From dc7a2c2a6746bb5b44aeaf94e618c42b642ccc8b Mon Sep 17 00:00:00 2001 From: eastzio <3156045992@qq.com> Date: Mon, 27 Jul 2026 17:22:28 +0800 Subject: [PATCH] =?UTF-8?q?[real]=20=E6=95=B4=E7=90=86=20ROS=202=20v2=20Od?= =?UTF-8?q?in=20=E4=B8=8E=E7=AB=99=E5=A7=BF=E8=B0=83=E5=8F=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 + 01_doc/version_history.md | 10 + 05_software/README.md | 2 +- 05_software/real/README.md | 2 +- 05_software/real/sim2real_ros2_v2/Dockerfile | 2 + 05_software/real/sim2real_ros2_v2/README.md | 11 +- .../real/sim2real_ros2_v2/map/README.md | 14 +- .../real/sim2real_ros2_v2/map/map1.pcd | 267361 ------- .../map/{map6.pcd => map_b.pcd} | 559317 +++++++-------- .../policies/NEWmodel_1900.onnx | Bin 0 -> 777597 bytes .../policies/NEWmodel_1900_fp16.engine | Bin 0 -> 811012 bytes .../real/sim2real_ros2_v2/policies/README.md | 12 + .../sim2real_ros2_v2/policies/model_4700.onnx | Bin 777597 -> 0 bytes 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.../odin_ros_driver/include/host_sdk_sample.h | 1819 + .../include/image_overlay_node.hpp | 91 + .../src/odin_ros_driver/include/lidar_api.h | 532 + .../odin_ros_driver/include/lidar_api_type.h | 242 + .../include/pointcloud_depth_converter.hpp | 93 + .../include/polynomial_camera.hpp | 144 + .../odin_ros_driver/include/rawCloudRender.h | 83 + .../src/odin_ros_driver/include/yaml_parser.h | 110 + .../launch_ROS1/odin1_ros1.launch | 37 + .../launch_ROS2/odin1_ros2.launch.py | 111 + .../odin_ros_driver/lib/liblydHostApi_amd.a | Bin 0 -> 480588 bytes .../odin_ros_driver/lib/liblydHostApi_arm.a | Bin 0 -> 517444 bytes .../src/odin_ros_driver/package.xml | 28 + .../src/odin_ros_driver/package_ros1.xml | 29 + .../src/odin_ros_driver/package_ros2.xml | 28 + .../src/odin_ros_driver/script/build_ros.sh | 128 + .../src/odin_ros_driver/script/build_ros2.sh | 158 + .../src/odin_ros_driver/set_param.sh | 21 + .../src/camera_pose_visualization.cpp | 232 + .../src/cloud_reprojection_ros.cpp | 503 + .../odin_ros_driver/src/cloud_reprojector.cpp | 128 + .../src/depth_image_ros2_node.cpp | 172 + .../src/depth_image_ros_node.cpp | 165 + .../odin_ros_driver/src/host_sdk_sample.cpp | 2270 + .../src/image_overlay_node.cpp | 254 + .../src/odin_ros_driver/src/pcd2depth_ros.cpp | 74 + .../odin_ros_driver/src/pcd2depth_ros2.cpp | 238 + .../src/pointcloud_depth_converter.cpp | 376 + .../odin_ros_driver/src/rawCloudRender.cpp | 299 + .../src/odin_ros_driver/src/yaml_parser.cpp | 246 + .../config/deployment_contract.yaml | 2 +- .../src/sim2real_bringup/config/runtime.yaml | 91 +- .../launch/sim2real_system.launch.py | 16 +- .../sim2real_common/deployment_contract.hpp | 8 +- .../include/sim2real_common/event_logger.hpp | 167 + .../stand_balance_controller.hpp | 44 +- .../sim2real_hw/hardware_bridge_node.hpp | 161 + .../sim2real_hw/src/hardware_bridge_node.cpp | 1360 +- .../config/maps/a_min/test_route.yaml | 155 + .../config/maps/factory_a/goals.yaml | 12 +- .../config/maps/factory_a/missions.yaml | 5 +- .../src/sim2real_nav2/config/nav2_params.yaml | 2 +- .../src/sim2real_runtime/CMakeLists.txt | 74 + .../sim2real_runtime/policy_runtime_node.hpp | 140 +- .../sim2real_runtime/src/compare_onnx_trt.cpp | 330 + .../src/policy_runtime_node.cpp | 1364 +- .../sim2real_runtime/src/remote_uart_node.py | 103 +- .../sim2real_runtime/src/simple_nav_node.py | 1286 +- .../src/web_udp_bridge_node.py | 623 +- .../real/sim2real_ros2_v2/start_sim2real.sh | 1 - .../tools/pcd_map_viewer/README.md | 104 + .../tools/pcd_map_viewer/README_zh.md | 28 + .../tools/pcd_map_viewer/server.py | 1242 + .../tools/pcd_map_viewer/static/app.js | 1754 + .../tools/pcd_map_viewer/static/index.html | 146 + .../tools/pcd_map_viewer/static/style.css | 191 + .../tools/pcd_route_preview.html | 35272 + .../tools/pcd_route_preview.py | 782 + .../sim2real_ros2_v2/tools/test_route.json | 204 + .../sim2real_ros2_v2/tools/test_route2.json | 64 + .../tools/win_web_debug/README.md | 44 + .../tools/win_web_debug/README_zh.md | 23 + .../tools/win_web_debug/server.py | 10 +- .../tools/win_web_debug/static/app.js | 397 +- .../tools/win_web_debug/static/index.html | 52 +- .../tools/win_web_debug/static/style.css | 92 + README.md | 2 +- 100 files changed, 328202 insertions(+), 557120 deletions(-) delete mode 100644 05_software/real/sim2real_ros2_v2/map/map1.pcd rename 05_software/real/sim2real_ros2_v2/map/{map6.pcd => map_b.pcd} (64%) create mode 100644 05_software/real/sim2real_ros2_v2/policies/NEWmodel_1900.onnx create mode 100644 05_software/real/sim2real_ros2_v2/policies/NEWmodel_1900_fp16.engine create mode 100644 05_software/real/sim2real_ros2_v2/policies/README.md delete mode 100644 05_software/real/sim2real_ros2_v2/policies/model_4700.onnx delete mode 100644 05_software/real/sim2real_ros2_v2/policies/model_4700.onnx.data delete mode 100644 05_software/real/sim2real_ros2_v2/policies/model_6000.onnx delete mode 100644 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--git a/.gitignore b/.gitignore index 7621fd7..ab3083c 100644 --- a/.gitignore +++ b/.gitignore @@ -30,6 +30,7 @@ log/ !05_software/real/sim2real/vendored/odin1_imu/build/libodin1_imu_bridge.so !05_software/real/sim2real/vendored/odin1_imu/lib/*.a !05_software/real/sim2real_v2/vendored/odin1_imu/lib/*.a +!05_software/real/sim2real_ros2_v2/src/odin_ros_driver/lib/*.a # Training outputs logs/ diff --git a/01_doc/version_history.md b/01_doc/version_history.md index 959bab2..c771db4 100644 --- a/01_doc/version_history.md +++ b/01_doc/version_history.md @@ -17,6 +17,7 @@ | `v0.9.0` | Python Sim2Real v2 | 反馈新鲜度、Odin odom 诊断、Web 调试和安全监控增强 | | `v0.10.0` | ROS 2/C++ 初版 | 50 Hz C++ 推理、200 Hz CAN 热路径和 ROS 2 系统集成 | | `v0.11.0` | ROS 2 导航原型 | 简单导航、PCD 交互定位、任务点和 Web 导航调试 | +| `v0.11.1` | Odin 与站姿调参 | 完整 Odin 驱动、TensorRT、多策略切换和调参站姿 | > 原先临时归档为 `v0.9.0` 的最终 ROS 2/C++ 比赛部署已保存在 `backup/final-ros2-v0.9.0` 分支和 `backup-v0.9.0-ros2-final` 标签中，重排完成后将正式归入 `v1.0.0`。 @@ -43,6 +44,15 @@ - 原始 `map1.pcd`、`map6.pcd` 分别约 49.05 MiB、44.24 MiB，归档时确定性抽样到 10 MB 以下并记录哈希。 - 原始快照中的 Odin 驱动仍为空目录；排除设备运行日志和开发草稿。 +## `v0.11.1` 的 Odin、TensorRT 与站姿调参 + +- 归档 `real/sim2real_ros2_v2(z=0.380 hip=0.670 knee=-1.390)`，在同一 `sim2real_ros2_v2` 目录中记录真实差异。 +- 首次随部署工程保留完整 Odin ROS 驱动、Apache-2.0 许可证、设备标定参数和预编译 SDK 静态库。 +- 策略运行时增加 TensorRT、ONNX 回退、Rough/Crawl 模式切换、事件日志和更完整的电机失效诊断。 +- 默认 Rough 策略为 `NEWmodel_1900`，默认站姿为髋俯仰 `0.670`、膝关节 `-1.390`；Crawl 配置使用 IK 后端。 +- `map_b.pcd` 从 1,080,047 点确定性抽样为 270,012 点，并保留原始和抽样哈希。 +- 排除嵌套 Git、Odin 运行日志、缓存、开发草稿和未被配置引用的候选策略。 + ## `v0.4.0` 的模型变化 - 机械 CAD 不变。 diff --git a/05_software/README.md b/05_software/README.md index 3376ac2..ed20372 100644 --- a/05_software/README.md +++ b/05_software/README.md @@ -33,7 +33,7 @@ MJCF + mjlab task IK real --------------------------------> 电机 ``` -`rc_mjlab` 是自包含工程。训练、MJCF、MuJoCo、Sim2Sim、导航工具和策略权重通过相对路径绑定，因此保留其内部布局，没有为了目录外观拆散。第一代完整闭环见 `v0.3.0`，第一份新版 MJCF 与训练框架见 `v0.4.0`，随机化增强版见 `v0.5.0`，比赛最终训练架构见 `v0.6.0`，后期 MuJoCo 工具集见 `v0.7.0`，后期 Sim2Sim 与比赛 Rough 策略见 `v0.8.0`，完整导航打点工具见 `v0.8.1`，Python Sim2Real v2 对应 `v0.9.0`，ROS 2/C++ 初版对应 `v0.10.0`，简单导航与 PCD 导航原型对应 `v0.11.0`。 +`rc_mjlab` 是自包含工程。训练、MJCF、MuJoCo、Sim2Sim、导航工具和策略权重通过相对路径绑定，因此保留其内部布局，没有为了目录外观拆散。第一代完整闭环见 `v0.3.0`，第一份新版 MJCF 与训练框架见 `v0.4.0`，随机化增强版见 `v0.5.0`，比赛最终训练架构见 `v0.6.0`，后期 MuJoCo 工具集见 `v0.7.0`，后期 Sim2Sim 与比赛 Rough 策略见 `v0.8.0`，完整导航打点工具见 `v0.8.1`，Python Sim2Real v2 对应 `v0.9.0`，ROS 2/C++ 初版对应 `v0.10.0`，简单导航原型对应 `v0.11.0`，完整 Odin/TensorRT 与站姿调参对应 `v0.11.1`。 详细说明见： diff --git a/05_software/real/README.md b/05_software/real/README.md index bd2e6c2..768a88f 100644 --- a/05_software/real/README.md +++ b/05_software/real/README.md @@ -36,7 +36,7 @@ ROS 2/C++ Sim2Real 初版，将策略热路径迁移为 50 Hz C++ 推理和 200 ROS 2 Sim2Real v2 导航原型，在初版基础上增加简单导航节点、PCD 交互定位、任务点/任务序列和 Web 导航调试。该版本对应重排主线的 `v0.11.0`。 -本阶段的两份大体积 PCD 已确定性抽样，Odin 驱动仍为外部依赖；详细边界见 [`sim2real_ros2_v2/README.md`](sim2real_ros2_v2/README.md)。 +`v0.11.1` 在同一目录继续演进，首次随工程归档完整 Odin 驱动、TensorRT、多策略切换和硬件诊断，并使用 `hip=0.670`、`knee=-1.390` 的调参站姿。各 Tag 可恢复对应阶段，当前目录说明见 [`sim2real_ros2_v2/README.md`](sim2real_ros2_v2/README.md)。 ## 实机记录 diff --git a/05_software/real/sim2real_ros2_v2/Dockerfile b/05_software/real/sim2real_ros2_v2/Dockerfile index d7b8907..14388bc 100644 --- a/05_software/real/sim2real_ros2_v2/Dockerfile +++ b/05_software/real/sim2real_ros2_v2/Dockerfile @@ -62,6 +62,8 @@ 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 tools tools COPY start_sim2real.sh start_sim2real.sh RUN chmod +x start_sim2real.sh diff --git a/05_software/real/sim2real_ros2_v2/README.md b/05_software/real/sim2real_ros2_v2/README.md index 25c6651..25ba69d 100644 --- a/05_software/real/sim2real_ros2_v2/README.md +++ b/05_software/real/sim2real_ros2_v2/README.md @@ -1,6 +1,6 @@ -# ROS 2 Sim2Real v2 +# ROS 2 Sim2Real v2：Odin、TensorRT 与站姿调参 -本目录归档 `real/sim2real_ros2_v2`，对应重排主线的 `v0.11.0`。该阶段在 ROS 2/C++ 初版基础上增加简单导航、PCD 交互定位、任务点/任务序列和 Web 导航调试。 +本目录在 `v0.11.0` 导航原型基础上归档 `real/sim2real_ros2_v2(z=0.380 hip=0.670 knee=-1.390)`，对应重排主线的 `v0.11.1`。虽然源目录以站姿参数命名，但该阶段同时首次完整加入 Odin 驱动、TensorRT、多策略切换、事件日志和更完整的硬件诊断。 本工程保留当前 `sim2real` 已验证的部署契约，同时将运行时热路径迁移到 C++： @@ -70,5 +70,8 @@ Nav2 / cmd_vel ------------------------------> sim2real_runtime - Windows 仅作为编辑环境使用。 - 观测顺序、动作缩放、默认站姿、电机映射不得独立修改， 除非训练与部署同步更新。 -- 原始快照中的 `src/odin_ros_driver` 仍为空目录，本版本需要另行提供兼容驱动；完整 Odin 驱动从后续站姿调参版本开始随工程归档。 -- 原始 `map1.pcd` 和 `map6.pcd` 已确定性抽样到 10 MB 以下，点数和哈希见 [`map/README.md`](map/README.md)。 +- Rough 默认策略为 `NEWmodel_1900`，优先使用比赛机生成的 TensorRT engine；Crawl 保留 ONNX，但运行配置使用 IK 后端。 +- 默认 Rough 站姿为髋俯仰 `0.670`、膝关节 `-1.390`，源目录名中的 `z=0.380` 记录该阶段的机身高度配置意图。 +- `map_b.pcd` 已确定性抽样到 10 MB 以下，点数和哈希见 [`map/README.md`](map/README.md)。 +- TensorRT engine 与 JetPack、TensorRT 版本及 GPU 架构有关，其他机器应从 ONNX 重新生成。 +- 源配置引用的 Odin `map_a.bin` 不在该备份中；使用 Relocalization 前必须从设备或建图备份补回真实文件并填写绝对路径，缺失时只能验证软件链路或使用后续 odom 配置。 diff --git a/05_software/real/sim2real_ros2_v2/map/README.md b/05_software/real/sim2real_ros2_v2/map/README.md index bbf4a93..92f4566 100644 --- a/05_software/real/sim2real_ros2_v2/map/README.md +++ b/05_software/real/sim2real_ros2_v2/map/README.md @@ -1,10 +1,10 @@ -# `v0.11.0` 导航点云 +# `v0.11.1` 导航点云 -本目录保存 `sim2real_ros2_v2` 简单导航原型引用的两份预览点云。为避免大体积 ASCII PCD 进入 Git 历史，使用 `tools/nav_tools/downsample_ascii_pcd.py` 做确定性等步长抽样，坐标值和原始顺序不做修改。 +原始 `map_b.pcd` 为 ASCII PCD，共 1,080,047 点、34,720,771 字节。为避免大文件进入 Git 历史，使用 `tools/nav_tools/downsample_ascii_pcd.py` 以步长 4 做确定性抽样。 -| 文件 | 原始点数 | 抽样步长 | 抽样点数 | 抽样大小 | 原始 SHA-256 | 抽样 SHA-256 | -| --- | ---: | ---: | ---: | ---: | --- | --- | -| `map1.pcd` | 1,604,103 | 6 | 267,350 | 8,572,407 B | `FBAD5DBA9AD15042FBC1702BDAAD5F7A3819B678E00558CFEC8BC54479A578AE` | `5F4AF5178E7F0D1AEAD7A2F454F6CB1524EF0F53AF0544FD415A8FB6A384000A` | -| `map6.pcd` | 1,446,503 | 5 | 289,301 | 9,278,742 B | `77DEB28D739760C58E9C08B589CFD52C2A6CB2981CB3B51156BBCC26EFC4FA9F` | `792C11023A2F91415378580276F87BE103AD7B22A214D24D9FC1B6928EB875C4` | +- 抽样点数：270,012 +- 抽样大小：8,680,283 字节 +- 原始 SHA-256：`F17FC7E188C772D48E8D3FE20E3A934AFCDF59357C27BCCDCAC3C7E9AD1D1CB7` +- 抽样 SHA-256：`F3052431F217DE8FFFE87726F8E547A59C65048B0285F02AF4803C5F4E4C1B42` -抽样点云适合路线编辑、可视化和代码演示，不等价于原始高密度建图数据。需要复现实机定位精度时，应从原始备份恢复对应 PCD 并核对原始哈希。 +抽样文件适合路线编辑和代码演示，不等价于原始高密度点云；需要复现实机导航精度时应恢复原始 PCD 并核对哈希。 diff --git a/05_software/real/sim2real_ros2_v2/map/map1.pcd b/05_software/real/sim2real_ros2_v2/map/map1.pcd deleted file mode 100644 index 149fb1c..0000000 --- a/05_software/real/sim2real_ros2_v2/map/map1.pcd +++ /dev/null @@ -1,267361 +0,0 @@ -# .PCD v0.7 - Point Cloud Data file format -VERSION 0.7 -FIELDS x y z -SIZE 4 4 4 -TYPE F F F -COUNT 1 1 1 -WIDTH 267350 -HEIGHT 1 -VIEWPOINT -0 -0 -0 1 0 0 0 -POINTS 267350 -DATA ascii -0.70350295 0.86893183 -1.1072416 -0.88102615 -1.0045235 -1.0690383 -0.78098625 -1.5850595 -1.0953596 -1.0712759 -1.4803579 -0.88343108 -1.0752567 1.504427 -1.0421135 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recorddata 数据格式，新增 device_id、algorithm_version 字段 +2. 修复 SLAM 模式下下载地图失败的问题(USB2.0) +3. 修复重定位模式下上传地图失败的问题(USB2.0) + +v0.10.4 2026_0522 +1. 修复 USB2.0 心跳超时导致软断开的问题 +2. control_command.yaml 新增 custom_init_pose_search_radius 和 custom_init_pose_max_rot_deg 参数 \ No newline at end of file diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/CMakeLists.txt b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/CMakeLists.txt new file mode 100644 index 0000000..4bf049f --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/CMakeLists.txt @@ -0,0 +1,447 @@ +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} + ${LYD_HOST_API_LIB} +) + +# ===== ROS1 Configuration ===== +if(ROS_VERSION STREQUAL "ROS1") + message(STATUS "Configuring for ROS1 build") + + find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + sensor_msgs + nav_msgs + cv_bridge + tf + image_transport + ) + + include_directories(${catkin_INCLUDE_DIRS}) + + catkin_package( + CATKIN_DEPENDS roscpp std_msgs sensor_msgs nav_msgs cv_bridge image_transport + 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 + ) + + 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) + + # 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 + ) + + # 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 + ) + + 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 + ${OpenCV_LIBS} + ) + ament_target_dependencies(image_overlay_node + rclcpp + sensor_msgs + cv_bridge + image_transport + message_filters + ) + + # Installation rules - ensure all install targets are defined before ament_package() + # Install executable + install(TARGETS + host_sdk_sample + pcd2depth_ros2_node + cloud_reprojection_ros2_node + image_overlay_node + EXPORT export_${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_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_v2/src/odin_ros_driver/LICENSE b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/LICENSE new file mode 100644 index 0000000..54665e1 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2025 Manifold Tech Ltd. + + 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. diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/README.md b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/README.md index 249702b..682d05d 100644 --- a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/README.md +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/README.md @@ -1,5 +1,567 @@ -# Odin 驱动依赖占位 +# Odin_ROS_Driver 说明文档 -`real/sim2real_ros2_v2` 原始快照中的 `src/odin_ros_driver` 为空目录，但启动文件、Dockerfile 和 `sim2real_bringup` 已引用该包。 +Odin 传感器模块 ROS 驱动套件（Manifold Tech Ltd.） -因此 `v0.11.0` 主要记录简单导航与 PCD 导航原型，仍需另行提供兼容的 Odin ROS 2 驱动。完整驱动源码从后续站姿调参版本开始随工程归档。 +Odin1 Wiki：https://manifoldtechltd.github.io/wiki/Odin1/Cover.html + +## Odin_ROS_Driver + +兼容性： + +● ROS 1（推荐 LTS 版本：Noetic） + +● ROS 2（推荐 LTS 版本：Humble） + +## 重要提示： + +本驱动包提供点云 SLAM 应用的核心功能，面向特定使用场景。仅供专业技术人员进行二次开发使用。最终用户需根据实际部署环境进行场景优化和定制开发，以满足运行需求。 + +## 1. 版本 + +当前版本：v0.10.2 + +所需设备固件版本：v0.10.0 + +## 2. 准备工作 + +### 2.1 操作系统要求 + +● ROS Noetic 和 ROS2 Foxy 需 Ubuntu 20.04； + +● ROS2 Humble 需 Ubuntu 22.04； + +● 当前不支持 Ubuntu 18.04； + +● Ubuntu 24.04 尚未官方支持，但可能经过一定修改后运行。 + +### 2.2 依赖项 + +● OpenCV >= 4.2.0（推荐 4.5.5/4.8.0，请确保仅安装一个 OpenCV 版本） + +● yaml-cpp + +● thread + +● OpenSSL + +● Eigen3 + +### 2.3 依赖安装 + +#### 2.3.1 系统基础 +```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 +``` + +#### 2.3.5 ROS 安装 + +ROS Noetic 安装请参考： +[ROS Noetic 安装指南](https://wiki.ros.org/noetic/Installation) + +ROS2 Foxy 安装请参考： +[ROS Foxy 安装指南](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html) + +ROS2 Humble 安装请参考： +[ROS Humble 安装指南](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) + +## 3. 准备 + +### 3.1 创建 Udev 规则 +```shell +sudo vim /etc/udev/rules.d/99-odin-usb.rules +``` +在 99-odin-usb.rules 文件中添加以下内容： +```shell +SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev" +``` +重新加载规则并重新插拔设备： +```shell +sudo udevadm control --reload +sudo udevadm trigger +``` + +### 3.2 克隆源码 +```shell +git clone https://github.com/manifoldsdk/odin_ros_driver.git catkin_ws/src/odin_ros_driver +``` +注意： +请将源码克隆到 "[ros_workspace]/src/" 目录下，否则会导致编译错误。 + +### 3.3 编译 + +#### 3.3.1 ROS1（以 Noetic 为例）： + +```shell +source /opt/ros/noetic/setup.bash +./script/build_ros.sh +``` + +#### 3.3.2 ROS2（以 Foxy 为例）： + +```shell +source /opt/ros/foxy/setup.bash +./script/build_ros2.sh +``` + +### 3.4 运行： + +#### 3.4.1 ROS1（以 Noetic 为例）： + +```shell +source [ros_workspace]/devel/setup.bash +roslaunch odin_ros_driver [launch file] +``` +● odin_ros_driver：包名； + +● launch file：启动文件名； + +● ros_workspace：用户的 ROS 环境工作区； +```shell +roslaunch odin_ros_driver odin1_ros1.launch +``` + +#### 3.4.2 ROS2（以 Foxy 为例）： + +```shell +source [ros2_workspace]/install/setup.bash +ros2 launch odin_ros_driver [launch file] +``` +● odin_ros_driver：包名； + +● launch file：启动文件名； + +● ros2_workspace：用户的 ROS2 环境工作区； + +ROS2 Demo 启动命令： +```shell +ros2 launch odin_ros_driver odin1_ros2.launch.py +``` + +### 3.5 运行模式： + +可通过 `config/control_command.yaml` 中的 `custom_map_mode` 参数配置运行模式。 + +#### 里程计模式 + +设置 `custom_map_mode = 0` 启用里程计模式。此模式下，map 坐标系与 odom 坐标系共享同一位姿。 + +若发现里程计数据漂移，可使用脚本命令 `./set_param.sh algo_reset 1` 动态复位算法。 + +#### SLAM 建图模式 + +设置 `custom_map_mode = 1` 启用 SLAM 模式。此模式在里程计模式基础上，提供**回环检测**和**地图保存**功能。 + +启动驱动后，odin1 将自动进行建图并缓存地图数据。场景采集完成后，需在驱动源码目录下执行 `./set_param.sh save_map 1` 以保存自程序启动以来采集的所有地图数据。地图将保存至 `config/control_command.yaml` 中 `mapping_result_dest_dir` 和 `mapping_result_file_name` 参数指定的路径。若未指定这些参数，将使用默认值。 + +首次保存后，可再次执行该命令保存新地图。每次保存操作都会生成一个新的地图文件。（连续保存操作之间请间隔至少 5 秒） + +地图原点对应程序启动时 odom 坐标系的起点。 + +##### 重定位模式 + +要启用重定位，设置 `custom_map_mode = 2`，并通过 `config/control_command.yaml` 中的 `relocalization_map_abs_path` 参数指定预建地图的绝对路径。 + +启动后，odin1 将基于当前视点和指定地图启动重定位过程。为保障高成功率，建议在距 SLAM 轨迹原始位置 1 米、±10° 范围内启动。 + +注意，重定位性能高度依赖环境条件。在特征丰富的场景中，成功匹配可能发生在 1m/10° 范围之外，而其他环境可能需要更严格的条件。建议在实际部署环境中测试，以确定实际容忍范围。 + +若初始重定位失败，系统将临时以降级 SLAM 模式运行（此状态下地图保存功能禁用）。在此过程中可自由移动 odin1，它将在后台持续尝试重定位。一旦成功，将发布 map 与 odom 坐标系之间的 TF。（提示：初始化后轻轻晃动或移动设备有助于提高重定位准确率。） + +以下话题在 odom 坐标系下发布：`/odin1/cloud_slam`、`/odin1/odom`、`/odin1/highodom` 和 `/odin1/path`。若需在 map 坐标系下获取这些数据，请应用从 odom 坐标系到 map 坐标系的 TF 变换。 + +## 4. 文件结构与数据格式 +### 4.1 文件结构 +```shell +Odin_ROS_Driver/ // ROS1/ROS2 驱动包 + 3rdparty/ // 第三方库 + src/ + host_sdk_sample.cpp // 示例源码 + yaml_parser.cpp // YAML 参数读取源码 + rawCloudRender.cpp // RenderCloud 渲染源码 + depth_image_ros_node.cpp // depth_image_ros_node 节点 + depth_image_ros2_node.cpp // depth_image_ros2_node 节点 + pcd2depth_ros.cpp // pcd2depth_ros 源码 + pcd2depth_ros2.cpp // pcd2depth_ros2 源码 + pointcloud_depth_converter.cpp // pointcloud_depth_converter 源码 + cloud_reprojection_ros.cpp // 云重投影节点源码 (ROS1/ROS2) + cloud_reprojector.cpp // 云重投影核心逻辑 + lib/ + liblydHostApi_amd.a // AMD 平台静态库 + liblydHostApi_arm.a // ARM 平台静态库 + include/ + host_sdk_sample.h // 示例头文件 + lidar_api_type.h // API 数据结构头文件 + lidar_api.h // API 函数声明 + yaml_parser.h // 参数文件读取头文件 + rawCloudRender.h // RenderCloud 相关 API + data_logger.h // 数据保存日志 + depth_image_ros_node.hpp // depth_image_ros_node 头文件 + depth_image_ros2_node.hpp // depth_image_ros2_node 头文件 + pointcloud_depth_converter.hpp // pointcloud_depth_convert 头文件 + cloud_reprojection_ros_node.hpp // cloud_reprojection_ros_node 头文件 (ROS1/ROS2) + cloud_reprojector.hpp // 云重投影核心类 + config/ + control_command.yaml // 驱动控制参数文件 + calib.yaml // 设备标定参数 yaml，每个设备独一无二。每次连接 ROS 驱动时从设备读取 + launch_ROS1/ + odin1_ros1.launch // ROS1 启动文件 + launch_ROS2/ + odin1_ros2.launch.py // ROS2 启动文件 + script/ + build_ros1.sh // ROS1 安装脚本 + build_ros2.sh // ROS2 安装脚本 + recorddata/ // 存放可导入 MindCloud 的录制数据 + log/ // 存放日志文件 + Driver_{timestamp}/ // 每次启动驱动时生成的日志文件夹 + Conn_{timestamp}/ // 每次 odin1 设备连接时生成的日志文件 + dev_status.csv // 设备状态日志 + README.md // 使用说明 + CMakeLists.txt // CMake 构建文件 + License // 许可证文件 +``` +### 4.2 启动文件 +| 启动文件名 | 说明 | +|--------------------------|-------------| +| odin1_ros1.launch | ROS1 启动文件 - Odin1 基础操作演示 | +| odin1_ros2.launch.py | ROS2 启动文件 - Odin1 基础操作演示 | + + +### 4.3 ROS 话题 +Odin ROS 驱动的内部参数定义在 config/control_command.yaml 中。以下是常用参数说明： + +| 话题 | control_command.yaml | 详细说明 | +|---------------------------|----------------------|----------------------| +| odin1/imu | sendimu | IMU 话题 | +| odin1/image | sendrgb | RGB 相机话题，由设备原始 JPEG 数据解码，bgr8 格式 | +| odin1/image_undistort | sendrgbundistort | 去畸变 RGB 相机话题，经设备 calib.yaml 标定参数处理 | +| odin1/image/compressed | sendrgbcompressed | RGB 相机压缩话题，设备原始 JPEG 数据 | +| odin1/cloud_raw | senddtof | 原始点云话题 | +| odin1/cloud_render | sendcloudrender | 渲染点云话题，经原始点云、RGB 图像及设备 calib.yaml 处理 | +| odin1/cloud_slam | sendcloudslam | SLAM 点云话题 | +| odin1/odometry | sendodom | 里程计话题 | +| odin1/odometry_high | sendodom | 高频里程计话题 | +| odin1/path | showpath | 里程计路径话题 | +| tf | sendodom | TF 树话题 | +| odin1/depth_img_competetion | senddepth | 稠密深度图话题。需较高算力，仅作演示。与 odin1/image_undistort 一一对应。使用时请直接订阅本话题而非 echo。原始值即为深度数据，无需额外转换。 | +| odin1/depth_img_competetion_cloud | senddepth | 稠密深度点云话题。需较高算力，仅作演示 | +| odin1/reprojected_image | sendreprojection | 重投影像素话题。利用里程计将 cloud_slam 投影至相机图像。在主机端处理。 | + +### 4.4 数据格式 + +1. 原始点云（cloud_raw）包含以下字段： +``` +float32 x // X 轴，单位：米 +float32 y // Y 轴，单位：米 +float32 z // Z 轴，单位：米 +uint8 intensity // 反射率，范围 0–255 +uint16 confidence // 点置信度，典型场景下取值范围约 0–1300，数值越高可靠性越强。推荐过滤阈值 30-35，应结合实际环境调整。 +float32 offset_time // 相对基准时间戳的时间偏移量，单位：秒 +``` + +要在 PCL 中使用此自定义格式，首先定义点类型： +```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) +) +``` +然后即可轻松将 ROS sensor_msgs::PointCloud2 消息转换为 PCL 点云： +``` +pcl::PointCloud ls_cloud; +pcl::fromROSMsg(*msg, ls_cloud); +``` + +2. SLAM 点云（cloud_slam）与直接渲染点云（cloud_render）包含以下字段： +``` +float32 x // X 轴，单位：米 +float32 y // Y 轴，单位：米 +float32 z // Z 轴，单位：米 +float32 rgb // RGB 颜色值 +``` + +### 4.5 其他功能 + +| control_command.yaml 参数 | 详细说明 | +|----------------------------|----------------------| +| use_host_ros_time | 时间同步模式：0 - 使用 odin 内部系统时间作为数据时间戳（典型用法，推荐）；1 - 接收时使用主机 ROS 时间（不推荐大多数用户使用）；2 - 通过类 NTP 同步将 odin1 时间对齐至主机时间，时间戳为传感器数据在主机时间轴上的接收时间。 | +| strict_usb3.0_check | 严格 USB3.0 检查，关闭后即使 USB 连接低于 3.0 标准也允许连接 | +| recorddata | 以特定格式记录数据，可导入 MindCloud(TM) 进行后处理。请注意这将消耗大量存储空间，测试显示 10 分钟数据约占 9.5GB。 | +| devstatuslog | 设备状态日志记录，当前将设备状态（SoC 温度、CPU 占用率、RAM 占用率、dToF 传感器温度等）及数据发送/接收速率保存至 log 目录下的 devstatus.csv。每次启动驱动时创建新文件。 | +| showcamerapose | 显示相机位姿及视野范围。 | +| custom_map_mode | 运行模式：模式 0 - 里程计模式：map 坐标系与 odom 坐标系共享同一位姿。模式 1 - 建图模式（带回环检测）：该模式支持地图保存。模式 2 - 重定位模式：需指定地图文件绝对路径，重定位成功后将输出 map 与 odom 坐标系之间的 TF 关系。| +| custom_init_pos | 初始化位置（当前未启用）。 | +| relocalization_map_abs_path | 地图文件绝对路径：用于重定位模式。 | +| mapping_result_dest_dir 和 mapping_result_file_name | 建图模式下地图保存路径与文件名：若未指定，将使用默认值。 | + +## 5. 常见问题 +### 5.1 重新启动宿主 SDK 时出现段错误 +**错误信息** +60 秒内未连接任何设备 + +**解决方案** +1. 请重新为 Odin 模块上电 # 断开并重新连接 odin 电源 + +2. 重新初始化 Odin SDK # 设备重启后执行 SDK + + +### 5.2 编译时出现库链接失败 + +**错误信息** +ld: cannot find -llydHostApi 或符号查找错误 + +**解决方案** + +1. 清理之前的构建产物 + +ROS1 +```shell +rm -rf devel/ build/ +``` +ROS2 +```shell +rm -rf devel/ install/ log/ +``` +2. 重新运行脚本安装 + +### 5.3 Docker GUI 透传失败 + +**错误信息** +Unable to open X display 或 No protocol specified + +**解决方案** +```shell +xhost + # 此命令启用 Docker 容器的图形透传 +``` + +### 5.4 ROS 驱动以"获取版本失败"错误退出 + +**错误信息** +```shell +: get device version fail. +get version failed. +``` + +**解决方案** + +设备固件版本过低，请升级至最新版本。 + + +### 5.5 RVIZ 长时间无响应 + +**错误信息** +Rviz 无响应，稍后终端打印"Device disconnected, waiting for reconnection..." + +**解决方案** + +请重新为 Odin 模块上电 + +### 5.6 设备无响应 + +**错误信息** +Missed ok response from device, probably wrong interaction procedure. + +**解决方案** + +请采用 5.1 所述的解决方案 + +### 5.7 设备无外部标定文件 + +**错误信息** +ERROR：Missing camera node 'cam_0' + +**解决方案** + +请重新插拔 USB + +### 5.8 ROS 驱动在数据流启动后立即报设备断开 + +**错误信息** + +```shell +Device ready and streams activated +Device detaching... +Wating for device reconnection... +Device disconnected, waiting for reconnection... +``` + +**原因** + +多见于 ROS2 环境且连接到复杂网络环境（如办公 WiFi 和以太网）的情况。ROS2 默认为广播模式，复杂网络环境可能导致 ROS2 发布阻塞，从而引发设备断开。 + +**解决方案** + +若不需要跨设备通信，请将 ROS2 限制为仅本地通信： +```shell +export ROS_LOCALHOST_ONLY=1 +``` + +若需要跨设备通信，请尽量简化网络环境。建议使用仅包含必要设备的小型局域网。 + +### 5.9 ROS 驱动在数据流启动后立即崩溃 + +**错误信息** + +```shell +Device ready and streams activated +[host_sdk_sample-2] process has died ...... +``` + +**测试** + +在 control_command.yaml 中设置 sendrgb = 0 禁用 odin1/image，然后重试。若驱动此时正常工作，则问题很可能与系统安装了多个 OpenCV 版本有关。 + +**解决方案** + +卸载多余的 OpenCV 版本，仅保留单一完整版本，然后重新编译驱动并重试。 + +### 5.10 ROS 驱动打印"TF_OLD_DATA ignoring data"警告 + +**错误信息** + +```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 +``` + +**原因** + +这是 ROS 和 rviz 的一项功能，用于警告用户某些 TF 数据因时间戳冲突而被忽略。常见于用户保持 ROS 驱动运行的同时对 odin 设备断电重启，导致 odin 内部系统时间被重置，新数据时间戳与 rviz 上次运行期间接收的旧数据产生冲突。 + +**解决方案** + +rviz GUI 底部有一个重置按钮。点击此按钮将重置 rviz 内部状态并停止警告。 + +### 5.11 ROS 驱动打印"unknown cmd code: xx"错误 + +**错误信息** + +```shell +: unknow command code 21. +``` + +**原因** + +这是由于 ROS 驱动版本与设备固件版本不匹配，导致 ROS 驱动无法解码新版固件新增的数据。 + +**解决方案** + +请确保使用最新版本的 ROS 驱动和设备固件。 + +### 5.12 USB 设备访问错误（LIBUSB_ERROR_BUSY 或 LIBUSB_ERROR_ACCESS） + +**错误信息** + +```shell +libusb: error [udev_hotplug_event] ignoring udev action bind +LIBUSB_ERROR_BUSY +``` + +或 + +```shell +libusb: error [_get_usbfs_fd] libusb couldn't open USB device /dev/bus/usb/xxx/xxx, errno=13 +LIBUSB_ERROR_ACCESS +``` + +**原因** + +- **LIBUSB_ERROR_BUSY**：另一个进程正在使用该 USB 设备。常见于多个 ROS 驱动实例正在运行，或其他应用程序（如之前崩溃的实例）仍持有设备句柄。 + +- **LIBUSB_ERROR_ACCESS**：当前用户无权访问 USB 设备。通常因缺少 udev 规则或用户权限不足导致。 + +**解决方案** + +针对 **LIBUSB_ERROR_BUSY**： + +1. 检查是否有其他驱动实例正在运行： +```shell +ps aux | grep host_sdk_sample +``` + +2. 终止所有现存实例： +```shell +killall host_sdk_sample +``` + +3. 若问题仍然存在，请拔插 USB 设备以重置设备状态。 + +针对 **LIBUSB_ERROR_ACCESS**： + +1. 添加设备 udev 规则。创建文件 `/etc/udev/rules.d/99-odin.rules`，内容如下： +```shell +SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev" +``` + +2. 重新加载 udev 规则： +```shell +sudo udevadm control --reload-rules +sudo udevadm trigger +``` + +3. 或者，使用 sudo 运行驱动（不推荐用于生产环境）： +```shell +sudo -E ros2 launch odin_ros_driver odin_ros_driver.launch.py +``` + +4. 确保当前用户属于 `plugdev` 用户组： +```shell +sudo usermod -aG plugdev $USER +``` +然后注销并重新登录，使组变更生效。 + +## 6. 联系方式 + +您可通过 support@manifoldtech.cn 联系我们的技术支持。 + +为帮助诊断问题，请向我们的 FAE 工程师提供以下信息： + +1. 当前固件版本 +```shell +[device_version_capture]: ros_driver_version: [版本号] +``` +2. 正在使用的电源适配器和转换线缆照片。 + +3. 问题是偶发性还是持续性的？ + +4. 提供问题场景的图像。 + +5. **第 V 节**中的故障排除方法是否解决了问题？ + +6. 问题解决的预期时间线。 diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/RELOCALIZATION_GUIDE.md b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/RELOCALIZATION_GUIDE.md new file mode 100644 index 0000000..e6e12c2 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/config/calib.yaml b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/config/calib.yaml new file mode 100644 index 0000000..0f7df59 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/config/control_command.yaml b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/config/control_command.yaml new file mode 100644 index 0000000..bb303e8 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/config/control_command.yaml @@ -0,0 +1,106 @@ +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] + relocalization_map_abs_path: "/absolute/path/to/map_a.bin" # supply the external Odin map before using Relocalization 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_v2/src/odin_ros_driver/config/odin_ros.rviz b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/config/odin_ros.rviz new file mode 100644 index 0000000..20634c7 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/config/odin_ros2.rviz b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/config/odin_ros2.rviz new file mode 100644 index 0000000..48d42c3 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/include/camera_pose_visualization.h b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/camera_pose_visualization.h new file mode 100644 index 0000000..8317215 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/include/cloud_reprojection_ros_node.hpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/cloud_reprojection_ros_node.hpp new file mode 100644 index 0000000..ef3c96b --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/cloud_reprojection_ros_node.hpp @@ -0,0 +1,112 @@ +/* +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 + #include + #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_v2/src/odin_ros_driver/include/cloud_reprojector.hpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/cloud_reprojector.hpp new file mode 100644 index 0000000..77939fc --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/include/data_logger.h b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/data_logger.h new file mode 100644 index 0000000..bbf3945 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/include/depth_image_ros2_node.hpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/depth_image_ros2_node.hpp new file mode 100644 index 0000000..64b80f6 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/depth_image_ros2_node.hpp @@ -0,0 +1,85 @@ +/* +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 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_v2/src/odin_ros_driver/include/depth_image_ros_node.hpp b/05_software/real/sim2real_ros2_v2/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_v2/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_v2/src/odin_ros_driver/include/host_sdk_sample.h b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/host_sdk_sample.h new file mode 100644 index 0000000..a89b5c0 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/host_sdk_sample.h @@ -0,0 +1,1819 @@ +/* +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 +#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 +} + +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_) { + const double ts_sec = static_cast(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); + const double ts_sec = static_cast(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) { + const double ts_sec = static_cast(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); + const double ts_sec = static_cast(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); + const double ts_sec = static_cast(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(1) + .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(10) + .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_small); + 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_small); + 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_small); + 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", 100); + cloud_pub_ = nh.advertise("odin1/cloud_raw", 100); + xyzrgbacloud_pub_ = nh.advertise("odin1/cloud_slam", 100); + odom_publisher_ = nh.advertise("odin1/odometry", 100); + odom_highfreq_publisher_ = nh.advertise("odin1/odometry_highfreq", 4000); + path_publisher_ = nh.advertise("odin1/path", 100); + pub_camera_pose_visual_ = nh.advertise("odin1/camera_pose_visual", 100); + rgbcloud_pub_ = nh.advertise("odin1/cloud_render", 100); + compressed_rgb_pub_ = nh.advertise("odin1/image/compressed", 100); + undistort_rgb_pub_ = nh.advertise("odin1/image/undistorted", 100); + intensity_gray_pub_ = nh.advertise("odin1/image/intensity_gray", 100); + wiwc_publisher_ = nh.advertise("odin1/wiwc", 100); + 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_v2/src/odin_ros_driver/include/image_overlay_node.hpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/image_overlay_node.hpp new file mode 100644 index 0000000..f2fc0b9 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/image_overlay_node.hpp @@ -0,0 +1,91 @@ +/* +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 +#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_v2/src/odin_ros_driver/include/lidar_api.h b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/lidar_api.h new file mode 100644 index 0000000..63f452d --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/lidar_api.h @@ -0,0 +1,532 @@ +#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); + +#ifdef __cplusplus +} +#endif + +#endif // LIDAR_API_H \ No newline at end of file diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/lidar_api_type.h b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/lidar_api_type.h new file mode 100644 index 0000000..4d127ae --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/lidar_api_type.h @@ -0,0 +1,242 @@ +/* +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 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; + +typedef enum { + LIDAR_DT_NONE = 0, + LIDAR_DT_RAW_RGB, + LIDAR_DT_RAW_IMU, + LIDAR_DT_RAW_DTOF, + LIDAR_DT_SLAM_CLOUD, + LIDAR_DT_SLAM_ODOMETRY, + LIDAR_DT_DEV_STATUS, + LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ, + LIDAR_DT_SLAM_ODOMETRY_TF, + LIDAR_DT_SLAM_WIWC, + LIDAR_DT_NTP +} 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]; + int64_t orient[4]; + 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 { + 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 { + double delay; + double offset; +} ptp_sync_data_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 configured output data rate */ + int tx_odr; /* rgb image sensor tx output data rate */ + +} lidar_rgb_sensor_status_t; + +/** + * @brief DTOF Lidar frame rate + * + */ +typedef struct{ + + int configured_odr; /* dtof lidar sensor configured output data rate */ + int tx_odr; /* dtof lidar sensor tx output data rate */ + int subframe_odr; /* dtof lidar sensor subframe output data rate */ + short tx_temp; /* dtof lidar tx module temp */ + short rx_temp; /* dtof lidar rx module temp */ + +} lidar_dtof_sensor_status_t; + +/** + * @brief IMU Sensor + * + */ +typedef struct{ + + int configured_odr; /* imu sensor configured output data rate */ + int tx_odr; /* imu sensor tx output data rate */ + +} lidar_imu_sensor_status_t; + +typedef struct{ + + int package_temp; /* soc package temp */ + int cpu_temp; /* cpu temp */ + int center_temp; /* center temp */ + int gpu_temp; /* gpu temp */ + int npu_temp; /* npu temp */ + +} lidar_soc_thermal_t; +typedef struct +{ + double uptime_seconds; + lidar_soc_thermal_t soc_thermal; + + int cpu_use_rate[8]; /* cpu usage rate */ + int ram_use_rate; /* ram usage rate */ + + 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; /* slam cloud tx output data rate */ + int slam_odom_tx_odr; /* slam odom tx output data rate */ + int slam_odom_highfreq_tx_odr; /* slam odom high freq tx output data rate */ + +} 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, +} lidar_depth_odr_e; + +typedef struct { + lidar_depth_odr_e odr; +} lidar_depth_para_t; + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/pointcloud_depth_converter.hpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/pointcloud_depth_converter.hpp new file mode 100644 index 0000000..ae9226e --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/include/polynomial_camera.hpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/polynomial_camera.hpp new file mode 100644 index 0000000..1de15cb --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/include/rawCloudRender.h b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/rawCloudRender.h new file mode 100644 index 0000000..1781229 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/include/yaml_parser.h b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/include/yaml_parser.h new file mode 100644 index 0000000..192dc22 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/launch_ROS1/odin1_ros1.launch b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/launch_ROS1/odin1_ros1.launch new file mode 100644 index 0000000..8a0fd18 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/launch_ROS2/odin1_ros2.launch.py b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/launch_ROS2/odin1_ros2.launch.py new file mode 100644 index 0000000..a9ca5ad --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/launch_ROS2/odin1_ros2.launch.py @@ -0,0 +1,111 @@ + +# 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' + ) + + # Declare launch rviz parameter + 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) # Add launch_rviz argument + 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 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zg!atOc;EiP&_0xqYIp6AQGXT|XN;Bw;ef6!iI?7U{f zllVE?