.declare_parameter("nav_local_planner_sim_time", 0.9).value), + ) + self.local_planner_sim_dt = max( + 0.02, + float(self.declare_parameter("nav_local_planner_sim_dt", 0.1).value), + ) + self.local_planner_v_samples = max( + 1, + int(self.declare_parameter("nav_local_planner_v_samples", 5).value), + ) + self.local_planner_w_samples = max( + 1, + int(self.declare_parameter("nav_local_planner_w_samples", 7).value), + ) + self.local_planner_vy_samples = max( + 1, + int(self.declare_parameter("nav_local_planner_vy_samples", 3).value), + ) + self.local_planner_obstacle_margin = max( + 0.0, + float(self.declare_parameter("nav_local_planner_obstacle_margin", 0.08).value), + ) + self.local_planner_recovery_clearance_epsilon = max( + 0.0, + float( + self.declare_parameter( + "nav_local_planner_recovery_clearance_epsilon", + 0.005, + ).value + ), + ) + self.configured_local_planner_robot_radius = float( + self.declare_parameter("nav_local_planner_robot_radius", 0.0).value + ) + self.local_planner_clearance_weight = float( + self.declare_parameter("nav_local_planner_clearance_weight", 2.0).value + ) + self.local_planner_path_weight = float( + self.declare_parameter("nav_local_planner_path_weight", 2.0).value + ) + self.local_planner_heading_weight = float( + self.declare_parameter("nav_local_planner_heading_weight", 0.7).value + ) + self.local_planner_speed_weight = float( + self.declare_parameter("nav_local_planner_speed_weight", 0.3).value + ) + self.local_planner_nominal_weight = float( + self.declare_parameter("nav_local_planner_nominal_weight", 1.0).value + ) + self.local_planner_min_vx = max( + 0.0, + float(self.declare_parameter("nav_local_planner_min_vx", 0.08).value), + ) + self.slalom_script_safety_filter_enabled = bool( + self.declare_parameter("nav_slalom_script_safety_filter_enabled", False).value + ) + self.local_planner_use_astar_grid = bool( + self.declare_parameter("nav_local_planner_use_astar_grid", False).value + ) + self.pre_dock_enabled = bool(self.declare_parameter("nav_pre_dock_enabled", True).value) + self.pre_dock_distance = max( + 0.0, + float(self.declare_parameter("nav_pre_dock_distance", 0.35).value), + ) + self.pre_dock_tolerance = max( + 0.01, + float(self.declare_parameter("nav_pre_dock_tolerance", 0.18).value), + ) + self.pre_dock_skip_within_goal_dist = max( + 0.0, + float(self.declare_parameter("nav_pre_dock_skip_within_goal_dist", 0.45).value), + ) + self.pcd_nav_file = str(self.declare_parameter("pcd_nav_file", "").value) + self.pcd_floor_z_min = float(self.declare_parameter("pcd_floor_z_min", -1.6).value) + self.pcd_floor_z_max = float(self.declare_parameter("pcd_floor_z_max", 0.4).value) + self.pcd_sample_step = max(1, int(self.declare_parameter("pcd_sample_step", 25).value)) + self.pcd_robot_radius = max( + 0.0, + float(self.declare_parameter("pcd_robot_radius", 0.18).value), + ) + self.avoid_regions_enabled = bool( + self.declare_parameter("nav_avoid_regions_enabled", True).value + ) + self.avoid_region_margin = max( + 0.0, + float(self.declare_parameter("nav_avoid_region_margin", 0.05).value), + ) + self.configured_avoid_footprint_radius = float( + self.declare_parameter("nav_avoid_footprint_radius", 0.0).value + ) + self.robot_body_length = max( + 0.0, + float(self.declare_parameter("nav_robot_body_length", 0.356).value), + ) + self.robot_body_width = max( + 0.0, + float(self.declare_parameter("nav_robot_body_width", 0.235).value), + ) + self.robot_origin_from_front = max( + 0.0, + float(self.declare_parameter("nav_robot_origin_from_front", 0.105).value), + ) + self.robot_body_center_x = float( + self.declare_parameter("nav_robot_body_center_x", 0.1518).value + ) + self.robot_pose_hip = float( + self.declare_parameter("nav_robot_pose_hip", 0.550).value + ) + self.robot_pose_knee = float( + self.declare_parameter("nav_robot_pose_knee", -1.125).value + ) + self.robot_wheel_vis_length = max( + 0.0, + float(self.declare_parameter("nav_robot_wheel_vis_length", 0.16).value), + ) + self.robot_wheel_vis_width = max( + 0.0, + float(self.declare_parameter("nav_robot_wheel_vis_width", 0.055).value), + ) + self.robot_footprint_padding = max( + 0.0, + float(self.declare_parameter("nav_robot_footprint_padding", 0.03).value), + ) + self.robot_footprint_radius = self.compute_robot_footprint_radius() + self.robot_lateral_footprint_radius = self.compute_robot_lateral_footprint_radius() + self.avoid_footprint_radius = ( + max(0.0, self.configured_avoid_footprint_radius) + if self.configured_avoid_footprint_radius > 0.0 + else self.robot_lateral_footprint_radius + ) + self.local_planner_robot_radius = ( + max(0.0, self.configured_local_planner_robot_radius) + if self.configured_local_planner_robot_radius > 0.0 + else self.robot_lateral_footprint_radius + ) + self.route_align_enabled = bool( + self.declare_parameter("nav_route_auto_align_enabled", True).value + ) + self.route_rotation_offset_deg = float( + self.declare_parameter("nav_route_rotation_offset_deg", 0.0).value + ) + self.route_align_max_angle_deg = abs( + float(self.declare_parameter("nav_route_align_max_angle_deg", 6.0).value) + ) + self.route_align_angle_step_deg = max( + 0.1, + float(self.declare_parameter("nav_route_align_angle_step_deg", 0.5).value), + ) + self.route_align_search_radius = max( + 0.05, + float(self.declare_parameter("nav_route_align_search_radius", 0.35).value), + ) + self.policy_retry_period_s = max( + 0.1, + float(self.declare_parameter("nav_policy_retry_period_s", 0.5).value), + ) + + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + + self.cmd_pub = self.create_publisher(Twist, "cmd_vel_nav", 10) + self.goal_pose_pub = self.create_publisher(PoseStamped, "simple_nav/goal_pose", 10) + self.status_pub = self.create_publisher(String, "simple_nav/status", 10) + self.record_pub = self.create_publisher(String, "simple_nav/recorded_pose", 10) + self.path_pub = self.create_publisher(String, "simple_nav/path", 10) + self.model_cmd_pub = self.create_publisher(String, "runtime/model_cmd", 10) + self.create_subscription(String, "simple_nav/cmd", self.on_command, 10) + self.create_subscription(String, "runtime/model_status", self.on_model_status, 10) + + self.route_alignment_info: dict[str, Any] = {} + self.pcd_points = self.load_filtered_pcd(Path(self.pcd_nav_file)) if self.pcd_nav_file else [] + self.astar_source_points = ( + self.load_filtered_pcd(Path(self.pcd_nav_file), sample_step=self.astar_pcd_sample_step) + if self.pcd_nav_file and self.astar_enabled + else [] + ) + self.route_avoid_regions: list[AvoidRegion] = [] + self.astar_walkable_cells: set[tuple[int, int]] = set() + self.astar_grid_info: dict[str, Any] = {} + self.goals: dict[str, GoalSpec] = {} + self.missions: dict[str, list[str]] = {} + self.default_mission_name: Optional[str] = None + self.task_goal_names: dict[str, list[str]] = {} + self.task_order: list[str] = [] + self.waypoint_id_goal_names: dict[int, str] = {} + self.reload_navigation_data() + self.active_goal: Optional[GoalSpec] = None + self.active_mission_name: Optional[str] = None + self.active_mission_goals: list[str] = [] + self.active_mission_index = 0 + self.active_goal_stage = "idle" + self.pending_final_goal: Optional[GoalSpec] = None + self.active_path_world: list[tuple[float, float]] = [] + self.active_path_index = 0 + self.active_path_goal_key: Optional[tuple[Any, ...]] = None + self.active_precision_segment_start: Optional[int] = None + self.active_precision_segment_end: Optional[int] = None + self.last_published_path_signature: Optional[tuple[str, str, int, int]] = None + self.slalom_script_active = False + self.slalom_script_key: Optional[tuple[str, int, int]] = None + self.slalom_script_steps: list[SlalomScriptStep] = [] + self.slalom_script_step_index = 0 + self.slalom_script_step_stable_count = 0 + self.turn_in_place_mode = False + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + self.pose_waiting_reported = False + self.current_model_policy: Optional[str] = None + self.pending_policy: Optional[str] = None + self.model_switching = False + self.last_policy_request_time = self.get_clock().now() + + period = 1.0 / self.control_hz if self.control_hz > 0.0 else 0.05 + self.timer = self.create_timer(period, self.on_timer) + self.get_logger().info( + "Simple nav started " + f"(map_frame={self.map_frame}, base_frame={self.base_frame}, " + f"goals={len(self.goals)}, missions={len(self.missions)}, " + f"default_mission={self.default_mission_name or 'none'}, " + f"route_source={self.get_route_source_file() or 'none'}, " + f"avoid_regions={len(self.route_avoid_regions)}, " + f"astar_cells={len(self.astar_walkable_cells)})" + ) + + def _load_yaml(self, path_value: str) -> dict[str, Any]: + if not path_value: + return {} + path = Path(path_value).expanduser() + if not path.exists(): + self.get_logger().warn(f"YAML file not found: {path}") + return {} + try: + with path.open("r", encoding="utf-8") as f: + data = yaml.safe_load(f) or {} + return data if isinstance(data, dict) else {} + except Exception as exc: + self.get_logger().error(f"Failed to load YAML {path}: {exc}") + return {} + + def _normalize_policy(self, value: Any) -> Optional[str]: + text = str(value).strip().lower() + if not text: + return None + if text == "ik": + return "crawl" + if text in {"rough", "crawl", "wall"}: + return text + return None + + def _normalize_task(self, value: Any) -> Optional[str]: + if value is None: + return None + text = str(value).strip().lower() + if text == "ramp_bridge": + text = "ramp" + elif text == "stairs": + text = "stairs_up" + if text in {"", "none", "null", "custom", "flat"}: + return None + return text or None + + def parse_csv_set(self, value: Any, default: set[str]) -> set[str]: + if isinstance(value, (list, tuple)): + items = value + else: + items = str(value or "").replace(";", ",").split(",") + parsed = { + normalized + for item in items + if (normalized := self._normalize_task(item)) is not None + } + return parsed or set(default) + + def is_slalom_task(self, task: Any) -> bool: + normalized = self._normalize_task(task) + return bool(normalized is not None and normalized in self.slalom_task_names) + + def should_auto_precision_for_task(self, task: Any) -> bool: + return bool(self.slalom_auto_precision_enabled and self.is_slalom_task(task)) + + @staticmethod + def _get_value(data: dict[str, Any], *keys: str) -> Any: + for key in keys: + if key in data and data.get(key) is not None: + return data.get(key) + return None + + @classmethod + def _get_float(cls, data: dict[str, Any], *keys: str) -> Optional[float]: + value = cls._get_value(data, *keys) + if value is None: + return None + try: + return float(value) + except (TypeError, ValueError): + return None + + @classmethod + def _get_bool(cls, data: dict[str, Any], *keys: str) -> Optional[bool]: + value = cls._get_value(data, *keys) + 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 + + @classmethod + def _get_int(cls, data: dict[str, Any], *keys: str) -> Optional[int]: + value = cls._get_value(data, *keys) + if value is None: + return None + try: + return int(value) + except (TypeError, ValueError): + return None + + def compute_robot_footprint_radius(self) -> float: + half_width = self.robot_body_width * 0.5 + body_center_offset_x = self.robot_origin_from_front - self.robot_body_length * 0.5 + radius = max( + self.pcd_robot_radius, + math.hypot(body_center_offset_x + self.robot_body_length * 0.5, half_width), + math.hypot(body_center_offset_x + self.robot_body_length * -0.5, half_width), + ) + + for wheel_x, wheel_y in self.robot_wheel_local_points(body_center_offset_x): + for sx in (-0.5, 0.5): + for sy in (-0.5, 0.5): + radius = max( + radius, + math.hypot( + wheel_x + sx * self.robot_wheel_vis_length, + wheel_y + sy * self.robot_wheel_vis_width, + ), + ) + return radius + self.robot_footprint_padding + + def compute_robot_lateral_footprint_radius(self) -> float: + half_width = self.robot_body_width * 0.5 + radius = max(self.pcd_robot_radius, half_width) + body_center_offset_x = self.robot_origin_from_front - self.robot_body_length * 0.5 + for _, wheel_y in self.robot_wheel_local_points(body_center_offset_x): + radius = max(radius, abs(wheel_y) + self.robot_wheel_vis_width * 0.5) + return radius + self.robot_footprint_padding + + def robot_wheel_local_points(self, body_center_offset_x: float) -> list[tuple[float, float]]: + thigh_dx = -0.25 * math.sin(self.robot_pose_hip) + shank_dx = -0.2 * math.sin(self.robot_pose_hip + self.robot_pose_knee) + wheel_positions = ( + ((0.32826 + 0.06389) - self.robot_body_center_x, 0.066172 - 0.027344, 0.1035, 0.014699, 0.04074, 0.0), + ((0.32826 + 0.06389) - self.robot_body_center_x, -0.065853 + 0.027311, -0.1035, -0.018447, -0.040735, -0.00075079), + ((-0.024743 - 0.06389) - self.robot_body_center_x, 0.066141 - 0.027309, 0.099459, 0.012475, 0.040737, 0.0), + ((-0.024743 - 0.06389) - self.robot_body_center_x, -0.065884 + 0.027341, -0.099408, -0.012435, -0.040737, -0.00075079), + ) + return [ + ( + body_center_offset_x + pitch_x + knee_x + thigh_dx + shank_dx, + pitch_y + knee_y + wheel_y + wheel_geom_y, + ) + for pitch_x, pitch_y, knee_y, wheel_y, wheel_geom_y, knee_x in wheel_positions + ] + + def _load_goals(self, path_value: str) -> dict[str, GoalSpec]: + data = self._load_yaml(path_value) + raw_goals = data.get("goals", {}) + parsed: dict[str, GoalSpec] = {} + if not isinstance(raw_goals, dict): + return parsed + for name, spec in raw_goals.items(): + if not isinstance(spec, dict): + continue + pos = spec.get("position", [0.0, 0.0, 0.0]) + if not isinstance(pos, list) or len(pos) < 2: + continue + try: + x = float(pos[0]) + y = float(pos[1]) + yaw_value = self._get_float(spec, "yaw_deg", "yawDeg") + yaw = math.radians(float(yaw_value)) if yaw_value is not None else None + tolerance = float(spec.get("tolerance", self.goal_tolerance)) + speed = float(spec["speed"]) if spec.get("speed") is not None else None + yaw_tolerance_deg = self._get_float(spec, "yaw_tolerance_deg", "yawToleranceDeg") + require_yaw = self._get_bool(spec, "require_yaw", "requireYaw") + parsed[name] = GoalSpec( + name=str(name), + x=x, + y=y, + yaw=yaw, + yaw_tolerance=( + math.radians(max(0.0, yaw_tolerance_deg)) + if yaw_tolerance_deg is not None else None + ), + tolerance=max(0.01, tolerance), + speed=speed, + policy=self._normalize_policy(spec.get("policy")), + require_yaw=bool(yaw is not None if require_yaw is None else require_yaw) and yaw is not None, + pre_dock_distance=self._get_float(spec, "pre_dock_distance", "preDockDistance"), + pre_dock_tolerance=self._get_float(spec, "pre_dock_tolerance", "preDockTolerance"), + precision_follow=bool(self._get_bool(spec, "precision_follow", "precisionFollow")), + stable_cycles=self._get_int(spec, "stable_cycles", "stableCycles"), + lookahead=self._get_float(spec, "lookahead", "lookAhead"), + yaw_rate_limit=self._get_float(spec, "yaw_rate_limit", "yawRateLimit"), + slalom_straight=bool(self._get_bool(spec, "slalom_straight", "slalomStraight")), + ) + except (TypeError, ValueError): + continue + return parsed + + def _load_missions(self, path_value: str) -> dict[str, list[str]]: + data = self._load_yaml(path_value) + raw_missions = data.get("missions", {}) + parsed: dict[str, list[str]] = {} + if not isinstance(raw_missions, dict): + return parsed + for name, spec in raw_missions.items(): + if not isinstance(spec, dict): + continue + goals = spec.get("goals", []) + if isinstance(goals, list) and all(isinstance(item, str) for item in goals) and goals: + parsed[name] = goals + return parsed + + def load_filtered_pcd( + self, + path: Path, + sample_step: Optional[int] = None, + ) -> list[tuple[float, float]]: + if not path.exists(): + self.get_logger().warn(f"PCD file not found for route alignment: {path}") + return [] + + points: list[tuple[float, float]] = [] + data_started = False + try: + with path.open("r", encoding="utf-8") as f: + for line in f: + stripped = line.strip() + if not stripped: + continue + if data_started: + parts = stripped.split() + if len(parts) < 3: + continue + try: + x = float(parts[0]) + y = float(parts[1]) + z = float(parts[2]) + except ValueError: + continue + if self.pcd_floor_z_min <= z <= self.pcd_floor_z_max: + points.append((x, y)) + elif stripped.upper().startswith("DATA"): + if "ascii" not in stripped.lower(): + self.get_logger().warn("Only ASCII PCD is supported for route alignment") + return [] + data_started = True + except Exception as exc: + self.get_logger().warn(f"Failed to load PCD {path}: {exc}") + return [] + step = self.pcd_sample_step if sample_step is None else max(1, int(sample_step)) + return points[::step] + + def build_astar_grid( + self, + points: list[tuple[float, float]], + ) -> tuple[set[tuple[int, int]], dict[str, Any]]: + if not self.astar_enabled or not points: + return set(), {} + + resolution = self.astar_resolution + raw_cells = { + self.world_to_cell(x, y) + for x, y in points + } + if not raw_cells: + return set(), {} + + clearance_cells = max(0, int(math.ceil(self.pcd_robot_radius / resolution)) - 1) + walkable_cells = raw_cells + if clearance_cells > 0: + offsets = [ + (dx, dy) + for dx in range(-clearance_cells, clearance_cells + 1) + for dy in range(-clearance_cells, clearance_cells + 1) + if math.hypot(dx, dy) * resolution <= self.pcd_robot_radius + 1.0e-9 + ] + filtered = { + cell for cell in raw_cells + if all((cell[0] + dx, cell[1] + dy) in raw_cells for dx, dy in offsets) + } + if filtered: + walkable_cells = filtered + + before_avoid_count = len(walkable_cells) + if self.avoid_regions_enabled and self.route_avoid_regions: + walkable_cells = { + cell for cell in walkable_cells + if not self.cell_blocked_by_avoid_regions(cell) + } + if not walkable_cells: + return set(), { + "resolution": resolution, + "clearance_cells": clearance_cells, + "cell_count": 0, + "avoid_regions": len(self.route_avoid_regions), + "avoid_blocked_cells": before_avoid_count, + "bounds": [], + } + + xs = [cell[0] for cell in walkable_cells] + ys = [cell[1] for cell in walkable_cells] + return walkable_cells, { + "resolution": resolution, + "clearance_cells": clearance_cells, + "cell_count": len(walkable_cells), + "avoid_regions": len(self.route_avoid_regions), + "avoid_clearance": self.avoid_clearance(), + "avoid_blocked_cells": before_avoid_count - len(walkable_cells), + "bounds": [min(xs), min(ys), max(xs), max(ys)], + } + + def world_to_cell(self, x: float, y: float) -> tuple[int, int]: + resolution = self.astar_resolution + return int(round(float(x) / resolution)), int(round(float(y) / resolution)) + + def cell_to_world(self, cell: tuple[int, int]) -> tuple[float, float]: + resolution = self.astar_resolution + return float(cell[0]) * resolution, float(cell[1]) * resolution + + def avoid_clearance(self) -> float: + if not self.avoid_regions_enabled or not self.route_avoid_regions: + return 0.0 + return self.avoid_footprint_radius + self.avoid_region_margin + + def cell_blocked_by_avoid_regions(self, cell: tuple[int, int]) -> bool: + x, y = self.cell_to_world(cell) + return self.point_blocked_by_avoid_regions(x, y) + + def point_blocked_by_avoid_regions(self, x: float, y: float) -> bool: + if not self.avoid_regions_enabled or not self.route_avoid_regions: + return False + clearance = self.avoid_clearance() + for region in self.route_avoid_regions: + if self.point_in_region_clearance(x, y, region.polygon, clearance): + return True + return False + + @classmethod + def point_in_region_clearance( + cls, + x: float, + y: float, + polygon: tuple[tuple[float, float], ...], + clearance: float, + ) -> bool: + if len(polygon) < 3: + return False + min_x = min(point[0] for point in polygon) - clearance + max_x = max(point[0] for point in polygon) + clearance + min_y = min(point[1] for point in polygon) - clearance + max_y = max(point[1] for point in polygon) + clearance + if x < min_x or x > max_x or y < min_y or y > max_y: + return False + if cls.point_in_polygon(x, y, polygon): + return True + if clearance <= 0.0: + return False + return any( + cls.point_segment_distance(x, y, ax, ay, bx, by) <= clearance + for (ax, ay), (bx, by) in zip(polygon, polygon[1:] + polygon[:1]) + ) + + @staticmethod + def point_in_polygon( + x: float, + y: float, + polygon: tuple[tuple[float, float], ...], + ) -> bool: + inside = False + count = len(polygon) + for index in range(count): + ax, ay = polygon[index] + bx, by = polygon[(index + 1) % count] + if SimpleNavNode.point_segment_distance(x, y, ax, ay, bx, by) <= 1.0e-9: + return True + intersects = (ay > y) != (by > y) + if intersects: + cross_x = (bx - ax) * (y - ay) / ((by - ay) or 1.0e-12) + ax + if x < cross_x: + inside = not inside + return inside + + @staticmethod + def point_segment_distance( + px: float, + py: float, + ax: float, + ay: float, + bx: float, + by: float, + ) -> float: + dx = bx - ax + dy = by - ay + length_sq = dx * dx + dy * dy + if length_sq <= 1.0e-12: + return math.hypot(px - ax, py - ay) + t = max(0.0, min(1.0, ((px - ax) * dx + (py - ay) * dy) / length_sq)) + cx = ax + t * dx + cy = ay + t * dy + return math.hypot(px - cx, py - cy) + + def nearest_walkable_cell( + self, + x: float, + y: float, + ) -> Optional[tuple[int, int]]: + if not self.astar_walkable_cells: + return None + + base = self.world_to_cell(x, y) + if base in self.astar_walkable_cells: + return base + + max_radius_cells = max(1, int(math.ceil(self.astar_snap_radius / self.astar_resolution))) + best_cell: Optional[tuple[int, int]] = None + best_dist_sq = float("inf") + for radius in range(1, max_radius_cells + 1): + for dx in range(-radius, radius + 1): + for dy in range(-radius, radius + 1): + if max(abs(dx), abs(dy)) != radius: + continue + candidate = (base[0] + dx, base[1] + dy) + if candidate not in self.astar_walkable_cells: + continue + wx, wy = self.cell_to_world(candidate) + dist_sq = (wx - x) * (wx - x) + (wy - y) * (wy - y) + if dist_sq < best_dist_sq: + best_dist_sq = dist_sq + best_cell = candidate + if best_cell is not None: + return best_cell + return None + + def astar_neighbors(self, cell: tuple[int, int]) -> list[tuple[tuple[int, int], float]]: + steps = [ + ((1, 0), 1.0), + ((-1, 0), 1.0), + ((0, 1), 1.0), + ((0, -1), 1.0), + ] + if self.astar_allow_diagonal: + diag_cost = math.sqrt(2.0) + steps.extend([ + ((1, 1), diag_cost), + ((1, -1), diag_cost), + ((-1, 1), diag_cost), + ((-1, -1), diag_cost), + ]) + + neighbors: list[tuple[tuple[int, int], float]] = [] + for (dx, dy), cost in steps: + candidate = (cell[0] + dx, cell[1] + dy) + if candidate not in self.astar_walkable_cells: + continue + if dx != 0 and dy != 0: + if ( + (cell[0] + dx, cell[1]) not in self.astar_walkable_cells + or (cell[0], cell[1] + dy) not in self.astar_walkable_cells + ): + continue + neighbors.append((candidate, cost)) + return neighbors + + @staticmethod + def reconstruct_cell_path( + parents: dict[tuple[int, int], tuple[int, int]], + goal_cell: tuple[int, int], + ) -> list[tuple[int, int]]: + path = [goal_cell] + current = goal_cell + while current in parents: + current = parents[current] + path.append(current) + path.reverse() + return path + + def simplify_cell_path(self, cells: list[tuple[int, int]]) -> list[tuple[int, int]]: + if len(cells) <= 2: + return cells + simplified = [cells[0]] + prev_dir: Optional[tuple[int, int]] = None + for index in range(1, len(cells)): + dx = cells[index][0] - cells[index - 1][0] + dy = cells[index][1] - cells[index - 1][1] + step = ( + 0 if dx == 0 else int(dx / abs(dx)), + 0 if dy == 0 else int(dy / abs(dy)), + ) + if prev_dir is None: + prev_dir = step + continue + if step != prev_dir: + simplified.append(cells[index - 1]) + prev_dir = step + simplified.append(cells[-1]) + return simplified + + def cells_line_of_sight(self, start: tuple[int, int], end: tuple[int, int]) -> bool: + x0, y0 = start + x1, y1 = end + dx = abs(x1 - x0) + dy = abs(y1 - y0) + sx = 1 if x1 >= x0 else -1 + sy = 1 if y1 >= y0 else -1 + err = dx - dy + x = x0 + y = y0 + while True: + if (x, y) not in self.astar_walkable_cells: + return False + if x == x1 and y == y1: + return True + e2 = 2 * err + next_x = x + next_y = y + if e2 > -dy: + err -= dy + next_x += sx + if e2 < dx: + err += dx + next_y += sy + if next_x != x and next_y != y: + if ( + (next_x, y) not in self.astar_walkable_cells + or (x, next_y) not in self.astar_walkable_cells + ): + return False + x = next_x + y = next_y + + def shortcut_cell_path(self, cells: list[tuple[int, int]]) -> list[tuple[int, int]]: + if len(cells) <= 2: + return cells + shortened = [cells[0]] + anchor_index = 0 + while anchor_index < len(cells) - 1: + best_index = anchor_index + 1 + for candidate_index in range(len(cells) - 1, anchor_index, -1): + if self.cells_line_of_sight(cells[anchor_index], cells[candidate_index]): + best_index = candidate_index + break + shortened.append(cells[best_index]) + anchor_index = best_index + return shortened + + def blend_world_path(self, points: list[tuple[float, float]]) -> list[tuple[float, float]]: + if not self.astar_smooth_enabled or len(points) <= 2 or self.astar_corner_blend_dist <= 1.0e-6: + return points + + smoothed: list[tuple[float, float]] = [points[0]] + for index in range(1, len(points) - 1): + ax, ay = points[index - 1] + bx, by = points[index] + cx, cy = points[index + 1] + in_dx = bx - ax + in_dy = by - ay + out_dx = cx - bx + out_dy = cy - by + in_len = math.hypot(in_dx, in_dy) + out_len = math.hypot(out_dx, out_dy) + if in_len <= 1.0e-6 or out_len <= 1.0e-6: + smoothed.append((bx, by)) + continue + in_ux = in_dx / in_len + in_uy = in_dy / in_len + out_ux = out_dx / out_len + out_uy = out_dy / out_len + turn_measure = in_ux * out_ux + in_uy * out_uy + if turn_measure > 0.98: + smoothed.append((bx, by)) + continue + blend = min(self.astar_corner_blend_dist, in_len * 0.35, out_len * 0.35) + if blend <= 1.0e-6: + smoothed.append((bx, by)) + continue + pre = (bx - in_ux * blend, by - in_uy * blend) + post = (bx + out_ux * blend, by + out_uy * blend) + if math.hypot(pre[0] - smoothed[-1][0], pre[1] - smoothed[-1][1]) > 1.0e-6: + smoothed.append(pre) + smoothed.append((bx, by)) + if math.hypot(post[0] - bx, post[1] - by) > 