@zt7e;bY7VU#b@Emuzy&gY^?V6xx@@p8&@-^gkP3w};y1o- z-^0&c>`ga39t~elgfHLTK1TIxFQC*Beu(uc{ChKF_VE2b6Ii+Srw_-Dd=mAS8kcGR EzyB0FXaE2J literal 0 HcmV?d00001 diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package.xml b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package.xml new file mode 100644 index 0000000..b277f0b --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package.xml @@ -0,0 +1,28 @@ + + + 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_cmake + + \ No newline at end of file diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package_ros1.xml b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package_ros1.xml new file mode 100644 index 0000000..17f851d --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package_ros1.xml @@ -0,0 +1,29 @@ + + + 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 + + + eigen + opencv + yaml-cpp + + + + catkin + + diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package_ros2.xml b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package_ros2.xml new file mode 100644 index 0000000..b277f0b --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/package_ros2.xml @@ -0,0 +1,28 @@ + + + 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_cmake + + \ No newline at end of file diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/script/build_ros.sh b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/script/build_ros.sh new file mode 100644 index 0000000..28218ad --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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 "$1" in + -c|--clean) + clean_workspace + ;; + -r|--run) + run_node + ;; + -h|--help) + show_help + ;; + *) + build_workspace + ;; +esac \ No newline at end of file diff --git a/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/script/build_ros2.sh b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/script/build_ros2.sh new file mode 100644 index 0000000..0a418e4 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/script/build_ros2.sh @@ -0,0 +1,158 @@ +#!/bin/bash + +# Get the directory where the script is located (Odin_ROS_Driver directory) +PKG_DIR="$(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 $WS_DIR + rm -rf build install log + # Ensure ROS2 environment is loaded + if [ -f "/opt/ros/foxy/setup.bash" ]; then + source "/opt/ros/foxy/setup.bash" + elif [ -f "/opt/ros/galactic/setup.bash" ]; then + source "/opt/ros/galactic/setup.bash" + elif [ -f "/opt/ros/humble/setup.bash" ]; then + source "/opt/ros/humble/setup.bash" + else + echo -e "${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_v2/src/odin_ros_driver/set_param.sh b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/set_param.sh new file mode 100644 index 0000000..076091c --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/camera_pose_visualization.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/camera_pose_visualization.cpp new file mode 100644 index 0000000..7cd5dbe --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/cloud_reprojection_ros.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/cloud_reprojection_ros.cpp new file mode 100644 index 0000000..f928467 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/cloud_reprojector.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/cloud_reprojector.cpp new file mode 100644 index 0000000..9a924d3 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/depth_image_ros2_node.cpp b/05_software/real/sim2real_ros2_v2/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_v2/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_v2/src/odin_ros_driver/src/depth_image_ros_node.cpp b/05_software/real/sim2real_ros2_v2/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_v2/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_v2/src/odin_ros_driver/src/host_sdk_sample.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/host_sdk_sample.cpp new file mode 100644 index 0000000..ac308b4 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/host_sdk_sample.cpp @@ -0,0 +1,2270 @@ +/* +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 +#else + #include + #include +#endif +#define ros_driver_version "0.10.5" +#define required_firmware_version_major 0 +#define required_firmware_version_minor 11 +#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 = 200; + +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; + } + + // Shutdown ROS + #ifdef ROS2 + rclcpp::shutdown(); + #else + 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_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 + + if (version.soc_version.major < required_firmware_version_major || (version.soc_version.minor < required_firmware_version_minor) || (version.soc_version.patch < required_firmware_version_patch)) { + #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 { + // 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); +#else + ros::init(argc, argv, "lydros_node"); + ros::NodeHandle nh; + g_ros_object = new MultiSensorPublisher(nh); +#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_v2/src/odin_ros_driver/src/image_overlay_node.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/image_overlay_node.cpp new file mode 100644 index 0000000..43de7bf --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/pcd2depth_ros.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/pcd2depth_ros.cpp new file mode 100644 index 0000000..5934faa --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/pcd2depth_ros2.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/pcd2depth_ros2.cpp new file mode 100644 index 0000000..001302c --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/pointcloud_depth_converter.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/pointcloud_depth_converter.cpp new file mode 100644 index 0000000..cc15533 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/rawCloudRender.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/rawCloudRender.cpp new file mode 100644 index 0000000..13c47a6 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/odin_ros_driver/src/yaml_parser.cpp b/05_software/real/sim2real_ros2_v2/src/odin_ros_driver/src/yaml_parser.cpp new file mode 100644 index 0000000..b8c15c4 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/sim2real_bringup/config/deployment_contract.yaml b/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/config/deployment_contract.yaml index 45a3290..0281c46 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/config/deployment_contract.yaml +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/config/deployment_contract.yaml @@ -47,7 +47,7 @@ action: - 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, 0.9, -1.8, 0.0, 0.9, -1.8, 0.0, 0.9, -1.8, 0.0, 0.9, -1.8, 0.0, 0.0, 0.0, 0.0] + default_dof_pos: [0.0, 0.670, -1.390, 0.0, 0.670, -1.390, 0.0, 0.670, -1.390, 0.0, 0.670, -1.390, 0.0, 0.0, 0.0, 0.0] motor_mapping: can_id_map: diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/config/runtime.yaml b/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/config/runtime.yaml index b5516eb..46ec2bd 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/config/runtime.yaml +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/config/runtime.yaml @@ -4,7 +4,29 @@ motor_hz: 200.0 status_hz: 10.0 target_timeout_ms: 150.0 - model_path: policies/model_rough.onnx + event_log_dir: "logs_v2_web" + model_engine_path: policies/NEWmodel_1900_fp16.engine + prefer_tensorrt: true + model_path: policies/NEWmodel_1900.onnx + rough_model_engine_path: policies/NEWmodel_1900_fp16.engine + crawl_model_path: policies/model_crawl.onnx + crawl_model_engine_path: "" + rough_default_dof_pos: [0.0, 0.670, -1.390, 0.0, 0.670, -1.390, 0.0, 0.670, -1.390, 0.0, 0.670, -1.390, 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: 6.25 + crawl_ik_wheel_yaw_gain: 4.0 + crawl_ik_max_wheel_speed: 6.0 + crawl_ik_abduction_clip: 0.45 + model_switch_transition_s: 1.5 + model_switch_to_stand_transition_scale: 2.0 + model_switch_to_model_transition_scale: 2.5 + model_switch_stand_hold_s: 0.8 + model_switch_stand_max_err: 0.18 + model_switch_stand_max_vel: 0.8 + model_switch_release_scale: 2.0 + debug_trace_enabled: true + debug_trace_decimation: 1 use_cuda: true # 启用 CUDA Execution Provider（Orin Nano GPU 加速） contract_file: deployment_contract.yaml dry_run: false @@ -30,6 +52,11 @@ 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" @@ -64,18 +91,43 @@ # Safety parameters safety_enabled: true max_target_offset: 0.6 + model_switch_max_target_offset: 1.8 hard_target_offset: 2.0 - max_ang_vel: 10.0 + max_ang_vel: 24.0 max_tilt_z: -0.3 clip_to_brake: 0 imu_age_warn_ms: 60.0 imu_age_stop_ms: 200.0 + 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 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 + model_switch_release_scale: 2.0 clip_obs: 100.0 hold_zero_command_pose: true enable_zero_cmd_suppression: true @@ -92,9 +144,42 @@ nav_max_wz: 0.80 nav_kp_dist: 0.80 nav_kp_yaw: 1.80 + nav_goal_exit_tolerance_margin: 0.08 + nav_goal_complete_stable_cycles: 4 + 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 + 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: src/sim2real_nav2/config/maps/factory_a/goals.yaml nav_missions_file: src/sim2real_nav2/config/maps/factory_a/missions.yaml - pcd_nav_file: map/map1.pcd + # Keep the legacy YAML route for reference; active task is selected by nav_route_task_file below. + nav_route_file: src/sim2real_nav2/config/maps/a_min/test_route.yaml + # Task switch entry: change this path to another .json/.yaml route file, then relaunch or reload the nav nodes. + nav_route_task_file: tools/test_route.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 + pcd_nav_file: map/map_b.pcd pcd_floor_z_min: -1.6 pcd_floor_z_max: 0.4 pcd_sample_step: 25 diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/launch/sim2real_system.launch.py b/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/launch/sim2real_system.launch.py index 1d16825..529213d 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/launch/sim2real_system.launch.py +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_bringup/launch/sim2real_system.launch.py @@ -1,7 +1,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +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 @@ -49,6 +49,14 @@ def generate_launch_description(): description='Whether to launch the simple waypoint navigation node' ) + 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( @@ -80,19 +88,20 @@ def generate_launch_description(): launch_remote_arg, launch_web_bridge_arg, launch_simple_nav_arg, + event_log_dir_arg, Node( package="sim2real_hw", executable="sim2real_hw_node", name="sim2real_hw_node", output="screen", - parameters=[runtime_params], + 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], + parameters=[runtime_params, {"event_log_dir": LaunchConfiguration("event_log_dir")}], ), Node( package="sim2real_runtime", @@ -141,4 +150,3 @@ def generate_launch_description(): driver_launch, nav2_launch, ]) - diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/deployment_contract.hpp b/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/deployment_contract.hpp index 35105ce..f12706d 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/deployment_contract.hpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/deployment_contract.hpp @@ -64,10 +64,10 @@ struct DeploymentContract }; static constexpr std::array kDefaultDofPos = { - 0.0f, 0.9f, -1.8f, - 0.0f, 0.9f, -1.8f, - 0.0f, 0.9f, -1.8f, - 0.0f, 0.9f, -1.8f, + 0.0f, 0.670f, -1.390f, + 0.0f, 0.670f, -1.390f, + 0.0f, 0.670f, -1.390f, + 0.0f, 0.670f, -1.390f, 0.0f, 0.0f, 0.0f, 0.0f }; }; diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/event_logger.hpp b/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/event_logger.hpp new file mode 100644 index 0000000..9df670d --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/sim2real_common/include/sim2real_common/stand_balance_controller.hpp b/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/stand_balance_controller.hpp index e158815..c696572 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/stand_balance_controller.hpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_common/include/sim2real_common/stand_balance_controller.hpp @@ -1,10 +1,11 @@ #pragma once #include -#include #include #include +#include "sim2real_common/deployment_contract.hpp" + #ifndef M_PI #define M_PI 3.14159265358979323846 #endif @@ -18,12 +19,15 @@ public: StandBalanceController(double control_dt = 0.02) : control_dt_(control_dt) { - profile_h_ = {0.157f, 0.248f, 0.311f, 0.366f, 0.411f, 0.448f}; - profile_hip_ = {1.5f, 1.2f, 1.0f, 0.8f, 0.6f, 0.4f}; - profile_knee_ = {-2.5f, -2.1f, -1.8f, -1.5f, -1.2f, -0.9f}; reset(); } + void setNominalLegPose(float hip_pitch, float knee) + { + nominal_hip_pitch_ = hip_pitch; + nominal_knee_ = knee; + } + void reset() { stable_time_ = 0.0f; @@ -34,9 +38,8 @@ public: const std::array& imu_gyro, const std::array& cmd) { - float hip_base = 0.9f; - float knee_base = -1.8f; - estimateBaseLegPose(hip_base, knee_base); + const float hip_base = nominal_hip_pitch_; + const float knee_base = nominal_knee_; float roll = 0.0f; float pitch = 0.0f; @@ -84,28 +87,9 @@ private: pitch = std::atan2(gx, std::sqrt(std::max(1e-6f, gy * gy + gz * gz))); } - void estimateBaseLegPose(float& hip, float& knee) - { - float h_clamp = std::clamp(height_, profile_h_.front(), profile_h_.back()); - hip = interpolate(h_clamp, profile_h_, profile_hip_); - knee = interpolate(h_clamp, profile_h_, profile_knee_); - } - - float interpolate(float x, const std::vector& xp, const std::vector& fp) - { - if (x <= xp.front()) return fp.front(); - if (x >= xp.back()) return fp.back(); - for (std::size_t i = 0; i < xp.size() - 1; ++i) { - if (x >= xp[i] && x <= xp[i+1]) { - float f = (x - xp[i]) / (xp[i+1] - xp[i]); - return fp[i] + f * (fp[i+1] - fp[i]); - } - } - return fp.back(); - } - double control_dt_; - float height_{0.33f}; + 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}; @@ -117,10 +101,6 @@ private: float stable_gyro_deg_s_{45.0f}; float enter_hold_s_{1.0f}; - std::vector profile_h_; - std::vector profile_hip_; - std::vector profile_knee_; - float stable_time_{0.0f}; }; diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp index 598a499..dc740bd 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/include/sim2real_hw/hardware_bridge_node.hpp @@ -12,16 +12,40 @@ #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 +}; + struct MotorConfig { int bus; // 1 or 2 @@ -36,14 +60,49 @@ struct MotorStateInternal 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 @@ -54,6 +113,7 @@ public: 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); @@ -66,11 +126,59 @@ private: bool enableMotor(int fd, int motor_id); bool disableMotor(int fd, int motor_id); 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_; @@ -83,6 +191,11 @@ private: 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 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}; @@ -101,6 +214,7 @@ private: // Hold-over constants static constexpr std::uint32_t kHoldoverThreshold = 2; + static constexpr std::uint32_t kMotorDropReportThreshold = 40; // Motor configurations and states std::array motors_; @@ -133,24 +247,71 @@ private: 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_; bool 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_v2/src/sim2real_hw/src/hardware_bridge_node.cpp b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/src/hardware_bridge_node.cpp index 09131aa..888e89b 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_hw/src/hardware_bridge_node.cpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_hw/src/hardware_bridge_node.cpp @@ -3,8 +3,11 @@ #include #include #include +#include #include +#include #include +#include #include #include @@ -26,13 +29,23 @@ namespace sim2real_hw 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 = 0x200C; +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; @@ -46,26 +59,158 @@ inline float nearest_periodic(float val, float ref) 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()); + } // 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 { @@ -93,6 +238,13 @@ HardwareBridgeNode::HardwareBridgeNode() 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 @@ -110,7 +262,7 @@ HardwareBridgeNode::HardwareBridgeNode() } // 5. Initialize motor target states - latest_target_ = sim2real_common::DeploymentContract::kDefaultDofPos; + latest_target_ = rough_default_dof_pos_; latest_raw_action_.fill(0.0f); // 6. Set up ROS publishers & subscriptions @@ -118,6 +270,9 @@ HardwareBridgeNode::HardwareBridgeNode() target_sub_ = create_subscription( "runtime/target", 10, std::bind(&HardwareBridgeNode::onTarget, this, std::placeholders::_1)); + model_status_sub_ = create_subscription( + "runtime/model_status", 10, + std::bind(&HardwareBridgeNode::onModelStatus, this, std::placeholders::_1)); std::string imu_topic = declare_parameter("imu_topic", "/odin1/imu"); imu_sub_ = create_subscription( imu_topic, 10, @@ -136,11 +291,7 @@ HardwareBridgeNode::HardwareBridgeNode() if (!dry_run_) { RCLCPP_INFO(get_logger(), "Enabling RobStride motors..."); for (std::size_t i = 0; i < 16; ++i) { - int fd = (motors_[i].bus == 1) ? can0_fd_ : can1_fd_; - enableMotor(fd, motors_[i].id); - setModeRaw(fd, motors_[i].id, 0); // MIT Mode - writeLimit(fd, motors_[i].id, PARAM_VELOCITY_LIMIT, 20.0f); - writeLimit(fd, motors_[i].id, PARAM_TORQUE_LIMIT, 17.0f); + initializeMotor(i, "startup_init"); } } @@ -155,6 +306,7 @@ HardwareBridgeNode::~HardwareBridgeNode() 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) { @@ -168,6 +320,967 @@ HardwareBridgeNode::~HardwareBridgeNode() } } } + 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; + step_ok = enableMotor(fd, motors_[index].id) && step_ok; + step_ok = setModeRaw(fd, motors_[index].id, 0) && step_ok; + 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; + + 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; + step_ok = enableMotor(fd, motors_[index].id) && step_ok; + step_ok = setModeRaw(fd, motors_[index].id, 0) && step_ok; + 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; + + 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) @@ -180,6 +1293,31 @@ void HardwareBridgeNode::onTarget(const sim2real_interfaces::msg::RuntimeTarget: 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; + } + const ActiveModelMode next_mode = + (current_model == "crawl" || current_model == "ik") ? ActiveModelMode::Crawl : ActiveModelMode::Rough; + if (next_mode == active_model_mode_) { + return; + } + + active_model_mode_ = next_mode; + active_default_dof_pos_ = + active_model_mode_ == ActiveModelMode::Crawl ? crawl_default_dof_pos_ : rough_default_dof_pos_; + RCLCPP_INFO( + get_logger(), + "Hardware active model reference updated to %s pose.", + active_model_mode_ == ActiveModelMode::Crawl ? "ik/crawl" : "rough"); +} + void HardwareBridgeNode::onImu(const sensor_msgs::msg::Imu::SharedPtr msg) { std::scoped_lock lock(imu_mutex_); @@ -215,8 +1353,10 @@ void HardwareBridgeNode::onEstop(const std_msgs::msg::Bool::SharedPtr msg) estop_triggered_ = msg->data; if (estop_triggered_) { RCLCPP_WARN(get_logger(), "!!! Physical E-stop received over /safety/estop !!!"); + logEvent("WARN", "estop_triggered", "Physical E-stop received over /safety/estop."); } else { RCLCPP_INFO(get_logger(), "Physical E-stop reset."); + logEvent("INFO", "estop_reset", "Physical E-stop reset via /safety/estop."); } } @@ -253,96 +1393,8 @@ void HardwareBridgeNode::onReadLoop() motor_states_[i].stale_count++; } - struct can_frame frame; - // Process can0 (bus 1) - while (readCanFrame(can0_fd_, &frame, 50)) { - if (!(frame.can_id & CAN_EFF_FLAG)) continue; - std::uint32_t comm_type = (frame.can_id >> 24) & 0x1F; - if (comm_type == 2) { // Status Frame - std::uint32_t extra_data = (frame.can_id >> 8) & 0xFFFF; - int motor_id = extra_data & 0xFF; - - for (std::size_t i = 0; i < 16; ++i) { - if (motors_[i].bus == 1 && motors_[i].id == motor_id) { - 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; - - // Apply motor mapping: real_to_sim - // real = sign * sim + offset -> sim = (real - offset) / sign - 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, sim2real_common::DeploymentContract::kDefaultDofPos[i]); - } - - motor_states_[i].position = pos_sim; - motor_states_[i].velocity = vel_sim; - motor_states_[i].torque = torque_sim; - motor_states_[i].temperature = static_cast(temp_u16) * 0.1f; - motor_states_[i].update_count++; - motor_states_[i].stale_count = 0; - // Update hold-over valid data - motor_states_[i].last_valid_pos = pos_sim; - motor_states_[i].last_valid_vel = vel_sim; - motor_states_[i].last_valid_torque = torque_sim; - motor_states_[i].has_valid_data = true; - break; - } - } - } - } - - // Process can1 (bus 2) - while (readCanFrame(can1_fd_, &frame, 50)) { - if (!(frame.can_id & CAN_EFF_FLAG)) continue; - std::uint32_t comm_type = (frame.can_id >> 24) & 0x1F; - if (comm_type == 2) { - std::uint32_t extra_data = (frame.can_id >> 8) & 0xFFFF; - int motor_id = extra_data & 0xFF; - - for (std::size_t i = 0; i < 16; ++i) { - if (motors_[i].bus == 2 && motors_[i].id == motor_id) { - 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, sim2real_common::DeploymentContract::kDefaultDofPos[i]); - } - - motor_states_[i].position = pos_sim; - motor_states_[i].velocity = vel_sim; - motor_states_[i].torque = torque_sim; - motor_states_[i].temperature = static_cast(temp_u16) * 0.1f; - motor_states_[i].update_count++; - motor_states_[i].stale_count = 0; - // Update hold-over valid data - motor_states_[i].last_valid_pos = pos_sim; - motor_states_[i].last_valid_vel = vel_sim; - motor_states_[i].last_valid_torque = torque_sim; - motor_states_[i].has_valid_data = true; - break; - } - } - } - } + 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) { @@ -351,10 +1403,41 @@ void HardwareBridgeNode::onReadLoop() 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; @@ -430,6 +1513,8 @@ void HardwareBridgeNode::onReadLoop() 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()); } @@ -518,24 +1603,43 @@ 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(); + 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; } } - // Timeout guard: default stand pose if target is stale - if (latest_target_stamp_.nanoseconds() == 0 || age_ms > target_timeout_ms_) { - target = sim2real_common::DeploymentContract::kDefaultDofPos; + 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 @@ -553,15 +1657,28 @@ void HardwareBridgeNode::onWriteLoop() } if (safety_enabled_ && !safety_triggered_) { - auto safety_decision = safety_monitor_->check(target, sim2real_common::DeploymentContract::kDefaultDofPos, gyro, proj_grav, estop_active); + 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; } } @@ -616,11 +1733,20 @@ void HardwareBridgeNode::onWriteLoop() kd_val = sim2real_common::DeploymentContract::kLegHoldKd; } 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 == "startup_hold") { + if ( + target_source == "timeout_hold" || + target_source == "boot_hold" || + target_source == "runtime_zero_hold" || + 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::kLegHoldKp; kd_val = sim2real_common::DeploymentContract::kLegHoldKd; } } + 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) @@ -630,6 +1756,7 @@ void HardwareBridgeNode::onWriteLoop() 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); } } @@ -649,6 +1776,15 @@ bool HardwareBridgeNode::disableMotor(int fd, int motor_id) 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) { std::uint32_t ext_id = (COMM_WRITE_PARAMETER << 24) | (HOST_ID << 8) | motor_id; @@ -703,6 +1839,8 @@ bool HardwareBridgeNode::initCan(const std::string& ifname, int& fd) { struct sockaddr_can addr; struct ifreq ifr; + std::memset(&addr, 0, sizeof(addr)); + std::memset(&ifr, 0, sizeof(ifr)); if ((fd = ::socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { RCLCPP_ERROR(get_logger(), "Failed to create SocketCAN socket for %s", ifname.c_str()); @@ -719,6 +1857,7 @@ bool HardwareBridgeNode::initCan(const std::string& ifname, int& fd) } std::strncpy(ifr.ifr_name, ifname.c_str(), IFNAMSIZ - 1); + ifr.ifr_name[IFNAMSIZ - 1] = '\0'; if (::ioctl(fd, SIOCGIFINDEX, &ifr) < 0) { RCLCPP_ERROR(get_logger(), "Failed to ioctl SIOCGIFINDEX for %s", ifname.c_str()); ::close(fd); @@ -729,7 +1868,7 @@ bool HardwareBridgeNode::initCan(const std::string& ifname, int& fd) addr.can_family = AF_CAN; addr.can_ifindex = ifr.ifr_ifindex; - if (::bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + if (::bind(fd, reinterpret_cast(&addr), sizeof(addr)) < 0) { RCLCPP_ERROR(get_logger(), "Failed to bind SocketCAN socket for %s", ifname.c_str()); ::close(fd); fd = -1; @@ -765,6 +1904,7 @@ bool HardwareBridgeNode::sendCanFrame(int fd, std::uint32_t can_id, const std::u 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_) { @@ -776,6 +1916,7 @@ bool HardwareBridgeNode::sendCanFrame(int fd, std::uint32_t can_id, const std::u 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_); } } } @@ -829,6 +1970,7 @@ bool HardwareBridgeNode::readCanFrame(int fd, void* frame_ptr, int timeout_us) 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; @@ -836,7 +1978,15 @@ bool HardwareBridgeNode::reinitCan(const std::string& ifname, int& fd, int& erro 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; } diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/a_min/test_route.yaml b/05_software/real/sim2real_ros2_v2/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_v2/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_v2/src/sim2real_nav2/config/maps/factory_a/goals.yaml b/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/factory_a/goals.yaml index 82855cb..8ae632d 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/factory_a/goals.yaml +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/factory_a/goals.yaml @@ -3,14 +3,14 @@ goals: dock: position: [0.0, 0.0, 0.0] yaw_deg: 0.0 - description: "起始点/回充点" + description: "dock" test_p1: - position: [1.5, 0.0, 0.0] + position: [4.73, 1.75, 0.0] yaw_deg: 0.0 - description: "测试点1" + description: "test point 1" test_p2: - position: [1.5, -1.0, 0.0] - yaw_deg: -90.0 - description: "测试点2" + position: [4.94, 0.40, 0.0] + yaw_deg: 0.0 + description: "test point 2" diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/factory_a/missions.yaml b/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/factory_a/missions.yaml index 29eb2a4..ff36968 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/factory_a/missions.yaml +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/maps/factory_a/missions.yaml @@ -1,9 +1,8 @@ missions: test_roundtrip: - description: "测试点1到点2再回起点" + description: "test_p1 -> test_p2 -> test_p1" loop: false goals: - - dock - test_p1 - test_p2 - - dock + - test_p1 diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/nav2_params.yaml b/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/nav2_params.yaml index f847f1e..52c755b 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/nav2_params.yaml +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_nav2/config/nav2_params.yaml @@ -133,7 +133,7 @@ planner_server: GridTransition: plugin: "nav2_navfn_planner/NavfnPlanner" tolerance: 0.5 - use_astar: false + use_astar: true allow_unknown: true behavior_server: diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/CMakeLists.txt b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/CMakeLists.txt index 7e1ce6f..9053810 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/CMakeLists.txt +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/CMakeLists.txt @@ -2,6 +2,7 @@ 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) @@ -31,10 +32,33 @@ find_library(ONNXRUNTIME_LIBRARY NAMES onnxruntime 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 ) @@ -43,23 +67,60 @@ 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 "${ONNXRUNTIME_LIBRARY_DIR}" ) target_compile_features(sim2real_runtime_node PRIVATE cxx_std_17) +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + target_compile_features(compare_onnx_trt PRIVATE cxx_std_17) +endif() ament_target_dependencies(sim2real_runtime_node geometry_msgs @@ -71,6 +132,12 @@ ament_target_dependencies(sim2real_runtime_node sim2real_interfaces ) +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + ament_target_dependencies(compare_onnx_trt + sim2real_common + ) +endif() + ament_target_dependencies(odom_relay_node geometry_msgs nav_msgs @@ -88,6 +155,13 @@ install( DESTINATION lib/${PROJECT_NAME} ) +if(SIM2REAL_RUNTIME_HAS_TENSORRT) + install( + TARGETS compare_onnx_trt + DESTINATION lib/${PROJECT_NAME} + ) +endif() + install( PROGRAMS src/remote_uart_node.py diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/include/sim2real_runtime/policy_runtime_node.hpp b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/include/sim2real_runtime/policy_runtime_node.hpp index ee9496b..0a39a92 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/include/sim2real_runtime/policy_runtime_node.hpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/include/sim2real_runtime/policy_runtime_node.hpp @@ -5,15 +5,18 @@ #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" @@ -21,6 +24,11 @@ // ONNXRuntime C++ API #include +#ifdef SIM2REAL_RUNTIME_HAS_TENSORRT +#include +#include +#endif + namespace sim2real_runtime { @@ -28,13 +36,70 @@ class PolicyRuntimeNode : public rclcpp::Node { public: PolicyRuntimeNode(); + ~PolicyRuntimeNode() override; private: + enum class InferenceBackend { + None, + TensorRT, + OnnxRuntime, + }; + + enum class ModelMode { + Rough, + Crawl, + }; + + 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 + }; + 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 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; + 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); + const char * startupStateName(StartupState state) const; + const char * modelModeName(ModelMode mode) const; + const char * modelSwitchStateName(ModelSwitchState state) 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, @@ -46,9 +111,11 @@ private: bool isCommandActive(const std::array & cmd) const; 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::TimerBase::SharedPtr policy_timer_; std::mutex mutex_; @@ -61,13 +128,6 @@ private: std::uint32_t sequence_{0}; // Startup State Machine - enum class StartupState { - BOOT_HOLD, - STARTUP_SOFT_HOLD, - STARTUP_TRANSITION, - STARTUP_HOLD_AFTER, - RUNTIME - }; StartupState startup_state_{StartupState::BOOT_HOLD}; std::array start_pose_{}; std::array startup_delta_{}; @@ -76,9 +136,43 @@ private: 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 active_default_dof_pos_{}; + std::array safety_reference_dof_pos_{}; + 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_{1.5}; + double model_switch_to_stand_transition_scale_{2.0}; + double model_switch_to_model_transition_scale_{2.5}; + double model_switch_stand_hold_s_{0.8}; + double model_switch_stand_max_err_{0.18}; + double model_switch_stand_max_vel_{0.8}; + double active_switch_transition_s_{1.5}; + + 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_{""}; + 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}; + // 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_; @@ -91,6 +185,17 @@ private: 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 release_alpha_{0.0f}; @@ -98,12 +203,14 @@ private: 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_{2.0f}; 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}; @@ -115,10 +222,29 @@ private: 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_v2/src/sim2real_runtime/src/compare_onnx_trt.cpp b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/compare_onnx_trt.cpp new file mode 100644 index 0000000..e383604 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/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_v2/src/sim2real_runtime/src/policy_runtime_node.cpp b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/policy_runtime_node.cpp index 8fa328d..7ea36e1 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/policy_runtime_node.cpp +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/policy_runtime_node.cpp @@ -3,6 +3,13 @@ #include #include #include +#include +#include +#include +#include +#include +#include +#include #include "sim2real_common/deployment_contract.hpp" @@ -11,21 +18,171 @@ 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()); + } + 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", ""); + 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)); + model_switch_transition_s_ = declare_parameter("model_switch_transition_s", 1.5); + model_switch_to_stand_transition_scale_ = declare_parameter( + "model_switch_to_stand_transition_scale", 2.0); + model_switch_to_model_transition_scale_ = declare_parameter( + "model_switch_to_model_transition_scale", 2.5); + model_switch_stand_hold_s_ = declare_parameter("model_switch_stand_hold_s", 0.8); + 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); @@ -37,6 +194,11 @@ PolicyRuntimeNode::PolicyRuntimeNode() 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", 2.0)); + 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); @@ -44,10 +206,45 @@ PolicyRuntimeNode::PolicyRuntimeNode() zero_cmd_use_yaw_rate_ = declare_parameter("zero_cmd_use_yaw_rate", true); runtime_released_ = !require_active_command_to_release_; - RCLCPP_INFO(get_logger(), "Loading ONNX policy model from: %s", model_path_.c_str()); - + 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_); + } + + RCLCPP_INFO( + get_logger(), + "Policy inference setup: rough_model=%s, rough_engine=%s, crawl_model=%s, crawl_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(), + 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( @@ -57,6 +254,13 @@ PolicyRuntimeNode::PolicyRuntimeNode() 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), @@ -65,88 +269,15 @@ PolicyRuntimeNode::PolicyRuntimeNode() static_cast(imu_age_stop_ms) ); - // 2. Initialize Ort C++ environment - try { - env_ = std::make_unique(ORT_LOGGING_LEVEL_WARNING, "sim2real_onnx_env"); - - Ort::SessionOptions session_options; - // single-thread ORIN optimization to prevent thread scheduling jitter - session_options.SetIntraOpNumThreads(1); - session_options.SetInterOpNumThreads(1); - session_options.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_ALL); - - // CUDA Execution Provider (Orin Nano GPU acceleration) - if (use_cuda_) { - try { - OrtCUDAProviderOptions cuda_opts{}; - cuda_opts.device_id = 0; - // enable_cuda_graph: false for single-inference RL policy (avoids overhead) - 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)); - - // Get input/output nodes names and shapes - Ort::AllocatorWithDefaultOptions allocator; - - 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()); - } - - 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; - } - - // Validate output shape matches expected action dimension - if (output_shape_.size() < 2 || output_shape_[1] != static_cast(sim2real_common::DeploymentContract::kActionDim)) { - RCLCPP_FATAL(get_logger(), - "ONNX model output dimension mismatch! Expected %ld, got %ld. Wrong model?", - static_cast(sim2real_common::DeploymentContract::kActionDim), - output_shape_.size() >= 2 ? output_shape_[1] : -1); - throw std::runtime_error("ONNX model output shape mismatch"); - } - - RCLCPP_INFO(get_logger(), "Successfully loaded ONNX policy model. Input shape: [%ld, %ld], Output shape: [%ld, %ld]", - input_shape_[0], input_shape_[1], output_shape_[0], output_shape_[1]); - } catch (const std::exception& e) { - RCLCPP_FATAL(get_logger(), "Failed to load ONNX model: %s", e.what()); - throw; + // 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)); @@ -156,14 +287,464 @@ PolicyRuntimeNode::PolicyRuntimeNode() 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)); 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) @@ -204,14 +785,75 @@ void PolicyRuntimeNode::onCmdVelStamped(const geometry_msgs::msg::TwistStamped:: 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 { + 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 (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::onEstop(const std_msgs::msg::Bool::SharedPtr msg) { std::scoped_lock lock(mutex_); 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."); } } @@ -233,7 +875,7 @@ std::array PolicyRuntimeNode::buildObservation( obs[cursor++] = v; } for (std::size_t i = 0; i < sim2real_common::DeploymentContract::kLegJointCount; ++i) { - obs[cursor++] = state.joint_pos[i] - sim2real_common::DeploymentContract::kDefaultDofPos[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; @@ -258,35 +900,79 @@ std::array PolicyRuntimeNode::buildObservation( std::array PolicyRuntimeNode::runPolicy(const std::array & obs) { std::array action{}; - 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() - ); + 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() + ); - 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); + 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) { @@ -312,6 +998,238 @@ bool PolicyRuntimeNode::isCommandActive(const std::array & cmd) const 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 || crawl_backend_ == CrawlBackend::Rl; +} + +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_; + 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_); + } + 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, but use the + // configured rough default pose as the actual stand target to avoid a second + // posture jump between "switch stand" and "runtime rough hold". + stand_balance_->computeTarget( + state.projected_gravity, state.imu_gyro, std::array{0.0f, 0.0f, 0.0f}); + return rough_default_dof_pos_; +} + +std::array PolicyRuntimeNode::computeIkCrawlTarget( + const sim2real_interfaces::msg::RuntimeState & state, + const std::array & cmd) +{ + auto target = computeHoldTarget(state, cmd); + + const float left_wheel = std::clamp( + cmd[0] * crawl_ik_wheel_linear_gain_ - cmd[2] * crawl_ik_wheel_yaw_gain_, + -crawl_ik_max_wheel_speed_, crawl_ik_max_wheel_speed_); + const float right_wheel = std::clamp( + cmd[0] * crawl_ik_wheel_linear_gain_ + cmd[2] * crawl_ik_wheel_yaw_gain_, + -crawl_ik_max_wheel_speed_, crawl_ik_max_wheel_speed_); + + target[12] = left_wheel; + target[13] = right_wheel; + target[14] = left_wheel; + target[15] = right_wheel; + return target; +} + +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_ = crawl_default_dof_pos_; + 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_ = target_mode == ModelMode::Rough ? rough_default_dof_pos_ : crawl_default_dof_pos_; + 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 = target_mode == ModelMode::Rough ? rough_model_path_ : crawl_model_path_; + const std::string next_model_engine_path = + target_mode == ModelMode::Rough ? rough_model_engine_path_ : crawl_model_engine_path_; + + 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_ = target_mode == ModelMode::Rough ? rough_default_dof_pos_ : crawl_default_dof_pos_; + 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"; + 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::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; @@ -321,6 +1239,8 @@ void PolicyRuntimeNode::onPolicyLoop() 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_; { std::scoped_lock lock(mutex_); if (!has_state_) { @@ -332,6 +1252,8 @@ void PolicyRuntimeNode::onPolicyLoop() last_actions = last_actions_; estop_active = estop_triggered_; safety_active = safety_triggered_; + model_switch_requested = model_switch_requested_; + requested_model_mode = requested_model_mode_; 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(); @@ -359,6 +1281,8 @@ void PolicyRuntimeNode::onPolicyLoop() 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()); } @@ -372,10 +1296,11 @@ void PolicyRuntimeNode::onPolicyLoop() target.command = cmd; target.raw_action.fill(0.0f); target.scaled_action.fill(0.0f); - target.target = sim2real_common::DeploymentContract::kDefaultDofPos; + 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; } @@ -397,7 +1322,7 @@ void PolicyRuntimeNode::onPolicyLoop() // 2. Shortest periodic delta to stand pose float max_dev = 0.0f; for (std::size_t i = 0; i < 12; ++i) { - float delta = sim2real_common::DeploymentContract::kDefaultDofPos[i] - start_pose_[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)); @@ -409,6 +1334,7 @@ void PolicyRuntimeNode::onPolicyLoop() target.target = start_pose_; target.target_source = "boot_hold"; target_pub_->publish(target); + appendDebugTrace(state, target); return; } @@ -445,7 +1371,7 @@ void PolicyRuntimeNode::onPolicyLoop() // Settle check float max_pos_err = 0.0f; for (std::size_t i = 0; i < 12; ++i) { - float delta = sim2real_common::DeploymentContract::kDefaultDofPos[i] - state.joint_pos[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)); } @@ -464,8 +1390,10 @@ void PolicyRuntimeNode::onPolicyLoop() else if (startup_state_ == StartupState::STARTUP_HOLD_AFTER) { double elapsed = (now_time - state_start_time_).seconds(); - // Run stand balance controller during holding phase - target.target = stand_balance_->computeTarget(state.projected_gravity, state.imu_gyro, cmd); + // 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()) { @@ -474,11 +1402,146 @@ void PolicyRuntimeNode::onPolicyLoop() } } else if (startup_state_ == StartupState::RUNTIME) { + if (model_switch_requested && 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; + active_switch_transition_s_ = std::clamp(max_dev * 1.2, 1.0, std::max(1.0, model_switch_transition_s_)) * + std::max(1.0, 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; + } + active_switch_transition_s_ = std::clamp( + max_dev * 1.2, 1.0, std::max(1.0, model_switch_transition_s_)) * + std::max(1.0, 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; + } + active_switch_transition_s_ = std::clamp( + max_dev * 1.2, 1.0, std::max(1.0, model_switch_transition_s_)) * + std::max(1.0, 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 { // 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 = stand_balance_->computeTarget(state.projected_gravity, state.imu_gyro, std::array{0.0f, 0.0f, 0.0f}); + const auto target_hold = computeHoldTarget(state, cmd); const bool zero_command = isZeroCommand(cmd, state.imu_gyro); if (!runtime_released_) { @@ -489,9 +1552,11 @@ void PolicyRuntimeNode::onPolicyLoop() 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] - target_hold[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_; @@ -513,37 +1578,61 @@ void PolicyRuntimeNode::onPolicyLoop() target.scaled_action.fill(0.0f); last_actions.fill(0.0f); target.target_source = "runtime_zero_hold"; - target.target = target_hold; + target.target = hold_active_model_pose_when_unreleased_ ? active_default_dof_pos_ : target_hold; if (!runtime_released_) { target.target_source = "runtime_hold"; } } else { - release_alpha_ = std::min(1.0f, release_alpha_ + kPolicyDt / std::max(command_release_s_, 1.0e-3f)); + 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; - auto raw = runPolicy(buildObservation(state, cmd, last_actions)); - for (float & v : raw) { - v *= release_alpha_; - } - target.raw_action = raw; + 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_ * (command_release_s_ / std::max(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] + sim2real_common::DeploymentContract::kDefaultDofPos[i]; - target.target[i] = (1.0f - blend) * target_hold[i] + blend * policy_target; - last_actions[i] = raw[i]; + 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"; } - 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 safety_decision = safety_monitor_->check(target.target, sim2real_common::DeploymentContract::kDefaultDofPos, state.imu_gyro, state.projected_gravity, estop_active); + auto * active_safety_monitor = + model_switch_state_ != ModelSwitchState::Idle && 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_); @@ -551,14 +1640,24 @@ void PolicyRuntimeNode::onPolicyLoop() } 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 = sim2real_common::DeploymentContract::kDefaultDofPos; + 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; } } @@ -570,6 +1669,7 @@ void PolicyRuntimeNode::onPolicyLoop() } target_pub_->publish(target); + appendDebugTrace(state, target); } } // namespace sim2real_runtime diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/remote_uart_node.py b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/remote_uart_node.py index 22f4c86..5e38c97 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/remote_uart_node.py +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/remote_uart_node.py @@ -10,7 +10,7 @@ import rclpy from geometry_msgs.msg import Twist from rclpy.executors import ExternalShutdownException from rclpy.node import Node -from std_msgs.msg import Bool +from std_msgs.msg import Bool, String SBUS_FRAME_SIZE = 25 SBUS_RC_MID = 1024 @@ -23,7 +23,22 @@ 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 @@ -114,7 +129,14 @@ class SbusUartReceiver: ch2=self._normalize_axis(channels[1]), ch3=self._normalize_axis(channels[3]), ch4=self._normalize_axis(channels[2]), - switches=RemoteSwitchState(ch7=self._decode_switch(channels[6])), + 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)): @@ -154,12 +176,31 @@ class RemoteUartNode(Node): 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( @@ -213,6 +254,8 @@ class RemoteUartNode(Node): 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() @@ -224,6 +267,15 @@ class RemoteUartNode(Node): 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 @@ -232,6 +284,53 @@ class RemoteUartNode(Node): 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) diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/simple_nav_node.py b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/simple_nav_node.py index b29131c..7bbe9d9 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/simple_nav_node.py +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/simple_nav_node.py @@ -1,6 +1,9 @@ #!/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 @@ -14,6 +17,21 @@ from std_msgs.msg import String from tf2_ros import Buffer, TransformException, TransformListener +@dataclass(frozen=True) +class GoalSpec: + name: str + x: float + y: float + 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 + + class SimpleNavNode(Node): def __init__(self) -> None: super().__init__("sim2real_simple_nav_node") @@ -27,8 +45,123 @@ class SimpleNavNode(Node): 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.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.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) @@ -37,21 +170,50 @@ class SimpleNavNode(Node): 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.goals = self._load_goals(self.goals_file) - self.missions = self._load_missions(self.missions_file) - self.active_goal_name: Optional[str] = None - self.active_goal_xy: Optional[tuple[float, float]] = None + 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.astar_walkable_cells, self.astar_grid_info = self.build_astar_grid(self.astar_source_points) + self.goals: dict[str, GoalSpec] = {} + self.missions: dict[str, list[str]] = {} + self.default_mission_name: Optional[str] = None + 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[str, str]] = None + self.last_published_path_signature: Optional[tuple[str, str, int, int]] = None + 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( - f"Simple nav started (map_frame={self.map_frame}, base_frame={self.base_frame}, goals={len(self.goals)}, missions={len(self.missions)})" + "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'})" ) def _load_yaml(self, path_value: str) -> dict[str, Any]: @@ -69,10 +231,51 @@ class SimpleNavNode(Node): self.get_logger().error(f"Failed to load YAML {path}: {exc}") return {} - def _load_goals(self, path_value: str) -> dict[str, dict[str, float]]: + 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"}: + return text + return None + + @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 + + def _load_goals(self, path_value: str) -> dict[str, GoalSpec]: data = self._load_yaml(path_value) raw_goals = data.get("goals", {}) - parsed: dict[str, dict[str, float]] = {} + parsed: dict[str, GoalSpec] = {} if not isinstance(raw_goals, dict): return parsed for name, spec in raw_goals.items(): @@ -82,7 +285,30 @@ class SimpleNavNode(Node): if not isinstance(pos, list) or len(pos) < 2: continue try: - parsed[name] = {"x": float(pos[0]), "y": float(pos[1])} + 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"), + ) except (TypeError, ValueError): continue return parsed @@ -101,6 +327,634 @@ class SimpleNavNode(Node): 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 + + 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), + "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 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 [] + + 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 = 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 + + 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]]: + 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)), + "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": max(0.01, float(waypoint.get("tolerance", self.goal_tolerance))), + "speed": float(waypoint["speed"]) if waypoint.get("speed") is not None else None, + "policy": self._normalize_policy(waypoint.get("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, + } + ) + 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) + 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"]), + 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"), + ) + 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, alignment={applied:.2f}deg hits={hits}/{total}{reason_text}" + ) + else: + self.get_logger().info(f"Loaded route {route_name}: {len(mission_goals)} waypoints") + + return goals, {route_name: mission_goals}, route_name, alignment_info + + 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: @@ -116,20 +970,26 @@ class SimpleNavNode(Node): self.start_goal(parts[1]) elif op == "go" and len(parts) >= 3: try: - self.start_direct_goal(float(parts[1]), float(parts[2]), f"direct({parts[1]},{parts[2]})") + 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") + 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" and len(parts) >= 2: - self.start_mission(parts[1]) + 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 == "reload": - self.goals = self._load_goals(self.goals_file) - self.missions = self._load_missions(self.missions_file) - self.publish_status(f"reloaded goals={len(self.goals)} missions={len(self.missions)}") + self.reload_navigation_data() + self.publish_status( + f"reloaded goals={len(self.goals)} missions={len(self.missions)} default={self.default_mission_name or 'none'}" + ) else: self.publish_status(f"unknown or incomplete command: {command}") @@ -141,14 +1001,54 @@ class SimpleNavNode(Node): self.active_mission_name = None self.active_mission_goals = [] self.active_mission_index = 0 - self.start_direct_goal(goal["x"], goal["y"], goal_name) + 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, + ) - def start_direct_goal(self, x: float, y: float, goal_name: str) -> None: - self.active_goal_name = goal_name - self.active_goal_xy = (x, y) - self.pose_waiting_reported = False - self.publish_goal_pose(x, y) - self.publish_status(f"nav target set in {self.map_frame}: {goal_name} -> ({x:.2f}, {y:.2f})") + 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, + ) -> 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, + ) + 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() @@ -182,12 +1082,13 @@ class SimpleNavNode(Node): if goal is None: self.cancel_navigation(f"mission goal missing: {goal_name}") return - self.active_goal_name = goal_name - self.active_goal_xy = (goal["x"], goal["y"]) - self.publish_goal_pose(goal["x"], goal["y"]) + 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}" + 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() @@ -199,6 +1100,229 @@ class SimpleNavNode(Node): 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.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.request_policy(goal.policy) + self.publish_goal_pose(goal) + + 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 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, + ) -> tuple[float, float]: + if not self.ensure_active_path(pose_xy, goal): + return goal.x, goal.y + + rx, ry = pose_xy + advance_dist = max(self.astar_waypoint_reach_dist, min(goal.tolerance, self.astar_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) > self.astar_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_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.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}") + return suffix + + def plan_goal_execution(self, goal: GoalSpec) -> tuple[GoalSpec, Optional[GoalSpec], Optional[str]]: + 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, + ) + 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()) @@ -210,7 +1334,7 @@ class SimpleNavNode(Node): return float(t.x), float(t.y), float(yaw) def on_timer(self) -> None: - if self.active_goal_xy is None: + if self.active_goal is None: return pose = self.lookup_pose() if pose is None: @@ -223,15 +1347,59 @@ class SimpleNavNode(Node): self.publish_status(f"pose available: TF {self.map_frame} -> {self.base_frame} restored") self.pose_waiting_reported = False - rx, ry, ryaw = pose - gx, gy = self.active_goal_xy - dx = gx - rx - dy = gy - ry - dist = math.hypot(dx, dy) + self.maybe_publish_pending_policy(force=False) - if dist < self.goal_tolerance: - reached_name = self.active_goal_name or "goal" + rx, ry, ryaw = pose + 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 + 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.max_vx if self.active_goal.speed is None else min(self.max_vx, max(0.0, self.active_goal.speed)) + + if position_ready: + self.goal_entered_tolerance = True + 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, + -self.final_align_max_wz, + self.final_align_max_wz, + ) + # 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 < self.goal_complete_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 @@ -239,31 +1407,67 @@ class SimpleNavNode(Node): else: self.cancel_navigation(f"reached {reached_name}") return + self.goal_entered_tolerance = False + self.goal_complete_stable_count = 0 + target_x, target_y = self.get_path_follow_target((rx, ry), self.active_goal) + 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: + 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, + -self.turn_in_place_max_wz, + self.turn_in_place_max_wz, + ) + self.cmd_pub.publish(cmd) + return + cmd = Twist() cmd.angular.z = self.clamp(self.kp_yaw * yaw_err, -self.max_wz, self.max_wz) if abs(yaw_err) <= self.yaw_stop_threshold: - cmd.linear.x = self.clamp(self.kp_dist * dist * math.cos(yaw_err), 0.0, self.max_vx) + path_dist = math.hypot(dx, dy) + cmd.linear.x = self.clamp(self.kp_dist * path_dist * math.cos(yaw_err), 0.0, max_vx) self.cmd_pub.publish(cmd) def cancel_navigation(self, reason: str) -> None: - self.active_goal_name = None - self.active_goal_xy = 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.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, x: float, y: float) -> None: + 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 = x - msg.pose.position.y = y - msg.pose.orientation.w = 1.0 + 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: diff --git a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py index 6218be5..723467b 100644 --- a/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py +++ b/05_software/real/sim2real_ros2_v2/src/sim2real_runtime/src/web_udp_bridge_node.py @@ -9,8 +9,10 @@ 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 Twist from rclpy.executors import ExternalShutdownException from rclpy.node import Node @@ -41,10 +43,31 @@ class WebUdpBridgeNode(Node): self.web_static_dir = str(self.declare_parameter("web_static_dir", "").value) self.nav_map_frame = str(self.declare_parameter("nav_map_frame", "map").value) self.nav_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.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) @@ -59,10 +82,23 @@ class WebUdpBridgeNode(Node): 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() @@ -75,23 +111,39 @@ class WebUdpBridgeNode(Node): 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.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.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.route_alignment_info: 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.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.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.get_logger().info(f"Web UDP bridge listening on {self.listen_host}:{self.listen_port}") @@ -125,9 +177,432 @@ class WebUdpBridgeNode(Node): 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"}: + return text + return None + + @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 + + def load_nav_task_config( + self, + ) -> tuple[list[dict[str, Any]], list[dict[str, Any]], Optional[str], 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 = 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) + return goal_specs, mission_specs, default_mission_name, route_alignment + + def reload_nav_task_config(self) -> None: + ( + self.goal_specs, + self.mission_specs, + self.default_mission_name, + self.route_alignment_info, + ) = self.load_nav_task_config() + + 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), + "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]]: + 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)), + "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) + 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, + "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 + + 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()) + 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 @@ -141,21 +616,17 @@ class WebUdpBridgeNode(Node): class Handler(BaseHTTPRequestHandler): def do_GET(self): - if self.path in ["/", "/index.html"]: + 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 self.path == "/app.js": + elif request_path == "/app.js": self.serve_file(static_dir / "app.js", "application/javascript; charset=utf-8") - elif self.path == "/style.css": + elif request_path == "/style.css": self.serve_file(static_dir / "style.css", "text/css; charset=utf-8") - elif self.path == "/api/state": + elif request_path == "/api/state": self.send_json(node.build_state_packet()) - elif self.path == "/api/map": - self.send_json({ - "points": node.map_points, - "map_frame": node.nav_map_frame, - "base_frame": node.nav_base_frame, - "pose": node.lookup_pose(), - }) + elif request_path == "/api/map": + self.send_json(node.build_map_packet()) else: self.send_error(HTTPStatus.NOT_FOUND) @@ -170,7 +641,10 @@ class WebUdpBridgeNode(Node): 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) + 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(): @@ -198,9 +672,50 @@ class WebUdpBridgeNode(Node): self.http_thread = threading.Thread(target=self.http_server.serve_forever, daemon=True) self.http_thread.start() + def build_map_packet(self) -> dict[str, Any]: + goal_lookup = {goal["name"]: goal for goal in self.goal_specs if goal.get("name")} + default_goals: list[dict[str, Any]] = [] + if self.default_mission_name: + for mission in self.mission_specs: + if mission["name"] != self.default_mission_name: + continue + default_goals = [ + goal_lookup[goal_name] + for goal_name in mission.get("goals", []) + if goal_name in goal_lookup + ] + break + return { + "points": self.map_points, + "map_frame": self.nav_map_frame, + "base_frame": self.nav_base_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, + "route_alignment": self.route_alignment_info, + "nav_path": dict(self.latest_nav_path), + } + 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", "go_to", "go_rel"}: + if msg_type in { + "cmd_vel", + "zero", + "estop", + "mode", + "web_enable", + "remote_enable", + "nav_enable", + "ping", + "nav_cmd", + "go_to", + "go_rel", + "model_toggle", + "model_cmd", + }: self.handle_packet(payload) return raise ValueError(f"unknown control type: {msg_type}") @@ -211,6 +726,22 @@ class WebUdpBridgeNode(Node): 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 @@ -225,6 +756,38 @@ class WebUdpBridgeNode(Node): 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_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: @@ -290,16 +853,18 @@ class WebUdpBridgeNode(Node): dy = float(payload.get("dy", 0.0)) self.set_control_mode("NAV") self.nav_cmd_pub.publish(String(data=f"go_rel {dx:.3f} {dy:.3f}")) + elif msg_type == "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": - self.send_packet({ - "type": "map", - "points": self.map_points, - "map_frame": self.nav_map_frame, - "base_frame": self.nav_base_frame, - "pose": self.lookup_pose(), - }) + 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}"}) @@ -349,7 +914,13 @@ class WebUdpBridgeNode(Node): "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}, + "nav": { + "pose": self.lookup_pose(), + "map_frame": self.nav_map_frame, + "base_frame": self.nav_base_frame, + "path": dict(self.latest_nav_path), + }, + "model": dict(self.latest_model_status), } if target is not None: packet["runtime"] = { @@ -417,6 +988,10 @@ class WebUdpBridgeNode(Node): 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)) diff --git a/05_software/real/sim2real_ros2_v2/start_sim2real.sh b/05_software/real/sim2real_ros2_v2/start_sim2real.sh index 3b90321..cb01372 100644 --- a/05_software/real/sim2real_ros2_v2/start_sim2real.sh +++ b/05_software/real/sim2real_ros2_v2/start_sim2real.sh @@ -72,4 +72,3 @@ 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/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README.md b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README.md new file mode 100644 index 0000000..b81c06b --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README.md @@ -0,0 +1,104 @@ +# PCD Map Viewer + +Offline Web tool for Odin PCD inspection and route editing. + +This is not the Nano runtime Web UI. Use it before a run to inspect the map and save route YAML files. + +## Start + +From the repository root: + +```powershell +python .