1.0e-6: + smoothed.append(post) + smoothed.append(points[-1]) + return smoothed + + def compute_astar_path( + self, + start_xy: tuple[float, float], + goal_xy: tuple[float, float], + ) -> list[tuple[float, float]]: + if not self.astar_enabled or not self.astar_walkable_cells: + return [] + if self.point_blocked_by_avoid_regions(start_xy[0], start_xy[1]): + return [] + if self.point_blocked_by_avoid_regions(goal_xy[0], goal_xy[1]): + return [] + + start_cell = self.nearest_walkable_cell(start_xy[0], start_xy[1]) + goal_cell = self.nearest_walkable_cell(goal_xy[0], goal_xy[1]) + if start_cell is None or goal_cell is None: + return [] + if start_cell == goal_cell: + return [start_xy, goal_xy] + + open_heap: list[tuple[float, float, tuple[int, int]]] = [] + parents: dict[tuple[int, int], tuple[int, int]] = {} + g_score: dict[tuple[int, int], float] = {start_cell: 0.0} + goal_x, goal_y = goal_cell + start_h = math.hypot(goal_x - start_cell[0], goal_y - start_cell[1]) + heapq.heappush(open_heap, (start_h, 0.0, start_cell)) + expansions = 0 + + while open_heap and expansions < self.astar_max_expansions: + _, current_cost, current = heapq.heappop(open_heap) + best_cost = g_score.get(current) + if best_cost is None or current_cost > best_cost + 1.0e-9: + continue + if current == goal_cell: + cell_path = self.reconstruct_cell_path(parents, goal_cell) + cell_path = self.simplify_cell_path(cell_path) + cell_path = self.shortcut_cell_path(cell_path) + world_path = [start_xy] + for cell in cell_path[1:-1]: + world_path.append(self.cell_to_world(cell)) + world_path.append(goal_xy) + return self.blend_world_path(world_path) + + expansions += 1 + for neighbor, step_cost in self.astar_neighbors(current): + tentative_cost = current_cost + step_cost + if tentative_cost >= g_score.get(neighbor, float("inf")) - 1.0e-9: + continue + parents[neighbor] = current + g_score[neighbor] = tentative_cost + heuristic = math.hypot(goal_x - neighbor[0], goal_y - neighbor[1]) + heapq.heappush(open_heap, (tentative_cost + heuristic, tentative_cost, neighbor)) + + return [] + + def reload_navigation_data(self) -> None: + goals = self._load_goals(self.goals_file) + missions = self._load_missions(self.missions_file) + route_source_file = self.get_route_source_file() + route_goals, route_missions, route_default, route_alignment, route_regions = self._load_route(route_source_file) + goals.update(route_goals) + missions.update(route_missions) + self.goals = goals + self.missions = missions + self.default_mission_name = route_default or (next(iter(missions)) if missions else None) + self.route_alignment_info = route_alignment + self.route_avoid_regions = route_regions + self.astar_walkable_cells, self.astar_grid_info = self.build_astar_grid(self.astar_source_points) + self.rebuild_task_indexes() + + def rebuild_task_indexes(self) -> None: + self.task_goal_names = {} + self.task_order = [] + self.waypoint_id_goal_names = {} + + mission_name = self.default_mission_name + mission_goals = self.missions.get(mission_name, []) if mission_name else [] + if not mission_goals: + return + + for goal_name in mission_goals: + goal = self.goals.get(goal_name) + if goal is None: + continue + if goal.waypoint_id is not None and goal.waypoint_id not in self.waypoint_id_goal_names: + self.waypoint_id_goal_names[goal.waypoint_id] = goal_name + if not goal.task: + continue + if goal.task not in self.task_goal_names: + self.task_goal_names[goal.task] = [] + self.task_order.append(goal.task) + self.task_goal_names[goal.task].append(goal_name) + + def get_route_source_file(self) -> str: + candidate = self.route_task_file.strip() if self.route_task_file else "" + if candidate: + return candidate + return self.route_file + + def _load_route( + self, path_value: str + ) -> tuple[dict[str, GoalSpec], dict[str, list[str]], Optional[str], dict[str, Any], list[AvoidRegion]]: + data = self._load_yaml(path_value) + if not data: + return {}, {}, None, {}, [] + + route_name = str(data.get("name", "")).strip() or Path(path_value).stem + route_default_yaw_tolerance_deg = self._get_float( + data, + "yaw_tolerance_deg_default", + "yawToleranceDegDefault", + ) + route_default_require_yaw = self._get_bool( + data, + "require_yaw_default", + "requireYawDefault", + ) + route_default_pre_dock_distance = self._get_float( + data, + "pre_dock_distance_default", + "preDockDistanceDefault", + ) + route_default_pre_dock_tolerance = self._get_float( + data, + "pre_dock_tolerance_default", + "preDockToleranceDefault", + ) + raw_segments = data.get("segments", []) + if not isinstance(raw_segments, list) or not raw_segments: + top_level_waypoints = data.get("waypoints", []) + if isinstance(top_level_waypoints, list) and top_level_waypoints: + raw_segments = [{ + "name": "segment_1", + "obstacle": str(data.get("obstacle", "flat") or "flat"), + "waypoints": top_level_waypoints, + }] + else: + return {}, {}, None, {}, [] + + raw_waypoints: list[dict[str, Any]] = [] + for segment_index, segment in enumerate(raw_segments, start=1): + if not isinstance(segment, dict): + continue + segment_name = str(segment.get("name", f"segment_{segment_index}")).strip() or f"segment_{segment_index}" + waypoints = segment.get("waypoints", []) + if not isinstance(waypoints, list): + continue + for waypoint_index, waypoint in enumerate(waypoints, start=1): + if not isinstance(waypoint, dict): + continue + try: + waypoint_yaw_deg = self._get_float(waypoint, "yaw_deg", "yawDeg") + waypoint_yaw_tolerance_deg = self._get_float( + waypoint, + "yaw_tolerance_deg", + "yawToleranceDeg", + ) + waypoint_require_yaw = self._get_bool( + waypoint, + "require_yaw", + "requireYaw", + ) + if waypoint_require_yaw is None: + waypoint_require_yaw = bool(route_default_require_yaw) if route_default_require_yaw is not None else False + if waypoint_yaw_tolerance_deg is None: + waypoint_yaw_tolerance_deg = route_default_yaw_tolerance_deg + waypoint_pre_dock_distance = self._get_float( + waypoint, + "pre_dock_distance", + "preDockDistance", + ) + if waypoint_pre_dock_distance is None: + waypoint_pre_dock_distance = route_default_pre_dock_distance + waypoint_pre_dock_tolerance = self._get_float( + waypoint, + "pre_dock_tolerance", + "preDockTolerance", + ) + if waypoint_pre_dock_tolerance is None: + waypoint_pre_dock_tolerance = route_default_pre_dock_tolerance + waypoint_task = self._normalize_task(waypoint.get("task", waypoint.get("task_id"))) + segment_task = self._normalize_task(segment.get("task", segment.get("obstacle", ""))) + if waypoint_task is None and self.is_slalom_task(segment_task): + waypoint_task = segment_task + waypoint_tolerance = max(0.01, float(waypoint.get("tolerance", self.goal_tolerance))) + waypoint_speed = float(waypoint["speed"]) if waypoint.get("speed") is not None else None + waypoint_policy = self._normalize_policy(waypoint.get("policy")) + waypoint_precision_value = self._get_bool(waypoint, "precision_follow", "precisionFollow") + waypoint_precision_follow = bool(waypoint_precision_value) + waypoint_stable_cycles = self._get_int(waypoint, "stable_cycles", "stableCycles") + waypoint_lookahead = self._get_float(waypoint, "lookahead", "lookAhead") + waypoint_yaw_rate_limit = self._get_float(waypoint, "yaw_rate_limit", "yawRateLimit") + waypoint_slalom_script_pos_tolerance = self._get_float( + waypoint, + "slalom_script_pos_tolerance", + "slalomScriptPosTolerance", + "scriptTolerance", + ) + waypoint_slalom_straight = bool( + self._get_bool(waypoint, "slalom_straight", "slalomStraight") + ) + script_controls_waypoint = bool( + self.slalom_script_enabled and waypoint_slalom_straight + ) + if self.should_auto_precision_for_task(waypoint_task) and not script_controls_waypoint: + if self.slalom_auto_precision_force or waypoint_precision_value is None: + waypoint_precision_follow = True + waypoint_require_yaw = False + waypoint_tolerance = max(waypoint_tolerance, self.slalom_tolerance) + if waypoint_speed is None: + waypoint_speed = self.slalom_max_vx if self.slalom_max_vx > 0.0 else self.max_vx + elif self.slalom_max_vx > 0.0: + waypoint_speed = min(waypoint_speed, self.slalom_max_vx) + if self.slalom_auto_precision_force or waypoint_stable_cycles is None: + waypoint_stable_cycles = self.slalom_stable_cycles + if self.slalom_auto_precision_force or waypoint_lookahead is None: + waypoint_lookahead = self.slalom_lookahead + if self.slalom_auto_precision_force or waypoint_yaw_rate_limit is None: + waypoint_yaw_rate_limit = self.slalom_yaw_rate_limit + raw_waypoints.append( + { + "segment": segment_name, + "id": int(waypoint.get("id", waypoint_index)), + "task": waypoint_task, + "x": float(waypoint["x"]), + "y": float(waypoint["y"]), + "yaw": math.radians(float(waypoint_yaw_deg)) if waypoint_yaw_deg is not None else None, + "yaw_tolerance": ( + math.radians(max(0.0, waypoint_yaw_tolerance_deg)) + if waypoint_yaw_tolerance_deg is not None else None + ), + "tolerance": waypoint_tolerance, + "speed": waypoint_speed, + "policy": waypoint_policy, + "require_yaw": bool(waypoint_require_yaw) and waypoint_yaw_deg is not None, + "pre_dock_distance": waypoint_pre_dock_distance, + "pre_dock_tolerance": waypoint_pre_dock_tolerance, + "precision_follow": waypoint_precision_follow, + "stable_cycles": waypoint_stable_cycles, + "lookahead": waypoint_lookahead, + "yaw_rate_limit": waypoint_yaw_rate_limit, + "slalom_straight": waypoint_slalom_straight, + "slalom_script_pos_tolerance": waypoint_slalom_script_pos_tolerance, + } + ) + except (KeyError, TypeError, ValueError): + continue + + if not raw_waypoints: + self.get_logger().warn(f"Route file has no usable waypoints: {path_value}") + return {}, {}, None, {}, [] + + aligned_waypoints, alignment_info = self._align_route_waypoints(raw_waypoints) + applied_angle_rad = math.radians(float(alignment_info.get("applied_deg", 0.0))) if alignment_info else 0.0 + aligned_regions = self._rotate_avoid_regions( + self._load_avoid_regions(data), + float(raw_waypoints[0]["x"]), + float(raw_waypoints[0]["y"]), + applied_angle_rad, + ) + goals: dict[str, GoalSpec] = {} + mission_goals: list[str] = [] + for index, waypoint in enumerate(aligned_waypoints, start=1): + goal_name = f"{route_name}_p{index:02d}" + goals[goal_name] = GoalSpec( + name=goal_name, + x=float(waypoint["x"]), + y=float(waypoint["y"]), + waypoint_id=int(waypoint["id"]) if waypoint.get("id") is not None else None, + task=self._normalize_task(waypoint.get("task")), + segment=str(waypoint.get("segment", "") or "") or None, + yaw=waypoint.get("yaw"), + yaw_tolerance=waypoint.get("yaw_tolerance"), + tolerance=float(waypoint.get("tolerance", self.goal_tolerance)), + speed=waypoint.get("speed"), + policy=self._normalize_policy(waypoint.get("policy")), + require_yaw=bool(waypoint.get("require_yaw", False)), + pre_dock_distance=waypoint.get("pre_dock_distance"), + pre_dock_tolerance=waypoint.get("pre_dock_tolerance"), + precision_follow=bool(waypoint.get("precision_follow", False)), + stable_cycles=waypoint.get("stable_cycles"), + lookahead=waypoint.get("lookahead"), + yaw_rate_limit=waypoint.get("yaw_rate_limit"), + slalom_straight=bool(waypoint.get("slalom_straight", False)), + slalom_script_pos_tolerance=waypoint.get("slalom_script_pos_tolerance"), + ) + mission_goals.append(goal_name) + + if alignment_info: + applied = float(alignment_info.get("applied_deg", 0.0)) + hits = int(alignment_info.get("hits", 0)) + total = int(alignment_info.get("total", 0)) + reason = str(alignment_info.get("reason", "")).strip() + reason_text = f" reason={reason}" if reason else "" + self.get_logger().info( + f"Loaded route {route_name}: {len(mission_goals)} waypoints, " + f"avoid_regions={len(aligned_regions)}, alignment={applied:.2f}deg hits={hits}/{total}{reason_text}" + ) + else: + self.get_logger().info( + f"Loaded route {route_name}: {len(mission_goals)} waypoints, avoid_regions={len(aligned_regions)}" + ) + + return goals, {route_name: mission_goals}, route_name, alignment_info, aligned_regions + + def _load_avoid_regions(self, data: dict[str, Any]) -> list[AvoidRegion]: + rows = data.get("regions") + if not isinstance(rows, list) or not rows: + rows = data.get("avoid_regions", []) + if not isinstance(rows, list): + return [] + + regions: list[AvoidRegion] = [] + for index, row in enumerate(rows, start=1): + if not isinstance(row, dict): + continue + kind = str(row.get("kind", "avoid")).strip().lower() + if kind not in {"avoid", "no_go", "no-go", "nogo", "forbidden", "blocked"}: + continue + polygon_rows = row.get("polygon", []) + if not isinstance(polygon_rows, list): + continue + points: list[tuple[float, float]] = [] + for point in polygon_rows: + try: + if isinstance(point, dict): + points.append((float(point["x"]), float(point["y"]))) + elif isinstance(point, (list, tuple)) and len(point) >= 2: + points.append((float(point[0]), float(point[1]))) + except (KeyError, TypeError, ValueError): + continue + if len(points) >= 3: + regions.append( + AvoidRegion( + name=str(row.get("name", f"avoid_{index}")), + kind=kind, + polygon=tuple(points), + ) + ) + return regions + + def _rotate_avoid_regions( + self, + regions: list[AvoidRegion], + anchor_x: float, + anchor_y: float, + angle_rad: float, + ) -> list[AvoidRegion]: + if not regions or abs(angle_rad) <= 1.0e-12: + return regions + rotated: list[AvoidRegion] = [] + for region in regions: + rotated.append( + AvoidRegion( + name=region.name, + kind=region.kind, + polygon=tuple( + self._rotate_xy(x, y, anchor_x, anchor_y, angle_rad) + for x, y in region.polygon + ), + ) + ) + return rotated + + def _align_route_waypoints( + self, waypoints: list[dict[str, Any]] + ) -> tuple[list[dict[str, Any]], dict[str, Any]]: + if not waypoints: + return [], {} + + if not self.pcd_points: + info = { + "enabled": False, + "reason": "pcd unavailable", + "manual_offset_deg": round(self.route_rotation_offset_deg, 3), + "auto_offset_deg": 0.0, + "applied_deg": round(self.route_rotation_offset_deg, 3), + "hits": 0, + "total": len(waypoints), + } + return self._rotate_waypoints(waypoints, math.radians(self.route_rotation_offset_deg)), info + + manual_offset_deg = self.route_rotation_offset_deg + if not self.route_align_enabled or len(waypoints) < 2: + info = { + "enabled": False, + "reason": "auto align disabled", + "manual_offset_deg": round(manual_offset_deg, 3), + "auto_offset_deg": 0.0, + "applied_deg": round(manual_offset_deg, 3), + "hits": 0, + "total": len(waypoints), + } + return self._rotate_waypoints(waypoints, math.radians(manual_offset_deg)), info + + anchor_x = float(waypoints[0]["x"]) + anchor_y = float(waypoints[0]["y"]) + search_radius_sq = self.route_align_search_radius * self.route_align_search_radius + best_hits = -1 + best_score = float("inf") + best_angle_deg = manual_offset_deg + manual_hits = -1 + manual_score = float("inf") + + steps = max(1, int(round((self.route_align_max_angle_deg * 2.0) / self.route_align_angle_step_deg))) + for step_index in range(steps + 1): + auto_delta_deg = -self.route_align_max_angle_deg + step_index * self.route_align_angle_step_deg + angle_deg = manual_offset_deg + auto_delta_deg + angle_rad = math.radians(angle_deg) + hits = 0 + score = 0.0 + for waypoint in waypoints: + tx, ty = self._rotate_xy( + float(waypoint["x"]), + float(waypoint["y"]), + anchor_x, + anchor_y, + angle_rad, + ) + nearest_sq = search_radius_sq + for px, py in self.pcd_points: + dx = px - tx + dy = py - ty + dist_sq = dx * dx + dy * dy + if dist_sq < nearest_sq: + nearest_sq = dist_sq + if nearest_sq < search_radius_sq: + hits += 1 + score += nearest_sq + if abs(angle_deg - manual_offset_deg) <= 1.0e-9: + manual_hits = hits + manual_score = score + better_hits = hits > best_hits + better_score = hits == best_hits and ( + score < best_score - 1.0e-9 + or ( + abs(score - best_score) <= 1.0e-9 + and abs(auto_delta_deg) < abs(best_angle_deg - manual_offset_deg) + ) + ) + if better_hits or better_score: + best_hits = hits + best_score = score + best_angle_deg = angle_deg + + hits_improved = best_hits > manual_hits + score_improvement = ( + (manual_score - best_score) / max(manual_score, 1.0e-9) + if manual_score < float("inf") + else 0.0 + ) + if not hits_improved and score_improvement < 0.05: + applied_angle_deg = manual_offset_deg + rotated = self._rotate_waypoints(waypoints, math.radians(applied_angle_deg)) + info = { + "enabled": True, + "reason": "ambiguous-auto-align", + "manual_offset_deg": round(manual_offset_deg, 3), + "auto_offset_deg": 0.0, + "applied_deg": round(applied_angle_deg, 3), + "score": round(manual_score, 6) if manual_score < float("inf") else 0.0, + "hits": int(manual_hits if manual_hits >= 0 else 0), + "total": len(waypoints), + } + return rotated, info + + rotated = self._rotate_waypoints(waypoints, math.radians(best_angle_deg)) + info = { + "enabled": True, + "manual_offset_deg": round(manual_offset_deg, 3), + "auto_offset_deg": round(best_angle_deg - manual_offset_deg, 3), + "applied_deg": round(best_angle_deg, 3), + "score": round(best_score, 6), + "hits": int(best_hits), + "total": len(waypoints), + } + return rotated, info + + def _rotate_waypoints(self, waypoints: list[dict[str, Any]], angle_rad: float) -> list[dict[str, Any]]: + if not waypoints: + return [] + anchor_x = float(waypoints[0]["x"]) + anchor_y = float(waypoints[0]["y"]) + rotated: list[dict[str, Any]] = [] + for waypoint in waypoints: + x, y = self._rotate_xy( + float(waypoint["x"]), + float(waypoint["y"]), + anchor_x, + anchor_y, + angle_rad, + ) + updated = dict(waypoint) + updated["x"] = x + updated["y"] = y + if updated.get("yaw") is not None: + updated["yaw"] = self.normalize_angle(float(updated["yaw"]) + angle_rad) + rotated.append(updated) + return rotated + + @staticmethod + def _rotate_xy(x: float, y: float, anchor_x: float, anchor_y: float, angle_rad: float) -> tuple[float, float]: + dx = x - anchor_x + dy = y - anchor_y + cos_a = math.cos(angle_rad) + sin_a = math.sin(angle_rad) + return ( + anchor_x + dx * cos_a - dy * sin_a, + anchor_y + dx * sin_a + dy * cos_a, + ) + + def on_command(self, msg: String) -> None: + command = msg.data.strip() + if not command: + return + parts = command.split() + op = parts[0].lower() + + if op == "stop": + self.cancel_navigation("manual stop") + elif op == "record" and len(parts) >= 2: + self.record_current_pose(parts[1]) + elif op == "goto" and len(parts) >= 2: + self.start_goal(parts[1]) + elif op == "go" and len(parts) >= 3: + try: + yaw = math.radians(float(parts[3])) if len(parts) >= 4 else None + self.start_direct_goal(float(parts[1]), float(parts[2]), f"direct({parts[1]},{parts[2]})", yaw=yaw) + except ValueError: + self.publish_status("go expects numeric x y [yaw_deg]") + elif op == "go_rel" and len(parts) >= 3: + try: + self.start_relative_goal(float(parts[1]), float(parts[2])) + except ValueError: + self.publish_status("go_rel expects numeric dx dy") + elif op == "run": + mission_name = parts[1] if len(parts) >= 2 else (self.default_mission_name or "") + if mission_name: + self.start_mission(mission_name) + else: + self.publish_status("run expects a mission name and no default mission is configured") + elif op in {"run_from_task", "resume_task", "restart_task"} and len(parts) >= 2: + self.start_mission_from_task(parts[1]) + elif op == "run_only_task" and len(parts) >= 2: + self.start_task_only(parts[1]) + elif op in {"run_from_id", "resume_id"} and len(parts) >= 2: + try: + self.start_mission_from_waypoint_id(int(parts[1])) + except ValueError: + self.publish_status("run_from_id expects a numeric waypoint id") + elif op == "skip_task": + task_name = parts[1] if len(parts) >= 2 else None + self.skip_task(task_name) + elif op == "reload": + self.reload_navigation_data() + self.publish_status( + f"reloaded goals={len(self.goals)} missions={len(self.missions)} " + f"default={self.default_mission_name or 'none'} " + f"tasks={len(self.task_order)} " + f"avoid_regions={len(self.route_avoid_regions)} " + f"astar_cells={len(self.astar_walkable_cells)}" + ) + else: + self.publish_status(f"unknown or incomplete command: {command}") + + def get_default_mission_goals(self) -> list[str]: + if not self.default_mission_name: + return [] + return list(self.missions.get(self.default_mission_name, [])) + + def mission_index_for_goal(self, goal_name: str) -> Optional[int]: + mission_goals = self.get_default_mission_goals() + try: + return mission_goals.index(goal_name) + except ValueError: + return None + + def task_start_index(self, task_name: str) -> Optional[int]: + task_key = self._normalize_task(task_name) + if not task_key: + return None + task_goals = self.task_goal_names.get(task_key) + if not task_goals: + return None + return self.mission_index_for_goal(task_goals[0]) + + def task_end_index(self, task_name: str) -> Optional[int]: + task_key = self._normalize_task(task_name) + if not task_key: + return None + task_goals = self.task_goal_names.get(task_key) + if not task_goals: + return None + return self.mission_index_for_goal(task_goals[-1]) + + def current_task_name(self) -> Optional[str]: + if self.active_goal is not None and self.active_goal.task: + return self.active_goal.task + if self.active_mission_name and 0 <= self.active_mission_index < len(self.active_mission_goals): + goal = self.goals.get(self.active_mission_goals[self.active_mission_index]) + if goal is not None: + return goal.task + return None + + def start_default_mission_from_index(self, start_index: int, reason: str) -> None: + mission_name = self.default_mission_name + mission_goals = self.get_default_mission_goals() + if not mission_name or not mission_goals: + self.publish_status("resume failed: no default mission loaded") + return + if start_index < 0 or start_index >= len(mission_goals): + self.publish_status(f"resume failed: waypoint index {start_index + 1} out of range") + return + self.active_mission_name = mission_name + self.active_mission_goals = mission_goals + self.active_mission_index = start_index + goal_name = mission_goals[start_index] + goal = self.goals.get(goal_name) + detail = "" + if goal is not None: + id_text = f"id={goal.waypoint_id}" if goal.waypoint_id is not None else goal_name + task_text = f" task={goal.task}" if goal.task else "" + detail = f" at {id_text}{task_text}" + self.publish_status( + f"{reason}: resume default mission from waypoint {start_index + 1}/{len(mission_goals)}{detail}" + ) + self._activate_mission_goal() + + def start_mission_from_task(self, task_name: str) -> None: + task_key = self._normalize_task(task_name) + if not task_key: + self.publish_status("run_from_task expects a task name") + return + start_index = self.task_start_index(task_key) + if start_index is None: + known = ",".join(self.task_order) if self.task_order else "none" + self.publish_status(f"task not found: {task_key} known={known}") + return + self.start_default_mission_from_index(start_index, f"task resume {task_key}") + + def start_task_only(self, task_name: str) -> None: + task_key = self._normalize_task(task_name) + if not task_key: + self.publish_status("run_only_task expects a task name") + return + task_goals = self.task_goal_names.get(task_key) + if not task_goals: + known = ",".join(self.task_order) if self.task_order else "none" + self.publish_status(f"task not found: {task_key} known={known}") + return + self.active_mission_name = f"{self.default_mission_name or 'route'}:{task_key}" + self.active_mission_goals = list(task_goals) + self.active_mission_index = 0 + self.publish_status(f"task-only run {task_key}: {len(task_goals)} waypoints") + self._activate_mission_goal() + + def start_mission_from_waypoint_id(self, waypoint_id: int) -> None: + goal_name = self.waypoint_id_goal_names.get(waypoint_id) + if goal_name is None: + known = ",".join(str(item) for item in sorted(self.waypoint_id_goal_names.keys())) + self.publish_status(f"waypoint id not found: {waypoint_id} known={known or 'none'}") + return + start_index = self.mission_index_for_goal(goal_name) + if start_index is None: + self.publish_status(f"waypoint id {waypoint_id} is not in default mission") + return + self.start_default_mission_from_index(start_index, f"id resume {waypoint_id}") + + def skip_task(self, task_name: Optional[str]) -> None: + task_key = self._normalize_task(task_name) if task_name else self.current_task_name() + if not task_key: + self.publish_status("skip_task failed: no task specified and no active task") + return + if task_key not in self.task_goal_names: + known = ",".join(self.task_order) if self.task_order else "none" + self.publish_status(f"skip_task failed: task not found {task_key} known={known}") + return + try: + task_order_index = self.task_order.index(task_key) + except ValueError: + self.publish_status(f"skip_task failed: task not indexed {task_key}") + return + if task_order_index + 1 >= len(self.task_order): + self.cancel_navigation(f"skipped final task {task_key}; no later task") + return + next_task = self.task_order[task_order_index + 1] + next_index = self.task_start_index(next_task) + if next_index is None: + self.publish_status(f"skip_task failed: next task has no start index {next_task}") + return + self.start_default_mission_from_index(next_index, f"skip task {task_key} -> {next_task}") + + def start_goal(self, goal_name: str) -> None: + goal = self.goals.get(goal_name) + if goal is None: + self.publish_status(f"goal not found: {goal_name}") + return + self.active_mission_name = None + self.active_mission_goals = [] + self.active_mission_index = 0 + self.start_direct_goal( + goal.x, + goal.y, + goal_name, + yaw=goal.yaw, + yaw_tolerance=goal.yaw_tolerance, + tolerance=goal.tolerance, + speed=goal.speed, + policy=goal.policy, + require_yaw=goal.require_yaw, + pre_dock_distance=goal.pre_dock_distance, + pre_dock_tolerance=goal.pre_dock_tolerance, + precision_follow=goal.precision_follow, + stable_cycles=goal.stable_cycles, + lookahead=goal.lookahead, + yaw_rate_limit=goal.yaw_rate_limit, + slalom_straight=goal.slalom_straight, + ) + + def start_direct_goal( + self, + x: float, + y: float, + goal_name: str, + yaw: Optional[float] = None, + yaw_tolerance: Optional[float] = None, + tolerance: Optional[float] = None, + speed: Optional[float] = None, + policy: Optional[str] = None, + require_yaw: Optional[bool] = None, + pre_dock_distance: Optional[float] = None, + pre_dock_tolerance: Optional[float] = None, + precision_follow: bool = False, + stable_cycles: Optional[int] = None, + lookahead: Optional[float] = None, + yaw_rate_limit: Optional[float] = None, + slalom_straight: bool = False, + ) -> None: + goal = GoalSpec( + name=goal_name, + x=x, + y=y, + yaw=yaw, + yaw_tolerance=max(0.0, yaw_tolerance) if yaw_tolerance is not None else None, + tolerance=max(0.01, tolerance if tolerance is not None else self.goal_tolerance), + speed=speed, + policy=self._normalize_policy(policy), + require_yaw=bool(yaw is not None if require_yaw is None else require_yaw) and yaw is not None, + pre_dock_distance=pre_dock_distance, + pre_dock_tolerance=pre_dock_tolerance, + precision_follow=bool(precision_follow), + stable_cycles=stable_cycles, + lookahead=max(0.01, lookahead) if lookahead is not None else None, + yaw_rate_limit=max(0.01, yaw_rate_limit) if yaw_rate_limit is not None else None, + slalom_straight=bool(slalom_straight), + ) + stage_note = self.start_goal_execution(goal) + suffix = self.describe_goal(goal) + self.publish_status( + f"nav target set in {self.map_frame}: {goal_name} -> ({x:.2f}, {y:.2f}) {' '.join(suffix)}" + ) + if stage_note: + self.publish_status(stage_note) + + def start_relative_goal(self, dx: float, dy: float) -> None: + pose = self.lookup_pose() + if pose is None: + self.publish_status("go_rel failed: pose unavailable") + return + rx, ry, ryaw = pose + gx = rx + math.cos(ryaw) * dx - math.sin(ryaw) * dy + gy = ry + math.sin(ryaw) * dx + math.cos(ryaw) * dy + self.active_mission_name = None + self.active_mission_goals = [] + self.active_mission_index = 0 + self.start_direct_goal(gx, gy, f"relative(dx={dx:.2f},dy={dy:.2f})") + + def start_mission(self, mission_name: str) -> None: + goals = self.missions.get(mission_name) + if goals is None: + self.publish_status(f"mission not found: {mission_name}") + return + self.active_mission_name = mission_name + self.active_mission_goals = list(goals) + self.active_mission_index = 0 + self._activate_mission_goal() + + def _activate_mission_goal(self) -> None: + if self.active_mission_index >= len(self.active_mission_goals): + self.cancel_navigation("mission complete") + return + goal_name = self.active_mission_goals[self.active_mission_index] + goal = self.goals.get(goal_name) + if goal is None: + self.cancel_navigation(f"mission goal missing: {goal_name}") + return + stage_note = self.start_goal_execution(goal) + suffix = self.describe_goal(goal) + self.publish_status( + f"mission {self.active_mission_name}: waypoint {self.active_mission_index + 1}/{len(self.active_mission_goals)} -> {goal_name} {' '.join(suffix)}" + ) + if stage_note: + self.publish_status(stage_note) + + def record_current_pose(self, name: str) -> None: + pose = self.lookup_pose() + if pose is None: + self.publish_status("record failed: pose unavailable") + return + x, y, yaw = pose + text = f"{name}: frame={self.map_frame}, x={x:.3f}, y={y:.3f}, yaw_deg={math.degrees(yaw):.1f}" + self.record_pub.publish(String(data=text)) + self.publish_status(f"recorded {text}") + + def activate_goal(self, goal: GoalSpec, stage: str = "final") -> None: + self.active_goal = goal + self.active_goal_stage = stage + self.active_path_world = [] + self.active_path_index = 0 + self.active_path_goal_key = None + self.active_precision_segment_start = None + self.active_precision_segment_end = None + self.last_published_path_signature = None + self.turn_in_place_mode = False + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + self.pose_waiting_reported = False + self.reset_slalom_script() + self.request_policy(goal.policy) + self.publish_goal_pose(goal) + + def reset_slalom_script(self) -> None: + self.slalom_script_active = False + self.slalom_script_key = None + self.slalom_script_steps = [] + self.slalom_script_step_index = 0 + self.slalom_script_step_stable_count = 0 + + def publish_active_path(self, force: bool = False) -> None: + if self.active_goal is None: + payload = { + "goal_name": "", + "stage": self.active_goal_stage, + "path_index": 0, + "points": [], + } + self.path_pub.publish(String(data=json.dumps(payload, separators=(",", ":")))) + self.last_published_path_signature = None + return + + signature = ( + self.active_goal.name, + self.active_goal_stage, + len(self.active_path_world), + self.active_path_index, + ) + if not force and signature == self.last_published_path_signature: + return + + payload = { + "goal_name": self.active_goal.name, + "stage": self.active_goal_stage, + "path_index": self.active_path_index, + "points": [ + [round(float(x), 3), round(float(y), 3)] + for x, y in self.active_path_world + ], + } + self.path_pub.publish(String(data=json.dumps(payload, separators=(",", ":")))) + self.last_published_path_signature = signature + + def ensure_active_path( + self, + pose_xy: tuple[float, float], + goal: GoalSpec, + ) -> bool: + if ( + goal.precision_follow + and self.active_mission_name is not None + and self.active_goal_stage == "final" + ): + start_index = self.active_precision_segment_start + end_index = self.active_precision_segment_end + if ( + start_index is None + or end_index is None + or self.active_mission_index < start_index + or self.active_mission_index > end_index + ): + start_index, end_index = self.get_precision_segment_bounds( + self.active_mission_index, + goal, + ) + self.active_precision_segment_start = start_index + self.active_precision_segment_end = end_index + + if end_index > start_index: + goal_key = ("precision_segment", self.active_mission_name, start_index, end_index) + if self.active_path_goal_key == goal_key and self.active_path_world: + offset = max(0, min(self.active_mission_index - start_index, len(self.active_path_world) - 1)) + self.active_path_index = max(self.active_path_index, offset) + return True + + path_world = self.build_precision_segment_path(start_index, end_index) + if len(path_world) >= 2: + self.active_path_world = path_world + self.active_path_index = max(0, min(self.active_mission_index - start_index, len(path_world) - 1)) + self.active_path_goal_key = goal_key + self.publish_active_path(force=True) + self.publish_status( + f"precision segment planned: waypoints {start_index + 1}-{end_index + 1} " + f"({len(path_world)} points)" + ) + return True + + if not self.astar_enabled or not self.astar_walkable_cells: + return False + + goal_key = (goal.name, self.active_goal_stage) + if self.active_path_goal_key == goal_key and self.active_path_world: + return True + + path_world = self.compute_astar_path(pose_xy, (goal.x, goal.y)) + if len(path_world) < 2: + self.active_path_world = [] + self.active_path_index = 0 + self.active_path_goal_key = None + return False + + self.active_path_world = path_world + self.active_path_index = 1 + self.active_path_goal_key = goal_key + self.publish_active_path(force=True) + self.publish_status( + f"path planned for {goal.name}: {len(path_world)} points via A*" + ) + return True + + def get_path_follow_target( + self, + pose_xy: tuple[float, float], + goal: GoalSpec, + ) -> Optional[tuple[float, float]]: + if goal.slalom_straight: + self.active_path_world = [] + self.active_path_index = 0 + self.active_path_goal_key = None + return goal.x, goal.y + + if not self.ensure_active_path(pose_xy, goal): + if self.astar_enabled and self.astar_walkable_cells: + return None + return goal.x, goal.y + + rx, ry = pose_xy + lookahead_dist = self.get_goal_lookahead(goal) + advance_dist = max(self.astar_waypoint_reach_dist, min(goal.tolerance, lookahead_dist)) + while self.active_path_index < len(self.active_path_world) - 1: + tx, ty = self.active_path_world[self.active_path_index] + if math.hypot(tx - rx, ty - ry) <= advance_dist: + self.active_path_index += 1 + continue + break + + target_index = self.active_path_index + while target_index < len(self.active_path_world) - 1: + next_index = target_index + 1 + tx, ty = self.active_path_world[next_index] + if math.hypot(tx - rx, ty - ry) > lookahead_dist: + break + target_index = next_index + previous_index = self.active_path_index + self.active_path_index = max(self.active_path_index, target_index) + if self.active_path_index != previous_index: + self.publish_active_path(force=False) + return self.active_path_world[self.active_path_index] + + def goal_requires_yaw(self, goal: GoalSpec) -> bool: + return bool(goal.require_yaw and goal.yaw is not None) + + def get_goal_stable_cycles(self, goal: GoalSpec) -> int: + if goal.stable_cycles is None: + return self.goal_complete_stable_cycles + return max(0, int(goal.stable_cycles)) + + def get_goal_lookahead(self, goal: GoalSpec) -> float: + if goal.lookahead is None: + return self.astar_lookahead_dist + return max(self.astar_waypoint_reach_dist, float(goal.lookahead)) + + def get_goal_yaw_rate_limit(self, goal: GoalSpec) -> float: + if goal.yaw_rate_limit is None: + limit = self.max_wz + else: + limit = max(0.01, min(self.max_wz, float(goal.yaw_rate_limit))) + if goal.slalom_straight: + limit = min(limit, self.slalom_script_max_wz) + return limit + + def precision_segment_goal_compatible(self, goal: GoalSpec, reference: GoalSpec) -> bool: + return bool( + goal.precision_follow + and not self.goal_requires_yaw(goal) + and goal.policy == reference.policy + ) + + def get_precision_segment_bounds(self, start_index: int, reference: GoalSpec) -> tuple[int, int]: + if self.active_mission_name is None: + return start_index, start_index + if start_index < 0 or start_index >= len(self.active_mission_goals): + return start_index, start_index + if not self.precision_segment_goal_compatible(reference, reference): + return start_index, start_index + + end_index = start_index + while end_index + 1 < len(self.active_mission_goals): + next_name = self.active_mission_goals[end_index + 1] + next_goal = self.goals.get(next_name) + if next_goal is None or not self.precision_segment_goal_compatible(next_goal, reference): + break + end_index += 1 + return start_index, end_index + + def build_precision_segment_path(self, start_index: int, end_index: int) -> list[tuple[float, float]]: + points: list[tuple[float, float]] = [] + for index in range(start_index, end_index + 1): + goal_name = self.active_mission_goals[index] + goal = self.goals.get(goal_name) + if goal is None: + continue + points.append((goal.x, goal.y)) + return points + + def should_continue_precision_goal(self, goal: GoalSpec) -> bool: + if not ( + goal.precision_follow + and not self.goal_requires_yaw(goal) + and self.active_mission_name is not None + and self.active_mission_index + 1 < len(self.active_mission_goals) + ): + return False + next_name = self.active_mission_goals[self.active_mission_index + 1] + next_goal = self.goals.get(next_name) + return bool(next_goal is not None and self.precision_segment_goal_compatible(next_goal, goal)) + + def advance_precision_goal_without_stop(self) -> bool: + goal = self.active_goal + if goal is None or not self.should_continue_precision_goal(goal): + return False + reached_name = goal.name + self.active_mission_index += 1 + next_name = self.active_mission_goals[self.active_mission_index] + next_goal = self.goals.get(next_name) + if next_goal is None: + self.cancel_navigation(f"mission goal missing: {next_name}") + return True + + self.active_goal = next_goal + self.active_goal_stage = "final" + self.pending_final_goal = None + self.turn_in_place_mode = False + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + self.pose_waiting_reported = False + if self.active_precision_segment_start is not None and self.active_path_world: + offset = max( + 0, + min( + self.active_mission_index - self.active_precision_segment_start, + len(self.active_path_world) - 1, + ), + ) + self.active_path_index = max(self.active_path_index, offset) + self.request_policy(next_goal.policy) + self.publish_goal_pose(next_goal) + self.publish_status(f"precision reached {reached_name}, continuing to {next_name}") + return True + + def sync_precision_goal_to_path_progress(self) -> None: + goal = self.active_goal + if goal is None or not goal.precision_follow or self.active_mission_name is None: + return + start_index = self.active_precision_segment_start + end_index = self.active_precision_segment_end + if start_index is None or end_index is None or end_index <= start_index: + return + if not self.active_path_world: + return + if ( + not isinstance(self.active_path_goal_key, tuple) + or len(self.active_path_goal_key) < 4 + or self.active_path_goal_key[0] != "precision_segment" + ): + return + + path_offset = max(0, min(self.active_path_index, end_index - start_index)) + target_mission_index = start_index + path_offset + if target_mission_index <= self.active_mission_index: + return + if target_mission_index >= len(self.active_mission_goals): + return + + next_name = self.active_mission_goals[target_mission_index] + next_goal = self.goals.get(next_name) + if next_goal is None or not self.precision_segment_goal_compatible(next_goal, goal): + return + + previous_name = goal.name + self.active_mission_index = target_mission_index + self.active_goal = next_goal + self.active_goal_stage = "final" + self.pending_final_goal = None + self.turn_in_place_mode = False + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + self.pose_waiting_reported = False + self.publish_goal_pose(next_goal) + self.publish_status(f"precision path progress: {previous_name} -> {next_name}") + + def get_pre_dock_distance(self, goal: GoalSpec) -> float: + if goal.pre_dock_distance is not None: + return max(0.0, float(goal.pre_dock_distance)) + return self.pre_dock_distance + + def get_pre_dock_tolerance(self, goal: GoalSpec) -> float: + base = goal.tolerance + if goal.pre_dock_tolerance is not None: + base = max(base, float(goal.pre_dock_tolerance)) + else: + base = max(base, self.pre_dock_tolerance) + return max(0.01, base) + + def describe_goal(self, goal: GoalSpec) -> list[str]: + suffix: list[str] = [] + if goal.waypoint_id is not None: + suffix.append(f"id={goal.waypoint_id}") + if goal.task: + suffix.append(f"task={goal.task}") + if goal.policy: + suffix.append(f"policy={goal.policy}") + if goal.yaw is not None: + suffix.append(f"yaw={math.degrees(goal.yaw):.1f}deg") + if goal.yaw_tolerance is not None: + suffix.append(f"yaw_tol={math.degrees(goal.yaw_tolerance):.1f}deg") + suffix.append(f"tol={goal.tolerance:.2f}") + if self.goal_requires_yaw(goal): + suffix.append("require_yaw") + pre_dock_distance = self.get_pre_dock_distance(goal) + if self.pre_dock_enabled and pre_dock_distance > 0.0: + suffix.append(f"pre_dock={pre_dock_distance:.2f}") + if goal.precision_follow: + suffix.append("precision_follow") + if goal.lookahead is not None: + suffix.append(f"lookahead={goal.lookahead:.2f}") + if goal.yaw_rate_limit is not None: + suffix.append(f"yaw_limit={goal.yaw_rate_limit:.2f}") + if goal.slalom_straight: + suffix.append("slalom_script") + return suffix + + def plan_goal_execution(self, goal: GoalSpec) -> tuple[GoalSpec, Optional[GoalSpec], Optional[str]]: + if goal.slalom_straight: + return goal, None, None + if not self.pre_dock_enabled or not self.goal_requires_yaw(goal) or goal.yaw is None: + return goal, None, None + + pre_dock_distance = self.get_pre_dock_distance(goal) + if pre_dock_distance <= 0.0: + return goal, None, None + + pre_x = goal.x - math.cos(goal.yaw) * pre_dock_distance + pre_y = goal.y - math.sin(goal.yaw) * pre_dock_distance + pre_tol = self.get_pre_dock_tolerance(goal) + pose = self.lookup_pose() + if pose is not None: + rx, ry, _ = pose + dist_to_goal = math.hypot(goal.x - rx, goal.y - ry) + dist_to_pre_dock = math.hypot(pre_x - rx, pre_y - ry) + if ( + dist_to_goal <= max(goal.tolerance + 0.05, self.pre_dock_skip_within_goal_dist) + or dist_to_pre_dock <= pre_tol + ): + return goal, None, None + + pre_dock_goal = GoalSpec( + name=f"{goal.name}__predock", + x=pre_x, + y=pre_y, + yaw=None, + yaw_tolerance=None, + tolerance=pre_tol, + speed=goal.speed, + policy=goal.policy, + require_yaw=False, + precision_follow=False, + ) + stage_note = ( + f"pre-dock enabled for {goal.name}: stage1 -> ({pre_x:.2f}, {pre_y:.2f}) " + f"tol={pre_tol:.2f}, stage2 keeps yaw={math.degrees(goal.yaw):.1f}deg" + ) + return pre_dock_goal, goal, stage_note + + def start_goal_execution(self, goal: GoalSpec) -> Optional[str]: + self.pending_final_goal = None + next_goal, pending_final_goal, stage_note = self.plan_goal_execution(goal) + self.pending_final_goal = pending_final_goal + stage = "pre_dock" if pending_final_goal is not None else "final" + self.activate_goal(next_goal, stage=stage) + return stage_note + + def request_policy(self, policy: Optional[str]) -> None: + normalized = self._normalize_policy(policy) + if normalized is None: + self.pending_policy = None + return + self.pending_policy = normalized + self.maybe_publish_pending_policy(force=True) + + def on_model_status(self, msg: String) -> None: + try: + data = json.loads(msg.data) if msg.data else {} + except Exception: + return + if not isinstance(data, dict): + return + current_model = self._normalize_policy(data.get("current_model")) + if current_model is not None: + self.current_model_policy = current_model + self.model_switching = bool(data.get("switching", False)) + if self.pending_policy is not None and self.current_model_policy == self.pending_policy and not self.model_switching: + self.pending_policy = None + return + self.maybe_publish_pending_policy(force=False) + + def maybe_publish_pending_policy(self, force: bool) -> None: + if self.pending_policy is None: + return + if self.current_model_policy == self.pending_policy and not self.model_switching: + self.pending_policy = None + return + if self.model_switching: + return + now = self.get_clock().now() + age_s = (now - self.last_policy_request_time).nanoseconds / 1.0e9 + if not force and age_s < self.policy_retry_period_s: + return + self.model_cmd_pub.publish(String(data=self.pending_policy)) + self.last_policy_request_time = now + + def lookup_pose(self) -> Optional[tuple[float, float, float]]: + try: + transform = self.tf_buffer.lookup_transform(self.map_frame, self.base_frame, rclpy.time.Time()) + except TransformException: + return None + t = transform.transform.translation + q = transform.transform.rotation + yaw = self.quaternion_to_yaw(q.x, q.y, q.z, q.w) + return float(t.x), float(t.y), float(yaw) + + def get_goal_max_vx(self, goal: GoalSpec) -> float: + max_vx = self.max_vx if goal.speed is None else min(self.max_vx, max(0.0, goal.speed)) + if self.is_slalom_task(goal.task) and self.slalom_max_vx > 0.0: + max_vx = min(max_vx, self.slalom_max_vx) + return max(0.0, max_vx) + + def get_goal_max_vy(self, goal: GoalSpec) -> float: + if not goal.precision_follow or not self.precision_lateral_control_enabled: + return 0.0 + return min(self.max_vy, self.precision_lateral_max_vy) + + def slalom_script_goal_compatible(self, goal: GoalSpec) -> bool: + return bool(goal.slalom_straight and self.active_goal_stage == "final") + + def get_slalom_script_bounds(self, start_index: int) -> tuple[int, int]: + if self.active_mission_name is None: + return start_index, start_index + if start_index < 0 or start_index >= len(self.active_mission_goals): + return start_index, start_index + + start_goal = self.goals.get(self.active_mission_goals[start_index]) + if start_goal is None or not self.slalom_script_goal_compatible(start_goal): + return start_index, start_index + + end_index = start_index + while end_index + 1 < len(self.active_mission_goals): + next_goal = self.goals.get(self.active_mission_goals[end_index + 1]) + if next_goal is None or not self.slalom_script_goal_compatible(next_goal): + break + end_index += 1 + return start_index, end_index + + def build_slalom_script_steps(self, start_index: int, end_index: int) -> list[SlalomScriptStep]: + goals: list[GoalSpec] = [] + for index in range(start_index, end_index + 1): + goal = self.goals.get(self.active_mission_goals[index]) + if goal is None: + return [] + goals.append(goal) + if len(goals) < 2: + return [] + + steps: list[SlalomScriptStep] = [] + for offset, goal in enumerate(goals[:-1]): + next_goal = goals[offset + 1] + route_dx = next_goal.x - goal.x + route_dy = next_goal.y - goal.y + route_dist = math.hypot(route_dx, route_dy) + route_yaw = math.atan2(route_dy, route_dx) if route_dist > 1.0e-6 else None + target_yaw = goal.yaw + use_segment_yaw = route_yaw is not None and route_dist >= self.slalom_script_segment_yaw_min_dist + if self.slalom_script_drive_yaw_source == "segment" and use_segment_yaw: + target_yaw = route_yaw + elif next_goal.yaw is not None and ( + self.slalom_script_drive_yaw_source == "next" or not use_segment_yaw + ): + target_yaw = next_goal.yaw + elif target_yaw is None: + target_yaw = route_yaw + if target_yaw is not None and self.slalom_script_rotate_steps_enabled: + steps.append( + SlalomScriptStep( + kind="rotate", + start_index=start_index + offset, + end_index=start_index + offset, + target_x=goal.x, + target_y=goal.y, + target_yaw=target_yaw, + pos_tolerance=goal.slalom_script_pos_tolerance, + ) + ) + if route_dist >= self.slalom_script_min_step_distance: + yaw_for_body = target_yaw if target_yaw is not None else math.atan2(route_dy, route_dx) + forward = math.cos(yaw_for_body) * route_dx + math.sin(yaw_for_body) * route_dy + left = -math.sin(yaw_for_body) * route_dx + math.cos(yaw_for_body) * route_dy + steps.append( + SlalomScriptStep( + kind="drive", + start_index=start_index + offset, + end_index=start_index + offset + 1, + target_x=next_goal.x, + target_y=next_goal.y, + target_yaw=target_yaw, + pos_tolerance=next_goal.slalom_script_pos_tolerance, + forward=forward, + left=left, + ) + ) + + final_goal = goals[-1] + if final_goal.yaw is not None and self.slalom_script_final_rotate_enabled: + steps.append( + SlalomScriptStep( + kind="rotate", + start_index=end_index, + end_index=end_index, + target_x=final_goal.x, + target_y=final_goal.y, + target_yaw=final_goal.yaw, + pos_tolerance=final_goal.slalom_script_pos_tolerance, + ) + ) + return steps + + def maybe_start_slalom_script(self, pose: tuple[float, float, float]) -> bool: + goal = self.active_goal + if ( + not self.slalom_script_enabled + or goal is None + or self.active_mission_name is None + or not self.slalom_script_goal_compatible(goal) + ): + return False + + rx, ry, _ = pose + start_dist = math.hypot(goal.x - rx, goal.y - ry) + start_tolerance = self.slalom_script_start_tolerance + if start_dist > start_tolerance: + return False + + start_index, end_index = self.get_slalom_script_bounds(self.active_mission_index) + if end_index <= start_index: + return False + steps = self.build_slalom_script_steps(start_index, end_index) + if not steps: + return False + + self.slalom_script_active = True + self.slalom_script_key = (self.active_mission_name, start_index, end_index) + self.slalom_script_steps = steps + self.slalom_script_step_index = 0 + self.slalom_script_step_stable_count = 0 + self.turn_in_place_mode = False + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + self.active_path_world = self.build_precision_segment_path(start_index, end_index) + self.active_path_index = 0 + self.active_path_goal_key = ("slalom_script", self.active_mission_name, start_index, end_index) + self.publish_active_path(force=True) + self.publish_status( + f"slalom script started: waypoints {start_index + 1}-{end_index + 1}, " + f"steps={len(steps)}, start_dist={start_dist:.2f}" + ) + return True + + def handle_slalom_script(self, pose: tuple[float, float, float]) -> bool: + if not self.slalom_script_active and not self.maybe_start_slalom_script(pose): + return False + if not self.slalom_script_active: + return False + + while self.slalom_script_step_index < len(self.slalom_script_steps): + step = self.slalom_script_steps[self.slalom_script_step_index] + cmd, complete = self.compute_slalom_script_command(step, pose) + if complete: + self.slalom_script_step_stable_count += 1 + if self.slalom_script_step_stable_count >= self.slalom_script_stable_cycles: + self.slalom_script_step_index += 1 + self.slalom_script_step_stable_count = 0 + self.active_path_index = min( + max(0, step.end_index - (self.slalom_script_key[1] if self.slalom_script_key else step.end_index)), + max(0, len(self.active_path_world) - 1), + ) + self.publish_active_path(force=False) + continue + else: + self.slalom_script_step_stable_count = 0 + if self.slalom_script_safety_filter_enabled and step.kind == "drive": + cmd = self.filter_slalom_script_command( + pose, + (step.target_x, step.target_y), + cmd, + ) + self.cmd_pub.publish(cmd) + return True + + self.finish_slalom_script() + return True + + def compute_slalom_script_command( + self, + step: SlalomScriptStep, + pose: tuple[float, float, float], + ) -> tuple[Twist, bool]: + rx, ry, ryaw = pose + cmd = Twist() + target_yaw = step.target_yaw + + if step.kind == "rotate": + if target_yaw is None: + return cmd, True + yaw_err = self.normalize_angle(target_yaw - ryaw) + if abs(yaw_err) <= self.slalom_script_yaw_tolerance: + return cmd, True + cmd.angular.z = self.clamp( + self.slalom_script_kp_yaw * yaw_err, + -self.slalom_script_max_wz, + self.slalom_script_max_wz, + ) + cmd.angular.z = self.apply_slalom_script_min_command( + cmd.angular.z, + self.slalom_script_min_cmd_angular, + self.slalom_script_max_wz, + ) + return cmd, False + + dx = step.target_x - rx + dy = step.target_y - ry + if target_yaw is None: + target_yaw = math.atan2(dy, dx) if math.hypot(dx, dy) > 1.0e-6 else ryaw + yaw_err = self.normalize_angle(target_yaw - ryaw) + pos_err = math.hypot(dx, dy) + pos_tolerance = ( + self.slalom_script_pos_tolerance + if step.pos_tolerance is None + else max(0.01, float(step.pos_tolerance)) + ) + complete = ( + pos_err <= pos_tolerance + and ( + not self.slalom_script_require_yaw_at_step + or abs(yaw_err) <= self.slalom_script_yaw_tolerance + ) + ) + if complete: + return cmd, True + + if abs(yaw_err) > self.slalom_script_drive_yaw_deadband: + cmd.angular.z = self.clamp( + self.slalom_script_kp_yaw * yaw_err, + -self.slalom_script_max_wz, + self.slalom_script_max_wz, + ) + cmd.angular.z = self.apply_slalom_script_min_command( + cmd.angular.z, + self.slalom_script_min_cmd_angular, + self.slalom_script_max_wz, + ) + if abs(yaw_err) <= min(self.slalom_script_yaw_gate, self.slalom_script_drive_yaw_deadband): + err_forward = math.cos(ryaw) * dx + math.sin(ryaw) * dy + err_left = -math.sin(ryaw) * dx + math.cos(ryaw) * dy + lateral_abs = abs(err_left) + + if lateral_abs > self.slalom_script_lateral_gate: + cmd.linear.y = self.clamp( + self.slalom_script_kp_dist * err_left, + -self.slalom_script_max_vy, + self.slalom_script_max_vy, + ) + cmd.linear.y = self.apply_slalom_script_min_command( + cmd.linear.y, + self.slalom_script_min_cmd_linear, + self.slalom_script_max_vy, + ) + + if lateral_abs <= self.slalom_script_lateral_gate: + vx_limit = self.slalom_script_max_vx + elif lateral_abs <= self.slalom_script_lateral_slow_gate: + vx_limit = self.slalom_script_lateral_creep_vx + else: + vx_limit = 0.0 + + if vx_limit > 0.0 and abs(err_forward) > pos_tolerance: + raw_vx = self.clamp( + self.slalom_script_kp_dist * err_forward, + -vx_limit, + vx_limit, + ) + cmd.linear.x = self.apply_slalom_script_min_command( + raw_vx, + self.slalom_script_min_cmd_linear, + vx_limit, + ) + return cmd, False + + def apply_slalom_script_min_command( + self, + value: float, + min_abs: float, + max_abs: float, + ) -> float: + if max_abs <= 0.0 or min_abs <= 0.0: + return value + abs_value = abs(value) + if abs_value < self.slalom_script_min_cmd_epsilon or abs_value >= min_abs: + return value + return self.clamp(math.copysign(min_abs, value), -max_abs, max_abs) + + def finish_slalom_script(self) -> None: + key = self.slalom_script_key + self.cmd_pub.publish(Twist()) + if key is None: + self.reset_slalom_script() + return + + mission_name, start_index, end_index = key + self.publish_status( + f"slalom script complete: waypoints {start_index + 1}-{end_index + 1}" + ) + self.reset_slalom_script() + if self.active_mission_name != mission_name: + return + self.active_mission_index = end_index + 1 + if self.active_mission_index >= len(self.active_mission_goals): + self.cancel_navigation("mission complete") + return + self._activate_mission_goal() + + def get_curvature_limited_max_vx( + self, + goal: GoalSpec, + max_vx: float, + yaw_err: float, + ) -> float: + if ( + max_vx <= 0.0 + or not goal.precision_follow + or not self.slalom_curvature_slowdown_enabled + ): + return max_vx + + turn_fraction = min(1.0, abs(yaw_err) / (math.pi * 0.5)) + if 0 < self.active_path_index < len(self.active_path_world) - 1: + ax, ay = self.active_path_world[self.active_path_index - 1] + bx, by = self.active_path_world[self.active_path_index] + cx, cy = self.active_path_world[self.active_path_index + 1] + in_yaw = math.atan2(by - ay, bx - ax) + out_yaw = math.atan2(cy - by, cx - bx) + turn_fraction = max( + turn_fraction, + min(1.0, abs(self.normalize_angle(out_yaw - in_yaw)) / (math.pi * 0.5)), + ) + + scale = 1.0 - turn_fraction * (1.0 - self.slalom_min_turn_speed_scale) + capped = max_vx * scale + if max_vx > self.slalom_min_vx: + capped = max(capped, self.slalom_min_vx) + return min(max_vx, max(0.0, capped)) + + def local_planner_enabled_for_goal(self, goal: GoalSpec) -> bool: + if goal.slalom_straight: + return False + if not self.local_planner_enabled: + return False + if not self.route_avoid_regions and not ( + self.local_planner_use_astar_grid and self.astar_walkable_cells + ): + return False + task = self._normalize_task(goal.task) + if task is not None and task in self.local_planner_task_names: + return True + return bool(self.local_planner_precision_enabled and goal.precision_follow) + + def point_region_distance( + self, + x: float, + y: float, + polygon: tuple[tuple[float, float], ...], + ) -> float: + if len(polygon) < 3: + return float("inf") + if self.point_in_polygon(x, y, polygon): + return 0.0 + return min( + self.point_segment_distance(x, y, ax, ay, bx, by) + for (ax, ay), (bx, by) in zip(polygon, polygon[1:] + polygon[:1]) + ) + + def avoid_region_clearance_at(self, x: float, y: float) -> float: + if not self.avoid_regions_enabled or not self.route_avoid_regions: + return float("inf") + raw_distance = min( + self.point_region_distance(x, y, region.polygon) + for region in self.route_avoid_regions + ) + return raw_distance - (self.local_planner_robot_radius + self.local_planner_obstacle_margin) + + def sample_range(self, low: float, high: float, count: int) -> list[float]: + if count <= 1 or abs(high - low) <= 1.0e-9: + return [(low + high) * 0.5] + return [low + (high - low) * index / (count - 1) for index in range(count)] + + def unique_values(self, values: list[float], low: float, high: float) -> list[float]: + rounded = { + round(self.clamp(value, low, high), 4) + for value in values + if math.isfinite(value) + } + return sorted(rounded) + + def effective_velocity_values( + self, + values: list[float], + low: float, + high: float, + min_effective: float, + ) -> list[float]: + unique = self.unique_values(values, low, high) + if min_effective <= 0.0: + return unique + filtered = [value for value in unique if abs(value) < 1.0e-6 or abs(value) >= min_effective] + return filtered if filtered else [0.0] + + def make_twist(self, vx: float, vy: float, wz: float) -> Twist: + cmd = Twist() + cmd.linear.x = float(vx) + cmd.linear.y = float(vy) + cmd.angular.z = float(wz) + return cmd + + def local_candidate_score( + self, + pose: tuple[float, float, float], + target_xy: tuple[float, float], + candidate: Twist, + nominal: Twist, + precision_follow: bool, + ) -> Optional[float]: + rx, ry, ryaw = pose + target_x, target_y = target_xy + start_dist = math.hypot(target_x - rx, target_y - ry) + start_clearance = self.avoid_region_clearance_at(rx, ry) + min_clearance = float("inf") + steps = max(1, int(math.ceil(self.local_planner_sim_time / self.local_planner_sim_dt))) + + for _ in range(steps): + cos_yaw = math.cos(ryaw) + sin_yaw = math.sin(ryaw) + rx += (candidate.linear.x * cos_yaw - candidate.linear.y * sin_yaw) * self.local_planner_sim_dt + ry += (candidate.linear.x * sin_yaw + candidate.linear.y * cos_yaw) * self.local_planner_sim_dt + ryaw = self.normalize_angle(ryaw + candidate.angular.z * self.local_planner_sim_dt) + + if self.local_planner_use_astar_grid and self.astar_walkable_cells: + if self.world_to_cell(rx, ry) not in self.astar_walkable_cells: + return None + + clearance = self.avoid_region_clearance_at(rx, ry) + min_clearance = min(min_clearance, clearance) + if clearance < 0.0: + if start_clearance >= 0.0: + return None + if clearance < start_clearance - self.local_planner_recovery_clearance_epsilon: + return None + + end_dist = math.hypot(target_x - rx, target_y - ry) + target_yaw = math.atan2(target_y - ry, target_x - rx) + heading_err = abs(self.normalize_angle(target_yaw - ryaw)) + progress = start_dist - end_dist + speed = math.hypot(candidate.linear.x, candidate.linear.y) + nominal_delta = ( + abs(candidate.linear.x - nominal.linear.x) + + abs(candidate.linear.y - nominal.linear.y) + + 0.4 * abs(candidate.angular.z - nominal.angular.z) + ) + clearance_score = 0.0 if math.isinf(min_clearance) else min(min_clearance, 1.0) + score = ( + self.local_planner_path_weight * progress + + self.local_planner_clearance_weight * clearance_score + + self.local_planner_speed_weight * speed + - self.local_planner_heading_weight * heading_err + - self.local_planner_nominal_weight * nominal_delta + ) + if ( + precision_follow + and nominal.linear.x >= self.local_planner_min_vx + and candidate.linear.x < self.local_planner_min_vx + ): + score -= 2.0 + if speed < 0.02 and abs(candidate.angular.z) < 0.02 and math.hypot(nominal.linear.x, nominal.linear.y) > 0.02: + score -= 1.0 + return score + + def filter_slalom_script_command( + self, + pose: tuple[float, float, float], + target_xy: tuple[float, float], + nominal: Twist, + ) -> Twist: + if not self.route_avoid_regions and not ( + self.local_planner_use_astar_grid and self.astar_walkable_cells + ): + return nominal + + if self.local_candidate_score( + pose, + target_xy, + nominal, + nominal, + precision_follow=True, + ) is not None: + return nominal + + def scaled_linear(value: float, scale: float) -> float: + scaled = value * scale + if abs(scaled) < self.slalom_script_min_cmd_linear: + return 0.0 + return scaled + + candidates: list[Twist] = [] + for linear_scale in (0.75, 0.5, 0.0): + for angular_scale in (1.0, 0.5, 0.0): + candidates.append( + self.make_twist( + scaled_linear(nominal.linear.x, linear_scale), + scaled_linear(nominal.linear.y, linear_scale), + nominal.angular.z * angular_scale, + ) + ) + + best_cmd: Optional[Twist] = None + best_score: Optional[float] = None + for candidate in candidates: + score = self.local_candidate_score( + pose, + target_xy, + candidate, + nominal, + precision_follow=True, + ) + if score is None: + continue + if best_score is None or score > best_score: + best_score = score + best_cmd = candidate + return best_cmd if best_cmd is not None else Twist() + + def apply_local_planner( + self, + pose: tuple[float, float, float], + target_xy: tuple[float, float], + goal: GoalSpec, + nominal: Twist, + max_vx: float, + max_vy: float, + yaw_rate_limit: float, + ) -> Twist: + if not self.local_planner_enabled_for_goal(goal): + return nominal + + return self.select_local_command( + pose, + target_xy, + nominal, + max_vx, + max_vy, + yaw_rate_limit, + goal.precision_follow, + ) + + def select_local_command( + self, + pose: tuple[float, float, float], + target_xy: tuple[float, float], + nominal: Twist, + max_vx: float, + max_vy: float, + yaw_rate_limit: float, + precision_follow: bool, + ) -> Twist: + if not self.route_avoid_regions and not ( + self.local_planner_use_astar_grid and self.astar_walkable_cells + ): + return nominal + + vx_values = [0.0] + if max_vx >= self.local_planner_min_vx: + vx_values.extend( + self.sample_range( + self.local_planner_min_vx, + max_vx, + self.local_planner_v_samples, + ) + ) + else: + vx_values.append(max_vx) + vx_values.extend( + [ + nominal.linear.x, + max_vx, + self.local_planner_min_vx, + ] + ) + vx_values = self.effective_velocity_values( + vx_values, + 0.0, + max_vx, + self.local_planner_min_vx, + ) + + wz_values = self.sample_range(-yaw_rate_limit, yaw_rate_limit, self.local_planner_w_samples) + wz_values.extend([nominal.angular.z, 0.0]) + wz_values = self.unique_values(wz_values, -yaw_rate_limit, yaw_rate_limit) + + if max_vy > 1.0e-6: + vy_values = self.sample_range(-max_vy, max_vy, self.local_planner_vy_samples) + vy_values.extend( + [ + nominal.linear.y, + 0.0, + -min(self.slalom_script_min_cmd_linear, max_vy), + min(self.slalom_script_min_cmd_linear, max_vy), + ] + ) + vy_values = self.effective_velocity_values( + vy_values, + -max_vy, + max_vy, + min(self.slalom_script_min_cmd_linear, max_vy), + ) + else: + vy_values = [0.0] + + best_cmd: Optional[Twist] = None + best_score: Optional[float] = None + for vx in vx_values: + for vy in vy_values: + for wz in wz_values: + candidate = self.make_twist(vx, vy, wz) + score = self.local_candidate_score( + pose, + target_xy, + candidate, + nominal, + precision_follow, + ) + if score is None: + continue + if best_score is None or score > best_score: + best_score = score + best_cmd = candidate + + if best_cmd is None: + return Twist() + return best_cmd + + def on_timer(self) -> None: + if self.active_goal is None: + return + pose = self.lookup_pose() + if pose is None: + if not self.pose_waiting_reported: + self.publish_status(f"pose unavailable: waiting for TF {self.map_frame} -> {self.base_frame}") + self.pose_waiting_reported = True + self.cmd_pub.publish(Twist()) + return + if self.pose_waiting_reported: + self.publish_status(f"pose available: TF {self.map_frame} -> {self.base_frame} restored") + self.pose_waiting_reported = False + + self.maybe_publish_pending_policy(force=False) + + rx, ry, ryaw = pose + if self.handle_slalom_script(pose): + return + + gx = self.active_goal.x + gy = self.active_goal.y + goal_dx = gx - rx + goal_dy = gy - ry + dist = math.hypot(goal_dx, goal_dy) + tol_enter = self.active_goal.tolerance + if ( + self.slalom_script_enabled + and self.active_goal.slalom_straight + and not self.slalom_script_active + ): + tol_enter = min(tol_enter, self.slalom_script_start_tolerance) + tol_exit = self.active_goal.tolerance + self.goal_exit_tolerance_margin + position_ready = dist < (tol_exit if self.goal_entered_tolerance else tol_enter) + max_vx = self.get_goal_max_vx(self.active_goal) + + if position_ready: + self.goal_entered_tolerance = True + stable_cycles = self.get_goal_stable_cycles(self.active_goal) + if stable_cycles <= 0 and self.advance_precision_goal_without_stop(): + return + if self.goal_requires_yaw(self.active_goal): + yaw_tolerance = ( + self.active_goal.yaw_tolerance + if self.active_goal.yaw_tolerance is not None else self.goal_yaw_tolerance + ) + yaw_err = self.normalize_angle(self.active_goal.yaw - ryaw) + if abs(yaw_err) > yaw_tolerance: + self.goal_complete_stable_count = 0 + cmd = Twist() + cmd.angular.z = self.clamp( + self.kp_yaw * self.final_align_kp_yaw_scale * yaw_err, + -min(self.final_align_max_wz, self.get_goal_yaw_rate_limit(self.active_goal)), + min(self.final_align_max_wz, self.get_goal_yaw_rate_limit(self.active_goal)), + ) + # Keep a very small forward creep near the goal to reduce left-right rocking + if self.final_align_creep_speed > 0.0 and dist > max(0.02, tol_enter * 0.35): + align_target_yaw = math.atan2(goal_dy, goal_dx) + align_path_err = self.normalize_angle(align_target_yaw - ryaw) + if abs(align_path_err) <= self.yaw_stop_threshold: + cmd.linear.x = self.clamp( + self.kp_dist * dist * math.cos(align_path_err), + 0.0, + min(max_vx, self.final_align_creep_speed), + ) + self.cmd_pub.publish(cmd) + return + self.goal_complete_stable_count += 1 + if self.goal_complete_stable_count < stable_cycles: + self.cmd_pub.publish(Twist()) + return + self.cmd_pub.publish(Twist()) + if self.active_goal_stage == "pre_dock" and self.pending_final_goal is not None: + next_goal = self.pending_final_goal + self.pending_final_goal = None + self.activate_goal(next_goal, stage="final") + self.publish_status(f"pre-dock reached for {next_goal.name}, entering final approach") + return + reached_name = self.active_goal.name + if self.active_mission_name is not None: + self.publish_status(f"reached {reached_name}") + self.active_mission_index += 1 + self._activate_mission_goal() + else: + self.cancel_navigation(f"reached {reached_name}") + return + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + + target = self.get_path_follow_target((rx, ry), self.active_goal) + if target is None: + self.cmd_pub.publish(Twist()) + return + if self.active_goal is not None and self.active_goal.precision_follow: + self.sync_precision_goal_to_path_progress() + max_vx = self.get_goal_max_vx(self.active_goal) + target_x, target_y = target + dx = target_x - rx + dy = target_y - ry + target_yaw = math.atan2(dy, dx) + yaw_err = self.normalize_angle(target_yaw - ryaw) + if self.turn_in_place_enabled and not self.active_goal.precision_follow: + if self.turn_in_place_mode: + if abs(yaw_err) <= self.turn_in_place_exit_yaw: + self.turn_in_place_mode = False + elif abs(yaw_err) >= self.turn_in_place_enter_yaw: + self.turn_in_place_mode = True + + if self.turn_in_place_mode: + cmd = Twist() + cmd.angular.z = self.clamp( + self.kp_yaw * yaw_err, + -min(self.turn_in_place_max_wz, self.get_goal_yaw_rate_limit(self.active_goal)), + min(self.turn_in_place_max_wz, self.get_goal_yaw_rate_limit(self.active_goal)), + ) + self.cmd_pub.publish(cmd) + return + + cmd = Twist() + yaw_rate_limit = self.get_goal_yaw_rate_limit(self.active_goal) + max_vx = self.get_curvature_limited_max_vx(self.active_goal, max_vx, yaw_err) + max_vy = self.get_goal_max_vy(self.active_goal) + cmd.angular.z = self.clamp(self.kp_yaw * yaw_err, -yaw_rate_limit, yaw_rate_limit) + forward_yaw_threshold = math.pi if self.active_goal.precision_follow else self.yaw_stop_threshold + if abs(yaw_err) <= forward_yaw_threshold: + path_dist = math.hypot(dx, dy) + cmd.linear.x = self.clamp(self.kp_dist * path_dist * math.cos(yaw_err), 0.0, max_vx) + if max_vy > 0.0: + lateral_error = -math.sin(ryaw) * dx + math.cos(ryaw) * dy + cmd.linear.y = self.clamp( + self.precision_lateral_kp * lateral_error, + -max_vy, + max_vy, + ) + cmd = self.apply_local_planner( + pose, + (target_x, target_y), + self.active_goal, + cmd, + max_vx, + max_vy, + yaw_rate_limit, + ) + self.cmd_pub.publish(cmd) + + def cancel_navigation(self, reason: str) -> None: + self.active_goal = None + self.active_mission_name = None + self.active_mission_goals = [] + self.active_mission_index = 0 + self.active_goal_stage = "idle" + self.pending_final_goal = None + self.active_path_world = [] + self.active_path_index = 0 + self.active_path_goal_key = None + self.active_precision_segment_start = None + self.active_precision_segment_end = None + self.reset_slalom_script() + self.turn_in_place_mode = False + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + self.cmd_pub.publish(Twist()) + self.publish_active_path(force=True) + self.publish_status(f"navigation stopped: {reason}") + + def publish_goal_pose(self, goal: GoalSpec) -> None: + msg = PoseStamped() + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = self.map_frame + msg.pose.position.x = goal.x + msg.pose.position.y = goal.y + if goal.yaw is None: + msg.pose.orientation.w = 1.0 + else: + half_yaw = goal.yaw * 0.5 + msg.pose.orientation.z = math.sin(half_yaw) + msg.pose.orientation.w = math.cos(half_yaw) + self.goal_pose_pub.publish(msg) + + def publish_status(self, text: str) -> None: + self.status_pub.publish(String(data=text)) + self.get_logger().info(text) + + @staticmethod + def quaternion_to_yaw(x: float, y: float, z: float, w: float) -> float: + siny_cosp = 2.0 * (w * z + x * y) + cosy_cosp = 1.0 - 2.0 * (y * y + z * z) + return math.atan2(siny_cosp, cosy_cosp) + + @staticmethod + def normalize_angle(angle: float) -> float: + return (angle + math.pi) % (2.0 * math.pi) - math.pi + + @staticmethod + def clamp(value: float, low: float, high: float) -> float: + return max(low, min(high, float(value))) + + +def main(args: Optional[list[str]] = None) -> None: + rclpy.init(args=args) + node = SimpleNavNode() + try: + rclpy.spin(node) + except (KeyboardInterrupt, ExternalShutdownException): + pass + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/src/web_udp_bridge_node.py b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/web_udp_bridge_node.py new file mode 100644 index 0000000..f6ae53b --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/src/web_udp_bridge_node.py @@ -0,0 +1,1742 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import json +import math +import socket +import threading +from datetime import datetime +from http import HTTPStatus +from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer +from pathlib import Path +from typing import Any, Optional +from urllib.parse import urlparse + +import rclpy +import yaml +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_msgs.msg import TFMessage +from tf2_ros import Buffer, TransformBroadcaster, TransformException, TransformListener + + +class WebUdpBridgeNode(Node): + def __init__(self) -> None: + super().__init__("sim2real_web_udp_bridge_node", allow_undeclared_parameters=True) + + self.enabled = bool(self.declare_parameter("web_bridge_enabled", True).value) + self.listen_host = str(self.declare_parameter("web_udp_listen_host", "0.0.0.0").value) + self.listen_port = int(self.declare_parameter("web_udp_listen_port", 15000).value) + self.remote_host = str(self.declare_parameter("web_udp_remote_host", "").value) + self.remote_port = int(self.declare_parameter("web_udp_remote_port", 15001).value) + self.state_hz = float(self.declare_parameter("web_udp_state_hz", 20.0).value) + self.cmd_timeout_ms = float(self.declare_parameter("web_udp_cmd_timeout_ms", 300.0).value) + self.max_packet_bytes = int(self.declare_parameter("web_udp_max_packet_bytes", 8192).value) + self.max_vx = float(self.declare_parameter("web_udp_max_vx", 0.8).value) + self.max_vy = float(self.declare_parameter("web_udp_max_vy", 0.3).value) + self.max_yaw = float(self.declare_parameter("web_udp_max_yaw_rate", 0.5).value) + self.estop_on_timeout = bool(self.declare_parameter("web_udp_estop_on_timeout", False).value) + + self.http_host = str(self.declare_parameter("web_http_host", "0.0.0.0").value) + self.http_port = int(self.declare_parameter("web_http_port", 18080).value) + self.web_static_dir = str(self.declare_parameter("web_static_dir", "").value) + raw_localization_mode = str(self.declare_parameter("localization_mode", "odom").value) + self.localization_mode = self.normalize_localization_mode(raw_localization_mode) + self.odom_fallback_allowed = self.localization_mode == "odom" + 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) + self.nav_route_file = str(self.declare_parameter("nav_route_file", "").value) + self.nav_route_task_file = str(self.declare_parameter("nav_route_task_file", "").value) + self.pcd_nav_file = str(self.declare_parameter("pcd_nav_file", "").value) + self.pcd_floor_z_min = float(self.declare_parameter("pcd_floor_z_min", -1.6).value) + self.pcd_floor_z_max = float(self.declare_parameter("pcd_floor_z_max", 0.4).value) + self.pcd_sample_step = max(1, int(self.declare_parameter("pcd_sample_step", 25).value)) + self.route_align_enabled = bool( + self.declare_parameter("nav_route_auto_align_enabled", True).value + ) + self.route_rotation_offset_deg = float( + self.declare_parameter("nav_route_rotation_offset_deg", 0.0).value + ) + self.route_align_max_angle_deg = abs( + float(self.declare_parameter("nav_route_align_max_angle_deg", 6.0).value) + ) + self.route_align_angle_step_deg = max( + 0.1, + float(self.declare_parameter("nav_route_align_angle_step_deg", 0.5).value), + ) + self.route_align_search_radius = max( + 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 + ) + default_odom_trace_dir = Path(__file__).resolve().parents[3] / "map" / "load" + self.odom_trace_export_dir = str( + self.declare_parameter("odom_trace_export_dir", str(default_odom_trace_dir)).value + ) + self.odom_trace_sample_hz = max( + 0.2, + float(self.declare_parameter("odom_trace_sample_hz", 5.0).value), + ) + self.odom_trace_min_distance = max( + 0.0, + float(self.declare_parameter("odom_trace_min_distance", 0.03).value), + ) + self.odom_trace_max_points = max( + 2, + int(self.declare_parameter("odom_trace_max_points", 20000).