\tools\pcd_map_viewer\server.py --http-port 8090 +``` + +Open: + +```text +http://127.0.0.1:8090 +``` + +You can also run directly from this directory: + +```powershell +python server.py --http-port 8090 +``` + +## What It Does + +- Scans `map/*.pcd`. +- Shows raw Odin PCD as a rotatable 3D point cloud. +- Supports z filtering, default `z=-2.0..1.0m`. +- Supports voxel display for structure checks. +- Provides a simplified 2D layer view. +- Lets you click waypoints in 3D or 2D. +- Lets you draw obstacle terrain rectangles and edit their x/y/yaw/size. +- Tags new waypoints with the matching obstacle terrain, defaulting to `flat`. +- Saves route YAML and JSON under `map/routes//`. + +## Route Fields + +Saved waypoint fields: + +- `x` +- `y` +- `yaw_deg` +- `speed` +- `policy` +- `tolerance` +- `obstacle` +- `obstacle_name` + +Not saved: + +- `z` +- `action` + +The browser may keep local `_viewZ` only for drawing markers in 3D. The runtime route runner is planar. + +## Saved Format + +```yaml +name: test_route +map: map1 +frame_id: map +obstacles: + - id: 1 + name: wall_1 + obstacle: wall + x: 1.5000 + y: 2.0000 + yaw_deg: 0.00 + length: 1.000 + width: 0.500 + policy: rough +waypoints: + - id: 1 + x: 1.0000 + y: 2.0000 + yaw_deg: 0.00 + speed: 0.350 + policy: rough + tolerance: 0.150 + obstacle: wall + obstacle_name: wall_1 +``` + +Default runtime route: + +```text +map/routes/map1/test_route.yaml +``` + +## Runtime Test + +```bash +ros2 topic pub --once /route_runner/cmd std_msgs/msg/String "{data: reload}" +ros2 topic pub --once /route_runner/cmd std_msgs/msg/String "{data: start}" +ros2 topic pub --once /route_runner/cmd std_msgs/msg/String "{data: stop}" +``` + +See also: + +- [Maps And Routes](../../docs/ROUTES_AND_MAPS.md) +- [Common Commands](../../docs/COMMANDS.md) diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README_zh.md b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README_zh.md new file mode 100644 index 0000000..bf6b0e2 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README_zh.md @@ -0,0 +1,28 @@ +# PCD 地图查看和打点工具 + +这是离线 Web 工具，用于查看 Odin PCD 地图和保存路线点。它不是 Nano 运行时 Web。 + +## 启动 + +在仓库根目录： + +```powershell +python .\tools\pcd_map_viewer\server.py --http-port 8090 +``` + +打开： + +```text +http://127.0.0.1:8090 +``` + +路线点保存： + +- `x` +- `y` +- `yaw_deg` +- `speed` +- `policy` +- `tolerance` + +不保存 `z` 和 `action`。 diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/server.py b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/server.py new file mode 100644 index 0000000..cd1b508 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/server.py @@ -0,0 +1,1242 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +import ast +import json +import math +import re +import struct +import time +import xml.etree.ElementTree as ET +import zlib +from collections import deque +from http.server import SimpleHTTPRequestHandler, ThreadingHTTPServer +from pathlib import Path +from posixpath import normpath +from typing import Any, Optional +from urllib.parse import parse_qs, unquote, urlparse + + +ROOT = Path(__file__).resolve().parents[2] +DEFAULT_MAP_ROOT = ROOT / "map" / "processed" +RAW_MAP_ROOT = ROOT / "map" +DEFAULT_MJCF = ROOT.parent / "mjcf" / "sim2sim_temp.xml" +STATIC_DIR = Path(__file__).resolve().parent / "static" +REFERENCE_VENDOR_DIR = ROOT.parent / "00_ reference" / "jie_3d_nav" / "jie_octomap" / "web" / "vendor" +PGM_CACHE: dict[Path, tuple[float, int, int, list[int]]] = {} +PNG_CACHE: dict[Path, tuple[float, bytes]] = {} +POINT_CLOUD_CACHE: dict[tuple[Path, int, float, float], tuple[float, dict[str, Any]]] = {} +VOXEL_CACHE: dict[tuple[Path, float, float, float, int, int, int], tuple[float, dict[str, Any]]] = {} +SEMANTIC_CACHE: dict[Path, tuple[float, dict[str, Any]]] = {} +TOPDOWN_CACHE: dict[tuple[Path, float, float, float, float, int, int], tuple[float, bytes]] = {} +RAW_META_CACHE: dict[Path, tuple[float, dict[str, Any]]] = {} +TOPDOWN_LAYER = "pcd_z1_topdown.png" + + +def safe_name(value: str) -> str: + value = unquote(value or "").strip() + if not re.fullmatch(r"[A-Za-z0-9_.-]+", value): + raise ValueError(f"unsafe name: {value!r}") + return value + + +def safe_file_stem(value: str, fallback: str = "route") -> str: + stem = re.sub(r"[^A-Za-z0-9_.-]+", "_", value.strip()).strip("._-") + return stem or fallback + + +def parse_meta(path: Path) -> dict[str, Any]: + meta: dict[str, Any] = {} + if not path.exists(): + return meta + for raw in path.read_text(encoding="utf-8").splitlines(): + line = raw.strip() + if not line or line.startswith("#") or ":" not in line: + continue + key, value = line.split(":", 1) + value = value.strip() + if value.startswith("[") and value.endswith("]"): + try: + meta[key.strip()] = ast.literal_eval(value) + except Exception: + meta[key.strip()] = value + else: + try: + if "." in value: + meta[key.strip()] = float(value) + else: + meta[key.strip()] = int(value) + except ValueError: + meta[key.strip()] = value + return meta + + +def read_token(data: bytes, pos: int) -> tuple[str, int]: + n = len(data) + while pos < n: + b = data[pos] + if b == 35: + while pos < n and data[pos] not in (10, 13): + pos += 1 + elif chr(b).isspace(): + pos += 1 + else: + break + start = pos + while pos < n and not chr(data[pos]).isspace(): + pos += 1 + return data[start:pos].decode("ascii"), pos + + +def load_pgm(path: Path) -> tuple[int, int, list[int]]: + mtime = path.stat().st_mtime + cached = PGM_CACHE.get(path) + if cached and cached[0] == mtime: + return cached[1], cached[2], cached[3] + + data = path.read_bytes() + magic, pos = read_token(data, 0) + if magic not in ("P5", "P2"): + raise RuntimeError(f"unsupported PGM magic {magic}: {path}") + width_s, pos = read_token(data, pos) + height_s, pos = read_token(data, pos) + max_s, pos = read_token(data, pos) + width = int(width_s) + height = int(height_s) + max_value = int(max_s) + if max_value <= 0 or max_value > 255: + raise RuntimeError(f"unsupported PGM max value {max_value}: {path}") + + if magic == "P5": + while pos < len(data) and chr(data[pos]).isspace(): + pos += 1 + values = list(data[pos:pos + width * height]) + else: + values = [] + for _ in range(width * height): + token, pos = read_token(data, pos) + values.append(int(token)) + if len(values) != width * height: + raise RuntimeError(f"PGM size mismatch: {path}") + PGM_CACHE[path] = (mtime, width, height, values) + return width, height, values + + +def png_chunk(chunk_type: bytes, payload: bytes) -> bytes: + return ( + struct.pack(">I", len(payload)) + + chunk_type + + payload + + struct.pack(">I", zlib.crc32(chunk_type + payload) & 0xFFFFFFFF) + ) + + +def gray_pgm_to_png(path: Path) -> bytes: + mtime = path.stat().st_mtime + cached = PNG_CACHE.get(path) + if cached and cached[0] == mtime: + return cached[1] + width, height, values = load_pgm(path) + rows = bytearray() + for row in range(height): + rows.append(0) + start = row * width + rows.extend(values[start:start + width]) + ihdr = struct.pack(">IIBBBBB", width, height, 8, 0, 0, 0, 0) + out = b"\x89PNG\r\n\x1a\n" + out += png_chunk(b"IHDR", ihdr) + out += png_chunk(b"IDAT", zlib.compress(bytes(rows), level=6)) + out += png_chunk(b"IEND", b"") + PNG_CACHE[path] = (mtime, out) + return out + + +def map_dir(map_root: Path, name: str) -> Path: + target = (map_root / safe_name(name)).resolve() + root = map_root.resolve() + if root != target and root not in target.parents: + raise ValueError("map path escapes root") + if not target.is_dir(): + raise FileNotFoundError(target) + return target + + +def raw_pcd_path(name: str) -> Path: + target = (RAW_MAP_ROOT / f"{safe_name(name)}.pcd").resolve() + root = RAW_MAP_ROOT.resolve() + if root != target and root not in target.parents: + raise ValueError("raw map path escapes root") + if not target.is_file(): + raise FileNotFoundError(target) + return target + + +def scan_raw_pcd_meta(path: Path, resolution: float = 0.05, padding: float = 0.25) -> dict[str, Any]: + path = path.resolve() + mtime = path.stat().st_mtime + cached = RAW_META_CACHE.get(path) + if cached and cached[0] == mtime: + return cached[1] + + count = 0 + min_x = min_y = min_z = math.inf + max_x = max_y = max_z = -math.inf + for x, y, z in iter_ascii_pcd_points(path): + count += 1 + min_x = min(min_x, x) + min_y = min(min_y, y) + min_z = min(min_z, z) + max_x = max(max_x, x) + max_y = max(max_y, y) + max_z = max(max_z, z) + if count <= 0: + raise RuntimeError(f"No valid xyz points found in {path}") + + origin_x = math.floor((min_x - padding) / resolution) * resolution + origin_y = math.floor((min_y - padding) / resolution) * resolution + top_x = math.ceil((max_x + padding) / resolution) * resolution + top_y = math.ceil((max_y + padding) / resolution) * resolution + meta = { + "source_pcd": str(path), + "point_count": count, + "bounds_min": [min_x, min_y, min_z], + "bounds_max": [max_x, max_y, max_z], + "resolution": resolution, + "origin": [origin_x, origin_y, 0.0], + "width": int(math.ceil((top_x - origin_x) / resolution)), + "height": int(math.ceil((top_y - origin_y) / resolution)), + "raw_pcd_map": True, + } + RAW_META_CACHE[path] = (mtime, meta) + return meta + + +def map_context(map_root: Path, name: str) -> dict[str, Any]: + try: + directory = map_dir(map_root, name) + meta = parse_meta(directory / "meta.yaml") + pcd_name = Path(str(meta.get("source_pcd", name))).stem + return { + "name": name, + "directory": directory, + "meta": meta, + "routes_dir": RAW_MAP_ROOT / "routes" / pcd_name, + "raw": False, + } + except FileNotFoundError: + pcd = raw_pcd_path(name) + return { + "name": name, + "directory": None, + "meta": scan_raw_pcd_meta(pcd), + "routes_dir": RAW_MAP_ROOT / "routes" / pcd.stem, + "raw": True, + } + + +def list_maps(map_root: Path) -> list[dict[str, Any]]: + result = [] + seen_sources: set[str] = set() + if not map_root.exists(): + pass + else: + for item in sorted(map_root.iterdir()): + if not item.is_dir(): + continue + meta = parse_meta(item / "meta.yaml") + layers = sorted( + p.name for p in item.iterdir() + if p.suffix.lower() in (".pgm", ".png") + ) + if meta.get("source_pcd"): + layers.insert(0, TOPDOWN_LAYER) + seen_sources.add(str(Path(str(meta.get("source_pcd"))).resolve()).lower()) + if not layers: + continue + debug_variants = ("floorlow", "obstacles_high", "zwide", "combined") + result.append({ + "name": item.name, + "is_debug": any(token in item.name for token in debug_variants), + "raw": False, + "meta": meta, + "layers": layers, + "routes": list_routes(RAW_MAP_ROOT / "routes" / Path(str(meta.get("source_pcd", item.name))).stem), + }) + + if RAW_MAP_ROOT.exists(): + for pcd in sorted(RAW_MAP_ROOT.glob("*.pcd")): + resolved = str(pcd.resolve()).lower() + if resolved in seen_sources: + continue + try: + meta = scan_raw_pcd_meta(pcd) + except Exception: + continue + result.append({ + "name": pcd.stem, + "is_debug": False, + "raw": True, + "meta": meta, + "layers": [TOPDOWN_LAYER], + "routes": list_routes(RAW_MAP_ROOT / "routes" / pcd.stem), + }) + return result + + +def list_routes(directory: Path) -> list[str]: + if not directory.is_dir(): + return [] + return sorted(p.name for p in directory.glob("*.json")) + + +def image_info(path: Path, meta: dict[str, Any]) -> dict[str, Any]: + if path.name == TOPDOWN_LAYER: + width = int(meta.get("width", 0)) + height = int(meta.get("height", 0)) + elif path.suffix.lower() == ".pgm": + width, height, _ = load_pgm(path) + elif path.suffix.lower() == ".png": + width = int(meta.get("width", 0)) + height = int(meta.get("height", 0)) + else: + width = height = 0 + return { + "width": width, + "height": height, + "resolution": float(meta.get("resolution", 1.0)), + "origin": meta.get("origin", [0.0, 0.0, 0.0]), + } + + +def resolve_source_pcd(meta: dict[str, Any]) -> Path: + raw = str(meta.get("source_pcd", "")).strip() + if not raw: + raise RuntimeError("meta.yaml does not contain source_pcd") + path = Path(raw).expanduser() + if path.exists(): + return path.resolve() + candidate = (ROOT / raw).resolve() + if candidate.exists(): + return candidate + raise FileNotFoundError(raw) + + +def iter_ascii_pcd_points(source: Path): + with source.open("r", encoding="utf-8") as f: + data_started = False + for raw in f: + line = raw.strip() + if not line: + continue + if data_started: + parts = line.split() + if len(parts) < 3: + continue + try: + yield float(parts[0]), float(parts[1]), float(parts[2]) + except ValueError: + continue + elif line.upper().startswith("DATA"): + if "ascii" not in line.lower(): + raise RuntimeError(f"Only ASCII PCD is supported: {source}") + data_started = True + + +def rgb_png(width: int, height: int, pixels: bytearray) -> bytes: + rows = bytearray() + for row in range(height): + rows.append(0) + start = row * width * 3 + rows.extend(pixels[start:start + width * 3]) + ihdr = struct.pack(">IIBBBBB", width, height, 8, 2, 0, 0, 0) + out = b"\x89PNG\r\n\x1a\n" + out += png_chunk(b"IHDR", ihdr) + out += png_chunk(b"IDAT", zlib.compress(bytes(rows), level=6)) + out += png_chunk(b"IEND", b"") + return out + + +def load_z_filtered_topdown(meta: dict[str, Any], z_min: float = -2.0, z_max: float = 1.0) -> bytes: + source = resolve_source_pcd(meta) + resolution = float(meta.get("resolution", 0.05)) + origin = meta.get("origin", [0.0, 0.0, 0.0]) + width = int(meta.get("width", 0)) + height = int(meta.get("height", 0)) + if width <= 0 or height <= 0: + raise RuntimeError("meta.yaml missing width/height") + + key = (source, z_min, z_max, resolution, float(origin[0]), width, height) + mtime = source.stat().st_mtime + cached = TOPDOWN_CACHE.get(key) + if cached and cached[0] == mtime: + return cached[1] + + count = [0] * (width * height) + max_z = [-math.inf] * (width * height) + min_z = [math.inf] * (width * height) + for x, y, z in iter_ascii_pcd_points(source): + if z < z_min or z > z_max: + continue + ix = int(math.floor((x - float(origin[0])) / resolution)) + iy = int(math.floor((y - float(origin[1])) / resolution)) + if ix < 0 or iy < 0 or ix >= width or iy >= height: + continue + idx = iy * width + ix + count[idx] += 1 + max_z[idx] = max(max_z[idx], z) + min_z[idx] = min(min_z[idx], z) + + max_count = max(count) if count else 1 + max_count = max(max_count, 1) + pixels = bytearray(width * height * 3) + for row in range(height): + src_y = height - 1 - row + for col in range(width): + idx = src_y * width + col + out = (row * width + col) * 3 + if count[idx] <= 0: + pixels[out:out + 3] = bytes((13, 17, 23)) + continue + density = min(1.0, math.log1p(count[idx]) / math.log1p(max_count)) + z_norm = (max_z[idx] - z_min) / max(1.0e-6, z_max - z_min) + z_norm = max(0.0, min(1.0, z_norm)) + span = max(0.0, max_z[idx] - min_z[idx]) + edge = min(1.0, span / 0.35) + r = int(42 + 155 * z_norm + 55 * edge) + g = int(105 + 95 * (1.0 - abs(z_norm - 0.45)) + 25 * density) + b = int(120 + 85 * (1.0 - z_norm)) + boost = 0.45 + 0.55 * density + pixels[out:out + 3] = bytes(( + max(0, min(255, int(r * boost))), + max(0, min(255, int(g * boost))), + max(0, min(255, int(b * boost))), + )) + + payload = rgb_png(width, height, pixels) + TOPDOWN_CACHE[key] = (mtime, payload) + return payload + + +def parse_float_list(value: str, default: list[float]) -> list[float]: + if not value: + return list(default) + try: + return [float(v) for v in value.split()] + except ValueError: + return list(default) + + +def quat_to_yaw(quat: list[float]) -> float: + w, x, y, z = (quat + [0.0, 0.0, 0.0, 0.0])[:4] + return math.atan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (y * y + z * z)) + + +def rotate_quat_vec(quat: list[float], vec: tuple[float, float, float]) -> tuple[float, float, float]: + w, x, y, z = (quat + [0.0, 0.0, 0.0, 0.0])[:4] + vx, vy, vz = vec + # q * v * q^-1, expanded to avoid a dependency just for template parsing. + tx = 2.0 * (y * vz - z * vy) + ty = 2.0 * (z * vx - x * vz) + tz = 2.0 * (x * vy - y * vx) + return ( + vx + w * tx + (y * tz - z * ty), + vy + w * ty + (z * tx - x * tz), + vz + w * tz + (x * ty - y * tx), + ) + + +def oriented_rect(cx: float, cy: float, hx: float, hy: float, yaw: float) -> list[list[float]]: + c = math.cos(yaw) + s = math.sin(yaw) + points = [] + for lx, ly in ((-hx, -hy), (hx, -hy), (hx, hy), (-hx, hy)): + points.append([cx + lx * c - ly * s, cy + lx * s + ly * c]) + return points + + +def classify_geom(kind: str, pos: list[float], size: list[float], quat: list[float], hfield: str) -> dict[str, str]: + x = pos[0] if len(pos) > 0 else 0.0 + y = pos[1] if len(pos) > 1 else 0.0 + z = pos[2] if len(pos) > 2 else 0.0 + sx = size[0] if len(size) > 0 else 0.0 + sy = size[1] if len(size) > 1 else sx + sz = size[2] if len(size) > 2 else 0.0 + local_z = rotate_quat_vec(quat, (0.0, 0.0, 1.0)) + horizontal_axis = math.hypot(local_z[0], local_z[1]) > 0.45 + + if kind == "hfield": + return {"label": "rough_hfield", "policy": "rough", "action": "drive"} + if kind == "cylinder" and horizontal_axis: + return {"label": "low_bar", "policy": "crawl", "action": "pass_low_bar"} + if kind == "cylinder" and y < -9.5 and sx <= 0.08: + return {"label": "slalom_pole", "policy": "rough", "action": "drive"} + if y < -11.0 and sx >= 0.35 and sy >= 0.35 and z < 0.2: + return {"label": "rough_pit", "policy": "rough", "action": "drive"} + if y < -6.0 and min(sx, sy) <= 0.06 and sz >= 0.12: + return {"label": "wall", "policy": "rough", "action": "charge_wall"} + if -5.1 <= y <= -2.0 and 1.2 <= x <= 3.4: + return {"label": "stairs", "policy": "rough", "action": "climb"} + if -3.8 <= y <= 0.6 and 1.2 <= x <= 6.3: + return {"label": "bridge", "policy": "rough", "action": "drive"} + if -6.2 <= y <= -4.2 and 4.0 <= x <= 6.5: + return {"label": "ramp", "policy": "rough", "action": "drive"} + if 1.5 <= y <= 2.5 and 0.6 <= x <= 6.3: + return {"label": "stairs_test", "policy": "rough", "action": "climb"} + if 3.0 <= y <= 4.8 and 0.2 <= x <= 3.8: + return {"label": "ramp_test", "policy": "rough", "action": "drive"} + if 5.0 <= y <= 7.0 and -2.8 <= x <= 3.4: + return {"label": "rough_test", "policy": "rough", "action": "drive"} + return {"label": "structure", "policy": "rough", "action": "drive"} + + +def semantic_region_from_geom(index: int, geom: ET.Element) -> Optional[dict[str, Any]]: + kind = geom.attrib.get("type", "sphere") + name = geom.attrib.get("name", f"geom_{index}") + if kind == "plane" or name == "floor": + return None + + pos = parse_float_list(geom.attrib.get("pos", ""), [0.0, 0.0, 0.0]) + size = parse_float_list(geom.attrib.get("size", ""), [0.0, 0.0, 0.0]) + quat = parse_float_list(geom.attrib.get("quat", ""), [1.0, 0.0, 0.0, 0.0]) + yaw = quat_to_yaw(quat) + hfield = geom.attrib.get("hfield", "") + meta = classify_geom(kind, pos, size, quat, hfield) + + if kind in ("box", "hfield"): + hx = size[0] if len(size) > 0 else 0.0 + hy = size[1] if len(size) > 1 else hx + if hx <= 0.0 or hy <= 0.0: + return None + polygon = oriented_rect(pos[0], pos[1], hx, hy, yaw) + shape = "polygon" + elif kind == "cylinder": + radius = size[0] if len(size) > 0 else 0.0 + half_len = size[1] if len(size) > 1 else radius + local_z = rotate_quat_vec(quat, (0.0, 0.0, 1.0)) + if math.hypot(local_z[0], local_z[1]) > 0.45: + yaw = math.atan2(local_z[1], local_z[0]) + polygon = oriented_rect(pos[0], pos[1], max(half_len, radius), max(radius, 0.02), yaw) + shape = "capsule_rect" + else: + steps = 18 + polygon = [ + [ + pos[0] + radius * math.cos(2.0 * math.pi * i / steps), + pos[1] + radius * math.sin(2.0 * math.pi * i / steps), + ] + for i in range(steps) + ] + shape = "circle" + else: + return None + + return { + "id": f"{index:03d}_{name}", + "source_name": name, + "type": kind, + "shape": shape, + "is_test": meta["label"].endswith("_test"), + "label": meta["label"], + "policy": meta["policy"], + "action": meta["action"], + "pos": pos, + "size": size, + "yaw": yaw, + "polygon": polygon, + } + + +def bounds_polygon(regions: list[dict[str, Any]], margin: float = 0.0) -> list[list[float]]: + xs: list[float] = [] + ys: list[float] = [] + for region in regions: + for x, y in region.get("polygon", []): + xs.append(float(x)) + ys.append(float(y)) + if not xs or not ys: + return [] + return [ + [min(xs) - margin, min(ys) - margin], + [max(xs) + margin, min(ys) - margin], + [max(xs) + margin, max(ys) + margin], + [min(xs) - margin, max(ys) + margin], + ] + + +def make_competition_regions(regions: list[dict[str, Any]]) -> list[dict[str, Any]]: + specs = [ + ("wall", "wall", "rough", "charge_wall", 0.25), + ("rough_pit", "rough_pit", "rough", "drive", 0.20), + ("low_bar", "low_bar", "crawl", "pass_low_bar", 0.25), + ("slalom_pole", "slalom", "rough", "drive", 0.35), + ("stairs", "stairs", "rough", "climb", 0.20), + ("bridge", "bridge", "rough", "drive", 0.20), + ("ramp", "ramp", "rough", "drive", 0.20), + ] + result: list[dict[str, Any]] = [] + for label, out_label, policy, action, margin in specs: + group = [r for r in regions if r.get("label") == label and not r.get("is_test")] + polygon = bounds_polygon(group, margin) + if not polygon: + continue + result.append({ + "id": out_label, + "source_name": out_label, + "type": "semantic_region", + "shape": "polygon", + "is_test": False, + "label": out_label, + "policy": policy, + "action": action, + "polygon": polygon, + "members": [r.get("id") for r in group], + }) + return result + + +def load_semantic_template(path: Path) -> dict[str, Any]: + path = path.expanduser().resolve() + mtime = path.stat().st_mtime + cached = SEMANTIC_CACHE.get(path) + if cached and cached[0] == mtime: + return cached[1] + + tree = ET.parse(path) + root = tree.getroot() + regions: list[dict[str, Any]] = [] + for index, geom in enumerate(root.findall(".//worldbody/geom")): + region = semantic_region_from_geom(index, geom) + if region is not None: + regions.append(region) + + labels: dict[str, int] = {} + for region in regions: + label = str(region["label"]) + labels[label] = labels.get(label, 0) + 1 + competition_regions = make_competition_regions(regions) + + payload = { + "source": str(path), + "frame_id": "sim_mjcf_xy", + "regions": competition_regions, + "raw_regions": regions, + "label_counts": labels, + "default_alignment": { + "dx": 0.0, + "dy": 0.0, + "yaw_deg": 0.0, + "scale": 1.0, + }, + } + SEMANTIC_CACHE[path] = (mtime, payload) + return payload + + +def load_pointcloud(meta: dict[str, Any], max_points: int, z_min: float, z_max: float) -> dict[str, Any]: + source = resolve_source_pcd(meta) + max_points = max(1000, min(max_points, 300000)) + z_min = float(z_min) + z_max = float(z_max) + mtime = source.stat().st_mtime + key = (source, max_points, z_min, z_max) + cached = POINT_CLOUD_CACHE.get(key) + if cached and cached[0] == mtime: + return cached[1] + + meta_point_count = int(meta.get("point_count", 0) or 0) + total_point_count = meta_point_count if meta_point_count > 0 else 0 + filtered_point_count = 0 + if meta_point_count > 0: + for _, _, z in iter_ascii_pcd_points(source): + if z_min <= z <= z_max: + filtered_point_count += 1 + else: + for _, _, z in iter_ascii_pcd_points(source): + total_point_count += 1 + if z_min <= z <= z_max: + filtered_point_count += 1 + + stride = max(1, math.ceil(filtered_point_count / max_points)) if filtered_point_count > 0 else 1 + positions: list[float] = [] + sampled = 0 + kept_seen = 0 + min_x = min_y = min_z = math.inf + max_x = max_y = max_z = -math.inf + for x, y, z in iter_ascii_pcd_points(source): + if z < z_min or z > z_max: + continue + if kept_seen % stride == 0: + positions.extend((x, y, z)) + min_x = min(min_x, x) + min_y = min(min_y, y) + min_z = min(min_z, z) + max_x = max(max_x, x) + max_y = max(max_y, y) + max_z = max(max_z, z) + sampled += 1 + kept_seen += 1 + + if sampled == 0: + min_x = min_y = min_z = 0.0 + max_x = max_y = max_z = 0.0 + + payload = { + "source": str(source), + "point_count": total_point_count, + "filtered_point_count": filtered_point_count, + "sampled_count": sampled, + "stride": stride, + "z_min": z_min, + "z_max": z_max, + "bounds": { + "min": [min_x, min_y, min_z], + "max": [max_x, max_y, max_z], + }, + "positions": positions, + } + POINT_CLOUD_CACHE[key] = (mtime, payload) + return payload + + +def filter_voxel_clusters( + occupied: list[tuple[int, int, int]], + min_cluster_voxels: int, +) -> tuple[list[tuple[int, int, int]], int]: + if min_cluster_voxels <= 1 or not occupied: + return occupied, 0 + + occupied_set = set(occupied) + visited: set[tuple[int, int, int]] = set() + kept: list[tuple[int, int, int]] = [] + removed = 0 + + for seed in occupied: + if seed in visited: + continue + + queue: deque[tuple[int, int, int]] = deque([seed]) + visited.add(seed) + cluster: list[tuple[int, int, int]] = [] + + while queue: + current = queue.popleft() + cluster.append(current) + cx, cy, cz = current + for dx in (-1, 0, 1): + for dy in (-1, 0, 1): + for dz in (-1, 0, 1): + if dx == 0 and dy == 0 and dz == 0: + continue + neighbor = (cx + dx, cy + dy, cz + dz) + if neighbor in occupied_set and neighbor not in visited: + visited.add(neighbor) + queue.append(neighbor) + + if len(cluster) >= min_cluster_voxels: + kept.extend(cluster) + else: + removed += len(cluster) + + return kept, removed + + +def load_voxels( + meta: dict[str, Any], + voxel_size: float, + z_min: float, + z_max: float, + min_points_per_voxel: int, + min_cluster_voxels: int, + max_voxels: int, +) -> dict[str, Any]: + source = resolve_source_pcd(meta) + voxel_size = max(0.01, min(float(voxel_size), 2.0)) + z_min = float(z_min) + z_max = float(z_max) + min_points_per_voxel = max(1, min(int(min_points_per_voxel), 100)) + min_cluster_voxels = max(1, min(int(min_cluster_voxels), 10000)) + max_voxels = max(1000, min(int(max_voxels), 300000)) + mtime = source.stat().st_mtime + key = (source, voxel_size, z_min, z_max, min_points_per_voxel, min_cluster_voxels, max_voxels) + cached = VOXEL_CACHE.get(key) + if cached and cached[0] == mtime: + return cached[1] + + voxels: dict[tuple[int, int, int], int] = {} + filtered_point_count = 0 + for x, y, z in iter_ascii_pcd_points(source): + if z < z_min or z > z_max: + continue + filtered_point_count += 1 + key_xyz = ( + int(math.floor(x / voxel_size)), + int(math.floor(y / voxel_size)), + int(math.floor(z / voxel_size)), + ) + voxels[key_xyz] = voxels.get(key_xyz, 0) + 1 + + occupied = [k for k, count in voxels.items() if count >= min_points_per_voxel] + threshold_voxel_count = len(occupied) + occupied, removed_cluster_voxels = filter_voxel_clusters(occupied, min_cluster_voxels) + occupied_count = len(occupied) + stride = max(1, math.ceil(occupied_count / max_voxels)) if occupied_count > 0 else 1 + + positions: list[float] = [] + sampled_count = 0 + min_x = min_y = min_z = math.inf + max_x = max_y = max_z = -math.inf + half = voxel_size * 0.5 + for index, key_xyz in enumerate(occupied): + if index % stride != 0: + continue + x = (key_xyz[0] + 0.5) * voxel_size + y = (key_xyz[1] + 0.5) * voxel_size + z = (key_xyz[2] + 0.5) * voxel_size + positions.extend((x, y, z)) + min_x = min(min_x, x - half) + min_y = min(min_y, y - half) + min_z = min(min_z, z - half) + max_x = max(max_x, x + half) + max_y = max(max_y, y + half) + max_z = max(max_z, z + half) + sampled_count += 1 + + if sampled_count == 0: + min_x = min_y = min_z = 0.0 + max_x = max_y = max_z = 0.0 + + payload = { + "source": str(source), + "voxel_size": voxel_size, + "z_min": z_min, + "z_max": z_max, + "min_points_per_voxel": min_points_per_voxel, + "min_cluster_voxels": min_cluster_voxels, + "filtered_point_count": filtered_point_count, + "counted_voxel_count": len(voxels), + "threshold_voxel_count": threshold_voxel_count, + "removed_cluster_voxels": removed_cluster_voxels, + "occupied_voxel_count": occupied_count, + "sampled_voxel_count": sampled_count, + "stride": stride, + "bounds": { + "min": [min_x, min_y, min_z], + "max": [max_x, max_y, max_z], + }, + "positions": positions, + } + VOXEL_CACHE[key] = (mtime, payload) + return payload + + +def clean_waypoint(wp: dict[str, Any]) -> dict[str, Any]: + yaw_tolerance_deg = wp.get("yawToleranceDeg", wp.get("yaw_tolerance_deg")) + require_yaw = wp.get("requireYaw", wp.get("require_yaw")) + pre_dock_distance = wp.get("preDockDistance", wp.get("pre_dock_distance")) + pre_dock_tolerance = wp.get("preDockTolerance", wp.get("pre_dock_tolerance")) + return { + "x": float(wp.get("x", 0.0)), + "y": float(wp.get("y", 0.0)), + "yawDeg": float(wp.get("yawDeg", wp.get("yaw_deg", 0.0))), + "yawToleranceDeg": ( + float(yaw_tolerance_deg) + if yaw_tolerance_deg is not None else None + ), + "speed": float(wp.get("speed", 0.35)), + "policy": str(wp.get("policy", "rough")), + "tolerance": float(wp.get("tolerance", 0.15)), + "requireYaw": bool(require_yaw) if require_yaw is not None else False, + "preDockDistance": ( + float(pre_dock_distance) + if pre_dock_distance is not None else None + ), + "preDockTolerance": ( + float(pre_dock_tolerance) + if pre_dock_tolerance is not None else None + ), + "obstacle": str(wp.get("obstacle", "flat") or "flat"), + "obstacleName": str(wp.get("obstacleName", wp.get("obstacle_name", "")) or ""), + } + + +def clean_segment(segment: dict[str, Any], index: int) -> dict[str, Any]: + raw_waypoints = segment.get("waypoints", []) + return { + "name": str(segment.get("name", f"segment_{index + 1}") or f"segment_{index + 1}"), + "obstacle": str(segment.get("obstacle", "flat") or "flat"), + "waypoints": [ + clean_waypoint(wp) + for wp in raw_waypoints + if isinstance(wp, dict) + ], + } + + +def clean_obstacle(item: dict[str, Any], index: int) -> dict[str, Any]: + obstacle = str(item.get("obstacle", "rough_pit") or "rough_pit") + return { + "name": str(item.get("name", f"obstacle_{index + 1}") or f"obstacle_{index + 1}"), + "obstacle": obstacle, + "x": float(item.get("x", 0.0)), + "y": float(item.get("y", 0.0)), + "yawDeg": float(item.get("yawDeg", item.get("yaw_deg", 0.0))), + "length": max(0.05, float(item.get("length", 1.0))), + "width": max(0.05, float(item.get("width", 1.0))), + "policy": str(item.get("policy", "crawl" if obstacle == "low_bar" else "rough")), + } + + +def route_waypoints(route: dict[str, Any]) -> list[dict[str, Any]]: + raw_segments = route.get("segments", []) + if isinstance(raw_segments, list) and raw_segments: + points: list[dict[str, Any]] = [] + for index, segment in enumerate(raw_segments): + if not isinstance(segment, dict): + continue + cleaned_segment = clean_segment(segment, index) + points.extend(cleaned_segment["waypoints"]) + if points: + return points + return [ + clean_waypoint(wp) + for wp in route.get("waypoints", []) + if isinstance(wp, dict) + ] + + +def route_segments(route: dict[str, Any]) -> list[dict[str, Any]]: + raw_segments = route.get("segments", []) + if isinstance(raw_segments, list) and raw_segments: + segments = [ + clean_segment(segment, index) + for index, segment in enumerate(raw_segments) + if isinstance(segment, dict) + ] + segments = [segment for segment in segments if segment["waypoints"]] + if segments: + return segments + return [{ + "name": "segment_1", + "obstacle": "flat", + "waypoints": route_waypoints(route), + }] if route_waypoints(route) else [] + + +def route_obstacles(route: dict[str, Any]) -> list[dict[str, Any]]: + return [ + clean_obstacle(item, index) + for index, item in enumerate(route.get("obstacles", [])) + if isinstance(item, dict) + ] + + +def route_yaml(route: dict[str, Any]) -> str: + obstacles = route_obstacles(route) + segments = route_segments(route) + lines = [ + f"name: {route.get('name', 'route')}", + f"map: {route.get('map', '')}", + f"frame_id: {route.get('frame_id', 'map')}", + ] + route_default_yaw_tol = route.get("yawToleranceDegDefault", route.get("yaw_tolerance_deg_default")) + if route_default_yaw_tol is not None: + lines.append(f"yaw_tolerance_deg_default: {float(route_default_yaw_tol):.2f}") + route_default_require_yaw = route.get("requireYawDefault", route.get("require_yaw_default")) + if route_default_require_yaw is not None: + lines.append(f"require_yaw_default: {str(bool(route_default_require_yaw)).lower()}") + route_default_pre_dock_distance = route.get("preDockDistanceDefault", route.get("pre_dock_distance_default")) + if route_default_pre_dock_distance is not None: + lines.append(f"pre_dock_distance_default: {float(route_default_pre_dock_distance):.3f}") + route_default_pre_dock_tolerance = route.get("preDockToleranceDefault", route.get("pre_dock_tolerance_default")) + if route_default_pre_dock_tolerance is not None: + lines.append(f"pre_dock_tolerance_default: {float(route_default_pre_dock_tolerance):.3f}") + if obstacles: + lines.append("obstacles:") + else: + lines.append("obstacles: []") + for index, obstacle in enumerate(obstacles, start=1): + lines.extend([ + f" - id: {index}", + f" name: {obstacle.get('name', 'obstacle')}", + f" obstacle: {obstacle.get('obstacle', 'rough_pit')}", + f" x: {float(obstacle.get('x', 0.0)):.4f}", + f" y: {float(obstacle.get('y', 0.0)):.4f}", + f" yaw_deg: {float(obstacle.get('yawDeg', 0.0)):.2f}", + f" length: {float(obstacle.get('length', 1.0)):.3f}", + f" width: {float(obstacle.get('width', 1.0)):.3f}", + f" policy: {obstacle.get('policy', 'rough')}", + ]) + if segments: + lines.append("segments:") + else: + lines.append("segments: []") + for segment_index, segment in enumerate(segments, start=1): + lines.extend([ + f" - name: {segment.get('name', f'segment_{segment_index}')}", + f" obstacle: {segment.get('obstacle', 'flat')}", + " waypoints:", + ]) + for waypoint_index, wp in enumerate(segment.get("waypoints", []), start=1): + lines.extend([ + f" - id: {waypoint_index}", + f" x: {float(wp.get('x', 0.0)):.4f}", + f" y: {float(wp.get('y', 0.0)):.4f}", + f" yaw_deg: {float(wp.get('yawDeg', 0.0)):.2f}", + f" speed: {float(wp.get('speed', 0.35)):.3f}", + f" policy: {wp.get('policy', 'rough')}", + f" tolerance: {float(wp.get('tolerance', 0.15)):.3f}", + ( + f" yaw_tolerance_deg: {float(wp.get('yawToleranceDeg')):.2f}" + if wp.get("yawToleranceDeg") is not None else None + ), + ( + f" require_yaw: {str(bool(wp.get('requireYaw'))).lower()}" + if wp.get("requireYaw") is not None else None + ), + ( + f" pre_dock_distance: {float(wp.get('preDockDistance')):.3f}" + if wp.get("preDockDistance") is not None else None + ), + ( + f" pre_dock_tolerance: {float(wp.get('preDockTolerance')):.3f}" + if wp.get("preDockTolerance") is not None else None + ), + f" obstacle: {wp.get('obstacle', 'flat')}", + f" obstacle_name: {wp.get('obstacleName', '')}", + ]) + lines = [line for line in lines if line is not None] + return "\n".join(lines) + "\n" + + +def clean_route(route: dict[str, Any]) -> dict[str, Any]: + cleaned = { + "name": str(route.get("name", "route")), + "map": str(route.get("map", "")), + "frame_id": str(route.get("frame_id", "map")), + "obstacles": route_obstacles(route), + "segments": route_segments(route), + "waypoints": route_waypoints(route), + } + route_default_yaw_tol = route.get("yawToleranceDegDefault", route.get("yaw_tolerance_deg_default")) + if route_default_yaw_tol is not None: + cleaned["yawToleranceDegDefault"] = float(route_default_yaw_tol) + route_default_require_yaw = route.get("requireYawDefault", route.get("require_yaw_default")) + if route_default_require_yaw is not None: + cleaned["requireYawDefault"] = bool(route_default_require_yaw) + route_default_pre_dock_distance = route.get("preDockDistanceDefault", route.get("pre_dock_distance_default")) + if route_default_pre_dock_distance is not None: + cleaned["preDockDistanceDefault"] = float(route_default_pre_dock_distance) + route_default_pre_dock_tolerance = route.get("preDockToleranceDefault", route.get("pre_dock_tolerance_default")) + if route_default_pre_dock_tolerance is not None: + cleaned["preDockToleranceDefault"] = float(route_default_pre_dock_tolerance) + if route.get("createdAt"): + cleaned["createdAt"] = str(route.get("createdAt")) + return cleaned + + +class Handler(SimpleHTTPRequestHandler): + map_root: Path = DEFAULT_MAP_ROOT + + def do_GET(self) -> None: + parsed = urlparse(self.path) + try: + if parsed.path == "/api/maps": + self.send_json({"maps": list_maps(self.map_root)}) + return + if parsed.path.startswith("/vendor/"): + self.handle_vendor(parsed.path) + return + if parsed.path == "/api/layer": + qs = parse_qs(parsed.query) + map_name = qs.get("map", [""])[0] + layer_name = safe_name(qs.get("layer", [""])[0]) + ctx = map_context(self.map_root, map_name) + directory = ctx["directory"] + meta = ctx["meta"] + path = directory / layer_name if directory is not None else Path(layer_name) + if layer_name == TOPDOWN_LAYER: + self.send_bytes(200, "image/png", load_z_filtered_topdown(meta)) + elif path.suffix.lower() == ".pgm": + self.send_bytes(200, "image/png", gray_pgm_to_png(path)) + elif path.suffix.lower() == ".png": + self.send_bytes(200, "image/png", path.read_bytes()) + else: + self.send_error(404) + return + if parsed.path == "/api/layer_info": + qs = parse_qs(parsed.query) + ctx = map_context(self.map_root, qs.get("map", [""])[0]) + layer_name = safe_name(qs.get("layer", [""])[0]) + directory = ctx["directory"] + path = directory / layer_name if directory is not None else Path(layer_name) + self.send_json(image_info(path, ctx["meta"])) + return + if parsed.path == "/api/cell": + self.handle_cell(parsed.query) + return + if parsed.path == "/api/pointcloud": + qs = parse_qs(parsed.query) + ctx = map_context(self.map_root, qs.get("map", [""])[0]) + max_points = int(qs.get("max_points", ["80000"])[0]) + z_min = float(qs.get("z_min", ["-1000000000.0"])[0]) + z_max = float(qs.get("z_max", ["1.0"])[0]) + self.send_json(load_pointcloud(ctx["meta"], max_points, z_min, z_max)) + return + if parsed.path == "/api/voxels": + qs = parse_qs(parsed.query) + ctx = map_context(self.map_root, qs.get("map", [""])[0]) + meta = ctx["meta"] + voxel_size = float(qs.get("voxel_size", ["0.20"])[0]) + z_min = float(qs.get("z_min", ["-2.0"])[0]) + z_max = float(qs.get("z_max", ["1.0"])[0]) + min_points_per_voxel = int(qs.get("min_points_per_voxel", ["1"])[0]) + min_cluster_voxels = int(qs.get("min_cluster_voxels", ["1"])[0]) + max_voxels = int(qs.get("max_voxels", ["120000"])[0]) + self.send_json( + load_voxels( + meta, + voxel_size, + z_min, + z_max, + min_points_per_voxel, + min_cluster_voxels, + max_voxels, + ) + ) + return + if parsed.path == "/api/semantics": + qs = parse_qs(parsed.query) + raw_path = qs.get("mjcf", [""])[0].strip() + path = Path(raw_path) if raw_path else DEFAULT_MJCF + self.send_json(load_semantic_template(path)) + return + if parsed.path == "/api/route": + self.handle_get_route(parsed.query) + return + except Exception as exc: + self.send_json({"ok": False, "error": str(exc)}, code=400) + return + super().do_GET() + + def do_POST(self) -> None: + parsed = urlparse(self.path) + try: + if parsed.path == "/api/route": + length = int(self.headers.get("Content-Length", "0")) + payload = json.loads(self.rfile.read(length).decode("utf-8") if length else "{}") + map_name = str(payload.get("map", "")) + route = payload.get("route", {}) + name = safe_file_stem(str(route.get("name", "route"))) + ctx = map_context(self.map_root, map_name) + routes_dir = ctx["routes_dir"] + routes_dir.mkdir(parents=True, exist_ok=True) + route["name"] = name + route = clean_route(route) + route["name"] = name + json_path = routes_dir / f"{name}.json" + yaml_path = routes_dir / f"{name}.yaml" + json_path.write_text(json.dumps(route, ensure_ascii=False, indent=2), encoding="utf-8") + yaml_path.write_text(route_yaml(route), encoding="utf-8") + self.send_json({"ok": True, "json": str(json_path), "yaml": str(yaml_path)}) + return + except Exception as exc: + self.send_json({"ok": False, "error": str(exc)}, code=400) + return + self.send_error(404) + + def handle_cell(self, query: str) -> None: + qs = parse_qs(query) + ctx = map_context(self.map_root, qs.get("map", [""])[0]) + directory = ctx["directory"] + meta = ctx["meta"] + x = float(qs.get("x", ["0"])[0]) + y = float(qs.get("y", ["0"])[0]) + origin = meta.get("origin", [0.0, 0.0, 0.0]) + resolution = float(meta.get("resolution", 1.0)) + width = int(meta.get("width", 0)) + height = int(meta.get("height", 0)) + ix = int(math.floor((x - float(origin[0])) / resolution)) + iy = int(math.floor((y - float(origin[1])) / resolution)) + if ix < 0 or iy < 0 or ix >= width or iy >= height: + self.send_json({"inside": False, "x": x, "y": y}) + return + image_row = height - 1 - iy + index = image_row * width + ix + values = {} + if directory is not None: + for layer in sorted(directory.glob("*.pgm")): + lw, lh, pixels = load_pgm(layer) + if lw == width and lh == height and 0 <= index < len(pixels): + values[layer.name] = pixels[index] + self.send_json({ + "inside": True, + "x": x, + "y": y, + "ix": ix, + "iy": iy, + "image_row": image_row, + "values": values, + }) + + def handle_get_route(self, query: str) -> None: + qs = parse_qs(query) + ctx = map_context(self.map_root, qs.get("map", [""])[0]) + route_name = safe_name(qs.get("name", [""])[0]) + path = ctx["routes_dir"] / route_name + if not path.exists(): + raise FileNotFoundError(path) + self.send_json(clean_route(json.loads(path.read_text(encoding="utf-8")))) + + def handle_vendor(self, request_path: str) -> None: + relative = normpath(request_path[len("/vendor/"):]).replace("\\", "/") + if relative.startswith("../") or relative == "..": + raise ValueError("vendor path escapes root") + target = (REFERENCE_VENDOR_DIR / relative).resolve() + vendor_root = REFERENCE_VENDOR_DIR.resolve() + if vendor_root != target and vendor_root not in target.parents: + raise ValueError("vendor path escapes root") + if not target.is_file(): + raise FileNotFoundError(target) + content_type = "application/javascript" + if target.suffix.lower() == ".css": + content_type = "text/css" + self.send_bytes(200, content_type, target.read_bytes()) + + def send_json(self, payload: dict[str, Any], code: int = 200) -> None: + self.send_bytes(code, "application/json", json.dumps(payload, ensure_ascii=False).encode("utf-8")) + + def send_bytes(self, code: int, content_type: str, payload: bytes) -> None: + self.send_response(code) + self.send_header("Content-Type", content_type) + self.send_header("Content-Length", str(len(payload))) + self.end_headers() + self.wfile.write(payload) + + def end_headers(self) -> None: + self.send_header("Cache-Control", "no-store") + self.send_header("Access-Control-Allow-Origin", "*") + super().end_headers() + + def log_message(self, format: str, *args: object) -> None: + return + + +def main() -> None: + parser = argparse.ArgumentParser(description="Windows viewer for processed Odin PCD map layers") + parser.add_argument("--map-root", type=Path, default=DEFAULT_MAP_ROOT) + parser.add_argument("--listen-host", default="127.0.0.1") + parser.add_argument("--http-port", type=int, default=8090) + args = parser.parse_args() + + Handler.map_root = args.map_root.expanduser().resolve() + handler = lambda *a, **kw: Handler(*a, directory=str(STATIC_DIR), **kw) + server = ThreadingHTTPServer((args.listen_host, args.http_port), handler) + print(f"PCD map viewer: http://{args.listen_host}:{args.http_port}") + print(f"Map root: {Handler.map_root}") + print(f"Started at {time.strftime('%Y-%m-%d %H:%M:%S')}") + server.serve_forever() + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/app.js b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/app.js new file mode 100644 index 0000000..099369d --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/app.js @@ -0,0 +1,1754 @@ +import * as THREE from "/vendor/three.module.js"; +import { OrbitControls } from "/vendor/jsm/controls/OrbitControls.js"; + +const mapSelect = document.getElementById("mapSelect"); +const layerSelect = document.getElementById("layerSelect"); +const viewSelect = document.getElementById("viewSelect"); +const cloudModeSelect = document.getElementById("cloudModeSelect"); +const serverState = document.getElementById("serverState"); +const cursorInfo = document.getElementById("cursorInfo"); +const mainPanel = document.querySelector(".main"); +const cloudZMinInput = document.getElementById("cloudZMin"); +const cloudZMaxInput = document.getElementById("cloudZMax"); +const cloudMaxPointsInput = document.getElementById("cloudMaxPoints"); +const voxelSizeInput = document.getElementById("voxelSize"); +const voxelMinPointsInput = document.getElementById("voxelMinPoints"); +const voxelMinClusterInput = document.getElementById("voxelMinCluster"); +const mapCanvas = document.getElementById("mapCanvas"); +const mapCtx = mapCanvas.getContext("2d"); +const cloudCanvas = document.getElementById("cloudCanvas"); + +const routeName = document.getElementById("routeName"); +const wpX = document.getElementById("wpX"); +const wpY = document.getElementById("wpY"); +const wpYaw = document.getElementById("wpYaw"); +const wpObstacle = document.getElementById("wpObstacle"); +const wpSpeed = document.getElementById("wpSpeed"); +const wpPolicy = document.getElementById("wpPolicy"); +const wpTol = document.getElementById("wpTol"); +const wpYawTol = document.getElementById("wpYawTol"); +const wpRequireYaw = document.getElementById("wpRequireYaw"); +const wpPreDockDist = document.getElementById("wpPreDockDist"); +const wpPreDockTol = document.getElementById("wpPreDockTol"); +const waypointList = document.getElementById("waypointList"); +const obstacleSelect = document.getElementById("obstacleSelect"); +const obstacleName = document.getElementById("obstacleName"); +const obstacleType = document.getElementById("obstacleType"); +const obstacleX = document.getElementById("obstacleX"); +const obstacleY = document.getElementById("obstacleY"); +const obstacleYaw = document.getElementById("obstacleYaw"); +const obstacleLength = document.getElementById("obstacleLength"); +const obstacleWidth = document.getElementById("obstacleWidth"); +const obstaclePolicy = document.getElementById("obstaclePolicy"); +const obstacleList = document.getElementById("obstacleList"); +const UI_VERSION = "obstacle-terrain-2"; + +serverState.textContent = UI_VERSION; + +let maps = []; +let currentMap = null; +let currentLayer = null; +let currentInfo = { width: 1, height: 1, resolution: 1, origin: [0, 0, 0] }; +let mapImage = new Image(); +let scale2d = 1; +let offsetX = 0; +let offsetY = 0; +let dragging2d = false; +let dragLast2d = null; +let moved2d = false; +let selected = -1; +let waypoints = []; +let obstacles = []; +let activeObstacle = -1; +let addingObstacle = false; +let obstacleDraft = null; +let routeSegmentsMeta = []; +let routeSettings = { + yawToleranceDegDefault: null, + requireYawDefault: null, + preDockDistanceDefault: null, + preDockToleranceDefault: null, +}; +let viewMode = "3d"; +let cloudZMin = -2.0; +let cloudZMax = 1.0; +let cloudMaxPoints = 120000; +let cloudMode = "points"; +let voxelSize = 0.20; +let voxelMinPoints = 1; +let voxelMinCluster = 1; +let cloudStats = null; +let pointerDown3d = null; +let moved3d = false; + +const cloud = { + mode: "points", + count: 0, + positions: new Float32Array(), + bounds: null, + center: [0, 0, 0], + voxelSize: 0.20, +}; + +function defaultPolicyForObstacle(obstacle) { + return obstacle === "low_bar" ? "crawl" : "rough"; +} + +function makeDefaultObstacle(index = 0, x = 0, y = 0, length = 1.0, width = 1.0) { + return { + name: `obstacle_${index + 1}`, + obstacle: "rough_pit", + x: Number(x.toFixed(4)), + y: Number(y.toFixed(4)), + yawDeg: 0, + length: Math.max(0.05, Number(length.toFixed(4))), + width: Math.max(0.05, Number(width.toFixed(4))), + policy: "rough", + }; +} + +function ensureObstacles() { + if (!Array.isArray(obstacles)) obstacles = []; + activeObstacle = obstacles.length + ? Math.max(0, Math.min(activeObstacle, obstacles.length - 1)) + : -1; + for (let i = 0; i < obstacles.length; i += 1) { + const item = obstacles[i]; + if (!item.name) item.name = `obstacle_${i + 1}`; + if (!item.obstacle) item.obstacle = "rough_pit"; + item.x = Number(item.x || 0); + item.y = Number(item.y || 0); + item.yawDeg = Number(item.yawDeg || item.yaw_deg || 0); + item.length = Math.max(0.05, Number(item.length || 1.0)); + item.width = Math.max(0.05, Number(item.width || 1.0)); + item.policy = item.policy || defaultPolicyForObstacle(item.obstacle); + } +} + +function ensureWaypoints() { + if (!Array.isArray(waypoints)) waypoints = []; + for (let i = 0; i < waypoints.length; i += 1) { + const item = waypoints[i]; + item.yawToleranceDeg = Number( + item.yawToleranceDeg ?? item.yaw_tolerance_deg ?? 30, + ); + item.requireYaw = Boolean(item.requireYaw ?? item.require_yaw ?? false); + const preDockDistance = item.preDockDistance ?? item.pre_dock_distance; + item.preDockDistance = preDockDistance == null ? null : Number(preDockDistance); + const preDockTolerance = item.preDockTolerance ?? item.pre_dock_tolerance; + item.preDockTolerance = preDockTolerance == null ? null : Number(preDockTolerance); + } +} + +function normalizeRouteWaypoints(route) { + if (Array.isArray(route?.segments) && route.segments.length) { + const points = []; + route.segments.forEach((segment) => { + if (!segment || !Array.isArray(segment.waypoints)) return; + segment.waypoints.forEach((wp) => { + if (wp && typeof wp === "object") points.push(wp); + }); + }); + return points; + } + return Array.isArray(route?.waypoints) ? route.waypoints : []; +} + +function normalizeRouteSegments(route) { + if (Array.isArray(route?.segments) && route.segments.length) { + return route.segments.map((segment, index) => ({ + name: segment?.name || `segment_${index + 1}`, + obstacle: segment?.obstacle || "flat", + waypointCount: Array.isArray(segment?.waypoints) ? segment.waypoints.length : 0, + })); + } + const points = normalizeRouteWaypoints(route); + return points.length ? [{ + name: "segment_1", + obstacle: "flat", + waypointCount: points.length, + }] : []; +} + +function applyLoadedRoute(route) { + routeName.value = route?.name || routeName.value || "test_route"; + waypoints = normalizeRouteWaypoints(route); + obstacles = route && Array.isArray(route.obstacles) ? route.obstacles : []; + routeSegmentsMeta = normalizeRouteSegments(route); + routeSettings = { + yawToleranceDegDefault: route?.yawToleranceDegDefault ?? route?.yaw_tolerance_deg_default ?? null, + requireYawDefault: route?.requireYawDefault ?? route?.require_yaw_default ?? null, + preDockDistanceDefault: route?.preDockDistanceDefault ?? route?.pre_dock_distance_default ?? null, + preDockToleranceDefault: route?.preDockToleranceDefault ?? route?.pre_dock_tolerance_default ?? null, + }; + activeObstacle = obstacles.length ? 0 : -1; + ensureObstacles(); + ensureWaypoints(); + refreshWaypointObstacles(false); +} + +function allWaypointRefs() { + ensureWaypoints(); + return waypoints.map((wp, pointIndex) => ({ pointIndex, wp })); +} + +function selectedRef() { + const refs = allWaypointRefs(); + return selected >= 0 && selected < refs.length ? refs[selected] : null; +} + +function obstacleCorners(item) { + const yaw = (Number(item.yawDeg || 0) * Math.PI) / 180; + const c = Math.cos(yaw); + const s = Math.sin(yaw); + const hx = Math.max(0.025, Number(item.length || 1.0) * 0.5); + const hy = Math.max(0.025, Number(item.width || 1.0) * 0.5); + return [ + [-hx, -hy], + [hx, -hy], + [hx, hy], + [-hx, hy], + ].map(([lx, ly]) => ({ + x: item.x + lx * c - ly * s, + y: item.y + lx * s + ly * c, + })); +} + +function pointInObstacle(x, y, item) { + const yaw = (-Number(item.yawDeg || 0) * Math.PI) / 180; + const c = Math.cos(yaw); + const s = Math.sin(yaw); + const dx = x - Number(item.x || 0); + const dy = y - Number(item.y || 0); + const lx = dx * c - dy * s; + const ly = dx * s + dy * c; + return Math.abs(lx) <= Number(item.length || 1.0) * 0.5 + && Math.abs(ly) <= Number(item.width || 1.0) * 0.5; +} + +function waypointObstacleInfo(x, y) { + ensureObstacles(); + for (let i = obstacles.length - 1; i >= 0; i -= 1) { + const item = obstacles[i]; + if (pointInObstacle(x, y, item)) { + return { + obstacle: item.obstacle || "flat", + obstacleName: item.name || item.obstacle || "obstacle", + policy: item.policy || defaultPolicyForObstacle(item.obstacle), + }; + } + } + return { obstacle: "flat", obstacleName: "", policy: "rough" }; +} + +function applyObstacleToWaypoint(wp, updatePolicy = false) { + const info = waypointObstacleInfo(Number(wp.x || 0), Number(wp.y || 0)); + wp.obstacle = info.obstacle; + wp.obstacleName = info.obstacleName; + if (updatePolicy) wp.policy = info.policy; + return wp; +} + +function refreshWaypointObstacles(updatePolicy = false) { + ensureWaypoints(); + waypoints.forEach((wp) => applyObstacleToWaypoint(wp, updatePolicy)); +} + +function activeObstacleItem() { + ensureObstacles(); + return activeObstacle >= 0 && activeObstacle < obstacles.length ? obstacles[activeObstacle] : null; +} + +const renderer = new THREE.WebGLRenderer({ + canvas: cloudCanvas, + antialias: true, + preserveDrawingBuffer: true, +}); +renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2)); +renderer.setClearColor(0x091116, 1); + +const scene = new THREE.Scene(); +scene.background = new THREE.Color(0x091116); + +const camera = new THREE.PerspectiveCamera(55, 1, 0.05, 4000); +camera.up.set(0, 0, 1); +camera.position.set(12, -12, 10); + +const controls = new OrbitControls(camera, cloudCanvas); +controls.enableDamping = true; +controls.enablePan = true; +controls.target.set(0, 0, 0); + +scene.add(new THREE.AmbientLight(0xffffff, 0.55)); +const dirLight = new THREE.DirectionalLight(0xffffff, 1.1); +dirLight.position.set(12, -8, 18); +scene.add(dirLight); + +const gridHelper = new THREE.GridHelper(30, 30, 0x324a56, 0x20303a); +gridHelper.rotation.x = Math.PI * 0.5; +scene.add(gridHelper); + +let pointsObject = null; +let voxelObject = null; +let voxelPickMesh = null; + +const raycaster = new THREE.Raycaster(); +const pointer = new THREE.Vector2(); +const zPlane = new THREE.Plane(new THREE.Vector3(0, 0, 1), 0); +const tmpVec = new THREE.Vector3(); +const tmpBox = new THREE.Box3(); +const tmpCenter = new THREE.Vector3(); +const tmpSize = new THREE.Vector3(); +const tmpMatrix = new THREE.Matrix4(); +const tmpPosition = new THREE.Vector3(); + +function makeAxisArrow(direction, color, length, shaftRadius, headLength, headRadius) { + const group = new THREE.Group(); + const shaftLength = Math.max(0.01, length - headLength); + const shaftMaterial = new THREE.MeshStandardMaterial({ + color, + roughness: 0.35, + metalness: 0.08, + }); + const headMaterial = new THREE.MeshStandardMaterial({ + color, + emissive: color, + emissiveIntensity: 0.14, + roughness: 0.25, + metalness: 0.1, + }); + + const shaft = new THREE.Mesh( + new THREE.CylinderGeometry(shaftRadius, shaftRadius, shaftLength, 16), + shaftMaterial, + ); + shaft.position.y = shaftLength * 0.5; + + const head = new THREE.Mesh( + new THREE.ConeGeometry(headRadius, headLength, 20), + headMaterial, + ); + head.position.y = shaftLength + headLength * 0.5; + + group.add(shaft); + group.add(head); + group.quaternion.setFromUnitVectors(new THREE.Vector3(0, 1, 0), direction.clone().normalize()); + return group; +} + +function makeAxes(length = 2.0) { + const group = new THREE.Group(); + group.add(makeAxisArrow(new THREE.Vector3(1, 0, 0), 0xff6b6b, length, 0.035, 0.22, 0.09)); + group.add(makeAxisArrow(new THREE.Vector3(0, 1, 0), 0x4ade80, length, 0.035, 0.22, 0.09)); + group.add(makeAxisArrow(new THREE.Vector3(0, 0, 1), 0x38bdf8, length, 0.035, 0.22, 0.09)); + return group; +} + +function resize() { + const rect = mapCanvas.parentElement.getBoundingClientRect(); + const dpr = window.devicePixelRatio || 1; + mapCanvas.width = Math.max(1, Math.round(rect.width * dpr)); + mapCanvas.height = Math.max(1, Math.round(rect.height * dpr)); + mapCanvas.style.width = `${rect.width}px`; + mapCanvas.style.height = `${rect.height}px`; + mapCtx.setTransform(dpr, 0, 0, dpr, 0, 0); + + renderer.setSize(rect.width, rect.height, false); + camera.aspect = Math.max(1e-3, rect.width / Math.max(1, rect.height)); + camera.updateProjectionMatrix(); + draw(); +} + +function screenSize() { + const dpr = window.devicePixelRatio || 1; + return { w: mapCanvas.width / dpr, h: mapCanvas.height / dpr }; +} + +function setView(mode) { + viewMode = mode; + mainPanel.classList.toggle("view-3d", mode === "3d"); + mainPanel.classList.toggle("view-2d", mode === "2d"); + cloudCanvas.classList.toggle("hidden", mode !== "3d"); + mapCanvas.classList.toggle("hidden", false); + controls.enabled = mode === "3d"; + draw(); +} + +function fit2d() { + if (!mapImage.width || !mapImage.height) return; + const { w, h } = screenSize(); + scale2d = Math.min(w / mapImage.width, h / mapImage.height) * 0.94; + offsetX = (w - mapImage.width * scale2d) / 2; + offsetY = (h - mapImage.height * scale2d) / 2; + draw(); +} + +function updateGridForBounds(bounds) { + if (!bounds) return; + const dx = bounds.max[0] - bounds.min[0]; + const dy = bounds.max[1] - bounds.min[1]; + const span = Math.max(6, dx, dy); + gridHelper.scale.setScalar(Math.max(1, span / 30)); + gridHelper.position.set( + (bounds.min[0] + bounds.max[0]) * 0.5, + (bounds.min[1] + bounds.max[1]) * 0.5, + Math.min(0, bounds.min[2]), + ); +} + +function fit3d() { + if (!cloud.bounds) return; + const min = new THREE.Vector3(...cloud.bounds.min); + const max = new THREE.Vector3(...cloud.bounds.max); + tmpBox.set(min, max); + tmpBox.getCenter(tmpCenter); + tmpBox.getSize(tmpSize); + cloud.center = [tmpCenter.x, tmpCenter.y, tmpCenter.z]; + controls.target.copy(tmpCenter); + + const maxDim = Math.max(tmpSize.x, tmpSize.y, tmpSize.z, cloud.voxelSize * 8, 1.0); + const fovRad = THREE.MathUtils.degToRad(camera.fov); + const distance = Math.max(maxDim * 1.45, (maxDim * 0.5) / Math.tan(fovRad * 0.5)); + const direction = new THREE.Vector3(1.0, -1.15, 0.82).normalize(); + camera.position.copy(tmpCenter.clone().add(direction.multiplyScalar(distance))); + controls.minDistance = Math.max(cloud.voxelSize * 2.0, distance * 0.02); + controls.maxDistance = Math.max(distance * 8.0, maxDim * 8.0); + camera.near = Math.max(0.02, distance / 4000.0); + camera.far = Math.max(1000.0, distance * 12.0, maxDim * 20.0); + camera.updateProjectionMatrix(); + + updateGridForBounds(cloud.bounds); + draw(); +} + +function imageToWorld(px, py) { + const res = currentInfo.resolution; + const origin = currentInfo.origin; + return { + x: origin[0] + (px + 0.5) * res, + y: origin[1] + (currentInfo.height - py - 0.5) * res, + }; +} + +function worldToImage(x, y) { + const res = currentInfo.resolution; + const origin = currentInfo.origin; + return { + x: (x - origin[0]) / res, + y: currentInfo.height - 1 - Math.floor((y - origin[1]) / res), + }; +} + +function eventPoint2d(event) { + const rect = mapCanvas.getBoundingClientRect(); + const sx = event.clientX - rect.left; + const sy = event.clientY - rect.top; + return { + x: (sx - offsetX) / scale2d, + y: (sy - offsetY) / scale2d, + sx, + sy, + }; +} + +function currentProjectionContext() { + return { rect: cloudCanvas.getBoundingClientRect() }; +} + +function project3d(x, y, z, ctx = null) { + const c = ctx || currentProjectionContext(); + tmpVec.set(x, y, z).project(camera); + if (tmpVec.z < -1 || tmpVec.z > 1) return null; + return { + sx: (tmpVec.x * 0.5 + 0.5) * c.rect.width, + sy: (-tmpVec.y * 0.5 + 0.5) * c.rect.height, + depth: tmpVec.z, + }; +} + +function disposeMaterial(material) { + if (Array.isArray(material)) { + material.forEach((item) => item.dispose()); + } else if (material) { + material.dispose(); + } +} + +function disposeObject3d(object) { + if (!object) return; + object.traverse((node) => { + if (node.geometry) node.geometry.dispose(); + if (node.material) disposeMaterial(node.material); + }); +} + +function clearCloudObjects() { + if (pointsObject) { + scene.remove(pointsObject); + disposeObject3d(pointsObject); + pointsObject = null; + } + if (voxelObject) { + scene.remove(voxelObject); + disposeObject3d(voxelObject); + voxelObject = null; + } + voxelPickMesh = null; +} + +function makePointCloudObject(positions, bounds) { + const geometry = new THREE.BufferGeometry(); + geometry.setAttribute("position", new THREE.BufferAttribute(positions, 3)); + + const colorArray = new Float32Array(positions.length); + const minZ = bounds.min[2]; + const maxZ = bounds.max[2]; + const span = Math.max(1e-6, maxZ - minZ); + for (let i = 0; i < positions.length; i += 3) { + const t = Math.max(0, Math.min(1, (positions[i + 2] - minZ) / span)); + const color = new THREE.Color().setRGB( + 0.15 + 0.75 * t, + 0.78 - 0.45 * t, + 0.95 - 0.75 * t, + ); + colorArray[i] = color.r; + colorArray[i + 1] = color.g; + colorArray[i + 2] = color.b; + } + geometry.setAttribute("color", new THREE.BufferAttribute(colorArray, 3)); + + const material = new THREE.PointsMaterial({ + size: 0.035, + vertexColors: true, + sizeAttenuation: true, + }); + return new THREE.Points(geometry, material); +} + +function makeVoxelGroup(positions, size) { + const geometry = new THREE.BoxGeometry(size, size, size); + const fillMaterial = new THREE.MeshStandardMaterial({ + color: 0xf59e0b, + roughness: 0.42, + metalness: 0.04, + }); + const edgeMaterial = new THREE.MeshBasicMaterial({ + color: 0x5b3a06, + wireframe: true, + transparent: true, + opacity: 0.30, + }); + + const count = positions.length / 3; + const fillMesh = new THREE.InstancedMesh(geometry, fillMaterial, count); + const edgeMesh = new THREE.InstancedMesh(geometry, edgeMaterial, count); + fillMesh.instanceMatrix.setUsage(THREE.StaticDrawUsage); + edgeMesh.instanceMatrix.setUsage(THREE.StaticDrawUsage); + + for (let i = 0; i < count; i += 1) { + const j = i * 3; + tmpMatrix.makeTranslation(positions[j], positions[j + 1], positions[j + 2]); + fillMesh.setMatrixAt(i, tmpMatrix); + edgeMesh.setMatrixAt(i, tmpMatrix); + } + fillMesh.instanceMatrix.needsUpdate = true; + edgeMesh.instanceMatrix.needsUpdate = true; + + const group = new THREE.Group(); + group.add(fillMesh); + group.add(edgeMesh); + return { group, pickMesh: fillMesh }; +} + +function setCloudData(data) { + clearCloudObjects(); + const positions = new Float32Array(data.positions); + pointsObject = makePointCloudObject(positions, data.bounds); + scene.add(pointsObject); + + cloud.mode = "points"; + cloud.positions = positions; + cloud.count = positions.length / 3; + cloud.bounds = data.bounds; + cloud.voxelSize = voxelSize; + cloudStats = data; + + cloudZMin = data.z_min; + cloudZMax = data.z_max; + if (Number.isFinite(data.z_min) && data.z_min > -1000000) { + cloudZMinInput.value = data.z_min.toFixed(1); + } + cloudZMaxInput.value = data.z_max.toFixed(1); + cloudMaxPointsInput.value = String(cloudMaxPoints); + serverState.textContent = + `${data.sampled_count} / ${data.filtered_point_count} pts (raw ${data.point_count}, z ${formatZRange(data.z_min, data.z_max)}, max=${cloudMaxPoints})`; + fit3d(); +} + +function setVoxelData(data) { + clearCloudObjects(); + const positions = new Float32Array(data.positions); + const voxelGroup = makeVoxelGroup(positions, data.voxel_size); + voxelObject = voxelGroup.group; + voxelPickMesh = voxelGroup.pickMesh; + scene.add(voxelObject); + + cloud.mode = "voxels"; + cloud.positions = positions; + cloud.count = positions.length / 3; + cloud.bounds = data.bounds; + cloud.voxelSize = data.voxel_size; + cloudStats = data; + + cloudZMin = data.z_min; + cloudZMax = data.z_max; + voxelSize = data.voxel_size; + voxelMinPoints = data.min_points_per_voxel; + voxelMinCluster = data.min_cluster_voxels; + cloudZMinInput.value = data.z_min.toFixed(1); + cloudZMaxInput.value = data.z_max.toFixed(1); + cloudMaxPointsInput.value = String(cloudMaxPoints); + voxelSizeInput.value = data.voxel_size.toFixed(2); + voxelMinPointsInput.value = String(data.min_points_per_voxel); + voxelMinClusterInput.value = String(data.min_cluster_voxels); + serverState.textContent = + `${data.sampled_voxel_count} / ${data.occupied_voxel_count} voxels (size=${data.voxel_size.toFixed(2)}m, z ${formatZRange(data.z_min, data.z_max)}, minPts=${data.min_points_per_voxel}, cluster=${data.min_cluster_voxels})`; + fit3d(); +} + +function formatZRange(zMin, zMax) { + const lo = Number.isFinite(zMin) && zMin > -1000000 ? zMin.toFixed(1) : "-inf"; + return `${lo}..${zMax.toFixed(1)}m`; +} + +function draw3dWaypointsOverlay() { + const rect = cloudCanvas.getBoundingClientRect(); + mapCanvas.classList.remove("hidden"); + mapCtx.clearRect(0, 0, rect.width, rect.height); + const ctx = currentProjectionContext(); + draw3dGridOverlay(mapCtx, ctx); + draw3dObstacles(mapCtx, ctx); + const refs = allWaypointRefs(); + + for (let i = 1; i < refs.length; i += 1) { + const a = project3d(refs[i - 1].wp.x, refs[i - 1].wp.y, waypointViewZ(refs[i - 1].wp), ctx); + const b = project3d(refs[i].wp.x, refs[i].wp.y, waypointViewZ(refs[i].wp), ctx); + if (!a || !b) continue; + mapCtx.strokeStyle = "#d48bff"; + mapCtx.lineWidth = 3; + mapCtx.beginPath(); + mapCtx.moveTo(a.sx, a.sy); + mapCtx.lineTo(b.sx, b.sy); + mapCtx.stroke(); + } + + for (let i = 0; i < refs.length; i += 1) { + const wp = refs[i].wp; + const viewZ = waypointViewZ(wp); + const p = project3d(wp.x, wp.y, viewZ, ctx); + if (!p) continue; + mapCtx.fillStyle = i === selected ? "#67e8f9" : "#facc15"; + mapCtx.beginPath(); + mapCtx.arc(p.sx, p.sy, i === selected ? 8 : 6, 0, Math.PI * 2); + mapCtx.fill(); + + const yaw = (wp.yawDeg || 0) * Math.PI / 180; + const end = project3d( + wp.x + Math.cos(yaw) * Math.max(cloud.voxelSize * 3.0, 0.4), + wp.y + Math.sin(yaw) * Math.max(cloud.voxelSize * 3.0, 0.4), + viewZ, + ctx, + ); + if (end) { + mapCtx.strokeStyle = mapCtx.fillStyle; + mapCtx.lineWidth = 2; + mapCtx.beginPath(); + mapCtx.moveTo(p.sx, p.sy); + mapCtx.lineTo(end.sx, end.sy); + mapCtx.stroke(); + } + + mapCtx.fillStyle = "#e5e7eb"; + mapCtx.font = "12px Segoe UI"; + mapCtx.fillText(`${i + 1}:${wp.obstacle || "flat"}`, p.sx + 10, p.sy - 8); + } +} + +function draw3dObstacles(overlay, ctx) { + overlay.save(); + const items = obstacleDraft ? [...obstacles, obstacleDraft] : obstacles; + for (let i = 0; i < items.length; i += 1) { + const item = items[i]; + const corners = obstacleCorners(item) + .map((p) => project3d(p.x, p.y, 0, ctx)) + .filter(Boolean); + if (corners.length !== 4) continue; + const active = item === activeObstacleItem(); + overlay.beginPath(); + overlay.moveTo(corners[0].sx, corners[0].sy); + for (let j = 1; j < corners.length; j += 1) overlay.lineTo(corners[j].sx, corners[j].sy); + overlay.closePath(); + overlay.fillStyle = active ? "rgba(103, 232, 249, 0.16)" : "rgba(248, 113, 113, 0.12)"; + overlay.strokeStyle = active ? "#67e8f9" : "#fb7185"; + overlay.lineWidth = active ? 