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.odom_trace_active = False + self.odom_trace_points: list[dict[str, Any]] = [] + self.odom_trace_started_at = 0.0 + self.odom_trace_mission_name = "" + self.odom_trace_anchor: dict[str, Any] = {} + self.odom_trace_last_pose: Optional[dict[str, Any]] = None + self.odom_trace_export_path = "" + 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) + self.sock.bind((self.listen_host, self.listen_port)) + + self.client_addr: Optional[tuple[str, int]] = None + if self.remote_host: + self.client_addr = (self.remote_host, self.remote_port) + + self.latest_target: Optional[RuntimeTarget] = None + self.latest_state: Optional[RuntimeState] = None + self.latest_model_status: dict[str, Any] = { + "current_model": "rough", + "requested_model": "rough", + "switch_state": "idle", + "backend": "unknown", + "switching": False, + } + self.latest_cmd = Twist() + self.latest_mode = "UNKNOWN" + self.latest_mux_status = "" + self.latest_nav_status = "" + self.latest_nav_path: dict[str, Any] = { + "goal_name": "", + "stage": "idle", + "path_index": 0, + "points": [], + } + self.estop = False + self.web_enabled = False + self.last_cmd_time = self.get_clock().now() + self.timeout_estop_sent = False + + self.cmd_pub = self.create_publisher(Twist, "cmd_vel_web", 10) + self.nav_cmd_pub = self.create_publisher(String, "/simple_nav/cmd", 10) + self.estop_pub = self.create_publisher(Bool, "/safety/estop", 10) + self.web_enabled_pub = self.create_publisher(Bool, "web/enabled", 10) + self.remote_enabled_pub = self.create_publisher(Bool, "remote/enabled", 10) + self.nav_enabled_pub = self.create_publisher(Bool, "nav/enabled", 10) + self.mode_pub = self.create_publisher(String, "control/mode", 10) + self.model_cmd_pub = self.create_publisher(String, "runtime/model_cmd", 10) + self.posture_cmd_pub = self.create_publisher(String, "runtime/posture_cmd", 10) + + self.create_subscription(RuntimeTarget, "runtime/target", self.on_target, 10) + self.create_subscription(RuntimeState, "runtime/state", self.on_state, 10) + self.create_subscription(String, "runtime/model_status", self.on_model_status, 10) + self.create_subscription(Twist, "cmd_vel", self.on_cmd_vel, 10) + self.create_subscription(Bool, "/safety/estop", self.on_estop, 10) + self.create_subscription(String, "control/mode_state", self.on_mode_state, 10) + 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]] = [] + self.mission_specs: list[dict[str, Any]] = [] + self.default_mission_name: Optional[str] = None + self.task_specs: list[dict[str, Any]] = [] + self.route_alignment_info: dict[str, Any] = {} + self.route_avoid_regions: list[dict[str, Any]] = [] + self.reload_nav_task_config() + + self.http_server: Optional[ThreadingHTTPServer] = None + self.http_thread: Optional[threading.Thread] = None + self.static_dir = ( + Path(self.web_static_dir) + if self.web_static_dir + else Path(__file__).resolve().parents[3] / "tools" / "win_web_debug" / "static" + ) + self.start_http_server() + + self.rx_timer = self.create_timer(0.01, self.on_rx_timer) + self.state_timer = self.create_timer( + 1.0 / self.state_hz if self.state_hz > 0.0 else 0.05, + 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.odom_trace_timer = self.create_timer( + 1.0 / self.odom_trace_sample_hz, + self.on_odom_trace_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}") + self.get_logger().info( + f"Localization mode: {self.localization_mode} " + f"(odom_fallback_allowed={self.odom_fallback_allowed})" + ) + + def load_filtered_pcd(self, path: Path) -> list[list[float]]: + if not path.exists(): + self.get_logger().warn(f"PCD file not found: {path}") + return [] + + points: list[list[float]] = [] + data_started = False + with path.open("r", encoding="utf-8") as f: + for line in f: + stripped = line.strip() + if not stripped: + continue + if data_started: + parts = stripped.split() + if len(parts) < 3: + continue + try: + x = float(parts[0]) + y = float(parts[1]) + z = float(parts[2]) + except ValueError: + continue + if self.pcd_floor_z_min <= z <= self.pcd_floor_z_max: + points.append([round(x, 3), round(y, 3)]) + elif stripped.upper().startswith("DATA"): + data_started = True + return points[:: self.pcd_sample_step] + + def _load_yaml(self, path_value: str) -> dict[str, Any]: + if not path_value: + return {} + path = Path(path_value).expanduser() + if not path.exists(): + self.get_logger().warn(f"Navigation file not found: {path}") + return {} + try: + with path.open("r", encoding="utf-8") as f: + data = yaml.safe_load(f) or {} + return data if isinstance(data, dict) else {} + except Exception as exc: + self.get_logger().warn(f"Failed to load navigation file {path}: {exc}") + return {} + + @staticmethod + def _normalize_policy(value: Any) -> Optional[str]: + text = str(value).strip().lower() + if not text: + return None + if text == "ik": + return "crawl" + if text in {"rough", "crawl", "wall"}: + return text + return None + + @staticmethod + def _normalize_task(value: Any) -> Optional[str]: + text = str(value).strip().lower() + return text or None + + @staticmethod + def normalize_localization_mode(value: Any) -> str: + text = str(value or "").strip().lower() + if text in {"relocal", "reloc", "relocalization", "localization"}: + return "relocal" + return "odom" + + @staticmethod + def _get_value(data: dict[str, Any], *keys: str) -> Any: + for key in keys: + if key in data and data.get(key) is not None: + return data.get(key) + return None + + @classmethod + def _get_float(cls, data: dict[str, Any], *keys: str) -> Optional[float]: + value = cls._get_value(data, *keys) + if value is None: + return None + try: + return float(value) + except (TypeError, ValueError): + return None + + @classmethod + def _get_bool(cls, data: dict[str, Any], *keys: str) -> Optional[bool]: + value = cls._get_value(data, *keys) + 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 + + @classmethod + def _get_int(cls, data: dict[str, Any], *keys: str) -> Optional[int]: + value = cls._get_value(data, *keys) + if value is None: + return None + try: + return int(value) + except (TypeError, ValueError): + return None + + def load_nav_task_config( + self, + ) -> tuple[ + list[dict[str, Any]], + list[dict[str, Any]], + Optional[str], + dict[str, Any], + list[dict[str, Any]], + list[dict[str, Any]], + ]: + goals_by_name = self._load_goals(self.nav_goals_file) + missions_by_name = self._load_missions(self.nav_missions_file) + route_goals, route_missions, route_default, route_alignment, route_regions = self._load_route( + self.get_route_source_file() + ) + goals_by_name.update(route_goals) + missions_by_name.update(route_missions) + goal_specs = list(goals_by_name.values()) + mission_specs = [ + {"name": mission_name, "goals": list(goal_names)} + for mission_name, goal_names in missions_by_name.items() + ] + default_mission_name = route_default or (mission_specs[0]["name"] if mission_specs else None) + task_specs = self.build_task_specs(goal_specs, mission_specs, default_mission_name) + return goal_specs, mission_specs, default_mission_name, route_alignment, route_regions, task_specs + + def reload_nav_task_config(self) -> None: + ( + self.goal_specs, + self.mission_specs, + self.default_mission_name, + self.route_alignment_info, + self.route_avoid_regions, + self.task_specs, + ) = self.load_nav_task_config() + + def build_task_specs( + self, + goal_specs: list[dict[str, Any]], + mission_specs: list[dict[str, Any]], + default_mission_name: Optional[str], + ) -> list[dict[str, Any]]: + if not default_mission_name: + return [] + goal_lookup = {str(goal.get("name", "")): goal for goal in goal_specs if goal.get("name")} + default_mission = next( + (mission for mission in mission_specs if mission.get("name") == default_mission_name), + None, + ) + if not default_mission: + return [] + + tasks: list[dict[str, Any]] = [] + task_by_name: dict[str, dict[str, Any]] = {} + for index, goal_name in enumerate(default_mission.get("goals", []), start=1): + goal = goal_lookup.get(str(goal_name)) + if not goal: + continue + task_name = self._normalize_task(goal.get("task")) + if not task_name: + continue + spec = task_by_name.get(task_name) + if spec is None: + spec = { + "name": task_name, + "start_index": index, + "end_index": index, + "count": 0, + "first_goal": str(goal_name), + "last_goal": str(goal_name), + "first_id": goal.get("id"), + "last_id": goal.get("id"), + "goals": [], + "policies": [], + } + task_by_name[task_name] = spec + tasks.append(spec) + spec["end_index"] = index + spec["count"] = int(spec["count"]) + 1 + spec["last_goal"] = str(goal_name) + spec["last_id"] = goal.get("id") + spec["goals"].append(str(goal_name)) + policy = goal.get("policy") + if policy and policy not in spec["policies"]: + spec["policies"].append(policy) + return tasks + + def get_route_source_file(self) -> str: + candidate = self.nav_route_task_file.strip() if self.nav_route_task_file else "" + if candidate: + return candidate + return self.nav_route_file + + def _load_goals(self, path_value: str) -> dict[str, dict[str, Any]]: + data = self._load_yaml(path_value) + raw_goals = data.get("goals", {}) + parsed: dict[str, dict[str, Any]] = {} + if not isinstance(raw_goals, dict): + return parsed + for name, spec in raw_goals.items(): + if not isinstance(spec, dict): + continue + pos = spec.get("position", [0.0, 0.0, 0.0]) + if not isinstance(pos, list) or len(pos) < 2: + continue + try: + yaw_tolerance_deg = self._get_float(spec, "yaw_tolerance_deg", "yawToleranceDeg") + yaw_deg = self._get_float(spec, "yaw_deg", "yawDeg") + require_yaw = self._get_bool(spec, "require_yaw", "requireYaw") + parsed[str(name)] = { + "name": str(name), + "id": self._get_int(spec, "id", "waypoint_id", "waypointId"), + "task": self._normalize_task(spec.get("task")), + "segment": self._normalize_task(spec.get("segment")), + "x": float(pos[0]), + "y": float(pos[1]), + "yaw_deg": yaw_deg, + "yaw_tolerance_deg": yaw_tolerance_deg, + "tolerance": float(spec.get("tolerance", 0.20)), + "policy": self._normalize_policy(spec.get("policy")), + "speed": float(spec["speed"]) if spec.get("speed") is not None else None, + "require_yaw": bool(yaw_deg is not None if require_yaw is None else require_yaw) and yaw_deg is not None, + "pre_dock_distance": self._get_float(spec, "pre_dock_distance", "preDockDistance"), + "pre_dock_tolerance": self._get_float(spec, "pre_dock_tolerance", "preDockTolerance"), + } + except (TypeError, ValueError): + continue + return parsed + + def _load_missions(self, path_value: str) -> dict[str, list[str]]: + data = self._load_yaml(path_value) + raw_missions = data.get("missions", {}) + parsed: dict[str, list[str]] = {} + if not isinstance(raw_missions, dict): + return parsed + for name, spec in raw_missions.items(): + if not isinstance(spec, dict): + continue + goals = spec.get("goals", []) + if isinstance(goals, list) and goals and all(isinstance(item, str) for item in goals): + parsed[str(name)] = [str(item) for item in goals] + return parsed + + def _load_route( + self, path_value: str + ) -> tuple[dict[str, dict[str, Any]], dict[str, list[str]], Optional[str], dict[str, Any], list[dict[str, Any]]]: + data = self._load_yaml(path_value) + if not data: + return {}, {}, None, {}, [] + + route_name = str(data.get("name", "")).strip() or Path(path_value).stem + route_default_yaw_tolerance_deg = self._get_float( + data, + "yaw_tolerance_deg_default", + "yawToleranceDegDefault", + ) + route_default_require_yaw = self._get_bool( + data, + "require_yaw_default", + "requireYawDefault", + ) + route_default_pre_dock_distance = self._get_float( + data, + "pre_dock_distance_default", + "preDockDistanceDefault", + ) + route_default_pre_dock_tolerance = self._get_float( + data, + "pre_dock_tolerance_default", + "preDockToleranceDefault", + ) + raw_segments = data.get("segments", []) + if not isinstance(raw_segments, list) or not raw_segments: + top_level_waypoints = data.get("waypoints", []) + if isinstance(top_level_waypoints, list) and top_level_waypoints: + raw_segments = [{ + "name": "segment_1", + "obstacle": str(data.get("obstacle", "flat") or "flat"), + "waypoints": top_level_waypoints, + }] + else: + return {}, {}, None, {}, [] + + raw_waypoints: list[dict[str, Any]] = [] + for segment_index, segment in enumerate(raw_segments, start=1): + if not isinstance(segment, dict): + continue + segment_name = str(segment.get("name", f"segment_{segment_index}")).strip() or f"segment_{segment_index}" + waypoints = segment.get("waypoints", []) + if not isinstance(waypoints, list): + continue + for waypoint_index, waypoint in enumerate(waypoints, start=1): + if not isinstance(waypoint, dict): + continue + try: + waypoint_yaw_deg = self._get_float(waypoint, "yaw_deg", "yawDeg") + waypoint_yaw_tolerance_deg = self._get_float( + waypoint, + "yaw_tolerance_deg", + "yawToleranceDeg", + ) + waypoint_require_yaw = self._get_bool( + waypoint, + "require_yaw", + "requireYaw", + ) + if waypoint_require_yaw is None: + waypoint_require_yaw = bool(route_default_require_yaw) if route_default_require_yaw is not None else False + if waypoint_yaw_tolerance_deg is None: + waypoint_yaw_tolerance_deg = route_default_yaw_tolerance_deg + waypoint_pre_dock_distance = self._get_float( + waypoint, + "pre_dock_distance", + "preDockDistance", + ) + if waypoint_pre_dock_distance is None: + waypoint_pre_dock_distance = route_default_pre_dock_distance + waypoint_pre_dock_tolerance = self._get_float( + waypoint, + "pre_dock_tolerance", + "preDockTolerance", + ) + if waypoint_pre_dock_tolerance is None: + waypoint_pre_dock_tolerance = route_default_pre_dock_tolerance + raw_waypoints.append( + { + "segment": segment_name, + "id": int(waypoint.get("id", waypoint_index)), + "task": self._normalize_task(waypoint.get("task", segment.get("obstacle", ""))), + "x": float(waypoint["x"]), + "y": float(waypoint["y"]), + "yaw_deg": waypoint_yaw_deg, + "yaw_tolerance_deg": waypoint_yaw_tolerance_deg, + "tolerance": float(waypoint.get("tolerance", 0.20)), + "policy": self._normalize_policy(waypoint.get("policy")), + "speed": float(waypoint["speed"]) if waypoint.get("speed") is not None else None, + "require_yaw": bool(waypoint_require_yaw) and waypoint_yaw_deg is not None, + "pre_dock_distance": waypoint_pre_dock_distance, + "pre_dock_tolerance": waypoint_pre_dock_tolerance, + } + ) + except (KeyError, TypeError, ValueError): + continue + + if not raw_waypoints: + return {}, {}, None, {}, [] + + aligned_waypoints, alignment_info = self._align_route_waypoints(raw_waypoints) + applied_angle_rad = math.radians(float(alignment_info.get("applied_deg", 0.0))) if alignment_info else 0.0 + aligned_regions = self._rotate_avoid_regions( + self._load_avoid_regions(data), + float(raw_waypoints[0]["x"]), + float(raw_waypoints[0]["y"]), + applied_angle_rad, + ) + goals: dict[str, dict[str, Any]] = {} + mission_goal_names: list[str] = [] + for index, waypoint in enumerate(aligned_waypoints, start=1): + goal_name = f"{route_name}_p{index:02d}" + goals[goal_name] = { + "name": goal_name, + "id": int(waypoint["id"]) if waypoint.get("id") is not None else None, + "task": self._normalize_task(waypoint.get("task")), + "segment": str(waypoint.get("segment", "") or "") or None, + "x": round(float(waypoint["x"]), 3), + "y": round(float(waypoint["y"]), 3), + "yaw_deg": round(float(waypoint["yaw_deg"]), 3) if waypoint.get("yaw_deg") is not None else None, + "yaw_tolerance_deg": round(float(waypoint["yaw_tolerance_deg"]), 3) + if waypoint.get("yaw_tolerance_deg") is not None else None, + "tolerance": round(float(waypoint.get("tolerance", 0.20)), 3), + "policy": self._normalize_policy(waypoint.get("policy")), + "speed": float(waypoint["speed"]) if waypoint.get("speed") is not None else None, + "require_yaw": bool(waypoint.get("require_yaw", False)), + "pre_dock_distance": round(float(waypoint["pre_dock_distance"]), 3) + if waypoint.get("pre_dock_distance") is not None else None, + "pre_dock_tolerance": round(float(waypoint["pre_dock_tolerance"]), 3) + if waypoint.get("pre_dock_tolerance") is not None else None, + } + mission_goal_names.append(goal_name) + + return goals, {route_name: mission_goal_names}, route_name, alignment_info, aligned_regions + + def _load_avoid_regions(self, data: dict[str, Any]) -> list[dict[str, Any]]: + rows = data.get("regions") + if not isinstance(rows, list) or not rows: + rows = data.get("avoid_regions", []) + if not isinstance(rows, list): + return [] + + regions: list[dict[str, Any]] = [] + for index, row in enumerate(rows, start=1): + if not isinstance(row, dict): + continue + kind = str(row.get("kind", "avoid")).strip().lower() + if kind not in {"avoid", "no_go", "no-go", "nogo", "forbidden", "blocked"}: + continue + polygon_rows = row.get("polygon", []) + if not isinstance(polygon_rows, list): + continue + polygon: list[dict[str, float]] = [] + for point in polygon_rows: + try: + if isinstance(point, dict): + polygon.append({"x": float(point["x"]), "y": float(point["y"])}) + elif isinstance(point, (list, tuple)) and len(point) >= 2: + polygon.append({"x": float(point[0]), "y": float(point[1])}) + except (KeyError, TypeError, ValueError): + continue + if len(polygon) >= 3: + regions.append( + { + "name": str(row.get("name", f"avoid_{index}")), + "kind": kind, + "polygon": polygon, + } + ) + return regions + + def _rotate_avoid_regions( + self, + regions: list[dict[str, Any]], + anchor_x: float, + anchor_y: float, + angle_rad: float, + ) -> list[dict[str, Any]]: + if not regions or abs(angle_rad) <= 1.0e-12: + return regions + rotated: list[dict[str, Any]] = [] + for region in regions: + polygon = [] + for point in region.get("polygon", []): + x, y = self._rotate_xy(float(point["x"]), float(point["y"]), anchor_x, anchor_y, angle_rad) + polygon.append({"x": x, "y": y}) + rotated.append({**region, "polygon": polygon}) + return rotated + + def _align_route_waypoints( + self, waypoints: list[dict[str, Any]] + ) -> tuple[list[dict[str, Any]], dict[str, Any]]: + if not waypoints: + return [], {} + + if not self.map_points: + info = { + "enabled": False, + "reason": "pcd unavailable", + "manual_offset_deg": round(self.route_rotation_offset_deg, 3), + "auto_offset_deg": 0.0, + "applied_deg": round(self.route_rotation_offset_deg, 3), + "hits": 0, + "total": len(waypoints), + } + return self._rotate_waypoints(waypoints, math.radians(self.route_rotation_offset_deg)), info + + manual_offset_deg = self.route_rotation_offset_deg + if not self.route_align_enabled or len(waypoints) < 2: + info = { + "enabled": False, + "reason": "auto align disabled", + "manual_offset_deg": round(manual_offset_deg, 3), + "auto_offset_deg": 0.0, + "applied_deg": round(manual_offset_deg, 3), + "hits": 0, + "total": len(waypoints), + } + return self._rotate_waypoints(waypoints, math.radians(manual_offset_deg)), info + + anchor_x = float(waypoints[0]["x"]) + anchor_y = float(waypoints[0]["y"]) + search_radius_sq = self.route_align_search_radius * self.route_align_search_radius + best_hits = -1 + best_score = float("inf") + best_angle_deg = manual_offset_deg + manual_hits = -1 + manual_score = float("inf") + steps = max( + 1, + int(round((self.route_align_max_angle_deg * 2.0) / self.route_align_angle_step_deg)), + ) + + for step_index in range(steps + 1): + auto_delta_deg = -self.route_align_max_angle_deg + step_index * self.route_align_angle_step_deg + angle_deg = manual_offset_deg + auto_delta_deg + angle_rad = math.radians(angle_deg) + hits = 0 + score = 0.0 + for waypoint in waypoints: + tx, ty = self._rotate_xy( + float(waypoint["x"]), + float(waypoint["y"]), + anchor_x, + anchor_y, + angle_rad, + ) + nearest_sq = search_radius_sq + for px, py in self.map_points: + dx = px - tx + dy = py - ty + dist_sq = dx * dx + dy * dy + if dist_sq < nearest_sq: + nearest_sq = dist_sq + if nearest_sq < search_radius_sq: + hits += 1 + score += nearest_sq + if abs(angle_deg - manual_offset_deg) <= 1.0e-9: + manual_hits = hits + manual_score = score + better_hits = hits > best_hits + better_score = hits == best_hits and ( + score < best_score - 1.0e-9 + or ( + abs(score - best_score) <= 1.0e-9 + and abs(auto_delta_deg) < abs(best_angle_deg - manual_offset_deg) + ) + ) + if better_hits or better_score: + best_hits = hits + best_score = score + best_angle_deg = angle_deg + + hits_improved = best_hits > manual_hits + score_improvement = ( + (manual_score - best_score) / max(manual_score, 1.0e-9) + if manual_score < float("inf") + else 0.0 + ) + if not hits_improved and score_improvement < 0.05: + applied_angle_deg = manual_offset_deg + rotated = self._rotate_waypoints(waypoints, math.radians(applied_angle_deg)) + info = { + "enabled": True, + "reason": "ambiguous-auto-align", + "manual_offset_deg": round(manual_offset_deg, 3), + "auto_offset_deg": 0.0, + "applied_deg": round(applied_angle_deg, 3), + "score": round(manual_score, 6) if manual_score < float("inf") else 0.0, + "hits": int(manual_hits if manual_hits >= 0 else 0), + "total": len(waypoints), + } + return rotated, info + + rotated = self._rotate_waypoints(waypoints, math.radians(best_angle_deg)) + info = { + "enabled": True, + "manual_offset_deg": round(manual_offset_deg, 3), + "auto_offset_deg": round(best_angle_deg - manual_offset_deg, 3), + "applied_deg": round(best_angle_deg, 3), + "score": round(best_score, 6), + "hits": int(best_hits), + "total": len(waypoints), + } + return rotated, info + + def _rotate_waypoints(self, waypoints: list[dict[str, Any]], angle_rad: float) -> list[dict[str, Any]]: + if not waypoints: + return [] + anchor_x = float(waypoints[0]["x"]) + anchor_y = float(waypoints[0]["y"]) + rotated: list[dict[str, Any]] = [] + for waypoint in waypoints: + x, y = self._rotate_xy( + float(waypoint["x"]), + float(waypoint["y"]), + anchor_x, + anchor_y, + angle_rad, + ) + updated = dict(waypoint) + updated["x"] = x + updated["y"] = y + if updated.get("yaw_deg") is not None: + updated["yaw_deg"] = round( + math.degrees( + self.normalize_angle(math.radians(float(updated["yaw_deg"])) + angle_rad) + ), + 3, + ) + rotated.append(updated) + return rotated + + @staticmethod + def _rotate_xy(x: float, y: float, anchor_x: float, anchor_y: float, angle_rad: float) -> tuple[float, float]: + dx = x - anchor_x + dy = y - anchor_y + cos_a = math.cos(angle_rad) + sin_a = math.sin(angle_rad) + return ( + anchor_x + dx * cos_a - dy * sin_a, + anchor_y + dx * sin_a + dy * cos_a, + ) + + def lookup_pose(self) -> Optional[dict[str, float]]: + try: + transform = self.tf_buffer.lookup_transform( + self.nav_map_frame, + self.nav_base_frame, + rclpy.time.Time(), + ) + except TransformException: + return None + t = transform.transform.translation + q = transform.transform.rotation + yaw = self.quaternion_to_yaw(q.x, q.y, q.z, q.w) + return {"x": round(float(t.x), 3), "y": round(float(t.y), 3), "yaw": round(float(yaw), 6)} + + def start_http_server(self) -> None: + node = self + static_dir = self.static_dir + + class Handler(BaseHTTPRequestHandler): + def do_GET(self): + request_path = urlparse(self.path).path + if request_path in ["/", "/index.html"]: + self.serve_file(static_dir / "index.html", "text/html; charset=utf-8") + elif request_path == "/app.js": + self.serve_file(static_dir / "app.js", "application/javascript; charset=utf-8") + elif request_path == "/style.css": + self.serve_file(static_dir / "style.css", "text/css; charset=utf-8") + elif request_path == "/api/state": + self.send_json(node.build_state_packet()) + elif request_path == "/api/map": + self.send_json(node.build_map_packet()) + else: + self.send_error(HTTPStatus.NOT_FOUND) + + def do_POST(self): + if self.path != "/api/control": + self.send_error(HTTPStatus.NOT_FOUND) + return + try: + length = int(self.headers.get("Content-Length", "0")) + raw = self.rfile.read(length) + payload = json.loads(raw.decode("utf-8")) + node.handle_http_control(payload) + self.send_json({"ok": True}) + except Exception as exc: + self.send_json( + {"ok": False, "error": str(exc)}, + status=HTTPStatus.BAD_REQUEST, + ) + + def serve_file(self, path: Path, content_type: str): + if not path.exists(): + self.send_error(HTTPStatus.NOT_FOUND) + return + data = path.read_bytes() + self.send_response(HTTPStatus.OK) + self.send_header("Content-Type", content_type) + self.send_header("Content-Length", str(len(data))) + self.end_headers() + self.wfile.write(data) + + def send_json(self, payload: dict[str, Any], status: HTTPStatus = HTTPStatus.OK): + data = json.dumps(payload, separators=(",", ":")).encode("utf-8") + self.send_response(status) + self.send_header("Content-Type", "application/json") + self.send_header("Content-Length", str(len(data))) + self.end_headers() + self.wfile.write(data) + + def log_message(self, format: str, *args): + return + + self.http_server = ThreadingHTTPServer((self.http_host, self.http_port), Handler) + self.http_thread = threading.Thread(target=self.http_server.serve_forever, daemon=True) + self.http_thread.start() + + def build_odom_trace_packet(self) -> dict[str, Any]: + points = [[self._f(point["x"]), self._f(point["y"])] for point in self.odom_trace_points] + max_display_points = 240 + if len(points) > max_display_points: + stride = max(1, math.ceil(len(points) / max_display_points)) + points = points[::stride] + return { + "active": self.odom_trace_active, + "count": len(self.odom_trace_points), + "display_count": len(points), + "points": points, + "mission": self.odom_trace_mission_name, + "export_path": self.odom_trace_export_path, + "sample_hz": self.odom_trace_sample_hz, + "min_distance": self.odom_trace_min_distance, + } + def build_map_packet(self) -> dict[str, Any]: + 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, + "mission_specs": self.mission_specs, + "default_mission_name": self.default_mission_name, + "default_mission_goals": default_goals, + "task_specs": self.task_specs, + "route_alignment": self.route_alignment_info, + "avoid_regions": self.route_avoid_regions, + "localization_mode": self.localization_mode, + "odom_fallback_allowed": self.odom_fallback_allowed, + "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), + "odom_trace": self.build_odom_trace_packet(), + } + + def handle_http_control(self, payload: dict[str, Any]) -> None: + msg_type = str(payload.get("type", "")).lower() + if msg_type in { + "cmd_vel", + "zero", + "estop", + "mode", + "web_enable", + "remote_enable", + "nav_enable", + "ping", + "nav_cmd", + "nav_stop_keep", + "task_resume", + "task_only", + "task_skip", + "go_to", + "go_rel", + "odom_task", + "odom_stop", + "estop_reset", + "model_toggle", + "model_cmd", + }: + self.handle_packet(payload) + return + raise ValueError(f"unknown control type: {msg_type}") + + def on_target(self, msg: RuntimeTarget) -> None: + self.latest_target = msg + + def on_state(self, msg: RuntimeState) -> None: + self.latest_state = msg + + def on_model_status(self, msg: String) -> None: + try: + data = json.loads(msg.data) if msg.data else {} + if isinstance(data, dict): + self.latest_model_status = { + "current_model": str(data.get("current_model", "rough")), + "requested_model": str( + data.get("requested_model", data.get("current_model", "rough")) + ), + "switch_state": str(data.get("switch_state", "idle")), + "backend": str(data.get("backend", "unknown")), + "switching": bool(data.get("switching", False)), + } + except Exception as exc: + self.get_logger().warn(f"Failed to parse model status: {exc}") + + def on_cmd_vel(self, msg: Twist) -> None: + self.latest_cmd = msg + + def on_estop(self, msg: Bool) -> None: + was_estop = self.estop + self.estop = bool(msg.data) + if self.estop and not was_estop: + self.stop_navigation_for_keep("estop requested", enter_keep=False) + + def on_mode_state(self, msg: String) -> None: + self.latest_mode = msg.data + + def on_mux_status(self, msg: String) -> None: + self.latest_mux_status = msg.data + + def on_nav_status(self, msg: String) -> None: + self.latest_nav_status = msg.data + if msg.data.startswith("reloaded goals="): + self.reload_nav_task_config() + + 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), + "received_at": round(self.now_sec(), 3), + } + 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: + data = json.loads(msg.data) if msg.data else {} + except Exception: + return + if not isinstance(data, dict): + return + raw_points = data.get("points", []) + points: list[list[float]] = [] + if isinstance(raw_points, list): + for item in raw_points: + if ( + isinstance(item, (list, tuple)) + and len(item) >= 2 + ): + try: + points.append([round(float(item[0]), 3), round(float(item[1]), 3)]) + except (TypeError, ValueError): + continue + try: + path_index = max(0, int(data.get("path_index", 0) or 0)) + except (TypeError, ValueError): + path_index = 0 + self.latest_nav_path = { + "goal_name": str(data.get("goal_name", "")), + "stage": str(data.get("stage", "idle")), + "path_index": path_index, + "points": points, + } + + def on_rx_timer(self) -> None: + if not self.enabled: + return + while True: + try: + data, addr = self.sock.recvfrom(self.max_packet_bytes) + except BlockingIOError: + break + except OSError as exc: + self.get_logger().warn(f"UDP receive failed: {exc}") + break + self.client_addr = addr + try: + payload = json.loads(data.decode("utf-8")) + self.handle_packet(payload) + except Exception as exc: + self.send_packet({"type": "error", "message": str(exc)}) + + def handle_packet(self, payload: dict[str, Any]) -> None: + msg_type = str(payload.get("type", "")).lower() + if msg_type == "cmd_vel": + cmd = self.parse_twist(payload) + self.set_control_mode("WEB") + self.cmd_pub.publish(cmd) + self.last_cmd_time = self.get_clock().now() + self.timeout_estop_sent = False + elif msg_type == "zero": + self.cmd_pub.publish(Twist()) + self.last_cmd_time = self.get_clock().now() + elif msg_type == "estop": + self.handle_estop_request(bool(payload.get("data", True))) + elif msg_type == "mode": + mode = str(payload.get("mode", "DISABLED")).upper() + self.set_control_mode(mode) + elif msg_type == "web_enable": + self.web_enabled = bool(payload.get("data", False)) + self.web_enabled_pub.publish(Bool(data=self.web_enabled)) + if self.web_enabled: + self.set_control_mode("WEB") + elif msg_type == "remote_enable": + enabled = bool(payload.get("data", False)) + self.remote_enabled_pub.publish(Bool(data=enabled)) + if enabled: + self.set_control_mode("REMOTE") + elif msg_type == "nav_enable": + enabled = bool(payload.get("data", False)) + self.nav_enabled_pub.publish(Bool(data=enabled)) + if enabled: + self.set_control_mode("NAV") + elif msg_type == "nav_cmd": + command = str(payload.get("command", "")).strip() + if command: + self.set_control_mode("NAV") + self.nav_cmd_pub.publish(String(data=command)) + elif msg_type == "nav_stop_keep": + self.stop_navigation_for_keep("manual stop") + elif msg_type == "task_resume": + task_name = str(payload.get("task", "")).strip() + if task_name: + self.ensure_navigation_pose(f"task resume {task_name}") + self.set_control_mode("NAV") + self.nav_cmd_pub.publish(String(data="reload")) + self.nav_cmd_pub.publish(String(data=f"run_from_task {task_name}")) + elif msg_type == "task_only": + task_name = str(payload.get("task", "")).strip() + if task_name: + self.ensure_navigation_pose(f"task only {task_name}") + self.set_control_mode("NAV") + self.nav_cmd_pub.publish(String(data="reload")) + self.nav_cmd_pub.publish(String(data=f"run_only_task {task_name}")) + elif msg_type == "task_skip": + task_name = str(payload.get("task", "")).strip() + self.ensure_navigation_pose(f"task skip {task_name or 'current'}") + self.set_control_mode("NAV") + command = f"skip_task {task_name}" if task_name else "skip_task" + self.nav_cmd_pub.publish(String(data="reload")) + self.nav_cmd_pub.publish(String(data=command)) + elif msg_type == "go_to": + x = float(payload.get("x", 0.0)) + y = float(payload.get("y", 0.0)) + self.set_control_mode("NAV") + self.nav_cmd_pub.publish(String(data=f"go {x:.3f} {y:.3f}")) + elif msg_type == "go_rel": + dx = float(payload.get("dx", 0.0)) + 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 == "estop_reset": + self.handle_estop_request(False) + elif msg_type == "model_toggle": + self.model_cmd_pub.publish(String(data="toggle")) + elif msg_type == "model_cmd": + command = str(payload.get("command", "")).strip() + if command: + self.model_cmd_pub.publish(String(data=command)) + elif msg_type == "ping": + self.send_packet({"type": "pong", "stamp": self.now_sec()}) + elif msg_type == "map_request": + packet = self.build_map_packet() + packet["type"] = "map" + self.send_packet(packet) + else: + self.send_packet({"type": "error", "message": f"unknown packet type: {msg_type}"}) + + def set_control_mode(self, mode: str) -> None: + mode = str(mode).upper() + self.mode_pub.publish(String(data=mode)) + self.web_enabled = mode == "WEB" + self.web_enabled_pub.publish(Bool(data=mode == "WEB")) + self.remote_enabled_pub.publish(Bool(data=mode == "REMOTE")) + self.nav_enabled_pub.publish(Bool(data=mode == "NAV")) + if mode == "KEEP": + self.posture_cmd_pub.publish(String(data="keep")) + elif mode in {"REMOTE", "NAV", "WEB"}: + self.posture_cmd_pub.publish(String(data="default")) + + def stop_navigation_for_keep(self, reason: str, enter_keep: bool = True) -> None: + self.nav_cmd_pub.publish(String(data="stop")) + if enter_keep: + self.set_control_mode("KEEP") + + def handle_estop_request(self, active: bool) -> None: + if active: + self.stop_navigation_for_keep("estop requested", enter_keep=False) + self.estop_pub.publish(Bool(data=True)) + else: + self.estop_pub.publish(Bool(data=False)) + self.stop_navigation_for_keep("estop reset") + + 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 get_current_task_name(self) -> str: + status = self.latest_nav_status or "" + marker = "task=" + marker_index = status.find(marker) + if marker_index >= 0: + tail = status[marker_index + len(marker):].strip() + task = tail.split()[0].strip() if tail else "" + if task: + return task + active_goal_name = str(self.latest_nav_path.get("goal_name", "") or "") + if active_goal_name: + for goal in self.goal_specs: + if goal.get("name") == active_goal_name: + return str(goal.get("task") or "") + return "" + + def ensure_navigation_pose(self, reason: str) -> None: + if self.lookup_pose() is not None: + return + if self.odom_fallback_active: + return + if not self.odom_fallback_allowed: + raise ValueError( + f"{reason} waiting for relocalization TF {self.nav_map_frame}->{self.nav_base_frame}; " + "move the robot until reloc shows on/tf ok" + ) + + self.reload_nav_task_config() + default_goals = self.get_default_mission_goals() + if not self.default_mission_name or not default_goals: + raise ValueError(f"{reason} failed: 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")), + ) + if not self.odom_trace_active: + self.start_odom_trace(self.default_mission_name or "odom_task", anchor_goal) + self.get_logger().info(f"{reason}: started odom fallback anchor before navigation command") + + def start_odom_fallback_task(self) -> None: + if not self.odom_fallback_allowed: + raise ValueError("odom task unavailable in relocalization mode; wait for reloc on/tf ok then use resume") + self.reload_nav_task_config() + self.ensure_navigation_pose("odom task") + if not self.default_mission_name: + raise ValueError("odom task unavailable: no default mission loaded") + 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 start_odom_trace(self, mission_name: str, anchor_goal: dict[str, Any]) -> None: + self.odom_trace_active = True + self.odom_trace_points = [] + self.odom_trace_started_at = self.now_sec() + self.odom_trace_mission_name = mission_name + self.odom_trace_last_pose = None + self.odom_trace_export_path = "" + self.odom_trace_anchor = { + "name": str(anchor_goal.get("name", "route_p01")), + "x": self._f(anchor_goal.get("x", 0.0)), + "y": self._f(anchor_goal.get("y", 0.0)), + "yaw_deg": self._f(anchor_goal.get("yaw_deg", anchor_goal.get("yawDeg", 0.0))), + } + self.record_odom_trace_sample(force=True) + self.get_logger().info( + f"Odom trace recording started: mission={self.odom_trace_mission_name}, " + f"export_dir={self.odom_trace_export_dir}" + ) + + def on_odom_trace_timer(self) -> None: + if self.odom_trace_active: + self.record_odom_trace_sample(force=False) + + def record_odom_trace_sample(self, force: bool = False) -> None: + if not self.odom_trace_active and not force: + return + if len(self.odom_trace_points) >= self.odom_trace_max_points: + return + pose = self.lookup_pose() + if pose is None: + return + now_sec = self.now_sec() + x = float(pose.get("x", 0.0)) + y = float(pose.get("y", 0.0)) + yaw = float(pose.get("yaw", 0.0)) + if self.odom_trace_last_pose is not None and not force: + dx = x - float(self.odom_trace_last_pose.get("x", 0.0)) + dy = y - float(self.odom_trace_last_pose.get("y", 0.0)) + if math.hypot(dx, dy) < self.odom_trace_min_distance: + return + sample = { + "t": round(now_sec - self.odom_trace_started_at, 3), + "x": round(x, 4), + "y": round(y, 4), + "yaw": round(yaw, 6), + "yawDeg": round(math.degrees(yaw), 3), + } + self.odom_trace_points.append(sample) + self.odom_trace_last_pose = sample + + def finish_odom_trace(self, reason: str) -> Optional[Path]: + if not self.odom_trace_active and not self.odom_trace_points: + return None + if self.odom_trace_active: + self.record_odom_trace_sample(force=True) + self.odom_trace_active = False + if not self.odom_trace_points: + return None + + try: + export_dir = Path(self.odom_trace_export_dir).expanduser() + export_dir.mkdir(parents=True, exist_ok=True) + stamp = datetime.now().strftime("%Y%m%d_%H%M%S") + safe_mission = "".join( + ch if ch.isalnum() or ch in {"_", "-"} else "_" + for ch in (self.odom_trace_mission_name or "odom") + ).strip("_") or "odom" + export_path = export_dir / f"odom_trace_{safe_mission}_{stamp}.json" + waypoints = [] + for index, point in enumerate(self.odom_trace_points, start=1): + waypoints.append({ + "id": index, + "x": point["x"], + "y": point["y"], + "world_x": point["x"], + "world_y": point["y"], + "yawDeg": point["yawDeg"], + "speed": 0.0, + "policy": "odom_trace", + "tolerance": 0.0, + }) + payload = { + "name": f"odom_trace_{safe_mission}_{stamp}", + "type": "odom_trace", + "created_at": datetime.now().isoformat(timespec="seconds"), + "frame": self.nav_map_frame, + "base_frame": self.nav_base_frame, + "odom_frame": self.nav_odom_frame, + "mission": self.odom_trace_mission_name, + "reason": reason, + "source_route_file": self.get_route_source_file(), + "anchor": dict(self.odom_trace_anchor), + "origin": {"mode": "world", "x": 0.0, "y": 0.0, "yaw_deg": 0.0}, + "sample_hz": self.odom_trace_sample_hz, + "min_distance": self.odom_trace_min_distance, + "samples": self.odom_trace_points, + "waypoints": waypoints, + "segments": [{"name": "odom_trace", "obstacle": "odom_trace", "waypoints": waypoints}], + } + export_path.write_text(json.dumps(payload, ensure_ascii=False, indent=2), encoding="utf-8") + except Exception as exc: + self.get_logger().error(f"Odom trace export failed: {exc}") + self.odom_trace_export_path = "" + return None + self.odom_trace_export_path = str(export_path) + self.get_logger().info( + f"Odom trace exported: {export_path} points={len(self.odom_trace_points)} reason={reason}" + ) + return export_path + + def validate_odom_fallback_preconditions(self) -> None: + if not self.odom_fallback_allowed: + raise ValueError("odom fallback disabled in relocalization mode") + 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 + if was_active: + self.finish_odom_trace(reason) + 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 {} + angular = payload.get("angular", {}) or {} + cmd.linear.x = self.clamp(float(linear.get("x", 0.0)), -self.max_vx, self.max_vx) + cmd.linear.y = self.clamp(float(linear.get("y", 0.0)), -self.max_vy, self.max_vy) + cmd.angular.z = self.clamp(float(angular.get("z", 0.0)), -self.max_yaw, self.max_yaw) + return cmd + + def on_guard_timer(self) -> None: + age_ms = (self.get_clock().now() - self.last_cmd_time).nanoseconds / 1.0e6 + if age_ms > self.cmd_timeout_ms: + self.cmd_pub.publish(Twist()) + if self.estop_on_timeout and not self.timeout_estop_sent: + self.estop_pub.publish(Bool(data=True)) + self.timeout_estop_sent = True + + def on_state_timer(self) -> None: + if not self.enabled: + return + self.send_packet(self.build_state_packet()) + + def build_state_packet(self) -> dict[str, Any]: + target = self.latest_target + state = self.latest_state + packet: dict[str, Any] = { + "type": "state", + "stamp": self.now_sec(), + "mode": self.latest_mode, + "mux_status": self.latest_mux_status, + "nav_status": self.latest_nav_status, + "estop": self.estop, + "web_enabled": self.web_enabled, + "connected": True, + "local_receive_time": self.now_sec(), + "cmd_vel": self.twist_to_dict(self.latest_cmd), + "runtime": {}, + "robot": {}, + "nav": { + "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), + "current_task": self.get_current_task_name(), + "task_specs": self.task_specs, + "localization_mode": self.localization_mode, + "odom_fallback_allowed": self.odom_fallback_allowed, + "odom_trace": self.build_odom_trace_packet(), + "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, + }, + "relocalization": self.build_relocalization_packet(), + }, + "model": dict(self.latest_model_status), + } + if target is not None: + packet["runtime"] = { + "target_source": str(target.target_source), + "zero_command": bool(target.zero_command), + "runtime_released": bool(target.runtime_released), + "release_alpha": self._f(target.release_alpha), + "command": [self._f(v) for v in target.command], + "raw_command": [self._f(v) for v in target.raw_command], + } + if state is not None: + packet["robot"] = { + "joint_pos": [self._f(v) for v in state.joint_pos], + "joint_vel": [self._f(v) for v in state.joint_vel], + "joint_torque": [self._f(v) for v in state.joint_torque], + "imu_gyro": [self._f(v) for v in state.imu_gyro], + "imu_accel": [self._f(v) for v in state.imu_accel], + "projected_gravity": [self._f(v) for v in state.projected_gravity], + "quat_wxyz": [self._f(v) for v in state.quat_wxyz], + "imu_age_ms": self._f(state.imu_age_ms), + "imu_fresh": bool(state.imu_fresh), + "odom_age_ms": self._f(state.odom_age_ms), + "odom_fresh": bool(state.odom_fresh), + "odom_local_pos": [self._f(v) for v in state.odom_local_pos], + "odom_local_yaw": self._f(state.odom_local_yaw), + "fresh_count": int(state.fresh_count), + "holdover_count": int(state.holdover_count), + "stale_max": int(state.stale_max), + "update_counts": [int(v) for v in state.update_counts], + } + return packet + + def build_relocalization_packet(self) -> dict[str, Any]: + external_tf = dict(self.last_external_map_odom_tf or {}) + received_at = self._f(external_tf.get("received_at")) if external_tf else 0.0 + age_s = self.now_sec() - received_at if received_at > 0.0 else 0.0 + return { + "localization_mode": self.localization_mode, + "odom_fallback_allowed": self.odom_fallback_allowed, + "external_map_odom_tf": external_tf, + "external_tf_seen": bool(external_tf), + "external_tf_age_s": self._f(age_s), + "handoff_pending": self.odom_fallback_handoff_pending, + "handoff": dict(self.odom_fallback_handoff_info), + } + + def send_packet(self, payload: dict[str, Any]) -> None: + if self.client_addr is None: + return + try: + data = json.dumps(payload, separators=(",", ":")).encode("utf-8") + self.sock.sendto(data, self.client_addr) + except OSError as exc: + self.get_logger().warn(f"UDP send failed: {exc}") + + @staticmethod + def _f(v: Any) -> float: + try: + f = float(v) + if f != f: + return 0.0 + return round(f, 6) + except (TypeError, ValueError): + return 0.0 + + 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 { + "linear": {"x": msg.linear.x, "y": msg.linear.y, "z": msg.linear.z}, + "angular": {"x": msg.angular.x, "y": msg.angular.y, "z": msg.angular.z}, + } + + @staticmethod + def quaternion_to_yaw(x: float, y: float, z: float, w: float) -> float: + siny_cosp = 2.0 * (w * z + x * y) + cosy_cosp = 1.0 - 2.0 * (y * y + z * z) + return math.atan2(siny_cosp, cosy_cosp) + + @staticmethod + def normalize_angle(angle: float) -> float: + return (angle + math.pi) % (2.0 * math.pi) - math.pi + + @staticmethod + def clamp(value: float, low: float, high: float) -> float: + return max(low, min(high, value)) + + +def main(args: Optional[list[str]] = None) -> None: + rclpy.init(args=args) + node = WebUdpBridgeNode() + try: + rclpy.spin(node) + except (KeyboardInterrupt, ExternalShutdownException): + pass + finally: + if node.http_server is not None: + node.http_server.shutdown() + node.http_server.server_close() + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2/src/sim2real_runtime/test/test_deadzone_velocity_limiter.py b/05_software/real/sim2real_ros2/src/sim2real_runtime/test/test_deadzone_velocity_limiter.py new file mode 100644 index 0000000..39fb05b --- /dev/null +++ b/05_software/real/sim2real_ros2/src/sim2real_runtime/test/test_deadzone_velocity_limiter.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import math +import sys +import unittest +from pathlib import Path + + +SOURCE_DIR = Path(__file__).resolve().parents[1] / "src" +sys.path.insert(0, str(SOURCE_DIR)) + +from deadzone_velocity_limiter import limit_deadzone_axis + + +class DeadzoneVelocityLimiterTest(unittest.TestCase): + def test_start_skips_linear_deadzone(self) -> None: + output = limit_deadzone_axis(0.0, 0.5, 0.02, 1.0, 2.0, 0.22, 0.05) + self.assertAlmostEqual(output, 0.22) + + def test_small_nonzero_target_is_promoted(self) -> None: + output = limit_deadzone_axis(0.0, 0.1, 0.02, 1.0, 2.0, 0.22, 0.05) + self.assertAlmostEqual(output, 0.22) + + def test_tiny_target_remains_zero(self) -> None: + output = limit_deadzone_axis(0.0, 0.04, 0.02, 1.0, 2.0, 0.22, 0.05) + self.assertEqual(output, 0.0) + + def test_target_at_epsilon_remains_zero(self) -> None: + output = limit_deadzone_axis(0.0, 0.05, 0.02, 1.0, 2.0, 0.22, 0.05) + self.assertEqual(output, 0.0) + + def test_stop_does_not_hold_minimum_speed(self) -> None: + output = limit_deadzone_axis(0.22, 0.0, 0.02, 1.0, 2.0, 0.22, 0.05) + self.assertEqual(output, 0.0) + + def test_reverse_brakes_through_zero_first(self) -> None: + output = limit_deadzone_axis(0.30, -0.5, 0.02, 1.0, 2.0, 0.22, 0.05) + self.assertGreaterEqual(output, 0.0) + self.assertLess(output, 0.30) + + def test_deadzone_disabled_preserves_legacy_ramp(self) -> None: + output = limit_deadzone_axis(0.0, 0.5, 0.02, 1.0, 1.0, 0.0, 0.0) + self.assertTrue(math.isclose(output, 0.02)) + + +if __name__ == "__main__": + unittest.main() diff --git a/05_software/real/sim2real_ros2/start_sim2real.sh b/05_software/real/sim2real_ros2/start_sim2real.sh new file mode 100644 index 0000000..3b90321 --- /dev/null +++ b/05_software/real/sim2real_ros2/start_sim2real.sh @@ -0,0 +1,75 @@ +#!/bin/bash + +# Exit immediately if a command exits with a non-zero status +set -e + +# Define color codes for pretty output +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +RED='\033[0;31m' +NC='\033[0m' # No Color + +echo -e "${YELLOW}====================================================${NC}" +echo -e "${GREEN} Starting Sim2Real Locomotion ROS2 Stack ${NC}" +echo -e "${YELLOW}====================================================${NC}" + +# 1. Source ROS2 Humble environment +if [ -f "/opt/ros/humble/setup.bash" ]; then + echo -e "[System] Sourcing ROS2 Humble..." + source /opt/ros/humble/setup.bash +else + echo -e "${RED}[Error] ROS2 Humble not found. Please install ROS2 Humble first.${NC}" + exit 1 +fi + +# 2. Check if local workspace is compiled and source it +SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" +cd "$SCRIPT_DIR" + +if [ -f "install/setup.bash" ]; then + echo -e "[Workspace] Sourcing local workspace..." + source install/setup.bash +elif [ -f "../../install/setup.bash" ]; then + echo -e "[Workspace] Sourcing parent install/setup.bash..." + source ../../install/setup.bash +else + echo -e "${YELLOW}[Warning] install/setup.bash not found. Attempting to build the workspace first...${NC}" + if command -v colcon &> /dev/null; then + echo -e "[Build] Running colcon build..." + colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release + source install/setup.bash + else + echo -e "${RED}[Error] 'colcon' tool not found. Please compile the workspace manually before running.${NC}" + exit 1 + fi +fi + +# 3. Check for SocketCAN interfaces (in non-dry-run mode) +# Reading dry_run parameter from yaml config +if [ -f "src/sim2real_bringup/config/runtime.yaml" ]; then + # Use sed for portability (busybox-compatible, avoids GNU grep -oP dependency) + DRY_RUN=$(sed -n 's/^[[:space:]]*dry_run:[[:space:]]*//p' src/sim2real_bringup/config/runtime.yaml | head -n 1 || echo "true") + # Trim trailing whitespace/newlines + DRY_RUN=$(echo "$DRY_RUN" | tr -d '[:space:]') +else + DRY_RUN="true" +fi + +if [ "$DRY_RUN" = "false" ]; then + echo -e "[Network] Checking CAN interfaces..." + if ip link show can0 &> /dev/null && ip link show can1 &> /dev/null; then + echo -e "[Network] can0 and can1 interfaces detected." + else + echo -e "${YELLOW}[Warning] CAN interfaces (can0/can1) not fully active.${NC}" + echo -e "To configure CAN interfaces, run:" + echo -e " sudo ip link set can0 up type can bitrate 1000000" + echo -e " sudo ip link set can1 up type can bitrate 1000000" + fi +else + echo -e "${YELLOW}[Dry-Run] Running in Dry-Run mode. SocketCAN will not be accessed.${NC}" +fi + +# 4. Run the ROS2 Launch file +echo -e "${GREEN}[Launch] Starting sim2real launch file...${NC}" +ros2 launch sim2real_bringup sim2real_system.launch.py "$@" + diff --git a/README.md b/README.md index 8816f83..c94ba8a 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ RC_WheelLeg 是山东华宇工学院 16DOF 串联轮足机器人项目。 -当前 `16dof` 分支用于整理 16DOF 机械、强化学习训练、Sim2Sim、Sim2Real、ROS 2 部署和比赛版本。机械资料、比赛训练架构、后期 MuJoCo/Sim2Sim 和导航打点工具已经完成整理。 +当前 `16dof` 分支用于整理 16DOF 机械、强化学习训练、Sim2Sim、Sim2Real、ROS 2 部署和比赛版本。机械资料、比赛训练架构、后期 MuJoCo/Sim2Sim、导航打点工具和最终比赛 ROS 2 部署已经完成整理。 ## 平台概览 @@ -39,6 +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 `last_not_slalom_1050` 最终比赛 ROS 2 真机工程 - [ ] 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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ze+1#696im!58=*JpZ1y`Npm_Qo|}af|7U4TEG`s#*{|)q1{rS;1sBe_t`PZvkFEjV z=A1uQK@7@YIa?_`$?(R9V>};4_7j{!1jjSR!%{QVLcQLE)zE?G#^u&LX^glZJlVS!pl)moK^U~<89sUJ9`XEJrOXSUYyZWe)hG|S^Sq7^oP69Q}!giTNkA<@{2GYy@h$$6aG^6 zpR-CIGErT(_UHPJSyW4CSzV(rr0vN1WBg5ojPo4Vd!)DV5hW>J)k}V^Bbnz!MCdLI z?`nAQl;00CiQ;jn8&1YJ-)(BZe3OSVlg`>%vqjzy+J5HybkZbRzlcCD8tRAY`*i)t zscd?B{^zaj1I~UNKLf2@8N@$w?LO5OeTN>Y{>Px>A^#)pelEYHtkTt>SWCB1^!<;W z3BW@6R+{w5wUCt58Z(vXJ{RxZF+sPAMP!!IYAgwH9_(^P3nMGnmuJ5D0+RVb^|~he zA6NfOK3i@nKAr0qlR)0yKrcBIG$9{L_ph@@g6oS{K-VkJo_rF$5H6!=dtSD2Z4Fxp zmk=`NTG&EwHaoeldAT~Vtc*G7i$ZwOi%N!!kRk@I5bgA^a5~du*@{p%!+K&Fm5YPmHun0w| z;a6VB^3Z3F)Tq#@9rBnfgx`B1 +DISPLAY=:0 python3 screen/fullscreen_quit.py +``` + +程序默认从脚本父目录自动确定工作区，也可设置 `SIM2REAL_REPO_DIR` 覆盖。显示权限检查： + +```bash +python3 screen/check_display.py +``` + +自启动脚本： + +- `install_autostart.sh`：图形桌面登录后启动。 +- `install_boot_service.sh <用户名>`：安装 systemd 服务。 +- `uninstall_boot_service.sh`：卸载服务。 + +使用屏幕启动系统前，先完成工作区构建、Odin 配置、CAN 映射检查和急停验证。 diff --git a/05_software/real/sim2real_ros2/screen/check_display.py b/05_software/real/sim2real_ros2/screen/check_display.py new file mode 100644 index 0000000..dcf8a8e --- /dev/null +++ b/05_software/real/sim2real_ros2/screen/check_display.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python3 +""" +Print display-related diagnostics for launching the fullscreen quit screen. +""" + +import glob +import getpass +import os +import shlex +import subprocess +from typing import List, Optional + + +def run(command: List[str]) -> str: + try: + result = subprocess.run( + command, + check=False, + capture_output=True, + text=True, + ) + except OSError as exc: + return f"" + + output = result.stdout.strip() + error = result.stderr.strip() + if error: + return f"{output}\n{error}".strip() + return output + + +def current_user() -> str: + try: + return getpass.getuser() + except OSError: + return os.environ.get("USER", "unknown") + + +def xauth_from_x_processes() -> List[str]: + output = run(["ps", "-eo", "args"]) + candidates = [] + for line in output.splitlines(): + if "Xorg" not in line and "Xwayland" not in line: + continue + try: + parts = shlex.split(line) + except ValueError: + parts = line.split() + for index, part in enumerate(parts[:-1]): + if part == "-auth": + candidates.append(parts[index + 1]) + return candidates + + +def print_path_status(label: str, path: Optional[str]) -> None: + if not path: + print(f"{label}: ") + return + exists = os.path.exists(path) + readable = os.access(path, os.R_OK) if exists else False + print(f"{label}: {path} exists={exists} readable={readable}") + + +def main() -> int: + uid = os.getuid() + print(f"user: {run(['whoami'])}") + print(f"uid: {uid}") + print(f"DISPLAY: {os.environ.get('DISPLAY', '')}") + print(f"XAUTHORITY: {os.environ.get('XAUTHORITY', '')}") + print() + + print("candidate XAUTHORITY files:") + candidates = [ + os.environ.get("XAUTHORITY"), + *xauth_from_x_processes(), + os.path.expanduser("~/.Xauthority"), + f"/run/user/{uid}/gdm/Xauthority", + f"/run/user/{uid}/Xauthority", + *glob.glob(f"/run/user/{uid}/*Xauthority*"), + ] + + seen = set() + for candidate in candidates: + key = candidate or "" + if key in seen: + continue + seen.add(key) + print_path_status(" -", candidate) + + print() + print("X server processes:") + x_lines = [ + line + for line in run(["ps", "-eo", "user,args"]).splitlines() + if "Xorg" in line or "Xwayland" in line + ] + if x_lines: + for line in x_lines: + print(f" {line}") + else: + print(" ") + + print() + print("recommended SSH launch:") + print(" cd /screen") + print(" bash run_fullscreen_quit.sh") + print() + print("if authorization fails, run this on the Nano desktop terminal once:") + print(f" DISPLAY=:0 xhost +SI:localuser:{current_user()}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/05_software/real/sim2real_ros2/screen/fullscreen_quit.py b/05_software/real/sim2real_ros2/screen/fullscreen_quit.py new file mode 100644 index 0000000..2bd6ddd --- /dev/null +++ b/05_software/real/sim2real_ros2/screen/fullscreen_quit.py @@ -0,0 +1,1498 @@ +#!