3 : 2; + overlay.fill(); + overlay.stroke(); + const center = project3d(item.x, item.y, 0, ctx); + if (center) { + overlay.fillStyle = "#fee2e2"; + overlay.font = "12px Segoe UI"; + overlay.fillText(`${item.name || "obstacle"}:${item.obstacle || "flat"}`, center.sx + 6, center.sy - 6); + } + } + overlay.restore(); +} + +function waypointViewZ(wp) { + if (Number.isFinite(wp._viewZ)) return wp._viewZ; + if (Number.isFinite(wp.z)) return wp.z; + return 0; +} + +function niceGridStep(span) { + if (!Number.isFinite(span) || span <= 0) return 1; + const raw = span / 12; + const pow = Math.pow(10, Math.floor(Math.log10(raw))); + const n = raw / pow; + if (n < 1.5) return pow; + if (n < 3.5) return 2 * pow; + if (n < 7.5) return 5 * pow; + return 10 * pow; +} + +function draw3dGridOverlay(overlay, ctx) { + if (!cloud.bounds) return; + const min = cloud.bounds.min; + const max = cloud.bounds.max; + const span = Math.max(max[0] - min[0], max[1] - min[1]); + const step = niceGridStep(span); + const z = Math.min(0, min[2]); + const startX = Math.floor(min[0] / step) * step; + const endX = Math.ceil(max[0] / step) * step; + const startY = Math.floor(min[1] / step) * step; + const endY = Math.ceil(max[1] / step) * step; + + overlay.save(); + overlay.lineWidth = 1; + overlay.strokeStyle = "rgba(148, 163, 184, 0.20)"; + for (let x = startX; x <= endX + 1e-6; x += step) { + const a = project3d(x, startY, z, ctx); + const b = project3d(x, endY, z, ctx); + if (!a || !b) continue; + overlay.beginPath(); + overlay.moveTo(a.sx, a.sy); + overlay.lineTo(b.sx, b.sy); + overlay.stroke(); + } + for (let y = startY; y <= endY + 1e-6; y += step) { + const a = project3d(startX, y, z, ctx); + const b = project3d(endX, y, z, ctx); + if (!a || !b) continue; + overlay.beginPath(); + overlay.moveTo(a.sx, a.sy); + overlay.lineTo(b.sx, b.sy); + overlay.stroke(); + } + + const axisLen = Math.max(step * 2, span * 0.12); + let axisBase = [0, 0, z]; + let origin = project3d(axisBase[0], axisBase[1], axisBase[2], ctx); + if (!origin) { + axisBase = [cloud.center[0], cloud.center[1], z]; + origin = project3d(axisBase[0], axisBase[1], axisBase[2], ctx); + } + if (origin) { + const xAxis = project3d(axisBase[0] + axisLen, axisBase[1], z, ctx); + const yAxis = project3d(axisBase[0], axisBase[1] + axisLen, z, ctx); + drawAxis(overlay, origin, xAxis, "#f87171", "X"); + drawAxis(overlay, origin, yAxis, "#4ade80", "Y"); + } + overlay.restore(); +} + +function drawAxis(overlay, a, b, color, label) { + if (!a || !b) return; + overlay.strokeStyle = color; + overlay.fillStyle = color; + overlay.lineWidth = 2; + overlay.beginPath(); + overlay.moveTo(a.sx, a.sy); + overlay.lineTo(b.sx, b.sy); + overlay.stroke(); + overlay.font = "12px Segoe UI"; + overlay.fillText(label, b.sx + 4, b.sy + 4); +} + +function draw2d() { + const { w, h } = screenSize(); + mapCtx.clearRect(0, 0, w, h); + mapCtx.fillStyle = "#0b0f17"; + mapCtx.fillRect(0, 0, w, h); + if (mapImage.complete && mapImage.width) { + mapCtx.imageSmoothingEnabled = false; + mapCtx.drawImage(mapImage, offsetX, offsetY, mapImage.width * scale2d, mapImage.height * scale2d); + } + draw2dObstacles(); + draw2dWaypoints(); +} + +function worldToScreen2d(x, y) { + const p = worldToImage(x, y); + return { sx: offsetX + p.x * scale2d, sy: offsetY + p.y * scale2d }; +} + +function draw2dObstacles() { + mapCtx.save(); + const items = obstacleDraft ? [...obstacles, obstacleDraft] : obstacles; + for (let i = 0; i < items.length; i += 1) { + const item = items[i]; + const corners = obstacleCorners(item).map((p) => worldToScreen2d(p.x, p.y)); + const active = item === activeObstacleItem(); + mapCtx.beginPath(); + mapCtx.moveTo(corners[0].sx, corners[0].sy); + for (let j = 1; j < corners.length; j += 1) mapCtx.lineTo(corners[j].sx, corners[j].sy); + mapCtx.closePath(); + mapCtx.fillStyle = active ? "rgba(103, 232, 249, 0.18)" : "rgba(248, 113, 113, 0.14)"; + mapCtx.strokeStyle = active ? "#67e8f9" : "#fb7185"; + mapCtx.lineWidth = active ? 3 : 2; + mapCtx.fill(); + mapCtx.stroke(); + const center = worldToScreen2d(item.x, item.y); + mapCtx.fillStyle = "#fee2e2"; + mapCtx.font = "12px Segoe UI"; + mapCtx.fillText(`${item.name || "obstacle"}:${item.obstacle || "flat"}`, center.sx + 6, center.sy - 6); + } + mapCtx.restore(); +} + +function draw2dWaypoints() { + mapCtx.save(); + mapCtx.lineWidth = 2; + const refs = allWaypointRefs(); + if (refs.length > 1) { + mapCtx.beginPath(); + for (let i = 0; i < refs.length; i += 1) { + const p = worldToImage(refs[i].wp.x, refs[i].wp.y); + const sx = offsetX + p.x * scale2d; + const sy = offsetY + p.y * scale2d; + if (i === 0) mapCtx.moveTo(sx, sy); + else mapCtx.lineTo(sx, sy); + } + mapCtx.strokeStyle = "#22c55e"; + mapCtx.stroke(); + } + for (let i = 0; i < refs.length; i += 1) { + const wp = refs[i].wp; + const p = worldToImage(wp.x, wp.y); + const sx = offsetX + p.x * scale2d; + const sy = offsetY + p.y * scale2d; + mapCtx.fillStyle = i === selected ? "#67e8f9" : "#facc15"; + mapCtx.beginPath(); + mapCtx.arc(sx, sy, i === selected ? 8 : 6, 0, Math.PI * 2); + mapCtx.fill(); + const yaw = (wp.yawDeg || 0) * Math.PI / 180; + mapCtx.beginPath(); + mapCtx.moveTo(sx, sy); + mapCtx.lineTo(sx + Math.cos(yaw) * 24, sy - Math.sin(yaw) * 24); + mapCtx.strokeStyle = mapCtx.fillStyle; + mapCtx.stroke(); + mapCtx.fillStyle = "#e5e7eb"; + mapCtx.font = "12px Segoe UI"; + mapCtx.fillText(`${i + 1}:${wp.obstacle || "flat"}`, sx + 10, sy - 8); + } + mapCtx.restore(); +} + +function draw() { + if (viewMode === "3d") { + renderer.render(scene, camera); + draw3dWaypointsOverlay(); + } else { + draw2d(); + } +} + +function animate() { + requestAnimationFrame(animate); + if (viewMode === "3d") { + controls.update(); + } + draw(); +} + +async function loadMaps() { + const res = await fetch("/api/maps"); + const data = await res.json(); + maps = collapseMapsBySource((data.maps || []).filter((m) => !m.is_debug)); + mapSelect.innerHTML = ""; + for (const m of maps) { + const opt = document.createElement("option"); + opt.value = m.name; + opt.textContent = mapDisplayName(m); + mapSelect.appendChild(opt); + } + serverState.textContent = `${UI_VERSION}: ${maps.length} maps`; + if (maps.length) { + const preferred = maps.find((m) => m.name === "map1_height") || maps.find((m) => m.name === "map1") || maps[0]; + mapSelect.value = preferred.name; + await selectMap(preferred.name); + } +} + +function collapseMapsBySource(items) { + const groups = new Map(); + for (const item of items) { + const key = item.meta?.source_pcd || item.name; + item.displayName = sourceDisplayName(item); + const existing = groups.get(key); + if (!existing || mapPreferenceScore(item) > mapPreferenceScore(existing)) { + groups.set(key, item); + } + } + return [...groups.values()].sort((a, b) => mapDisplayName(a).localeCompare(mapDisplayName(b))); +} + +function sourceDisplayName(item) { + const source = item.meta?.source_pcd || ""; + const normalized = String(source).replaceAll("\\", "/"); + const file = normalized.split("/").pop() || item.name; + return file.replace(/\.pcd$/i, "") || item.name; +} + +function mapDisplayName(item) { + return item.displayName || sourceDisplayName(item); +} + +function mapPreferenceScore(item) { + let score = 0; + if (item.name.endsWith("_height")) score += 30; + if (item.name === "map1_height") score += 20; + if (item.layers?.includes("pcd_z1_topdown.png")) score += 10; + if (item.routes?.length) score += 5; + return score; +} + +async function selectMap(name) { + currentMap = maps.find((m) => m.name === name); + if (!currentMap) return; + layerSelect.innerHTML = ""; + const layers = currentMap.layers.includes("pcd_z1_topdown.png") + ? ["pcd_z1_topdown.png"] + : [currentMap.layers[0]]; + for (const layer of layers) { + const opt = document.createElement("option"); + opt.value = layer; + opt.textContent = layer; + layerSelect.appendChild(opt); + } + const loadedStored = loadStoredRoute(name); + if (!loadedStored) { + await loadRouteFromDisk(currentMap); + } + selected = allWaypointRefs().length ? 0 : -1; + renderObstacleControls(); + renderWaypointList(); + await Promise.all([selectLayer(layers[0]), loadPointCloud()]); +} + +function loadStoredRoute(name) { + const raw = localStorage.getItem(`route:${name}`); + if (!raw) { + waypoints = []; + obstacles = []; + activeObstacle = -1; + routeSegmentsMeta = []; + return false; + } + try { + const stored = JSON.parse(raw); + applyLoadedRoute(stored); + } catch (_) { + waypoints = []; + obstacles = []; + routeSegmentsMeta = []; + activeObstacle = -1; + return false; + } + return true; +} + +async function loadRouteFromDisk(mapItem) { + if (!mapItem?.routes?.length) { + waypoints = []; + obstacles = []; + routeSegmentsMeta = []; + activeObstacle = -1; + return false; + } + const preferred = mapItem.routes.find((name) => name === `${routeName.value.trim() || "test_route"}.json`) + || mapItem.routes[0]; + const res = await fetch(`/api/route?map=${encodeURIComponent(mapItem.name)}&name=${encodeURIComponent(preferred)}`); + const route = await res.json(); + applyLoadedRoute(route); + persist(); + return true; +} + +async function selectLayer(layer) { + currentLayer = layer; + const infoRes = await fetch(`/api/layer_info?map=${encodeURIComponent(currentMap.name)}&layer=${encodeURIComponent(layer)}`); + currentInfo = await infoRes.json(); + mapImage = new Image(); + mapImage.onload = () => { + if (viewMode === "2d") fit2d(); + else draw(); + }; + mapImage.src = `/api/layer?map=${encodeURIComponent(currentMap.name)}&layer=${encodeURIComponent(layer)}&t=${Date.now()}`; +} + +async function loadPointCloud() { + serverState.textContent = "loading pcd"; + const endpoint = cloudMode === "voxels" + ? `/api/voxels?map=${encodeURIComponent(currentMap.name)}&max_voxels=${cloudMaxPoints}&z_min=${cloudZMin}&z_max=${cloudZMax}&voxel_size=${voxelSize}&min_points_per_voxel=${voxelMinPoints}&min_cluster_voxels=${voxelMinCluster}` + : `/api/pointcloud?map=${encodeURIComponent(currentMap.name)}&max_points=${cloudMaxPoints}&z_min=${cloudZMin}&z_max=${cloudZMax}`; + const res = await fetch(endpoint); + const data = await res.json(); + if (data.ok === false) throw new Error(data.error); + if (cloudMode === "voxels") setVoxelData(data); + else setCloudData(data); +} + +function updatePointer(event) { + const rect = cloudCanvas.getBoundingClientRect(); + pointer.x = ((event.clientX - rect.left) / rect.width) * 2 - 1; + pointer.y = -((event.clientY - rect.top) / rect.height) * 2 + 1; + raycaster.setFromCamera(pointer, camera); +} + +function screenToGround(event) { + updatePointer(event); + const hit = new THREE.Vector3(); + const ok = raycaster.ray.intersectPlane(zPlane, hit); + if (!ok) return null; + return { x: hit.x, y: hit.y, z: 0 }; +} + +function pick3dPoint(event) { + updatePointer(event); + if (cloud.mode === "voxels" && voxelPickMesh) { + const hits = raycaster.intersectObject(voxelPickMesh, false); + if (hits.length > 0) { + const hit = hits[0]; + if (Number.isInteger(hit.instanceId)) { + voxelPickMesh.getMatrixAt(hit.instanceId, tmpMatrix); + tmpPosition.setFromMatrixPosition(tmpMatrix); + return { x: tmpPosition.x, y: tmpPosition.y, z: tmpPosition.z }; + } + return { x: hit.point.x, y: hit.point.y, z: hit.point.z }; + } + } + + if (cloud.count > 0) { + let best = null; + let bestD = 16 * 16; + const stride = Math.max(1, Math.floor(cloud.count / 45000)); + const ctx = currentProjectionContext(); + for (let i = 0; i < cloud.count; i += stride) { + const j = i * 3; + const p = project3d(cloud.positions[j], cloud.positions[j + 1], cloud.positions[j + 2], ctx); + if (!p) continue; + const dx = p.sx - (event.clientX - ctx.rect.left); + const dy = p.sy - (event.clientY - ctx.rect.top); + const d = dx * dx + dy * dy; + if (d < bestD) { + bestD = d; + best = { x: cloud.positions[j], y: cloud.positions[j + 1], z: cloud.positions[j + 2] }; + } + } + if (best) return best; + } + + return screenToGround(event); +} + +function nearestWaypointScreen(sx, sy) { + let best = -1; + let bestD = 18 * 18; + const ctx = viewMode === "3d" ? currentProjectionContext() : null; + const refs = allWaypointRefs(); + for (let i = 0; i < refs.length; i += 1) { + const wp = refs[i].wp; + let p; + if (viewMode === "3d") { + p = project3d(wp.x, wp.y, waypointViewZ(wp), ctx); + } else { + const img = worldToImage(wp.x, wp.y); + p = { sx: offsetX + img.x * scale2d, sy: offsetY + img.y * scale2d }; + } + if (!p) continue; + const dx = p.sx - sx; + const dy = p.sy - sy; + const d = dx * dx + dy * dy; + if (d < bestD) { + bestD = d; + best = i; + } + } + return best; +} + +function setSelected(index) { + selected = index; + const ref = selectedRef(); + if (ref) { + const wp = ref.wp; + wpX.value = wp.x.toFixed(3); + wpY.value = wp.y.toFixed(3); + wpYaw.value = (wp.yawDeg || 0).toFixed(1); + wpObstacle.value = wp.obstacle || "flat"; + wpSpeed.value = (wp.speed || 0.35).toFixed(2); + wpPolicy.value = wp.policy || "rough"; + wpTol.value = (wp.tolerance || 0.15).toFixed(2); + wpYawTol.value = Number(wp.yawToleranceDeg ?? 30).toFixed(1); + wpRequireYaw.checked = Boolean(wp.requireYaw); + wpPreDockDist.value = wp.preDockDistance == null ? "" : Number(wp.preDockDistance).toFixed(2); + wpPreDockTol.value = wp.preDockTolerance == null ? "" : Number(wp.preDockTolerance).toFixed(2); + } + renderWaypointList(); + draw(); +} + +function addWaypoint(world) { + if (!world) return; + const refs = allWaypointRefs(); + const previous = refs.length ? refs[refs.length - 1].wp : null; + let yawDeg = 0; + if (previous) yawDeg = Math.atan2(world.y - previous.y, world.x - previous.x) * 180 / Math.PI; + const info = waypointObstacleInfo(world.x, world.y); + waypoints.push({ + x: Number(world.x.toFixed(4)), + y: Number(world.y.toFixed(4)), + _viewZ: Number((world.z || 0).toFixed(4)), + yawDeg: Number(yawDeg.toFixed(1)), + yawToleranceDeg: Number(wpYawTol.value || 30), + speed: Number(wpSpeed.value || 0.35), + policy: info.policy || wpPolicy.value, + tolerance: Number(wpTol.value || 0.15), + requireYaw: Boolean(wpRequireYaw.checked), + preDockDistance: wpPreDockDist.value === "" ? null : Number(wpPreDockDist.value), + preDockTolerance: wpPreDockTol.value === "" ? null : Number(wpPreDockTol.value), + obstacle: info.obstacle, + obstacleName: info.obstacleName, + }); + persist(); + setSelected(allWaypointRefs().length - 1); +} + +function persist() { + if (!currentMap) return; + const route = currentRoute(); + localStorage.setItem(`route:${currentMap.name}`, JSON.stringify({ + name: route.name, + waypoints: route.waypoints, + segments: route.segments, + obstacles: route.obstacles, + })); +} + +function renderWaypointList() { + ensureWaypoints(); + renderObstacleControls(); + waypointList.innerHTML = ""; + const refs = allWaypointRefs(); + refs.forEach((ref, i) => { + const wp = ref.wp; + const li = document.createElement("li"); + li.className = i === selected ? "active" : ""; + const strictYawText = wp.requireYaw ? " strict_yaw" : ""; + const preDockText = wp.preDockDistance == null ? "" : ` pre_dock=${Number(wp.preDockDistance).toFixed(2)}`; + li.textContent = `${i + 1}. [${wp.obstacle || "flat"}] x=${wp.x.toFixed(2)} y=${wp.y.toFixed(2)} yaw=${(wp.yawDeg || 0).toFixed(0)} ${wp.policy || "rough"}${strictYawText}${preDockText}`; + li.onclick = () => setSelected(i); + waypointList.appendChild(li); + }); +} + +function renderObstacleControls() { + ensureObstacles(); + obstacleSelect.innerHTML = ""; + for (let i = 0; i < obstacles.length; i += 1) { + const opt = document.createElement("option"); + opt.value = String(i); + opt.textContent = `${i + 1}. ${obstacles[i].name} (${obstacles[i].obstacle})`; + obstacleSelect.appendChild(opt); + } + const item = activeObstacleItem(); + obstacleSelect.value = activeObstacle >= 0 ? String(activeObstacle) : ""; + if (!item) { + obstacleName.value = `obstacle_${obstacles.length + 1}`; + obstacleType.value = "rough_pit"; + obstacleX.value = ""; + obstacleY.value = ""; + obstacleYaw.value = "0"; + obstacleLength.value = "1.00"; + obstacleWidth.value = "1.00"; + obstaclePolicy.value = "rough"; + renderObstacleList(); + return; + } + obstacleName.value = item.name; + obstacleType.value = item.obstacle; + obstacleX.value = item.x.toFixed(3); + obstacleY.value = item.y.toFixed(3); + obstacleYaw.value = (item.yawDeg || 0).toFixed(1); + obstacleLength.value = (item.length || 1).toFixed(2); + obstacleWidth.value = (item.width || 1).toFixed(2); + obstaclePolicy.value = item.policy || defaultPolicyForObstacle(item.obstacle); + renderObstacleList(); +} + +function renderObstacleList() { + obstacleList.innerHTML = ""; + ensureObstacles(); + obstacles.forEach((item, i) => { + const li = document.createElement("li"); + li.className = i === activeObstacle ? "active" : ""; + li.textContent = `${i + 1}. [${item.obstacle}] ${item.name} x=${item.x.toFixed(2)} y=${item.y.toFixed(2)} yaw=${(item.yawDeg || 0).toFixed(0)}`; + li.onclick = () => { + activeObstacle = i; + renderObstacleControls(); + draw(); + }; + obstacleList.appendChild(li); + }); +} + +function currentRoute() { + refreshWaypointObstacles(false); + const cleanedWaypoints = cleanWaypoints(waypoints); + const segmentMeta = routeSegmentsMeta.length + ? routeSegmentsMeta.map((segment) => ({ ...segment })) + : [{ name: "segment_1", obstacle: "flat", waypointCount: cleanedWaypoints.length }]; + const segments = []; + let cursor = 0; + for (const meta of segmentMeta) { + const count = Math.max(0, Number(meta.waypointCount || 0)); + const items = cleanedWaypoints.slice(cursor, cursor + count); + cursor += count; + if (!items.length) continue; + segments.push({ + name: meta.name || `segment_${segments.length + 1}`, + obstacle: meta.obstacle || "flat", + waypoints: items, + }); + } + if (cursor < cleanedWaypoints.length) { + const remaining = cleanedWaypoints.slice(cursor); + if (segments.length) { + segments[segments.length - 1].waypoints.push(...remaining); + } else { + segments.push({ + name: "segment_1", + obstacle: "flat", + waypoints: remaining, + }); + } + } + if (!segments.length && cleanedWaypoints.length) { + segments.push({ + name: "segment_1", + obstacle: "flat", + waypoints: cleanedWaypoints, + }); + } + return { + name: routeName.value.trim() || "test_route", + map: mapDisplayName(currentMap || {}) || currentMap?.name || "", + frame_id: "map", + createdAt: new Date().toISOString(), + yawToleranceDegDefault: routeSettings.yawToleranceDegDefault, + requireYawDefault: routeSettings.requireYawDefault, + preDockDistanceDefault: routeSettings.preDockDistanceDefault, + preDockToleranceDefault: routeSettings.preDockToleranceDefault, + obstacles: cleanObstacles(obstacles), + segments, + waypoints: cleanedWaypoints, + }; +} + +function cleanWaypoints(items) { + refreshWaypointObstacles(false); + return items.map((wp) => ({ + x: Number(wp.x), + y: Number(wp.y), + yawDeg: Number(wp.yawDeg || 0), + yawToleranceDeg: Number(wp.yawToleranceDeg ?? 30), + speed: Number(wp.speed || 0.35), + policy: wp.policy || "rough", + tolerance: Number(wp.tolerance || 0.15), + requireYaw: Boolean(wp.requireYaw), + preDockDistance: wp.preDockDistance == null ? null : Number(wp.preDockDistance), + preDockTolerance: wp.preDockTolerance == null ? null : Number(wp.preDockTolerance), + obstacle: wp.obstacle || "flat", + obstacleName: wp.obstacleName || "", + })); +} + +function cleanObstacles(items) { + ensureObstacles(); + return items.map((item, index) => ({ + name: item.name || `obstacle_${index + 1}`, + obstacle: item.obstacle || "rough_pit", + x: Number(item.x || 0), + y: Number(item.y || 0), + yawDeg: Number(item.yawDeg || 0), + length: Math.max(0.05, Number(item.length || 1.0)), + width: Math.max(0.05, Number(item.width || 1.0)), + policy: item.policy || defaultPolicyForObstacle(item.obstacle), + })); +} + +function download(filename, text) { + const blob = new Blob([text], { type: "application/json" }); + const url = URL.createObjectURL(blob); + const a = document.createElement("a"); + a.href = url; + a.download = filename; + a.click(); + URL.revokeObjectURL(url); +} + +function handleDown2d(event) { + if (addingObstacle) { + const p = eventPoint2d(event); + const world = imageToWorld(p.x, p.y); + obstacleDraft = makeDefaultObstacle(obstacles.length, world.x, world.y, 0.2, 0.2); + obstacleDraft._start = world; + moved2d = false; + dragging2d = true; + dragLast2d = { x: event.clientX, y: event.clientY }; + draw(); + return; + } + dragging2d = true; + moved2d = false; + dragLast2d = { x: event.clientX, y: event.clientY }; +} + +function updateCursor3d(event) { + const p = pick3dPoint(event); + if (p) { + const info = waypointObstacleInfo(p.x, p.y); + const detail = cloud.mode === "voxels" + ? `voxels: ${cloud.count}\nvoxel: ${cloud.voxelSize.toFixed(2)} m` + : `points: ${cloud.count}`; + cursorInfo.textContent = `x: ${p.x.toFixed(3)} +y: ${p.y.toFixed(3)} +z: ${p.z.toFixed(3)} +terrain: ${info.obstacle} +${detail} +z min: ${cloudZMin.toFixed(1)} m +z max: ${cloudZMax.toFixed(1)} m +max pts: ${cloudMaxPoints} +mode: ${cloudMode}`; + } else { + cursorInfo.textContent = `3D map loading... +mode: ${cloudMode}`; + } +} + +function handleMove2d(event) { + const p = eventPoint2d(event); + const world = imageToWorld(p.x, p.y); + const info = waypointObstacleInfo(world.x, world.y); + cursorInfo.textContent = `x: ${world.x.toFixed(3)} +y: ${world.y.toFixed(3)} +terrain: ${info.obstacle} +px: ${p.x.toFixed(1)}, py: ${p.y.toFixed(1)} +layer: ${currentLayer}`; + + if (!dragging2d || !dragLast2d) return; + const dx = event.clientX - dragLast2d.x; + const dy = event.clientY - dragLast2d.y; + if (Math.abs(dx) + Math.abs(dy) > 2) moved2d = true; + + if (addingObstacle && obstacleDraft?._start) { + const start = obstacleDraft._start; + obstacleDraft.x = Number(((start.x + world.x) * 0.5).toFixed(4)); + obstacleDraft.y = Number(((start.y + world.y) * 0.5).toFixed(4)); + obstacleDraft.length = Math.max(0.05, Number(Math.abs(world.x - start.x).toFixed(4))); + obstacleDraft.width = Math.max(0.05, Number(Math.abs(world.y - start.y).toFixed(4))); + draw(); + return; + } + + if (event.shiftKey && selected >= 0) { + const ref = selectedRef(); + if (!ref) return; + const wp = ref.wp; + wp.yawDeg = Math.atan2(world.y - wp.y, world.x - wp.x) * 180 / Math.PI; + persist(); + renderWaypointList(); + } else { + offsetX += dx; + offsetY += dy; + } + dragLast2d = { x: event.clientX, y: event.clientY }; + draw(); +} + +async function handleUp2d(event) { + dragging2d = false; + if (addingObstacle && obstacleDraft) { + const item = { ...obstacleDraft }; + delete item._start; + item.name = obstacleName.value.trim() || `obstacle_${obstacles.length + 1}`; + item.obstacle = obstacleType.value || "rough_pit"; + item.policy = obstaclePolicy.value || defaultPolicyForObstacle(item.obstacle); + obstacles.push(item); + activeObstacle = obstacles.length - 1; + addingObstacle = false; + obstacleDraft = null; + refreshWaypointObstacles(true); + persist(); + renderObstacleControls(); + renderWaypointList(); + draw(); + return; + } + const rect = mapCanvas.getBoundingClientRect(); + const sx = event.clientX - rect.left; + const sy = event.clientY - rect.top; + if (moved2d) return; + const near = nearestWaypointScreen(sx, sy); + if (near >= 0) { + setSelected(near); + return; + } + const p = eventPoint2d(event); + const world = imageToWorld(p.x, p.y); + addWaypoint(world); + try { + const res = await fetch(`/api/cell?map=${encodeURIComponent(currentMap.name)}&x=${world.x}&y=${world.y}`); + const data = await res.json(); + cursorInfo.textContent += `\ncell: ${JSON.stringify(data.values || {}, null, 2)}`; + } catch (_) {} +} + +function handleWheel2d(event) { + event.preventDefault(); + const rect = mapCanvas.getBoundingClientRect(); + const sx = event.clientX - rect.left; + const sy = event.clientY - rect.top; + const before = { x: (sx - offsetX) / scale2d, y: (sy - offsetY) / scale2d }; + const factor = event.deltaY < 0 ? 1.12 : 0.89; + scale2d = Math.max(0.03, Math.min(80, scale2d * factor)); + offsetX = sx - before.x * scale2d; + offsetY = sy - before.y * scale2d; + draw(); +} + +mapCanvas.addEventListener("mousedown", (event) => { + if (viewMode === "2d") handleDown2d(event); +}); +mapCanvas.addEventListener("mousemove", (event) => { + if (viewMode === "2d") handleMove2d(event); +}); +mapCanvas.addEventListener("mouseup", (event) => { + if (viewMode === "2d") handleUp2d(event); +}); +mapCanvas.addEventListener("wheel", (event) => { + if (viewMode === "2d") handleWheel2d(event); +}, { passive: false }); + +cloudCanvas.addEventListener("mousemove", (event) => { + if (viewMode === "3d") updateCursor3d(event); + if (pointerDown3d) { + const dx = event.clientX - pointerDown3d.x; + const dy = event.clientY - pointerDown3d.y; + if (Math.abs(dx) + Math.abs(dy) > 4) moved3d = true; + } +}); + +cloudCanvas.addEventListener("pointerdown", (event) => { + if (viewMode !== "3d" || event.button !== 0) return; + pointerDown3d = { x: event.clientX, y: event.clientY }; + moved3d = false; +}); + +cloudCanvas.addEventListener("pointerup", () => { + pointerDown3d = null; +}); + +cloudCanvas.addEventListener("pointercancel", () => { + pointerDown3d = null; + moved3d = false; +}); + +cloudCanvas.addEventListener("click", async (event) => { + if (viewMode !== "3d") return; + const rect = cloudCanvas.getBoundingClientRect(); + const sx = event.clientX - rect.left; + const sy = event.clientY - rect.top; + if (addingObstacle) { + if (moved3d) { + moved3d = false; + return; + } + const world = pick3dPoint(event); + if (!world) return; + const item = makeDefaultObstacle(obstacles.length, world.x, world.y, Number(obstacleLength.value || 1.0), Number(obstacleWidth.value || 1.0)); + item.name = obstacleName.value.trim() || item.name; + item.obstacle = obstacleType.value || "rough_pit"; + item.yawDeg = Number(obstacleYaw.value || 0); + item.policy = obstaclePolicy.value || defaultPolicyForObstacle(item.obstacle); + obstacles.push(item); + activeObstacle = obstacles.length - 1; + addingObstacle = false; + refreshWaypointObstacles(true); + persist(); + renderObstacleControls(); + renderWaypointList(); + draw(); + return; + } + const near = nearestWaypointScreen(sx, sy); + if (near >= 0) { + setSelected(near); + return; + } + if (moved3d) { + moved3d = false; + return; + } + const world = pick3dPoint(event); + if (!world) return; + addWaypoint(world); + try { + const res = await fetch(`/api/cell?map=${encodeURIComponent(currentMap.name)}&x=${world.x}&y=${world.y}`); + const data = await res.json(); + cursorInfo.textContent += `\ncell: ${JSON.stringify(data.values || {}, null, 2)}`; + } catch (_) {} +}); + +document.getElementById("fitBtn").onclick = () => (viewMode === "3d" ? fit3d() : fit2d()); +document.getElementById("reloadBtn").onclick = loadMaps; +mapSelect.onchange = () => selectMap(mapSelect.value); +layerSelect.onchange = () => selectLayer(layerSelect.value); +viewSelect.onchange = () => setView(viewSelect.value); + +cloudModeSelect.onchange = () => { + cloudMode = cloudModeSelect.value; + if (currentMap) { + loadPointCloud().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); + }); + } +}; + +cloudZMinInput.onchange = () => { + const next = Number(cloudZMinInput.value); + if (!Number.isFinite(next)) { + cloudZMinInput.value = cloudZMin.toFixed(1); + return; + } + cloudZMin = next; + if (currentMap) { + loadPointCloud().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); + }); + } +}; + +cloudZMaxInput.onchange = () => { + const next = Number(cloudZMaxInput.value); + if (!Number.isFinite(next)) { + cloudZMaxInput.value = cloudZMax.toFixed(1); + return; + } + cloudZMax = next; + if (currentMap) { + loadPointCloud().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); + }); + } +}; + +cloudMaxPointsInput.onchange = () => { + const next = Number(cloudMaxPointsInput.value); + if (!Number.isFinite(next)) { + cloudMaxPointsInput.value = String(cloudMaxPoints); + return; + } + cloudMaxPoints = Math.max(1000, Math.min(300000, Math.round(next))); + cloudMaxPointsInput.value = String(cloudMaxPoints); + if (currentMap) { + loadPointCloud().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); + }); + } +}; + +voxelSizeInput.onchange = () => { + const next = Number(voxelSizeInput.value); + if (!Number.isFinite(next)) { + voxelSizeInput.value = voxelSize.toFixed(2); + return; + } + voxelSize = Math.max(0.01, Math.min(2.0, next)); + voxelSizeInput.value = voxelSize.toFixed(2); + if (currentMap && cloudMode === "voxels") { + loadPointCloud().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); + }); + } +}; + +voxelMinPointsInput.onchange = () => { + const next = Number(voxelMinPointsInput.value); + if (!Number.isFinite(next)) { + voxelMinPointsInput.value = String(voxelMinPoints); + return; + } + voxelMinPoints = Math.max(1, Math.min(100, Math.round(next))); + voxelMinPointsInput.value = String(voxelMinPoints); + if (currentMap && cloudMode === "voxels") { + loadPointCloud().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); + }); + } +}; + +voxelMinClusterInput.onchange = () => { + const next = Number(voxelMinClusterInput.value); + if (!Number.isFinite(next)) { + voxelMinClusterInput.value = String(voxelMinCluster); + return; + } + voxelMinCluster = Math.max(1, Math.min(10000, Math.round(next))); + voxelMinClusterInput.value = String(voxelMinCluster); + if (currentMap && cloudMode === "voxels") { + loadPointCloud().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); + }); + } +}; + +obstacleSelect.onchange = () => { + activeObstacle = Number(obstacleSelect.value); + renderObstacleControls(); + draw(); +}; + +obstacleType.onchange = () => { + obstaclePolicy.value = defaultPolicyForObstacle(obstacleType.value); +}; + +document.getElementById("drawObstacleBtn").onclick = () => { + addingObstacle = true; + obstacleDraft = null; + serverState.textContent = viewMode === "2d" ? "drag obstacle rect" : "click obstacle center"; +}; + +document.getElementById("updateObstacleBtn").onclick = () => { + const item = activeObstacleItem(); + if (!item) return; + item.name = obstacleName.value.trim() || `obstacle_${activeObstacle + 1}`; + item.obstacle = obstacleType.value || "rough_pit"; + item.x = Number(obstacleX.value || 0); + item.y = Number(obstacleY.value || 0); + item.yawDeg = Number(obstacleYaw.value || 0); + item.length = Math.max(0.05, Number(obstacleLength.value || 1.0)); + item.width = Math.max(0.05, Number(obstacleWidth.value || 1.0)); + item.policy = obstaclePolicy.value || defaultPolicyForObstacle(item.obstacle); + refreshWaypointObstacles(true); + persist(); + renderObstacleControls(); + renderWaypointList(); + draw(); +}; + +document.getElementById("deleteObstacleBtn").onclick = () => { + if (activeObstacle < 0 || activeObstacle >= obstacles.length) return; + obstacles.splice(activeObstacle, 1); + activeObstacle = Math.min(activeObstacle, obstacles.length - 1); + refreshWaypointObstacles(true); + persist(); + renderObstacleControls(); + renderWaypointList(); + draw(); +}; + +document.getElementById("updateWpBtn").onclick = () => { + const ref = selectedRef(); + if (!ref) return; + const next = applyObstacleToWaypoint({ + x: Number(wpX.value), + y: Number(wpY.value), + _viewZ: waypointViewZ(ref.wp), + yawDeg: Number(wpYaw.value), + yawToleranceDeg: Number(wpYawTol.value || 30), + speed: Number(wpSpeed.value), + policy: wpPolicy.value, + tolerance: Number(wpTol.value), + requireYaw: Boolean(wpRequireYaw.checked), + preDockDistance: wpPreDockDist.value === "" ? null : Number(wpPreDockDist.value), + preDockTolerance: wpPreDockTol.value === "" ? null : Number(wpPreDockTol.value), + }, false); + waypoints[ref.pointIndex] = next; + wpObstacle.value = next.obstacle || "flat"; + persist(); + renderWaypointList(); + draw(); +}; + +document.getElementById("deleteWpBtn").onclick = () => { + const ref = selectedRef(); + if (!ref) return; + waypoints.splice(ref.pointIndex, 1); + selected = Math.min(selected, allWaypointRefs().length - 1); + persist(); + renderWaypointList(); + draw(); +}; + +document.getElementById("clearRouteBtn").onclick = () => { + waypoints = []; + selected = -1; + routeSegmentsMeta = []; + persist(); + renderWaypointList(); + draw(); +}; + +document.getElementById("exportJsonBtn").onclick = () => { + const route = currentRoute(); + download(`${route.name}.json`, JSON.stringify(route, null, 2)); +}; + +document.getElementById("saveRouteBtn").onclick = async () => { + const route = currentRoute(); + const res = await fetch("/api/route", { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify({ map: currentMap.name, route }), + }); + const data = await res.json(); + serverState.textContent = data.ok ? "route saved" : data.error; +}; + +window.addEventListener("resize", resize); + +setView("3d"); +resize(); +animate(); +loadMaps().catch((err) => { + serverState.textContent = "error"; + cursorInfo.textContent = String(err); +}); diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/index.html b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/index.html new file mode 100644 index 0000000..39c9200 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/index.html @@ -0,0 +1,146 @@ + + + + + + PCD Obstacle Terrain Editor + + + +

    + +
    + + +
    + Click cloud: add/select waypoint + Draw: drag 2D / click 3D obstacle + Wheel: zoom + Drag: orbit 3D / pan 2D + Shift + drag: set yaw +
    +
    + + + + diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/style.css b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/style.css new file mode 100644 index 0000000..9cd4819 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/static/style.css @@ -0,0 +1,191 @@ +:root { + color-scheme: dark; + font-family: "Segoe UI", "Microsoft YaHei", Arial, sans-serif; + background: #0d1117; + color: #e5e7eb; +} + +* { + box-sizing: border-box; +} + +body { + margin: 0; + height: 100vh; + display: grid; + grid-template-columns: 340px 1fr; + overflow: hidden; +} + +.sidebar { + background: #111827; + border-right: 1px solid #263244; + padding: 16px; + overflow: auto; +} + +.title { + display: flex; + align-items: baseline; + justify-content: space-between; + gap: 12px; + margin-bottom: 16px; +} + +h1 { + font-size: 20px; + margin: 0; + letter-spacing: 0; +} + +h2 { + font-size: 14px; + margin: 18px 0 8px; + color: #cbd5e1; + letter-spacing: 0; +} + +label { + display: block; + margin: 10px 0 6px; + color: #94a3b8; + font-size: 12px; +} + +select, +input, +button { + width: 100%; + height: 32px; + border: 1px solid #344256; + background: #0b1220; + color: #e5e7eb; + border-radius: 6px; + padding: 0 10px; + font: inherit; +} + +button { + cursor: pointer; + background: #1f2937; +} + +button:hover { + background: #2f3b4d; +} + +.buttonRow { + display: grid; + grid-template-columns: repeat(3, 1fr); + gap: 8px; + margin-top: 10px; +} + +.buttonRow:has(button:nth-child(2):last-child) { + grid-template-columns: repeat(2, 1fr); +} + +.formGrid { + display: grid; + grid-template-columns: 62px 1fr; + gap: 8px; + align-items: center; +} + +.formGrid label { + margin: 0; +} + +pre { + min-height: 112px; + margin: 0; + padding: 10px; + background: #070b12; + border: 1px solid #263244; + border-radius: 6px; + white-space: pre-wrap; + font-family: Consolas, monospace; + font-size: 12px; + color: #a7f3d0; +} + +#waypointList, +#obstacleList { + padding-left: 22px; + margin: 10px 0 0; +} + +#waypointList li, +#obstacleList li { + padding: 6px 4px; + border-bottom: 1px solid #263244; + cursor: pointer; + font-size: 12px; +} + +#waypointList li.active, +#obstacleList li.active { + color: #67e8f9; + background: #102033; +} + +.main { + position: relative; + background: #0b0f17; + overflow: hidden; +} + +#mapCanvas, +#cloudCanvas { + position: absolute; + inset: 0; + display: block; + width: 100%; + height: 100%; + cursor: crosshair; +} + +.main.view-3d #cloudCanvas { + z-index: 1; +} + +.main.view-3d #mapCanvas { + z-index: 2; + background: transparent; + pointer-events: none; +} + +.main.view-2d #mapCanvas { + z-index: 1; + pointer-events: auto; +} + +.main.view-2d #cloudCanvas { + z-index: 0; +} + +#mapCanvas.hidden, +#cloudCanvas.hidden { + display: none; +} + +.hud { + position: absolute; + z-index: 3; + left: 12px; + bottom: 12px; + display: flex; + gap: 8px; + flex-wrap: wrap; + pointer-events: none; +} + +.hud span, +#serverState { + border: 1px solid #344256; + background: rgba(8, 13, 22, 0.82); + color: #cbd5e1; + border-radius: 6px; + padding: 5px 8px; + font-size: 12px; +} diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_route_preview.html b/05_software/real/sim2real_ros2_v2/tools/pcd_route_preview.html new file mode 100644 index 0000000..9e2f370 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_route_preview.html @@ -0,0 +1,35272 @@ + + + + +PCD Route Preview: map_b.pcd + test_route.json + + + +
    +
    +
    +
    点击坐标尚未点击
    +
    点位信息点击路线点可查看 id / yaw
    +
    +
    这是纯浏览器预览页。点击 PCD 或空白位置会显示当前地图坐标，点击路线点还会显示该点的 id、segment 和 yaw。
    +
    浏览器可直接缩放页面查看细节，图上的红色十字为你最近一次点击的位置。
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    + + \ No newline at end of file diff --git a/05_software/real/sim2real_ros2_v2/tools/pcd_route_preview.py b/05_software/real/sim2real_ros2_v2/tools/pcd_route_preview.py new file mode 100644 index 0000000..01c1e80 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/pcd_route_preview.py @@ -0,0 +1,782 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import argparse +import html +import http.server +import json +import math +import socket +import socketserver +from dataclasses import dataclass +from pathlib import Path + + +@dataclass +class RoutePoint: + id: int + x: float + y: float + yaw_deg: float | None + segment: str + + +SVG_SEGMENT_COLORS = [ + "#d81b60", + "#1e88e5", + "#43a047", + "#fb8c00", + "#8e24aa", + "#00897b", + "#6d4c41", + "#546e7a", + "#e53935", + "#3949ab", +] + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser( + description="Preview an ASCII PCD map with route points and yaw arrows." + ) + parser.add_argument( + "--pcd", + default="map/map_b.pcd", + help="Path to the ASCII PCD file. Default: map/map_b.pcd", + ) + parser.add_argument( + "--route", + default="tools/test_route.json", + help="Path to the route JSON file. Default: tools/test_route.json", + ) + parser.add_argument( + "--floor-z-min", + type=float, + default=-1.6, + help="Minimum z value kept from the PCD floor points.", + ) + parser.add_argument( + "--floor-z-max", + type=float, + default=0.4, + help="Maximum z value kept from the PCD floor points.", + ) + parser.add_argument( + "--sample-step", + type=int, + default=25, + help="Keep one point every N points after filtering.", + ) + parser.add_argument( + "--point-size", + type=float, + default=1.0, + help="Scatter point size for the PCD map.", + ) + parser.add_argument( + "--arrow-len", + type=float, + default=0.35, + help="Arrow length used to visualize waypoint yaw.", + ) + parser.add_argument( + "--show-id", + action="store_true", + help="Draw waypoint id labels.", + ) + parser.add_argument( + "--show-yaw-text", + action="store_true", + help="Draw yawDeg text next to each waypoint.", + ) + parser.add_argument( + "--connect", + action="store_true", + help="Connect route points in order.", + ) + parser.add_argument( + "--renderer", + choices=["auto", "mpl", "html"], + default="html", + help="Rendering backend. Default: html.", + ) + parser.add_argument( + "--output", + default="tools/pcd_route_preview.html", + help="Output html file used by the html renderer.", + ) + parser.add_argument( + "--width", + type=int, + default=1400, + help="Canvas width for the html/svg renderer.", + ) + parser.add_argument( + "--height", + type=int, + default=980, + help="Canvas height for the html/svg renderer.", + ) + parser.add_argument( + "--serve", + action="store_true", + help="Serve the generated html over HTTP after rendering.", + ) + parser.add_argument( + "--host", + default="0.0.0.0", + help="Host used by the built-in HTTP server. Default: 0.0.0.0", + ) + parser.add_argument( + "--port", + type=int, + default=8000, + help="Port used by the built-in HTTP server. Default: 8000", + ) + return parser.parse_args() + + +def load_ascii_pcd_xy( + path: Path, + floor_z_min: float, + floor_z_max: float, + sample_step: int, +) -> list[tuple[float, float]]: + if not path.exists(): + raise FileNotFoundError(f"PCD file not found: {path}") + + points: list[tuple[float, float]] = [] + data_started = False + fields: list[str] = [] + x_index = 0 + y_index = 1 + z_index = 2 + + with path.open("r", encoding="utf-8") as f: + for line in f: + stripped = line.strip() + if not stripped: + continue + + if not data_started: + upper = stripped.upper() + if upper.startswith("FIELDS "): + fields = stripped.split()[1:] + if {"x", "y", "z"}.issubset(set(fields)): + x_index = fields.index("x") + y_index = fields.index("y") + z_index = fields.index("z") + elif upper.startswith("DATA"): + if "ascii" not in stripped.lower(): + raise RuntimeError("Only ASCII PCD is supported.") + data_started = True + continue + + parts = stripped.split() + needed_index = max(x_index, y_index, z_index) + if len(parts) <= needed_index: + continue + + try: + x = float(parts[x_index]) + y = float(parts[y_index]) + z = float(parts[z_index]) + except ValueError: + continue + + if floor_z_min <= z <= floor_z_max: + points.append((x, y)) + + if not points: + raise RuntimeError("No usable floor points found after z filtering.") + + return points[:: max(1, sample_step)] + + +def load_route_points(path: Path) -> list[RoutePoint]: + if not path.exists(): + raise FileNotFoundError(f"Route file not found: {path}") + + with path.open("r", encoding="utf-8") as f: + data = json.load(f) + + 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", + "waypoints": top_level_waypoints, + } + ] + else: + raise RuntimeError("Route JSON has no usable segments or waypoints.") + + points: list[RoutePoint] = [] + fallback_id = 1 + 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}" + raw_waypoints = segment.get("waypoints", []) + if not isinstance(raw_waypoints, list): + continue + + for waypoint in raw_waypoints: + if not isinstance(waypoint, dict): + continue + try: + x = float(waypoint["x"]) + y = float(waypoint["y"]) + except (KeyError, TypeError, ValueError): + continue + + yaw_deg = waypoint.get("yawDeg", waypoint.get("yaw_deg")) + if yaw_deg is not None: + try: + yaw_deg = float(yaw_deg) + except (TypeError, ValueError): + yaw_deg = None + + point_id = waypoint.get("id", fallback_id) + try: + point_id = int(point_id) + except (TypeError, ValueError): + point_id = fallback_id + + points.append( + RoutePoint( + id=point_id, + x=x, + y=y, + yaw_deg=yaw_deg, + segment=segment_name, + ) + ) + fallback_id += 1 + + if not points: + raise RuntimeError("Route JSON contains no valid waypoint coordinates.") + + return points + + +def plot_preview( + map_points: list[tuple[float, float]], + route_points: list[RoutePoint], + point_size: float, + arrow_len: float, + show_id: bool, + show_yaw_text: bool, + connect: bool, + title: str, +) -> None: + import matplotlib.pyplot as plt + + fig, ax = plt.subplots(figsize=(12, 9)) + + map_x = [p[0] for p in map_points] + map_y = [p[1] for p in map_points] + ax.scatter(map_x, map_y, s=point_size, c="black", alpha=0.35, label="PCD floor") + + segment_names: list[str] = [] + for point in route_points: + if point.segment not in segment_names: + segment_names.append(point.segment) + + segment_colors = { + name: plt.cm.tab10(index % 10) for index, name in enumerate(segment_names) + } + + for index, point in enumerate(route_points): + color = segment_colors[point.segment] + ax.scatter([point.x], [point.y], s=55, c=[color], edgecolors="white", linewidths=0.8) + + if connect and index > 0: + prev = route_points[index - 1] + ax.plot([prev.x, point.x], [prev.y, point.y], color=color, linewidth=1.4, alpha=0.9) + + if point.yaw_deg is not None: + yaw_rad = math.radians(point.yaw_deg) + dx = arrow_len * math.cos(yaw_rad) + dy = arrow_len * math.sin(yaw_rad) + ax.arrow( + point.x, + point.y, + dx, + dy, + width=0.018, + head_width=0.12, + head_length=0.12, + length_includes_head=True, + color=color, + alpha=0.95, + ) + + label_parts: list[str] = [] + if show_id: + label_parts.append(str(point.id)) + if show_yaw_text and point.yaw_deg is not None: + label_parts.append(f"{point.yaw_deg:.1f}deg") + if label_parts: + ax.text( + point.x + 0.05, + point.y + 0.05, + " | ".join(label_parts), + color=color, + fontsize=9, + weight="bold", + ) + + ax.set_title(title) + ax.set_xlabel("map x") + ax.set_ylabel("map y") + ax.set_aspect("equal", adjustable="box") + ax.grid(True, alpha=0.2) + plt.tight_layout() + plt.show() + + +def compute_bounds( + map_points: list[tuple[float, float]], + route_points: list[RoutePoint], +) -> tuple[float, float, float, float]: + xs = [p[0] for p in map_points] + [p.x for p in route_points] + ys = [p[1] for p in map_points] + [p.y for p in route_points] + min_x = min(xs) + max_x = max(xs) + min_y = min(ys) + max_y = max(ys) + + if math.isclose(min_x, max_x): + max_x = min_x + 1.0 + if math.isclose(min_y, max_y): + max_y = min_y + 1.0 + return min_x, max_x, min_y, max_y + + +def build_segment_color_map(route_points: list[RoutePoint]) -> dict[str, str]: + segment_names: list[str] = [] + for point in route_points: + if point.segment not in segment_names: + segment_names.append(point.segment) + return { + name: SVG_SEGMENT_COLORS[index % len(SVG_SEGMENT_COLORS)] + for index, name in enumerate(segment_names) + } + + +def compute_canvas_transform( + min_x: float, + max_x: float, + min_y: float, + max_y: float, + width: int, + height: int, + padding: int, +) -> tuple[float, float, float, float, float]: + usable_width = max(1.0, float(width - padding * 2)) + usable_height = max(1.0, float(height - padding * 2)) + scale_x = usable_width / max(1e-9, max_x - min_x) + scale_y = usable_height / max(1e-9, max_y - min_y) + scale = min(scale_x, scale_y) + + draw_width = (max_x - min_x) * scale + draw_height = (max_y - min_y) * scale + offset_x = padding + (usable_width - draw_width) * 0.5 + offset_y = padding + (usable_height - draw_height) * 0.5 + return scale, draw_width, draw_height, offset_x, offset_y + + +def map_to_canvas( + x: float, + y: float, + min_x: float, + max_x: float, + min_y: float, + max_y: float, + width: int, + height: int, + padding: int, +) -> tuple[float, float]: + scale, _draw_width, _draw_height, offset_x, offset_y = compute_canvas_transform( + min_x=min_x, + max_x=max_x, + min_y=min_y, + max_y=max_y, + width=width, + height=height, + padding=padding, + ) + + canvas_x = offset_x + (x - min_x) * scale + canvas_y = height - (offset_y + (y - min_y) * scale) + return canvas_x, canvas_y + + +def svg_arrow_polygon( + start_x: float, + start_y: float, + end_x: float, + end_y: float, + color: str, +) -> str: + dx = end_x - start_x + dy = end_y - start_y + length = math.hypot(dx, dy) + if length < 1e-6: + return "" + + ux = dx / length + uy = dy / length + px = -uy + py = ux + + head_len = min(16.0, max(8.0, length * 0.35)) + shaft_half = 2.5 + head_half = 7.0 + + base_x = end_x - ux * head_len + base_y = end_y - uy * head_len + + p1 = (start_x + px * shaft_half, start_y + py * shaft_half) + p2 = (base_x + px * shaft_half, base_y + py * shaft_half) + p3 = (base_x + px * head_half, base_y + py * head_half) + p4 = (end_x, end_y) + p5 = (base_x - px * head_half, base_y - py * head_half) + p6 = (base_x - px * shaft_half, base_y - py * shaft_half) + p7 = (start_x - px * shaft_half, start_y - py * shaft_half) + + points_text = " ".join(f"{x:.2f},{y:.2f}" for x, y in [p1, p2, p3, p4, p5, p6, p7]) + return f'' + + +def write_html_preview( + output_path: Path, + map_points: list[tuple[float, float]], + route_points: list[RoutePoint], + point_size: float, + arrow_len: float, + show_id: bool, + show_yaw_text: bool, + connect: bool, + title: str, + width: int, + height: int, +) -> None: + output_path.parent.mkdir(parents=True, exist_ok=True) + + min_x, max_x, min_y, max_y = compute_bounds(map_points, route_points) + padding = 48 + segment_colors = build_segment_color_map(route_points) + scale, draw_width, draw_height, offset_x, offset_y = compute_canvas_transform( + min_x=min_x, + max_x=max_x, + min_y=min_y, + max_y=max_y, + width=width, + height=height, + padding=padding, + ) + + svg_parts: list[str] = [] + svg_parts.append( + f'' + ) + svg_parts.append(f'') + + for x, y in map_points: + cx, cy = map_to_canvas(x, y, min_x, max_x, min_y, max_y, width, height, padding) + radius = max(0.35, point_size * 0.7) + svg_parts.append( + f'' + ) + + if connect: + for prev, curr in zip(route_points, route_points[1:]): + color = segment_colors[curr.segment] + x1, y1 = map_to_canvas(prev.x, prev.y, min_x, max_x, min_y, max_y, width, height, padding) + x2, y2 = map_to_canvas(curr.x, curr.y, min_x, max_x, min_y, max_y, width, height, padding) + svg_parts.append( + f'' + ) + + for point in route_points: + color = segment_colors[point.segment] + cx, cy = map_to_canvas(point.x, point.y, min_x, max_x, min_y, max_y, width, height, padding) + svg_parts.append( + f'' + f"ID {point.id} | x={point.x:.3f} y={point.y:.3f}" + + (f" | yaw={point.yaw_deg:.1f}deg" if point.yaw_deg is not None else "") + + "" + ) + + if point.yaw_deg is not None: + yaw_rad = math.radians(point.yaw_deg) + end_x, end_y = map_to_canvas( + point.x + arrow_len * math.cos(yaw_rad), + point.y + arrow_len * math.sin(yaw_rad), + min_x, + max_x, + min_y, + max_y, + width, + height, + padding, + ) + svg_parts.append(svg_arrow_polygon(cx, cy, end_x, end_y, color)) + + label_parts: list[str] = [] + if show_id: + label_parts.append(str(point.id)) + if show_yaw_text and point.yaw_deg is not None: + label_parts.append(f"{point.yaw_deg:.1f}deg") + if label_parts: + svg_parts.append( + f'{html.escape(" | ".join(label_parts))}' + ) + + svg_parts.append( + f'{html.escape(title)}' + ) + svg_parts.append( + f'' + f'{html.escape(f"route points: {len(route_points)} | pcd samples: {len(map_points)} | scale: {scale:.2f}px/m")}' + "" + ) + svg_parts.append( + '' + '' + '' + '' + "" + ) + svg_parts.append("") + + html_text = "\n".join( + [ + "", + '', + "", + '', + f"{html.escape(title)}", + "", + "", + "", + '
    ', + '
    ', + '
    ', + '
    点击坐标尚未点击
    ', + '
    点位信息点击路线点可查看 id / yaw
    ', + "
    ", + '
    这是纯浏览器预览页。点击 PCD 或空白位置会显示当前地图坐标，点击路线点还会显示该点的 id、segment 和 yaw。
    ', + '
    浏览器可直接缩放页面查看细节，图上的红色十字为你最近一次点击的位置。
    ', + "\n".join(svg_parts), + "", + "
    ", + "
    ", + "", + "", + ] + ) + + output_path.write_text(html_text, encoding="utf-8") + + +def guess_local_ip() -> str: + sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + try: + sock.connect(("8.8.8.8", 80)) + return str(sock.getsockname()[0]) + except OSError: + return "127.0.0.1" + finally: + sock.close() + + +def serve_output_file(output_path: Path, host: str, port: int) -> None: + output_path = output_path.resolve() + web_root = output_path.parent.resolve() + relative_url = output_path.relative_to(web_root).as_posix() + + class PreviewHttpHandler(http.server.SimpleHTTPRequestHandler): + def __init__(self, *args, **kwargs): + super().__init__(*args, directory=str(web_root), **kwargs) + + server_address = (host, int(port)) + with socketserver.TCPServer(server_address, PreviewHttpHandler) as httpd: + local_ip = guess_local_ip() + bound_host = host if host not in {"0.0.0.0", "::"} else local_ip + print("Preview server is running.") + print(f"Local URL: http://127.0.0.1:{port}/{relative_url}") + print(f"LAN URL: http://{bound_host}:{port}/{relative_url}") + print("Open the LAN URL from your Windows browser.") + print("Press Ctrl+C to stop the server.") + try: + httpd.serve_forever() + except KeyboardInterrupt: + print("\nServer stopped.") + + +def render_preview( + renderer: str, + output_path: Path, + map_points: list[tuple[float, float]], + route_points: list[RoutePoint], + point_size: float, + arrow_len: float, + show_id: bool, + show_yaw_text: bool, + connect: bool, + title: str, + width: int, + height: int, +) -> str: + if renderer in {"auto", "mpl"}: + try: + plot_preview( + map_points=map_points, + route_points=route_points, + point_size=point_size, + arrow_len=arrow_len, + show_id=show_id, + show_yaw_text=show_yaw_text, + connect=connect, + title=title, + ) + return "mpl" + except Exception as exc: + if renderer == "mpl": + raise RuntimeError( + "matplotlib 渲染失败。当前环境很可能存在 numpy / matplotlib 二进制不兼容问题。" + ) from exc + print(f"[info] matplotlib 不可用，自动切换到 html 渲染: {exc}") + + write_html_preview( + output_path=output_path, + map_points=map_points, + route_points=route_points, + point_size=point_size, + arrow_len=arrow_len, + show_id=show_id, + show_yaw_text=show_yaw_text, + connect=connect, + title=title, + width=width, + height=height, + ) + return "html" + + +def main() -> None: + args = parse_args() + pcd_path = Path(args.pcd) + route_path = Path(args.route) + output_path = Path(args.output) + + map_points = load_ascii_pcd_xy( + path=pcd_path, + floor_z_min=float(args.floor_z_min), + floor_z_max=float(args.floor_z_max), + sample_step=max(1, int(args.sample_step)), + ) + route_points = load_route_points(route_path) + + title = f"PCD Route Preview: {pcd_path.name} + {route_path.name}" + used_renderer = render_preview( + renderer=str(args.renderer), + output_path=output_path, + map_points=map_points, + route_points=route_points, + point_size=float(args.point_size), + arrow_len=float(args.arrow_len), + show_id=bool(args.show_id), + show_yaw_text=bool(args.show_yaw_text), + connect=bool(args.connect), + title=title, + width=max(600, int(args.width)), + height=max(400, int(args.height)), + ) + if used_renderer == "html": + print(f"HTML preview written to: {output_path.resolve()}") + if bool(args.serve): + if used_renderer != "html": + raise RuntimeError("Built-in server currently supports html output only.") + serve_output_file( + output_path=output_path, + host=str(args.host), + port=int(args.port), + ) + + +if __name__ == "__main__": + main() diff --git a/05_software/real/sim2real_ros2_v2/tools/test_route.json b/05_software/real/sim2real_ros2_v2/tools/test_route.json new file mode 100644 index 0000000..c531b79 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/test_route.json @@ -0,0 +1,204 @@ +{ + "name": "test_route", + "map": "map_b", + "frame_id": "map", + "yawToleranceDegDefault": 30.0, + "createdAt": "2026-07-02T12:18:22.647Z", + "segments": [ + { + "name": "segment_1", + "obstacle": "slalom", + "waypoints": [ + { + "id": 1, + "x": 5.359, + "y": 2.442, + "yawDeg": 0, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 2, + "x": 6.924, + "y": 2.388, + "yawDeg": -90, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 3, + "x": 6.827, + "y": 0.712, + "yawDeg": -5, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 4, + "x": 9.368, + "y": 0.706, + "yawDeg": -3, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 5, + "x": 11.373, + "y": 0.43, + "yawDeg": 0, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 6, + "x": 12.877, + "y": 0.432, + "yawDeg": 90, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.1 + }, + { + "id": 7, + "x": 12.935, + "y": 2.241, + "yawDeg": 88.2, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.1 + }, + { + "id": 8, + "x": 12.991, + "y": 4.277, + "yawDeg": 180, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.1 + }, + { + "id": 9, + "x": 12.004, + "y": 4.339, + "yawDeg": -90, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 10, + "x": 11.872, + "y": 2.583, + "yawDeg": 180, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 11, + "x": 9.5719, + "y": 2.7972, + "yawDeg": 174.7, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 12, + "x": 9.508, + "y": 3.562, + "yawDeg": 180, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 13, + "x": 8.414, + "y": 3.573, + "yawDeg": 125, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 14, + "x": 7.867, + "y": 4.528, + "yawDeg": 180, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 15, + "x": 4.475, + "y": 4.743, + "yawDeg": 180, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.15 + }, + { + "id": 16, + "x": 4.926, + "y": 4.785, + "yawDeg": 180, + "speed": 0.4, + "policy": "crawl", + "tolerance": 0.1 + }, + { + "id": 17, + "x": 3.2951, + "y": 4.7963, + "yawDeg": 179.6, + "speed": 0.4, + "policy": "crawl", + "tolerance": 0.1 + }, + { + "id": 18, + "x": 3.092, + "y": 4.777, + "yawDeg": -180, + "speed": 0.4, + "policy": "crawl", + "tolerance": 0.1 + }, + { + "id": 19, + "x": 1.694, + "y": 4.886, + "yawDeg": 210, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.1 + }, + { + "id": 20, + "x": 1.055, + "y": 4.548, + "yawDeg": -90, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.1 + }, + { + "id": 21, + "x": 1.042, + "y": 2.92, + "yawDeg": -90.4, + "speed": 0.4, + "policy": "rough", + "tolerance": 0.1 + } + ] + } + ] +} diff --git a/05_software/real/sim2real_ros2_v2/tools/test_route2.json b/05_software/real/sim2real_ros2_v2/tools/test_route2.json new file mode 100644 index 0000000..8bdd1a6 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/test_route2.json @@ -0,0 +1,64 @@ +{ + "name": "test_route", + "map": "map_b", + "frame_id": "map", + "yawToleranceDegDefault": 45.0, + "requireYawDefault": false, + "preDockDistanceDefault": 0.35, + "preDockToleranceDefault": 0.18, + "createdAt": "2026-07-02T15:07:00.219Z", + "segments": [ + { + "name": "segment_1", + "obstacle": "slalom", + "waypoints": [ + { + "id": 1, + "x": 1.2, + "y": 0.5, + "yawDeg": 90, + "speed": 0.35, + "policy": "rough", + "tolerance": 0.25 + }, + { + "id": 2, + "x": 1.247, + "y": 1.748, + "yawDeg": 0, + "speed": 0.35, + "policy": "rough", + "tolerance": 0.25 + }, + { + "id": 3, + "x": 2.312, + "y": 1.673, + "yawDeg": -90, + "speed": 0.35, + "policy": "rough", + "tolerance": 0.25 + }, + { + "id": 4, + "x": 2.33, + "y": 0.496, + "yawDeg": -180, + "speed": 0.35, + "policy": "rough", + "tolerance": 0.25 + }, + { + "id": 5, + "x": 0.4626, + "y": 0.6271, + "yawDeg": 176, + "speed": 0.35, + "policy": "rough", + "tolerance": 0.25, + "requireYaw": true + } + ] + } + ] +} diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/README.md b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/README.md new file mode 100644 index 0000000..bc0f3d1 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/README.md @@ -0,0 +1,44 @@ +# Windows Runtime Web Debug + +This folder contains a small Windows-side HTTP server for debugging the Nano runtime Web bridge through UDP. + +Most of the time you can open the Nano runtime Web directly: + +```text +http://:18080 +``` + +Use this tool only when you want the browser and HTTP server to run on Windows while Nano communicates over UDP. + +## Start + +From the repository root: + +```powershell +python .\tools\win_web_debug\server.py --nano-host --http-port 8088 +``` + +Or from this folder: + +```powershell +python server.py --nano-host --http-port 8088 +``` + +Open: + +```text +http://127.0.0.1:8088 +``` + +## Related Runtime Node + +Nano side: + +```text +src/sim2real_runtime/src/web_udp_bridge_node.py +``` + +See: + +- [Runtime Web](../../docs/RUNTIME_WEB.md) +- [Common Commands](../../docs/COMMANDS.md) diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/README_zh.md b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/README_zh.md new file mode 100644 index 0000000..28b9585 --- /dev/null +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/README_zh.md @@ -0,0 +1,23 @@ +# Windows Runtime Web 调试桥 + +大多数时候直接打开 Nano Web 即可： + +```text +http://:18080 +``` + +这个工具只在你希望 HTTP 服务跑在 Windows、Nano 通过 UDP 传状态时使用。 + +## 启动 + +在仓库根目录： + +```powershell +python .\tools\win_web_debug\server.py --nano-host --http-port 8088 +``` + +打开： + +```text +http://127.0.0.1:8088 +``` diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py index ac860f5..fa85ccb 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/server.py @@ -12,6 +12,7 @@ from typing import Optional STATE_LOCK = threading.Lock() LATEST_STATE: dict = {"type": "state", "connected": False} +LATEST_MAP: Optional[dict] = None NANO_ADDR: tuple[str, int] UDP_SOCK: socket.socket @@ -28,7 +29,7 @@ class Handler(SimpleHTTPRequestHandler): deadline = time.time() + 1.0 while time.time() < deadline: with STATE_LOCK: - maybe_map = LATEST_STATE.get("map") + maybe_map = LATEST_MAP if isinstance(maybe_map, dict): data = json.dumps(maybe_map).encode("utf-8") self._json(200, data) @@ -69,7 +70,7 @@ def send_udp(payload: dict) -> None: def udp_rx_loop(sock: socket.socket) -> None: - global LATEST_STATE + global LATEST_STATE, LATEST_MAP while True: try: data, _ = sock.recvfrom(65535) @@ -77,7 +78,10 @@ def udp_rx_loop(sock: socket.socket) -> None: payload["connected"] = True payload["local_receive_time"] = time.time() with STATE_LOCK: - LATEST_STATE = payload + if payload.get("type") == "map": + LATEST_MAP = payload + else: + LATEST_STATE = payload except Exception: time.sleep(0.01) diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js index 68a63ec..3c041fc 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/app.js @@ -15,20 +15,36 @@ let dragging = false; let mapModel = null; let latestPose = null; let lastGoal = null; +let latestConnected = false; let pendingModePromise = null; +let currentGoalName = ''; +let currentGoalIndex = -1; +let currentGoalTotal = 0; +let latestModelState = { current_model: '--', switch_state: '--', backend: '--', switching: false }; +let goalPointsByName = {}; +let defaultMissionName = ''; +let defaultMissionGoals = []; +let routeAlignmentInfo = {}; +let activeNavPath = { goal_name: '', stage: 'idle', path_index: 0, points: [] }; const mapCanvas = $('map-canvas'); const mapCtx = mapCanvas ? mapCanvas.getContext('2d') : null; async function post(payload) { try { - await fetch('/api/control', { + const res = await fetch('/api/control', { method: 'POST', headers: { 'Content-Type': 'application/json' }, body: JSON.stringify(payload), }); + const data = await res.json().catch(() => ({})); + if (!res.ok || data.ok === false) { + throw new Error(data.error || `HTTP ${res.status}`); + } + return { ok: true, data }; } catch (e) { appendEvent('API_ERROR', e.message, 'bad'); + return { ok: false, error: e.message }; } } @@ -68,32 +84,71 @@ function highlightMode(mode) { el.className = 'stage ' + mode; } currentMode = mode; + updateTaskButtonState(); } -async function setMode(mode) { - if (mode === 'WEB') { - const ok = confirm('Confirm switch to WEB control?\nMake sure the robot is safe and velocity is zero.'); - if (!ok) return false; +function updateTaskButtonState() { + const btn = $('btn-run-task'); + if (!btn) return; + const hasMission = Boolean(defaultMissionName); + const enabled = latestConnected && currentMode === 'NAV' && hasMission; + btn.disabled = !enabled; + btn.textContent = hasMission ? `Run ${defaultMissionName}` : 'Run Mission'; + if (!hasMission) { + btn.title = 'No default mission loaded from backend'; + return; } - await post({ type: 'mode', mode }); - highlightMode(mode); - appendEvent('MODE_SET', `-> ${mode}`, 'ok'); + btn.title = enabled + ? `Run default mission ${defaultMissionName}` + : 'Available only in NAV mode while connected'; +} + +function setText(id, text, cls) { + const el = $(id); + if (!el) return; + el.textContent = text; + if (cls !== undefined) el.className = 'diag-value ' + cls; +} + +function formatNumber(value, digits = 2) { + return Number.isFinite(value) ? Number(value).toFixed(digits) : '--'; +} + +function setLastGoalByName(goalName) { + const goal = goalPointsByName[goalName]; + if (!goal) return false; + lastGoal = { x: goal.x, y: goal.y }; + currentGoalName = goalName; + currentGoalIndex = defaultMissionGoals.findIndex(goalItem => goalItem.name === goalName); + setText('d-active-goal', goalName, 'active'); + renderTaskGoals(); return true; } -async function ensureMode(mode) { - if (currentMode === mode) return true; - if (pendingModePromise) { - const activeMode = await pendingModePromise; - if (activeMode === mode) return true; +function syncGoalMarkerFromNavStatus(statusText) { + if (!statusText) return; + const missionStatusMatch = statusText.match(/waypoint\s+(\d+)\/(\d+)\s*->\s*([A-Za-z0-9_()=.,-]+)\b/i); + if (missionStatusMatch) { + currentGoalIndex = Math.max(0, Number.parseInt(missionStatusMatch[1], 10) - 1); + currentGoalTotal = Math.max(0, Number.parseInt(missionStatusMatch[2], 10)); + setLastGoalByName(missionStatusMatch[3]); + return; + } + const nextGoalMatch = statusText.match(/->\s*([A-Za-z0-9_()=.,-]+)\b/); + if (nextGoalMatch && setLastGoalByName(nextGoalMatch[1])) { + return; + } + const reachedMatch = statusText.match(/reached\s+([A-Za-z0-9_()=.,-]+)\b/i); + if (reachedMatch && setLastGoalByName(reachedMatch[1])) { + return; + } + if (/navigation stopped:/i.test(statusText)) { + currentGoalName = ''; + currentGoalIndex = -1; + currentGoalTotal = 0; + setText('d-active-goal', '--'); + renderTaskGoals(); } - pendingModePromise = (async () => { - const ok = await setMode(mode); - return ok ? mode : currentMode; - })(); - const resolvedMode = await pendingModePromise; - pendingModePromise = null; - return resolvedMode === mode; } function worldToCanvas(x, y) { @@ -115,12 +170,16 @@ function canvasToWorld(px, py) { } function buildMapModel(points) { - if (!points || !points.length || !mapCanvas) return null; + if (!mapCanvas) return null; + const boundsPoints = [...(points || [])]; + for (const goal of defaultMissionGoals) boundsPoints.push([goal.x, goal.y]); + if (!boundsPoints.length) return null; + let minX = Infinity; let minY = Infinity; let maxX = -Infinity; let maxY = -Infinity; - for (const [x, y] of points) { + for (const [x, y] of boundsPoints) { if (x < minX) minX = x; if (y < minY) minY = y; if (x > maxX) maxX = x; @@ -132,7 +191,102 @@ function buildMapModel(points) { const spanX = Math.max(maxX - minX, 1e-6); const spanY = Math.max(maxY - minY, 1e-6); const scale = Math.min(usableW / spanX, usableH / spanY); - return { minX, minY, maxX, maxY, scale, pad, drawH: usableH }; + return { minX, minY, maxX, maxY, scale, pad, drawH: usableH, points: points || [] }; +} + +function goalColor(goal) { + return goal.policy === 'crawl' ? '#30d158' : '#ffd60a'; +} + +function drawMissionPath() { + if (!mapCtx || defaultMissionGoals.length < 2) return; + mapCtx.save(); + mapCtx.lineWidth = 2; + mapCtx.strokeStyle = 'rgba(34, 197, 94, 0.95)'; + mapCtx.beginPath(); + for (let i = 0; i < defaultMissionGoals.length; i += 1) { + const goal = defaultMissionGoals[i]; + const p = worldToCanvas(goal.x, goal.y); + if (!p) continue; + if (i === 0) mapCtx.moveTo(p.x, p.y); + else mapCtx.lineTo(p.x, p.y); + } + mapCtx.stroke(); + + if (currentGoalIndex > 0) { + mapCtx.strokeStyle = 'rgba(10, 132, 255, 0.95)'; + mapCtx.lineWidth = 3; + mapCtx.beginPath(); + let started = false; + for (let i = 0; i <= Math.min(currentGoalIndex, defaultMissionGoals.length - 1); i += 1) { + const goal = defaultMissionGoals[i]; + const p = worldToCanvas(goal.x, goal.y); + if (!p) continue; + if (!started) { + mapCtx.moveTo(p.x, p.y); + started = true; + } else { + mapCtx.lineTo(p.x, p.y); + } + } + if (started) mapCtx.stroke(); + } + mapCtx.restore(); +} + +function drawActiveNavPath() { + if (!mapCtx || !activeNavPath || !Array.isArray(activeNavPath.points) || activeNavPath.points.length < 2) return; + mapCtx.save(); + mapCtx.lineWidth = 2.5; + mapCtx.strokeStyle = 'rgba(168, 85, 247, 0.95)'; + mapCtx.beginPath(); + let started = false; + for (const point of activeNavPath.points) { + if (!Array.isArray(point) || point.length < 2) continue; + const p = worldToCanvas(point[0], point[1]); + if (!p) continue; + if (!started) { + mapCtx.moveTo(p.x, p.y); + started = true; + } else { + mapCtx.lineTo(p.x, p.y); + } + } + if (started) mapCtx.stroke(); + + const highlightIndex = Math.min( + Math.max(0, Number(activeNavPath.path_index || 0)), + activeNavPath.points.length - 1, + ); + const highlightPoint = activeNavPath.points[highlightIndex]; + if (Array.isArray(highlightPoint) && highlightPoint.length >= 2) { + const p = worldToCanvas(highlightPoint[0], highlightPoint[1]); + if (p) { + mapCtx.fillStyle = '#c084fc'; + mapCtx.beginPath(); + mapCtx.arc(p.x, p.y, 5, 0, Math.PI * 2); + mapCtx.fill(); + } + } + mapCtx.restore(); +} + +function drawGoal(goal, index) { + const p = worldToCanvas(goal.x, goal.y); + if (!p || !mapCtx) return; + const active = goal.name === currentGoalName; + const completed = currentGoalIndex > index; + mapCtx.fillStyle = active ? '#ff9f0a' : completed ? '#67e8f9' : goalColor(goal); + mapCtx.beginPath(); + mapCtx.arc(p.x, p.y, active ? 7 : 5, 0, Math.PI * 2); + mapCtx.fill(); + mapCtx.strokeStyle = '#111827'; + mapCtx.lineWidth = 1.5; + mapCtx.stroke(); + + mapCtx.fillStyle = active ? '#ffcf66' : '#ffe680'; + mapCtx.font = '12px sans-serif'; + mapCtx.fillText(`${index + 1}.${goal.name}`, p.x + 8, p.y - 8); } function drawMap() { @@ -155,6 +309,13 @@ function drawMap() { mapCtx.fillRect(p.x, p.y, 1.5, 1.5); } + drawMissionPath(); + drawActiveNavPath(); + + for (const [index, goal] of defaultMissionGoals.entries()) { + drawGoal(goal, index); + } + if (latestPose) { const p = worldToCanvas(latestPose.x, latestPose.y); if (p) { @@ -186,16 +347,74 @@ function drawMap() { } } +function formatRouteAlignment(info) { + if (!info || Object.keys(info).length === 0) return '--'; + const applied = Number.isFinite(info.applied_deg) ? `${Number(info.applied_deg).toFixed(2)}deg` : '--'; + const hits = Number.isFinite(info.hits) && Number.isFinite(info.total) ? `${info.hits}/${info.total}` : '--'; + const reason = info.reason || (info.enabled ? 'auto align' : 'fixed'); + return `${applied} hits=${hits} ${reason}`; +} + +function renderTaskGoals() { + const list = $('task-goals-list'); + if (!list) return; + if (!defaultMissionGoals.length) { + list.innerHTML = '
    No mission goals loaded
    '; + return; + } + list.innerHTML = defaultMissionGoals.map((goal, index) => { + const yawText = Number.isFinite(goal.yaw_deg) ? `${Number(goal.yaw_deg).toFixed(1)}deg` : '--'; + const yawTolText = Number.isFinite(goal.yaw_tolerance_deg) ? `${Number(goal.yaw_tolerance_deg).toFixed(1)}deg` : '--'; + const tolText = Number.isFinite(goal.tolerance) ? Number(goal.tolerance).toFixed(2) : '--'; + const policyText = goal.policy || 'rough'; + const requireYawText = goal.require_yaw ? ' strict_yaw' : ''; + const preDockText = Number.isFinite(goal.pre_dock_distance) ? ` pre_dock=${Number(goal.pre_dock_distance).toFixed(2)}` : ''; + const activeClass = goal.name === currentGoalName ? ' active' : ''; + return ` +
    +
    + ${index + 1} + ${goal.name} + ${policyText} +
    +
    x=${formatNumber(goal.x)} y=${formatNumber(goal.y)} yaw=${yawText} yaw_tol=${yawTolText} tol=${tolText}${requireYawText}${preDockText}
    +
    `; + }).join(''); +} + +function applyMapMetadata(data) { + const goalSpecs = Array.isArray(data.goal_specs) ? data.goal_specs : []; + goalPointsByName = {}; + for (const goal of goalSpecs) { + if (!goal || !goal.name) continue; + goalPointsByName[goal.name] = goal; + } + defaultMissionName = data.default_mission_name || ''; + defaultMissionGoals = Array.isArray(data.default_mission_goals) ? data.default_mission_goals : []; + routeAlignmentInfo = data.route_alignment || {}; + activeNavPath = data.nav_path || activeNavPath; + currentGoalIndex = currentGoalName + ? defaultMissionGoals.findIndex(goal => goal.name === currentGoalName) + : -1; + currentGoalTotal = defaultMissionGoals.length; + + setText('d-task-mission', defaultMissionName || '--', defaultMissionName ? 'ok' : ''); + setText('d-task-goals', String(defaultMissionGoals.length || 0), defaultMissionGoals.length ? 'ok' : ''); + setText('d-route-align', formatRouteAlignment(routeAlignmentInfo), routeAlignmentInfo.enabled ? 'ok' : 'warn'); + updateTaskButtonState(); + renderTaskGoals(); +} + async function fetchMap() { try { const res = await fetch('/api/map'); const data = await res.json(); - const points = data.points || []; + applyMapMetadata(data); + const points = Array.isArray(data.points) ? data.points : []; mapModel = buildMapModel(points); - if (mapModel) mapModel.points = points; if (data.pose) latestPose = data.pose; drawMap(); - appendEvent('MAP', `loaded ${points.length} filtered points`, 'ok'); + appendEvent('MAP', `loaded ${points.length} filtered points, mission=${defaultMissionName || 'none'}`, 'ok'); } catch (e) { appendEvent('MAP_ERROR', e.message, 'bad'); } @@ -209,27 +428,25 @@ function onMapClick(event) { const world = canvasToWorld(px, py); if (!world) return; lastGoal = world; + currentGoalName = ''; + setText('d-active-goal', 'direct goal', 'active'); + renderTaskGoals(); drawMap(); - ensureMode('NAV').then(ok => { + ensureMode('NAV').then(async ok => { if (!ok) return; - post({ type: 'go_to', x: world.x, y: world.y }); - appendEvent('NAV_GO', `x=${world.x.toFixed(2)} y=${world.y.toFixed(2)}`, 'ok'); + const result = await post({ type: 'go_to', x: world.x, y: world.y }); + if (result.ok) { + appendEvent('NAV_GO', `x=${world.x.toFixed(2)} y=${world.y.toFixed(2)}`, 'ok'); + } }); } -function setText(id, text, cls) { - const el = $(id); - if (!el) return; - el.textContent = text; - if (cls !== undefined) el.className = 'diag-value ' + cls; -} - function initJointsGrid() { const grid = $('joints-grid'); if (!grid) return; grid.innerHTML = JOINT_NAMES.map((name, i) => `
    - ● + * ${name} 0.00 0.00 @@ -261,14 +478,17 @@ function updateJointsGrid(robot) { function applyState(data) { const connected = data.connected && (!data.local_receive_time || Date.now() / 1000 - data.local_receive_time < 2.5); + latestConnected = connected; if (!connected) { $('stage').textContent = 'DISCONNECTED'; $('stage').className = 'stage DISCONNECTED'; + updateTaskButtonState(); return; } const mode = data.mode || 'UNKNOWN'; if (mode !== currentMode) highlightMode(mode); + updateTaskButtonState(); const rt = data.runtime || {}; const src = rt.target_source || '--'; @@ -280,6 +500,18 @@ function applyState(data) { setText('d-estop', String(data.estop ?? '--'), data.estop ? 'bad' : 'ok'); setText('d-mux', data.mux_status || '--'); + const model = data.model || {}; + latestModelState = { + current_model: model.current_model || '--', + switch_state: model.switch_state || '--', + backend: model.backend || '--', + switching: Boolean(model.switching), + }; + setText('d-model', latestModelState.current_model, latestModelState.current_model === 'crawl' ? 'active' : 'ok'); + setText('d-model-switch', latestModelState.switch_state, latestModelState.switching ? 'warn' : 'ok'); + setText('d-model-backend', latestModelState.backend || '--'); + setText('d-model-switching', String(latestModelState.switching), latestModelState.switching ? 'warn' : 'ok'); + const robot = data.robot || {}; const imuAge = robot.imu_age_ms ?? null; setText('d-imu-fresh', String(robot.imu_fresh ?? '--'), robot.imu_fresh ? 'ok' : 'bad'); @@ -292,13 +524,15 @@ function applyState(data) { const lp = robot.odom_local_pos; setText('d-odom-pos', lp ? `x=${Number(lp[0]).toFixed(2)} y=${Number(lp[1]).toFixed(2)}` : '--'); setText('d-nav-status', data.nav_status || '--'); + syncGoalMarkerFromNavStatus(data.nav_status || ''); const nav = data.nav || {}; if (nav.pose) { latestPose = nav.pose; setText('d-nav-pose', `x=${nav.pose.x.toFixed(2)} y=${nav.pose.y.toFixed(2)} yaw=${(nav.pose.yaw * 57.2958).toFixed(1)}deg`); - drawMap(); } + if (nav.path) activeNavPath = nav.path; + drawMap(); const cv = data.cmd_vel || {}; const lin = cv.linear || {}; @@ -328,31 +562,96 @@ function appendEvent(kind, detail, cls) { el.scrollTop = el.scrollHeight; } -$('btn-disabled').onclick = () => { +async function setMode(mode) { + if (mode === 'WEB') { + const ok = confirm('Confirm switch to WEB control?\nMake sure the robot is safe and velocity is zero.'); + if (!ok) return false; + } + const result = await post({ type: 'mode', mode }); + if (!result.ok) return false; + highlightMode(mode); + appendEvent('MODE_SET', `-> ${mode}`, 'ok'); + return true; +} + +async function ensureMode(mode) { + if (currentMode === mode) return true; + if (pendingModePromise) { + const activeMode = await pendingModePromise; + if (activeMode === mode) return true; + } + pendingModePromise = (async () => { + const ok = await setMode(mode); + return ok ? mode : currentMode; + })(); + const resolvedMode = await pendingModePromise; + pendingModePromise = null; + return resolvedMode === mode; +} + +$('btn-disabled').onclick = async () => { zeroAll(); - setMode('DISABLED'); + await setMode('DISABLED'); }; $('btn-remote').onclick = () => setMode('REMOTE'); $('btn-web').onclick = () => setMode('WEB'); $('btn-nav').onclick = () => setMode('NAV'); $('btn-zero').onclick = zeroAll; -$('btn-estop').onclick = () => { +$('btn-estop').onclick = async () => { if (confirm('Confirm soft e-stop?')) { - post({ type: 'estop', data: true }); + const result = await post({ type: 'estop', data: true }); zeroAll(); - appendEvent('ESTOP', 'soft e-stop triggered', 'bad'); + if (result.ok) appendEvent('ESTOP', 'soft e-stop triggered', 'bad'); } }; $('btn-refresh-map').onclick = fetchMap; -$('btn-record').onclick = () => ensureMode('NAV').then(ok => { - if (ok) post({ type: 'nav_cmd', command: 'record web_p1' }); +$('btn-run-task').onclick = async () => { + if (!latestConnected) { + appendEvent('TASK', 'bridge not connected', 'warn'); + updateTaskButtonState(); + return; + } + if (currentMode !== 'NAV') { + appendEvent('TASK', 'only available in NAV mode', 'warn'); + updateTaskButtonState(); + return; + } + if (!defaultMissionName) { + appendEvent('TASK', 'no default mission loaded', 'warn'); + return; + } + if (defaultMissionGoals.length) { + setLastGoalByName(defaultMissionGoals[0].name); + drawMap(); + } + const result = await post({ type: 'nav_cmd', command: `run ${defaultMissionName}` }); + if (result.ok) { + appendEvent('TASK', `run mission ${defaultMissionName}`, 'ok'); + } +}; +$('btn-record').onclick = () => ensureMode('NAV').then(async ok => { + if (!ok) return; + const result = await post({ type: 'nav_cmd', command: 'record web_p1' }); + if (result.ok) appendEvent('NAV_RECORD', 'record web_p1', 'ok'); }); -$('btn-stop-nav').onclick = () => ensureMode('NAV').then(ok => { - if (ok) post({ type: 'nav_cmd', command: 'stop' }); +$('btn-stop-nav').onclick = () => ensureMode('NAV').then(async ok => { + if (!ok) return; + const result = await post({ type: 'nav_cmd', command: 'stop' }); + if (result.ok) appendEvent('NAV_STOP', 'simple_nav stop', 'ok'); }); -$('btn-go-rel').onclick = () => ensureMode('NAV').then(ok => { - if (ok) post({ type: 'go_rel', dx: 0.3, dy: 0.0 }); +$('btn-go-rel').onclick = () => ensureMode('NAV').then(async ok => { + if (!ok) return; + const result = await post({ type: 'go_rel', dx: 0.3, dy: 0.0 }); + if (result.ok) appendEvent('NAV_REL', 'forward 0.3m', 'ok'); }); +$('btn-model-switch').onclick = async () => { + if (latestModelState.switching) { + appendEvent('MODEL', 'switch already in progress', 'warn'); + return; + } + const result = await post({ type: 'model_toggle' }); + if (result.ok) appendEvent('MODEL', `toggle requested from ${latestModelState.current_model}`, 'ok'); +}; for (const [id, key] of [['cmd-vx', 'vx'], ['cmd-vy', 'vy'], ['cmd-yaw', 'yaw']]) { $(id).addEventListener('input', e => { diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html index 3f77e25..3ad2d18 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/index.html @@ -1,10 +1,10 @@ - + - sim2real ROS2 控制台 - + sim2real ROS2 Console +
    @@ -13,32 +13,37 @@ DISCONNECTED
    - 控制模式 + Control Mode
    - +
    - +
    -