/usr/bin/env python3 +""" +Touch control panel for the 800x600 robot display area. + +The screen panel starts the normal sim2real ROS2 launch command and then uses +the existing web bridge HTTP API for control. That keeps the button behavior in +sync with the browser UI without adding another ROS control path. +""" + +from __future__ import annotations + +import glob +import getpass +import json +import math +import os +import re +import shlex +import signal +import subprocess +import sys +import threading +import time +import tkinter as tk +from typing import Any, Callable, List, Optional +from urllib.error import URLError +from urllib.request import Request, urlopen + + +SCREEN_WIDTH = 800 +SCREEN_HEIGHT = 600 +BUTTON_WIDTH = 156 +BUTTON_HEIGHT = 62 +BUTTON_GAP_X = 18 +BUTTON_GAP_Y = 12 +INFO_BOX_WIDTH = 176 +INFO_BOX_GAP_X = 4 +TASK_LABEL_WIDTH = 350 +TASK_BUTTON_WIDTH = 96 +TASK_BUTTON_HEIGHT = 54 +TASK_BUTTON_GAP_X = 20 +TASK_ROW_GAP_Y = 8 +TASK_ROW_WIDTH = TASK_LABEL_WIDTH + 3 * TASK_BUTTON_WIDTH + 3 * TASK_BUTTON_GAP_X +TASK_ROW_LEFT_PAD = 0 +DEFAULT_DISPLAY = ":0" +DISPLAY_ATTEMPTS: list[str] = [] + +LOCAL_REPO_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "..")) +REPO_DIR = os.environ.get("SIM2REAL_REPO_DIR", LOCAL_REPO_DIR) +ODIN_CONTROL_CONFIG_REL = os.path.join("src", "odin_ros_driver", "config", "control_command.yaml") +ODIN_INSTALLED_CONTROL_CONFIG_RELS = ( + os.path.join("install", "odin_ros_driver", "share", "odin_ros_driver", "config", "control_command.yaml"), + os.path.join("install", "share", "odin_ros_driver", "config", "control_command.yaml"), +) +ODIN_PROFILE_CONFIG_REL = { + "odom": os.path.join("src", "odin_ros_driver", "config", "control_command_odom.yaml"), + "relocal": os.path.join("src", "odin_ros_driver", "config", "control_command_relocal.yaml"), +} +LOCALIZATION_PROFILES = ("odom", "relocal") +RELOCAL_MODE_NAMES = {0: "odom", 1: "slam", 2: "relocal"} +LOCALIZATION_PROFILE_LABELS = {"odom": "ODOM", "relocal": "REL"} +CAN_BUS_MAP = [1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 2, 2] +CAN_BUS_LABELS = {1: "CAN0", 2: "CAN1"} +ACTION_COMMAND_PREFIX = ( + f"cd {shlex.quote(REPO_DIR)} && " + "source install/setup.bash && " + "ros2 launch sim2real_bringup sim2real_system.launch.py launch_nav2:=false" +) +HTTP_BASE = "http://127.0.0.1:18080" +HTTP_TIMEOUT_S = 0.35 +MODE_CONFIRM_DELAY_S = 0.25 +MODE_CONFIRM_ATTEMPTS = 8 +ACTION_OUTPUT_QUIET_S = 1.0 +ACTION_SIGINT_TIMEOUT_S = 15.0 +ACTION_SIGTERM_TIMEOUT_S = 8.0 +SYSTEM_PROCESS_PATTERNS = [ + "ros2 launch sim2real_bringup sim2real_system.launch.py", + "sim2real_system.launch.py", + "sim2real_hw_node", + "sim2real_runtime_node", + "sim2real_cmd_mux_node", + "sim2real_web_udp_bridge_node", + "sim2real_remote_uart_node", + "sim2real_simple_nav_node", + "host_sdk_sample", +] + +COLOR_BG = "#101418" +COLOR_PANEL = "#18202a" +COLOR_TEXT = "#f5f7fb" +COLOR_MUTED = "#8d99a8" +COLOR_DISABLED = "#4a4f57" +COLOR_ACTION = "#2474a6" +COLOR_NAV = "#1e8449" +COLOR_REMOTE = "#7d3c98" +COLOR_KEEP = "#6f42c1" +COLOR_ODOM = "#b9770e" +COLOR_ESTOP = "#c0392b" +COLOR_QUIT = "#566573" +COLOR_QUIT_ACTIVE = "#d35400" +COLOR_WARN = "#ffd60a" +COLOR_OK = "#30d158" + + +def configure_display() -> None: + if sys.platform.startswith("linux") and not os.environ.get("DISPLAY"): + os.environ["DISPLAY"] = DEFAULT_DISPLAY + + +def current_user() -> str: + try: + return getpass.getuser() + except OSError: + return os.environ.get("USER", "unknown") + + +def xauth_candidates() -> List[Optional[str]]: + candidates: List[Optional[str]] = [os.environ.get("XAUTHORITY")] + + if sys.platform.startswith("linux"): + candidates.extend(xauth_from_x_processes()) + uid = os.getuid() + candidates.extend( + [ + os.path.expanduser("~/.Xauthority"), + f"/run/user/{uid}/gdm/Xauthority", + f"/run/user/{uid}/Xauthority", + ] + ) + candidates.extend(glob.glob(f"/run/user/{uid}/*Xauthority*")) + + candidates.append(None) + + unique_candidates: List[Optional[str]] = [] + seen = set() + for candidate in candidates: + key = candidate or "" + if key in seen: + continue + seen.add(key) + if candidate and not os.path.exists(candidate): + continue + unique_candidates.append(candidate) + return unique_candidates + + +def xauth_from_x_processes() -> List[str]: + try: + result = subprocess.run( + ["ps", "-eo", "args"], + check=False, + capture_output=True, + text=True, + ) + except OSError: + return [] + + candidates = [] + for line in result.stdout.splitlines(): + if "Xorg" not in line and "Xwayland" not in line: + continue + try: + parts = shlex.split(line) + except ValueError: + parts = line.split() + for index, part in enumerate(parts[:-1]): + if part == "-auth": + candidates.append(parts[index + 1]) + return candidates + + +def create_tk_root() -> tk.Tk: + configure_display() + last_error = None + + for candidate in xauth_candidates(): + if candidate: + os.environ["XAUTHORITY"] = candidate + else: + os.environ.pop("XAUTHORITY", None) + + DISPLAY_ATTEMPTS.append(os.environ.get("XAUTHORITY", "")) + try: + return tk.Tk() + except tk.TclError as exc: + last_error = exc + + if last_error: + raise last_error + raise tk.TclError("Unable to open display") + + +class FullscreenControlApp: + def __init__(self) -> None: + self.root = create_tk_root() + self.root.title("sim2real Screen") + self.root.configure(bg=COLOR_BG) + self.root.geometry(f"{SCREEN_WIDTH}x{SCREEN_HEIGHT}+0+0") + self.root.overrideredirect(True) + self.root.resizable(False, False) + + self.root.bind("", self.close_app) + self.root.bind("q", self.close_app) + self.root.protocol("WM_DELETE_WINDOW", self.close_app) + + self.action_process: Optional[subprocess.Popen[str]] = None + self.stopping_action = False + self.action_output_reader_done = True + self.last_action_output_time = 0.0 + self.latest_mode = "UNKNOWN" + self.latest_model = "--" + self.latest_nav_status = "--" + self.latest_estop = "--" + self.latest_odom_xy: Optional[tuple[float, float]] = None + self.latest_odom_yaw: Optional[float] = None + self.latest_re_xy: Optional[tuple[float, float]] = None + self.latest_re_yaw: Optional[float] = None + self.latest_nav_pose_available = False + self.latest_relocal_text = "--" + self.latest_relocal_level = "muted" + self.latest_can_text = "--" + self.latest_can_level = "muted" + self.latest_error_text = "err: ok" + self.latest_error_level = "ok" + self.command_error_text = "" + self.command_error_until = 0.0 + self.task_specs: list[dict[str, Any]] = [] + self.selected_task_index = 0 + self.current_task = "" + self.task_selection_manual = False + self.localization_profile = self.normalize_localization_profile( + os.environ.get("SIM2REAL_LOCALIZATION_PROFILE", "relocal") + ) + self.bridge_localization_mode = "" + self.bridge_connected = False + self.system_process_running = False + self.manual_cleanup_required = False + self.message = "ready" + + self.buttons: dict[str, tk.Button] = {} + self.labels: dict[str, tk.Label] = {} + + self.build_ui() + self.refresh_loop() + + def build_ui(self) -> None: + self.header = tk.Frame(self.root, bg=COLOR_PANEL, height=74) + self.header.pack(fill="x") + self.header.pack_propagate(False) + + left = tk.Frame(self.header, bg=COLOR_PANEL) + left.pack(side="left", padx=18, fill="y") + tk.Label( + left, + text="MODEL", + font=("Arial", 12, "bold"), + fg=COLOR_MUTED, + bg=COLOR_PANEL, + ).pack(anchor="w", pady=(6, 0)) + self.labels["model"] = tk.Label( + left, + text="--", + font=("Arial", 24, "bold"), + fg="#30d158", + bg=COLOR_PANEL, + width=12, + anchor="w", + ) + self.labels["model"].pack(anchor="w") + + right = tk.Frame(self.header, bg=COLOR_PANEL) + right.pack(side="right", padx=18, fill="y") + self.labels["action_status"] = self.status_label(right, "ACTION", "idle") + self.labels["mode_status"] = self.status_label(right, "MODE", "unknown") + + self.body = tk.Frame(self.root, bg=COLOR_BG) + self.body.pack(fill="both", expand=True) + + title_row = tk.Frame(self.body, bg=COLOR_BG) + title_row.pack(fill="x", padx=36, pady=(10, 2)) + title = tk.Label( + title_row, + text="sim2real touch control", + font=("Arial", 22, "bold"), + fg=COLOR_TEXT, + bg=COLOR_BG, + ) + title.pack(side="left") + + grid = tk.Frame(self.body, bg=COLOR_BG) + grid.pack(pady=4) + + layout = [ + ("action", "action", self.action, COLOR_ACTION, 0, 0), + ("nav", "nav", self.nav, COLOR_NAV, 0, 1), + ("estop", "estop", self.estop, COLOR_ESTOP, 0, 2), + ("loc_profile", "LOC REL", self.toggle_localization_profile, COLOR_NAV, 1, 0), + ("odom", "odom", self.odom, COLOR_ODOM, 1, 1), + ("quit", "quit", self.quit_action, COLOR_QUIT, 1, 2), + ] + for name, text, command, color, row, col in layout: + cell = tk.Frame(grid, bg=COLOR_BG, width=BUTTON_WIDTH, height=BUTTON_HEIGHT) + cell.grid( + row=row, + column=col, + padx=BUTTON_GAP_X // 2, + pady=BUTTON_GAP_Y // 2, + ) + cell.grid_propagate(False) + button = self.make_button(cell, text, command, color) + if name == "loc_profile": + button.configure(font=("Arial", 20, "bold")) + button.pack(fill="both", expand=True) + self.buttons[name] = button + + info = tk.Frame(self.body, bg=COLOR_BG) + info.pack(fill="x", padx=36, pady=(10, 0)) + self.labels["bridge"] = self.info_label(info, "bridge", "--", 0) + self.labels["estop"] = self.info_label(info, "estop", "--", 1) + self.labels["relocal"] = self.info_label(info, "reloc", "--", 2) + self.labels["can_status"] = self.info_label(info, "can", "--", 3) + + task_panel = tk.Frame(self.body, bg=COLOR_BG) + task_panel.pack(fill="x", padx=36, pady=(12, 0)) + + task_bar = tk.Frame(task_panel, bg=COLOR_BG, height=TASK_BUTTON_HEIGHT) + task_bar.pack(anchor="w", padx=(TASK_ROW_LEFT_PAD, 0), pady=(0, TASK_ROW_GAP_Y)) + task_bar.configure(width=TASK_ROW_WIDTH) + task_bar.pack_propagate(False) + task_label_cell = tk.Frame( + task_bar, + bg=COLOR_PANEL, + width=TASK_LABEL_WIDTH, + height=TASK_BUTTON_HEIGHT, + ) + task_label_cell.pack(side="left", padx=(0, TASK_BUTTON_GAP_X)) + task_label_cell.pack_propagate(False) + self.labels["task"] = tk.Label( + task_label_cell, + text="task: --", + font=("Arial", 18, "bold"), + fg=COLOR_TEXT, + bg=COLOR_PANEL, + anchor="w", + padx=12, + ) + self.labels["task"].pack(fill="both", expand=True) + top_task_layout = [ + ("task_prev", "prev", self.prev_task, COLOR_QUIT), + ("task_next", "next", self.next_task, COLOR_QUIT), + ("task_resume", "resume", self.resume_task, COLOR_NAV), + ] + for index, (name, text, command, color) in enumerate(top_task_layout): + cell = tk.Frame(task_bar, bg=COLOR_BG, width=TASK_BUTTON_WIDTH, height=TASK_BUTTON_HEIGHT) + pad_right = TASK_BUTTON_GAP_X if index < len(top_task_layout) - 1 else 0 + cell.pack(side="left", padx=(0, pad_right)) + cell.pack_propagate(False) + button = self.make_small_button(cell, text, command, color) + button.pack(fill="both", expand=True) + self.buttons[name] = button + + odom_bar = tk.Frame(task_panel, bg=COLOR_BG, height=TASK_BUTTON_HEIGHT) + odom_bar.pack(anchor="w", padx=(TASK_ROW_LEFT_PAD, 0)) + odom_bar.configure(width=TASK_ROW_WIDTH) + odom_bar.pack_propagate(False) + odom_label_cell = tk.Frame( + odom_bar, + bg=COLOR_PANEL, + width=TASK_LABEL_WIDTH, + height=TASK_BUTTON_HEIGHT, + ) + odom_label_cell.pack(side="left", padx=(0, TASK_BUTTON_GAP_X)) + odom_label_cell.pack_propagate(False) + self.labels["odom_xy"] = tk.Label( + odom_label_cell, + text="odom x=-- y=-- yaw=--\nre x=-- y=-- yaw=--", + font=("Arial", 13, "bold"), + fg=COLOR_TEXT, + bg=COLOR_PANEL, + anchor="w", + padx=12, + ) + self.labels["odom_xy"].pack(fill="both", expand=True) + bottom_task_layout = [ + ("keep", "keep", self.keep, COLOR_KEEP), + ("task_stop", "stop", self.stop_task, COLOR_ODOM), + ("estop_reset", "reset", self.reset_estop, COLOR_ACTION), + ] + for index, (name, text, command, color) in enumerate(bottom_task_layout): + cell = tk.Frame(odom_bar, bg=COLOR_BG, width=TASK_BUTTON_WIDTH, height=TASK_BUTTON_HEIGHT) + pad_right = TASK_BUTTON_GAP_X if index < len(bottom_task_layout) - 1 else 0 + cell.pack(side="left", padx=(0, pad_right)) + cell.pack_propagate(False) + button = self.make_small_button(cell, text, command, color) + button.pack(fill="both", expand=True) + self.buttons[name] = button + + self.labels["message"] = tk.Label( + self.body, + text=self.message, + font=("Arial", 15), + fg=COLOR_MUTED, + bg=COLOR_BG, + wraplength=728, + ) + self.labels["message"].pack(pady=(8, 0)) + self.labels["error"] = tk.Label( + self.body, + text=self.latest_error_text, + font=("Arial", 14, "bold"), + fg=COLOR_OK, + bg=COLOR_BG, + wraplength=728, + ) + self.labels["error"].pack(pady=(4, 0)) + + def status_label(self, parent: tk.Frame, name: str, value: str) -> tk.Label: + row = tk.Frame(parent, bg=COLOR_PANEL) + row.pack(anchor="e", pady=(4, 0)) + tk.Label( + row, + text=f"{name}: ", + font=("Arial", 13, "bold"), + fg=COLOR_MUTED, + bg=COLOR_PANEL, + ).pack(side="left") + label = tk.Label( + row, + text=value, + font=("Arial", 17, "bold"), + fg=COLOR_TEXT, + bg=COLOR_PANEL, + width=10, + anchor="e", + ) + label.pack(side="left") + return label + + def info_label(self, parent: tk.Frame, name: str, value: str, col: int) -> tk.Label: + box = tk.Frame(parent, bg=COLOR_PANEL, width=INFO_BOX_WIDTH, height=58) + box.grid(row=0, column=col, padx=INFO_BOX_GAP_X, sticky="nsew") + box.grid_propagate(False) + tk.Label( + box, + text=name, + font=("Arial", 12, "bold"), + fg=COLOR_MUTED, + bg=COLOR_PANEL, + ).pack(anchor="w", padx=12, pady=(5, 0)) + label = tk.Label( + box, + text=value, + font=("Arial", 15, "bold"), + fg=COLOR_TEXT, + bg=COLOR_PANEL, + anchor="w", + ) + label.pack(anchor="w", padx=12) + parent.grid_columnconfigure(col, weight=1) + return label + + def make_button( + self, + parent: tk.Frame, + text: str, + command: Callable[[], None], + background: str, + ) -> tk.Button: + return tk.Button( + parent, + text=text, + command=command, + font=("Arial", 22, "bold"), + fg="#ffffff", + bg=background, + activeforeground="#ffffff", + activebackground=background, + disabledforeground="#c3c7ce", + relief="flat", + bd=0, + cursor="hand2", + highlightthickness=0, + ) + + def make_small_button( + self, + parent: tk.Frame, + text: str, + command: Callable[[], None], + background: str, + ) -> tk.Button: + return tk.Button( + parent, + text=text, + command=command, + font=("Arial", 16, "bold"), + fg="#ffffff", + bg=background, + activeforeground="#ffffff", + activebackground=background, + disabledforeground="#c3c7ce", + relief="flat", + bd=0, + cursor="hand2", + highlightthickness=0, + ) + + def set_button_state(self, name: str, enabled: bool, color: str) -> None: + button = self.buttons.get(name) + if not button: + return + if enabled: + button.configure(state="normal", bg=color, activebackground=color, cursor="hand2") + else: + button.configure(state="disabled", bg=COLOR_DISABLED, activebackground=COLOR_DISABLED, cursor="arrow") + + def action_running(self) -> bool: + return self.action_process is not None and self.action_process.poll() is None + + def action_busy(self) -> bool: + return self.action_process is not None or self.stopping_action + + def action_output_quiet(self) -> bool: + # The launch can be stopped while a child still holds stdout briefly. + # Gate restart on visible terminal quiet time, not only pipe closure. + return time.monotonic() - self.last_action_output_time >= ACTION_OUTPUT_QUIET_S + + def process_pids_for_pattern(self, pattern: str) -> list[int]: + if not sys.platform.startswith("linux"): + return [] + try: + result = subprocess.run( + ["pgrep", "-f", pattern], + check=False, + capture_output=True, + text=True, + ) + except OSError: + return [] + + pids: list[int] = [] + current_pid = os.getpid() + for line in result.stdout.splitlines(): + try: + pid = int(line.strip()) + except ValueError: + continue + if pid != current_pid: + pids.append(pid) + return pids + + def process_pattern_running(self, pattern: str) -> bool: + return bool(self.process_pids_for_pattern(pattern)) + + def system_process_pids(self) -> list[int]: + pids: set[int] = set() + for pattern in SYSTEM_PROCESS_PATTERNS: + pids.update(self.process_pids_for_pattern(pattern)) + return sorted(pids) + + def any_system_process_running(self) -> bool: + return bool(self.system_process_pids()) + + def existing_system_running(self) -> bool: + if self.fetch_state() is not None: + return True + return self.any_system_process_running() + + def build_action_command(self) -> str: + profile = self.normalize_localization_profile(self.localization_profile) + self.sync_legacy_odin_control_mode(profile) + config_rel = self.profile_config_rel(profile) + config_path = self.resolve_repo_file(config_rel) + if not config_path: + raise ValueError(f"{profile} config missing: {config_rel}") + return ( + f"{ACTION_COMMAND_PREFIX} " + f"localization_mode:={shlex.quote(profile)} " + f"odin_config_file:={shlex.quote(config_path)}" + ) + + def action(self) -> None: + if self.action_busy(): + self.set_message("wait for previous action to stop") + return + if self.bridge_connected or self.existing_system_running(): + self.set_message("system already running; do not launch twice") + return + try: + action_command = self.build_action_command() + except ValueError as exc: + self.set_message(str(exc)) + return + self.manual_cleanup_required = False + self.stopping_action = False + self.action_output_reader_done = False + self.last_action_output_time = time.monotonic() + try: + kwargs: dict[str, Any] = { + "shell": False, + "text": True, + "stdout": subprocess.PIPE, + "stderr": subprocess.STDOUT, + "bufsize": 1, + } + if sys.platform.startswith("linux"): + kwargs["preexec_fn"] = os.setsid + self.action_process = subprocess.Popen(["bash", "-lc", action_command], **kwargs) + threading.Thread( + target=self.read_action_output, + args=(self.action_process,), + daemon=True, + ).start() + self.set_message(f"launch started ({self.localization_profile})") + except OSError as exc: + self.action_process = None + self.action_output_reader_done = True + self.set_message(f"action failed: {exc}") + self.update_ui_state() + + def read_action_output(self, proc: subprocess.Popen[str]) -> None: + try: + if proc.stdout is None: + return + for line in proc.stdout: + self.last_action_output_time = time.monotonic() + print(line, end="", flush=True) + except Exception as exc: + print(f"[screen] action output reader failed: {exc}", file=sys.stderr, flush=True) + finally: + if self.action_process is proc: + self.action_output_reader_done = True + + def wait_for_action_output_quiet(self, timeout_s: float = 5.0) -> bool: + deadline = time.monotonic() + timeout_s + while time.monotonic() < deadline: + if self.action_output_quiet(): + return True + time.sleep(0.05) + return self.action_output_quiet() + + def quit_action(self) -> None: + if self.stopping_action: + self.set_message("action is stopping...") + return + if not self.action_process: + if self.bridge_connected or self.system_process_running or self.existing_system_running(): + self.stopping_action = True + self.set_message("stopping external system...") + threading.Thread(target=self.stop_external_system_processes, daemon=True).start() + self.update_ui_state() + return + self.manual_cleanup_required = False + self.set_message("system already stopped") + self.update_ui_state() + return + self.stopping_action = True + self.set_message("stopping action...") + threading.Thread(target=self.stop_action_process, daemon=True).start() + + def stop_external_system_processes(self) -> None: + if not sys.platform.startswith("linux"): + self.root.after(0, lambda: self.set_message("external cleanup is only available on linux")) + self.root.after(0, self.update_ui_state) + self.stopping_action = False + return + + try: + self.post_control({"type": "nav_stop_keep"}) + self.signal_system_processes(signal.SIGINT) + deadline = time.monotonic() + ACTION_SIGINT_TIMEOUT_S + while time.monotonic() < deadline and self.any_system_process_running(): + time.sleep(0.1) + + if self.any_system_process_running(): + self.signal_system_processes(signal.SIGTERM) + deadline = time.monotonic() + ACTION_SIGTERM_TIMEOUT_S + while time.monotonic() < deadline and self.any_system_process_running(): + time.sleep(0.1) + except Exception as exc: + self.root.after(0, lambda: self.set_message(f"external stop failed: {exc}")) + self.root.after(0, self.update_ui_state) + return + finally: + self.stopping_action = False + + if self.any_system_process_running(): + self.manual_cleanup_required = True + self.system_process_running = True + self.root.after( + 0, + lambda: self.set_message("cleanup still running; replug USB or run usbreset 2207:0019"), + ) + else: + self.manual_cleanup_required = False + self.action_process = None + self.bridge_connected = False + self.system_process_running = False + self.root.after(0, lambda: self.set_message("external system stopped")) + self.root.after(0, self.update_ui_state) + + def signal_system_processes(self, sig: signal.Signals) -> None: + for pid in self.system_process_pids(): + try: + os.kill(pid, sig) + except ProcessLookupError: + continue + except PermissionError: + continue + + def stop_action_process(self) -> None: + proc = self.action_process + if not proc: + return + stopped = False + try: + if proc.poll() is None: + if sys.platform.startswith("linux"): + os.killpg(os.getpgid(proc.pid), signal.SIGINT) + else: + proc.terminate() + try: + proc.wait(timeout=ACTION_SIGINT_TIMEOUT_S) + stopped = True + except subprocess.TimeoutExpired: + if sys.platform.startswith("linux"): + os.killpg(os.getpgid(proc.pid), signal.SIGTERM) + else: + proc.terminate() + try: + proc.wait(timeout=ACTION_SIGTERM_TIMEOUT_S) + stopped = True + except subprocess.TimeoutExpired: + # Odin's official driver cleanup path is registered only for + # SIGINT/SIGTERM. Do not send SIGKILL automatically; it can + # leave the libusb interface busy for the next run. + stopped = False + else: + stopped = True + except Exception as exc: + self.root.after(0, lambda: self.set_message(f"stop failed: {exc}")) + return + finally: + self.stopping_action = False + output_quiet = self.wait_for_action_output_quiet() if stopped else False + if stopped and output_quiet: + self.manual_cleanup_required = False + self.action_process = None + self.root.after(0, lambda: self.set_message("action stopped")) + elif stopped: + self.root.after(0, lambda: self.set_message("waiting for action output to finish")) + else: + self.manual_cleanup_required = True + self.root.after( + 0, + lambda: self.set_message("Odin cleanup still running; replug USB or run usbreset 2207:0019"), + ) + self.root.after(0, self.update_ui_state) + + @staticmethod + def normalize_localization_profile(value: Any) -> str: + text = str(value or "").strip().lower() + if text in {"relocal", "reloc", "relocalization", "localization"}: + return "relocal" + return "odom" + + @staticmethod + def localization_profile_label(profile: str) -> str: + return LOCALIZATION_PROFILE_LABELS.get(profile, profile.upper()) + + @staticmethod + def profile_config_rel(profile: str) -> str: + return ODIN_PROFILE_CONFIG_REL.get(profile, ODIN_CONTROL_CONFIG_REL) + + def sync_legacy_odin_control_mode(self, profile: str) -> None: + """Keep default Odin config compatible with installed launches that ignore odin_config_file.""" + mode = self.read_relocalization_mode(profile) + if mode is None: + mode = 2 if profile == "relocal" else 0 + + target_paths = self.resolve_repo_files( + [ODIN_CONTROL_CONFIG_REL, *ODIN_INSTALLED_CONTROL_CONFIG_RELS] + ) + if not target_paths: + raise ValueError("Odin default config missing: control_command.yaml") + + errors: list[str] = [] + changed = False + for path in target_paths: + try: + with open(path, "r", encoding="utf-8") as f: + text = f.read() + new_text, count = re.subn( + r"^(\s*)custom_map_mode\s*:.*$", + rf"\g<1>custom_map_mode: {mode} # 0: Odometry mode 1: SLAM mode 2: Relocalization mode.", + text, + count=1, + flags=re.MULTILINE, + ) + if count <= 0: + errors.append(f"{os.path.basename(path)} missing custom_map_mode") + continue + if new_text != text: + with open(path, "w", encoding="utf-8", newline="") as f: + f.write(new_text) + changed = True + except OSError as exc: + errors.append(f"{path}: {exc}") + + if errors: + raise ValueError("failed to sync Odin mode: " + "; ".join(errors[:2])) + if changed: + print(f"[screen] synced Odin custom_map_mode={mode} for LOC {profile}", flush=True) + + def display_localization_profile(self) -> str: + if self.bridge_localization_mode: + return self.normalize_localization_profile(self.bridge_localization_mode) + return self.normalize_localization_profile(self.localization_profile) + + def relocal_ready(self) -> bool: + if self.display_localization_profile() != "relocal": + return True + return self.latest_nav_pose_available and self.latest_relocal_text == "on/tf ok" + + def toggle_localization_profile(self) -> None: + running = self.action_running() or self.bridge_connected or self.system_process_running + if running or self.action_busy(): + self.set_message("stop system before switching LOC") + return + self.localization_profile = "relocal" if self.localization_profile == "odom" else "odom" + self.bridge_localization_mode = "" + self.update_relocal_status(None, {}) + self.set_message(f"LOC set to {self.localization_profile_label(self.localization_profile)}") + self.update_ui_state() + + def remote(self) -> None: + self.request_mode("REMOTE") + + def nav(self) -> None: + self.request_mode("NAV") + + def keep(self) -> None: + self.request_mode("KEEP") + + def request_mode(self, mode: str) -> None: + mode = mode.upper() + retry_payload = None + if mode == "REMOTE": + retry_payload = {"type": "remote_enable", "data": True} + elif mode == "NAV": + retry_payload = {"type": "nav_enable", "data": True} + self.post_control_async( + {"type": "mode", "mode": mode}, + f"{mode.lower()} requested", + confirm_mode=mode, + retry_payload=retry_payload, + ) + + def odom(self) -> None: + if self.display_localization_profile() == "relocal": + self.set_message("odom is disabled in RELOC mode") + return + if self.latest_mode != "NAV": + self.set_message("odom is available only in NAV mode") + return + self.post_control_async({"type": "odom_task"}, "odom task requested") + + def estop(self) -> None: + self.post_control_async({"type": "estop", "data": True}, "soft estop sent") + + def selected_task(self) -> Optional[dict[str, Any]]: + if not self.task_specs: + return None + index = max(0, min(self.selected_task_index, len(self.task_specs) - 1)) + self.selected_task_index = index + return self.task_specs[index] + + def selected_task_name(self) -> str: + task = self.selected_task() + return str(task.get("name", "")).strip() if task else "" + + def select_task_delta(self, delta: int) -> None: + if not self.task_specs: + self.set_message("no tasks loaded") + return + self.selected_task_index = (self.selected_task_index + delta) % len(self.task_specs) + self.task_selection_manual = True + self.update_ui_state() + + def prev_task(self) -> None: + self.select_task_delta(-1) + + def next_task(self) -> None: + self.select_task_delta(1) + + def stop_task(self) -> None: + if self.latest_estop.lower() == "true": + self.set_message("reset estop before stop/keep") + return + self.post_control_async( + {"type": "nav_stop_keep"}, + "navigation stopped; keep requested", + confirm_mode="KEEP", + ) + + def resume_task(self) -> None: + task_name = self.selected_task_name() + if not task_name: + self.set_message("no task selected") + return + if self.latest_mode not in {"NAV", "KEEP"}: + self.set_message("task resume is available only in NAV/KEEP mode") + return + if self.display_localization_profile() == "relocal" and not self.relocal_ready(): + self.set_message("waiting for reloc on/tf ok before resume") + return + self.post_control_async( + {"type": "task_resume", "task": task_name}, + f"resume {task_name} requested", + ) + + def reset_estop(self) -> None: + self.post_control_async( + {"type": "estop_reset"}, + "soft estop reset; keep requested", + confirm_mode="KEEP", + ) + + def post_control_async( + self, + payload: dict[str, Any], + ok_message: str, + confirm_mode: Optional[str] = None, + retry_payload: Optional[dict[str, Any]] = None, + ) -> None: + def worker() -> None: + ok, error = self.post_control(payload) + if not ok: + self.root.after(0, lambda: self.set_command_error(f"CMD failed: {error}")) + self.root.after(0, lambda: self.set_message(f"control failed: {error}")) + return + + if confirm_mode: + confirmed, actual, mux_status = self.wait_for_mode(confirm_mode) + if not confirmed and retry_payload is not None: + retry_ok, retry_error = self.post_control(retry_payload) + if not retry_ok: + self.root.after(0, lambda: self.set_command_error(f"CMD retry failed: {retry_error}")) + self.root.after(0, lambda: self.set_message(f"control retry failed: {retry_error}")) + return + confirmed, actual, mux_status = self.wait_for_mode(confirm_mode) + if confirmed: + self.root.after(0, self.clear_command_error) + self.root.after(0, lambda: self.set_message(ok_message)) + else: + detail = f"{confirm_mode.lower()} not active; mode={actual}" + if mux_status: + detail = f"{detail}; {mux_status[:48]}" + self.root.after(0, lambda: self.set_command_error(f"MODE failed: {detail}")) + self.root.after(0, lambda: self.set_message(detail)) + return + + self.root.after(0, self.clear_command_error) + self.root.after(0, lambda: self.set_message(ok_message)) + + threading.Thread(target=worker, daemon=True).start() + + def wait_for_mode(self, expected_mode: str) -> tuple[bool, str, str]: + expected_mode = expected_mode.upper() + actual = "UNKNOWN" + mux_status = "" + for _ in range(MODE_CONFIRM_ATTEMPTS): + time.sleep(MODE_CONFIRM_DELAY_S) + state = self.fetch_state() + if not state: + continue + actual = str(state.get("mode", "UNKNOWN")).upper() + mux_status = str(state.get("mux_status", "") or "") + if actual == expected_mode: + return True, actual, mux_status + return False, actual, mux_status + + def post_control(self, payload: dict[str, Any]) -> tuple[bool, str]: + data = json.dumps(payload, separators=(",", ":")).encode("utf-8") + req = Request( + f"{HTTP_BASE}/api/control", + data=data, + headers={"Content-Type": "application/json"}, + method="POST", + ) + try: + with urlopen(req, timeout=HTTP_TIMEOUT_S) as response: + raw = response.read() + parsed = json.loads(raw.decode("utf-8")) if raw else {} + if parsed.get("ok", True) is False: + return False, str(parsed.get("error", "api error")) + return True, "" + except (OSError, URLError, json.JSONDecodeError) as exc: + return False, str(exc) + + def fetch_state(self) -> Optional[dict[str, Any]]: + try: + with urlopen(f"{HTTP_BASE}/api/state", timeout=HTTP_TIMEOUT_S) as response: + return json.loads(response.read().decode("utf-8")) + except (OSError, URLError, json.JSONDecodeError): + return None + + def refresh_loop(self) -> None: + if self.action_process is not None and self.action_process.poll() is not None: + if self.action_output_quiet(): + self.manual_cleanup_required = False + self.action_process = None + self.set_message("action process exited") + else: + self.set_message("waiting for action output to finish") + + state = self.fetch_state() + if state: + self.bridge_connected = True + self.system_process_running = True + self.latest_mode = str(state.get("mode", "UNKNOWN")).upper() + self.latest_estop = str(state.get("estop", "--")) + self.latest_nav_status = str(state.get("nav_status", "--") or "--") + model = state.get("model") if isinstance(state.get("model"), dict) else {} + self.latest_model = str(model.get("current_model", "--")) + nav = state.get("nav") if isinstance(state.get("nav"), dict) else {} + robot = state.get("robot") if isinstance(state.get("robot"), dict) else {} + nav_mode = nav.get("localization_mode") if isinstance(nav, dict) else "" + if nav_mode: + self.bridge_localization_mode = self.normalize_localization_profile(nav_mode) + self.localization_profile = self.bridge_localization_mode + pose = nav.get("pose") if isinstance(nav, dict) else None + self.latest_nav_pose_available = isinstance(pose, dict) + self.latest_re_xy = ( + self.parse_xy(pose.get("x"), pose.get("y")) + if isinstance(pose, dict) + else None + ) + self.latest_re_yaw = ( + self.safe_float(pose.get("yaw")) + if isinstance(pose, dict) + else None + ) + odom_pos = robot.get("odom_local_pos") if isinstance(robot, dict) else None + if not (isinstance(odom_pos, list) and len(odom_pos) >= 2): + odom_pos = robot.get("odom_pos") if isinstance(robot, dict) else None + if isinstance(odom_pos, list) and len(odom_pos) >= 2: + self.latest_odom_xy = self.parse_xy(odom_pos[0], odom_pos[1]) + else: + self.latest_odom_xy = None + self.latest_odom_yaw = ( + self.safe_float(robot.get("odom_local_yaw")) + if isinstance(robot, dict) + else None + ) + tasks = nav.get("task_specs") if isinstance(nav, dict) else None + if isinstance(tasks, list): + self.task_specs = [task for task in tasks if isinstance(task, dict) and task.get("name")] + if self.selected_task_index >= len(self.task_specs): + self.selected_task_index = max(0, len(self.task_specs) - 1) + current_task = nav.get("current_task") if isinstance(nav, dict) else "" + if current_task: + self.current_task = str(current_task) + if self.task_specs and not self.task_selection_manual: + for index, task in enumerate(self.task_specs): + if str(task.get("name", "")) == self.current_task: + self.selected_task_index = index + break + self.update_relocal_status(state, nav) + self.latest_can_level, self.latest_can_text = self.build_can_status(robot) + self.set_diagnostic_state(self.build_error_summary(state)) + else: + self.bridge_connected = False + self.system_process_running = self.any_system_process_running() + self.latest_nav_pose_available = False + self.latest_re_yaw = None + self.bridge_localization_mode = "" + self.update_relocal_status(None, {}) + self.latest_can_level = "warn" if self.system_process_running else "muted" + self.latest_can_text = "waiting" if self.system_process_running else "--" + if not self.action_running() and not self.system_process_running: + self.latest_mode = "UNKNOWN" + self.latest_model = "--" + self.latest_estop = "--" + self.latest_nav_status = "--" + self.latest_odom_xy = None + self.latest_odom_yaw = None + self.latest_re_xy = None + self.latest_re_yaw = None + self.latest_nav_pose_available = False + self.bridge_localization_mode = "" + self.current_task = "" + self.latest_can_level = "muted" + self.latest_can_text = "--" + self.set_diagnostic_state(self.build_error_summary(None)) + + self.update_ui_state() + self.root.after(500, self.refresh_loop) + + def update_ui_state(self) -> None: + running = self.action_running() or self.bridge_connected or self.system_process_running + busy = self.action_busy() + action_text = ( + "working" + if running and self.bridge_connected + else "starting" + if running + else "stopping" + if busy + else "idle" + ) + self.labels["action_status"].configure( + text=action_text, + fg="#30d158" if action_text == "working" else "#ffd60a" if action_text in {"starting", "stopping"} else COLOR_MUTED, + ) + mode_text = self.latest_mode.lower() if self.latest_mode in {"REMOTE", "NAV", "WEB", "KEEP"} else "unknown" + self.labels["mode_status"].configure( + text=mode_text, + fg="#30d158" + if self.latest_mode == "NAV" + else "#bf5af2" + if self.latest_mode in {"REMOTE", "KEEP"} + else COLOR_TEXT, + ) + self.labels["model"].configure(text=self.latest_model) + profile = self.display_localization_profile() + profile_color = COLOR_NAV if profile == "relocal" else COLOR_ODOM + loc_button = self.buttons.get("loc_profile") + if loc_button: + loc_button.configure(text=f"LOC {self.localization_profile_label(profile)}") + self.labels["bridge"].configure( + text="connected" if self.bridge_connected else "waiting" if running else "--", + fg="#30d158" if self.bridge_connected else "#ffd60a" if running else COLOR_TEXT, + ) + self.labels["estop"].configure( + text=self.latest_estop, + fg="#ff453a" if self.latest_estop.lower() == "true" else COLOR_TEXT, + ) + self.labels["relocal"].configure( + text=self.latest_relocal_text, + fg=self.level_color(self.latest_relocal_level), + ) + self.labels["can_status"].configure( + text=self.latest_can_text, + fg=self.level_color(self.latest_can_level), + ) + + task = self.selected_task() + if task: + first_id = task.get("first_id", task.get("start_index", "")) + last_id = task.get("last_id", task.get("end_index", "")) + range_text = f" {first_id}-{last_id}" if first_id or last_id else "" + self.labels["task"].configure( + text=self.compact_text(f"task: {task.get('name', '--')}{range_text}", 22), + fg=COLOR_TEXT, + ) + else: + self.labels["task"].configure(text="task: --", fg=COLOR_MUTED) + + odom_xy = self.latest_odom_xy + re_xy = self.latest_re_xy + odom_yaw = self.format_yaw_deg(self.latest_odom_yaw) + re_yaw = self.format_yaw_deg(self.latest_re_yaw) + odom_text = ( + "odom x=-- y=-- yaw=--" + if odom_xy is None + else f"odom x={odom_xy[0]:.2f} y={odom_xy[1]:.2f} yaw={odom_yaw}" + ) + re_text = ( + "re x=-- y=-- yaw=--" + if re_xy is None + else f"re x={re_xy[0]:.2f} y={re_xy[1]:.2f} yaw={re_yaw}" + ) + self.labels["odom_xy"].configure( + text=f"{odom_text}\n{re_text}", + fg=COLOR_TEXT if odom_xy is not None or re_xy is not None else COLOR_MUTED, + ) + + bridge_ready = self.bridge_connected + self.set_button_state("action", not busy and not running, COLOR_ACTION) + self.set_button_state("quit", running or busy, COLOR_QUIT_ACTIVE) + self.set_button_state("loc_profile", not busy and not running, profile_color) + self.set_button_state("nav", bridge_ready, COLOR_NAV) + self.set_button_state("odom", bridge_ready and profile == "odom" and self.latest_mode == "NAV", COLOR_ODOM) + self.set_button_state("estop", bridge_ready, COLOR_ESTOP) + task_ready = bridge_ready and bool(self.task_specs) + nav_task_ready = task_ready and self.latest_mode in {"NAV", "KEEP"} and self.relocal_ready() + self.set_button_state("task_prev", task_ready, COLOR_QUIT) + self.set_button_state("task_next", task_ready, COLOR_QUIT) + self.set_button_state("keep", bridge_ready, COLOR_KEEP) + self.set_button_state("task_stop", bridge_ready, COLOR_ODOM) + self.set_button_state("task_resume", nav_task_ready, COLOR_NAV) + self.set_button_state("estop_reset", bridge_ready, COLOR_ACTION) + + def set_message(self, text: str) -> None: + self.message = text + label = self.labels.get("message") + if label: + label.configure(text=self.compact_text(text, 58)) + + def set_command_error(self, text: str) -> None: + self.command_error_text = self.compact_text(text, 54) + self.command_error_until = time.monotonic() + 8.0 + self.set_diagnostic_state(("error", self.command_error_text)) + + def clear_command_error(self) -> None: + self.command_error_text = "" + self.command_error_until = 0.0 + + def set_diagnostic_state(self, diagnostic: tuple[str, str]) -> None: + level, text = diagnostic + now = time.monotonic() + if self.command_error_text and now <= self.command_error_until: + level = "error" + text = self.command_error_text if text == "err: ok" else f"{self.command_error_text} | {text}" + elif self.command_error_text and now > self.command_error_until: + self.clear_command_error() + + self.latest_error_level = level + self.latest_error_text = self.compact_text(text, 64) + label = self.labels.get("error") + if not label: + return + color = COLOR_OK if level == "ok" else COLOR_WARN if level == "warn" else "#ff453a" + label.configure(text=self.latest_error_text, fg=color) + + @staticmethod + def level_color(level: str) -> str: + if level == "ok": + return COLOR_OK + if level == "warn": + return COLOR_WARN + if level == "error": + return "#ff453a" + if level == "muted": + return COLOR_MUTED + return COLOR_TEXT + + def update_relocal_status(self, state: Optional[dict[str, Any]], nav: dict[str, Any]) -> None: + profile = self.display_localization_profile() + mode = self.read_relocalization_mode(profile) + if mode is None and profile == "relocal": + mode = 2 + elif mode is None and profile == "odom": + mode = 0 + if mode is None: + self.latest_relocal_text = "cfg?" + self.latest_relocal_level = "warn" + return + + mode_name = RELOCAL_MODE_NAMES.get(mode, str(mode)) + if mode != 2: + self.latest_relocal_text = f"off/{mode_name}" + self.latest_relocal_level = "muted" + return + + relocal = nav.get("relocalization") if isinstance(nav, dict) else {} + relocal = relocal if isinstance(relocal, dict) else {} + external_seen = bool(relocal.get("external_tf_seen")) + external_age_s = self.safe_float(relocal.get("external_tf_age_s")) + handoff_pending = bool(relocal.get("handoff_pending")) + pose_available = isinstance(nav.get("pose"), dict) + + odom_fallback = nav.get("odom_fallback") if isinstance(nav, dict) else {} + if isinstance(odom_fallback, dict): + handoff_pending = handoff_pending or bool(odom_fallback.get("handoff_pending")) + + if (external_seen and (external_age_s is None or external_age_s <= 5.0)) or pose_available: + self.latest_relocal_text = "on/tf ok" + self.latest_relocal_level = "ok" + elif handoff_pending: + self.latest_relocal_text = "on/handoff" + self.latest_relocal_level = "ok" + elif state: + self.latest_relocal_text = "on/no tf" + self.latest_relocal_level = "warn" + else: + self.latest_relocal_text = "on/wait" + self.latest_relocal_level = "warn" + + def read_relocalization_mode(self, profile: Optional[str] = None) -> Optional[int]: + profile_key = self.normalize_localization_profile(profile or self.localization_profile) + path = self.resolve_repo_file(self.profile_config_rel(profile_key)) + if not path and profile is None: + path = self.resolve_repo_file(ODIN_CONTROL_CONFIG_REL) + if not path: + return None + try: + with open(path, "r", encoding="utf-8") as f: + text = f.read() + except OSError: + return None + + match = re.search(r"^\s*custom_map_mode\s*:\s*['\"]?(\d+)['\"]?", text, re.MULTILINE) + if not match: + return None + try: + return int(match.group(1)) + except ValueError: + return None + + @staticmethod + def resolve_repo_file(relative_path: str) -> Optional[str]: + matches = FullscreenControlApp.resolve_repo_files([relative_path]) + return matches[0] if matches else None + + @staticmethod + def resolve_repo_files(relative_paths: list[str]) -> list[str]: + candidates = [ + os.environ.get("SIM2REAL_REPO_DIR", ""), + REPO_DIR, + LOCAL_REPO_DIR, + ] + matches: list[str] = [] + seen: set[str] = set() + for base in candidates: + if not base: + continue + for relative_path in relative_paths: + path = os.path.abspath(os.path.join(base, relative_path)) + if path in seen: + continue + seen.add(path) + if os.path.exists(path): + matches.append(path) + return matches + + def build_can_status(self, robot: dict[str, Any]) -> tuple[str, str]: + if not robot: + return ("warn", "no state") if self.bridge_connected else ("muted", "--") + + update_counts = robot.get("update_counts") + if not isinstance(update_counts, list) or len(update_counts) < len(CAN_BUS_MAP): + return "warn", "no counts" + + counts = [self.safe_int(value) or 0 for value in update_counts[: len(CAN_BUS_MAP)]] + if max(counts) <= 0: + return "error", "CAN no frames" + + stale_max = self.safe_int(robot.get("stale_max")) + if stale_max is not None and stale_max >= 20: + return "error", f"stale {stale_max}" + + for bus_id in sorted(set(CAN_BUS_MAP)): + indexes = [index for index, value in enumerate(CAN_BUS_MAP) if value == bus_id] + bus_counts = [counts[index] for index in indexes] + bus_label = CAN_BUS_LABELS.get(bus_id, f"CAN{bus_id}") + if bus_counts and max(bus_counts) <= 0: + return "error", f"{bus_label} no frames" + + for bus_id in sorted(set(CAN_BUS_MAP)): + bus_label = CAN_BUS_LABELS.get(bus_id, f"CAN{bus_id}") + missing = [ + index + 1 + for index, value in enumerate(counts) + if CAN_BUS_MAP[index] == bus_id and value <= 0 + ] + if missing: + return "error", f"{bus_label} miss m{missing[0]}" + + return "ok", "ok" + + def build_error_summary(self, state: Optional[dict[str, Any]]) -> tuple[str, str]: + issues: list[tuple[str, str]] = [] + + if self.manual_cleanup_required: + issues.append(("error", "PROC cleanup needed")) + if self.latest_estop.lower() == "true": + issues.append(("error", "ESTOP active")) + if self.action_running() and not self.bridge_connected: + issues.append(("warn", "BRIDGE waiting")) + if not self.bridge_connected and self.system_process_running: + issues.append(("warn", "PROC running no bridge")) + + if state: + mux_status = str(state.get("mux_status", "") or "") + nav_status = str(state.get("nav_status", "") or "") + nav = state.get("nav") if isinstance(state.get("nav"), dict) else {} + runtime = state.get("runtime") if isinstance(state.get("runtime"), dict) else {} + robot = state.get("robot") if isinstance(state.get("robot"), dict) else {} + + if self.display_localization_profile() == "relocal" and not isinstance(nav.get("pose"), dict): + issues.append(("warn", "RELOC no TF")) + + target_source = str(runtime.get("target_source", "") or "") + if target_source in {"safety_brake", "safety_estop"}: + issues.append(("error", f"SAFETY {target_source}")) + elif target_source in {"timeout_hold", "boot_hold"}: + issues.append(("warn", f"TARGET {target_source}")) + + if robot: + imu_age = self.safe_float(robot.get("imu_age_ms")) + if robot.get("imu_fresh") is False: + issues.append(("error", f"IMU stale {self.format_ms(imu_age)}")) + odom_age = self.safe_float(robot.get("odom_age_ms")) + if robot.get("odom_fresh") is False: + issues.append(("warn", f"ODOM stale {self.format_ms(odom_age)}")) + + can_level, can_text = self.build_can_status(robot) + if can_level in {"warn", "error"} and can_text not in {"--", "no state"}: + issue_text = can_text if can_text.startswith("CAN") else f"CAN {can_text}" + issues.append((can_level, issue_text)) + elif self.bridge_connected: + issues.append(("warn", "HW no runtime/state")) + + status_text = f"{nav_status} {mux_status}".lower() + for marker in ("failed", "error", "fault", "unavailable"): + if marker in status_text: + issues.append(("warn", self.compact_text(f"NAV {marker}: {nav_status or mux_status}", 40))) + break + + if not issues: + return "ok", "err: ok" + + level = "error" if any(item[0] == "error" for item in issues) else "warn" + text = " | ".join(item[1] for item in issues[:2]) + return level, text + + @staticmethod + def parse_xy(x_value: Any, y_value: Any) -> Optional[tuple[float, float]]: + try: + return float(x_value), float(y_value) + except (TypeError, ValueError): + return None + + @staticmethod + def safe_float(value: Any) -> Optional[float]: + try: + return float(value) + except (TypeError, ValueError): + return None + + @staticmethod + def format_yaw_deg(yaw_rad: Optional[float]) -> str: + if yaw_rad is None: + return "--" + yaw_deg = math.degrees(yaw_rad) + while yaw_deg > 180.0: + yaw_deg -= 360.0 + while yaw_deg <= -180.0: + yaw_deg += 360.0 + return f"{yaw_deg:.0f}" + + @staticmethod + def safe_int(value: Any) -> Optional[int]: + try: + return int(value) + except (TypeError, ValueError): + return None + + @staticmethod + def format_ms(value: Optional[float]) -> str: + return "--ms" if value is None else f"{value:.0f}ms" + + @staticmethod + def compact_text(text: str, limit: int) -> str: + text = str(text) + if len(text) <= limit: + return text + return text[: max(0, limit - 3)] + "..." + + def close_app(self, _event: object = None) -> None: + if self.manual_cleanup_required: + self.set_message("manual Odin cleanup required before closing") + return + if self.action_running(): + self.quit_action() + self.root.after(500, self.close_app) + return + if self.action_busy(): + self.set_message("waiting for action cleanup") + self.root.after(500, self.close_app) + return + self.root.destroy() + + def run(self) -> None: + self.root.mainloop() + + +def main() -> None: + try: + FullscreenControlApp().run() + except tk.TclError as exc: + print("Failed to open the display.", file=sys.stderr) + print(f"DISPLAY={os.environ.get('DISPLAY', '')}", file=sys.stderr) + print("XAUTHORITY values tried:", file=sys.stderr) + for attempt in DISPLAY_ATTEMPTS: + print(f" {attempt}", file=sys.stderr) + print("If running over SSH on the Nano, try:", file=sys.stderr) + print(" DISPLAY=:0 python3 fullscreen_quit.py", file=sys.stderr) + print("If authorization still fails, run this once in the Nano desktop terminal:", file=sys.stderr) + print(f" DISPLAY=:0 xhost +SI:localuser:{current_user()}", file=sys.stderr) + print("Also make sure a desktop session is running on the screen.", file=sys.stderr) + raise SystemExit(1) from exc + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2/screen/install_autostart.sh b/05_software/real/sim2real_ros2/screen/install_autostart.sh new file mode 100644 index 0000000..48ecf69 --- /dev/null +++ b/05_software/real/sim2real_ros2/screen/install_autostart.sh @@ -0,0 +1,27 @@ +#!/usr/bin/env bash +set -euo pipefail + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +AUTOSTART_DIR="$HOME/.config/autostart" +DESKTOP_FILE="$AUTOSTART_DIR/sim2real-screen.desktop" + +mkdir -p "$AUTOSTART_DIR" +chmod +x "$SCRIPT_DIR/run_fullscreen_quit.sh" + +cat > "$DESKTOP_FILE" </dev/null 2>&1; then + echo "systemctl not found; this installer is for systemd-based Linux." >&2 + exit 1 +fi + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +SERVICE_NAME="sim2real-screen.service" +SERVICE_PATH="/etc/systemd/system/$SERVICE_NAME" + +if [ "${EUID:-$(id -u)}" -eq 0 ]; then + RUN_USER="${1:-${SUDO_USER:-rc2}}" +else + RUN_USER="${1:-$(id -un)}" +fi + +if ! id "$RUN_USER" >/dev/null 2>&1; then + echo "User '$RUN_USER' does not exist. Usage: bash install_boot_service.sh rc2" >&2 + exit 1 +fi + +RUN_GROUP="$(id -gn "$RUN_USER")" +RUN_HOME="$(getent passwd "$RUN_USER" | cut -d: -f6)" +AUTOSTART_FILE="$RUN_HOME/.config/autostart/sim2real-screen.desktop" + +chmod +x "$SCRIPT_DIR/run_fullscreen_quit.sh" "$SCRIPT_DIR/run_boot_screen_service.sh" +if [ -f "$AUTOSTART_FILE" ]; then + rm -f "$AUTOSTART_FILE" + echo "Removed desktop autostart to avoid duplicate screen instances:" + echo " $AUTOSTART_FILE" +fi + +SERVICE_CONTENT="[Unit] +Description=sim2real touchscreen control panel +Wants=display-manager.service +After=systemd-user-sessions.service display-manager.service +StartLimitIntervalSec=0 + +[Service] +Type=simple +User=$RUN_USER +Group=$RUN_GROUP +WorkingDirectory=$SCRIPT_DIR +Environment=HOME=$RUN_HOME +Environment=DISPLAY=:0 +Environment=PYTHONUNBUFFERED=1 +ExecStart=$SCRIPT_DIR/run_boot_screen_service.sh +Restart=always +RestartSec=2 +KillSignal=SIGINT +TimeoutStopSec=20 + +[Install] +WantedBy=graphical.target +" + +printf "%s" "$SERVICE_CONTENT" | sudo tee "$SERVICE_PATH" >/dev/null +sudo systemctl daemon-reload +sudo systemctl enable "$SERVICE_NAME" + +echo "Installed and enabled:" +echo " $SERVICE_PATH" +echo +echo "Start now:" +echo " sudo systemctl restart $SERVICE_NAME" +echo +echo "Check status/logs:" +echo " systemctl status $SERVICE_NAME --no-pager" +echo " journalctl -u $SERVICE_NAME -f" +echo +echo "Important: the graphical desktop for user '$RUN_USER' must auto-login, otherwise Tk cannot open DISPLAY=:0." diff --git a/05_software/real/sim2real_ros2/screen/run_boot_screen_service.sh b/05_software/real/sim2real_ros2/screen/run_boot_screen_service.sh new file mode 100644 index 0000000..e59c092 --- /dev/null +++ b/05_software/real/sim2real_ros2/screen/run_boot_screen_service.sh @@ -0,0 +1,23 @@ +#!/usr/bin/env bash +set -euo pipefail + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" + +export DISPLAY="${DISPLAY:-:0}" +export PYTHONUNBUFFERED=1 + +echo "[sim2real-screen] service starting as $(id -un), DISPLAY=$DISPLAY" + +for _ in $(seq 1 120); do + if [ -S "/tmp/.X11-unix/X${DISPLAY#:}" ]; then + break + fi + sleep 1 +done + +if [ ! -S "/tmp/.X11-unix/X${DISPLAY#:}" ]; then + echo "[sim2real-screen] X11 socket for DISPLAY=$DISPLAY not found" >&2 + exit 1 +fi + +exec "$SCRIPT_DIR/run_fullscreen_quit.sh" diff --git a/05_software/real/sim2real_ros2/screen/run_fullscreen_quit.sh b/05_software/real/sim2real_ros2/screen/run_fullscreen_quit.sh new file mode 100644 index 0000000..3961263 --- /dev/null +++ b/05_software/real/sim2real_ros2/screen/run_fullscreen_quit.sh @@ -0,0 +1,24 @@ +#!/usr/bin/env bash +set -u + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +cd "$SCRIPT_DIR" + +export DISPLAY="${DISPLAY:-:0}" + +if [ -z "${XAUTHORITY:-}" ]; then + UID_VALUE="$(id -u)" + + for candidate in \ + "$HOME/.Xauthority" \ + "/run/user/$UID_VALUE/gdm/Xauthority" \ + "/run/user/$UID_VALUE/Xauthority" + do + if [ -f "$candidate" ]; then + export XAUTHORITY="$candidate" + break + fi + done +fi + +python3 fullscreen_quit.py diff --git a/05_software/real/sim2real_ros2/screen/sim2real_screen_ui_preview.png b/05_software/real/sim2real_ros2/screen/sim2real_screen_ui_preview.png new file mode 100644 index 0000000000000000000000000000000000000000..1f755884854c66b8ad86d3aaf9551494fee88621 GIT binary patch literal 34575 zcmdqJ2T)XBw=akZ6c7X?NYo}u{38OA6`GuL2FV$e(Bve7jfhB=tmM=*(9nd21|(;Z zoOAAOa!zynzIju1-@JG0PSvfcsp&dJpL009&t7Zoz1DAqy(2Z$xX{$A6|H2>|%0?lozzn7hl%Kv`7 ziU_#}d^PjGStapshott|S)`yZ6{q#QSuvY9LH3{l`3KL0d(3FSNnH_S*(;a?4l$pN`x zr_gzSmha->`S{KH9lFj{dKo$PNO2`o@}2A*?ffo6d@87EcODoRsD~VBflvFNwaVd- z5poXw%9xIoCuQ*Q?;+?`jC8s=OXDHFPwY624ogF^xBg?8@+6rz9mPQT27Ehoq17Sl zyGp)IFs~Nn<42k~9jg8(*e0jWq(Z3ipmm#I#&*`T0Mb}TuT(!}xk%H214p9mu90a0 z-QWVri?6yb-cFvL5j=J|J)`E^8OihS9dn6cl6V}nT%Qx~aT6LQ|K&-|`A*YBqi|~( zb{?e+iuJ_&X>_~M_Y^gC?#oz0eHLa-?8&T*2Nu_&-yC4@=JP%w~ z%;)!lg(g`I1bf==SW&e-vATL4)&|;Jd+0Pl$P^&nYyE=f+=lVu&%glM2T}dugE@n! 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