    运行状态

    +

    Runtime

    target_source--
    runtime_released--
    release_alpha--
    zero_command--
    estop--
    mux--
    +
    model--
    +
    switch_state--
    +
    backend--
    +
    switching--
    +
    -

    IMU & 里程计

    +

    IMU and Odom

    IMU fresh--
    IMU age ms--
    projected_gravity--
    @@ -47,10 +52,14 @@
    odom local pos--
    nav pose--
    nav status--
    +
    task mission--
    +
    active goal--
    +
    goal count--
    +
    route align--
    -

    关节状态 (16轴)

    +

    Joint State (16)

    @@ -58,25 +67,26 @@
    -

    PCD 2D 导航

    +

    PCD 2D Nav

    - - - - + + + + +
    -
    左键点击地图发送绝对目标；蓝点是当前机器人，红叉是最近目标。
    +
    Left click sends an absolute goal. Green line is the mission path, purple is the active A* path, cyan marks completed waypoints, orange is the current target, and blue is the robot pose.
    -

    Web 手动控制

    +

    Web Manual Control

    -

    拖动控制前后(vx)和横移(vy)，松开归零

    +

    Drag to control vx and vy. Release to return to zero.

    @@ -91,7 +101,7 @@
    yaw - + 0.00
    @@ -99,18 +109,18 @@
    -

    当前输出 /cmd_vel

    +

    Current /cmd_vel

    linear.x--
    linear.y--
    angular.z--
    -

    事件流

    +

    Events

    - + diff --git a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css index cefd3c3..9cadd72 100644 --- a/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css +++ b/05_software/real/sim2real_ros2_v2/tools/win_web_debug/static/style.css @@ -107,6 +107,18 @@ body { .btn-nav { background: rgba(255,214,10,0.2); border-color: rgba(255,214,10,0.4); color: #ffe680; } .btn.active-mode { box-shadow: 0 0 0 2px white; } +.route-select { + min-width: 220px; + height: 30px; + border: 1px solid rgba(255,255,255,0.12); + border-radius: 8px; + background: rgba(0,0,0,0.32); + color: var(--text-primary); + font-size: 12px; + font-family: inherit; + padding: 0 8px; +} + .label { font-size: 11px; color: var(--text-tertiary); } .side-panel, @@ -172,6 +184,85 @@ body { flex-wrap: wrap; gap: 8px; } +.route-section { + flex-shrink: 0; +} +.task-goals-list { + display: grid; + grid-template-columns: repeat(2, minmax(0, 1fr)); + gap: 8px; +} +.task-goal-item { + padding: 10px 12px; + border-radius: 8px; + background: rgba(0,0,0,0.24); + border: 1px solid rgba(255,255,255,0.06); +} +.task-goal-item.active { + border-color: rgba(255,214,10,0.55); + box-shadow: inset 0 0 0 1px rgba(255,214,10,0.18); +} +.task-goal-item.empty { + grid-column: 1 / -1; + color: var(--text-tertiary); + text-align: center; +} +.task-goal-head { + display: flex; + align-items: center; + gap: 8px; + margin-bottom: 6px; +} +.task-goal-index { + min-width: 20px; + height: 20px; + border-radius: 999px; + background: rgba(10,132,255,0.22); + color: #82c4ff; + font-size: 11px; + font-weight: 700; + display: inline-flex; + align-items: center; + justify-content: center; +} +.task-goal-name { + font-size: 12px; + font-weight: 600; + color: var(--text-primary); + font-family: monospace; + flex: 1; +} +.task-goal-policy { + font-size: 10px; + font-weight: 700; + text-transform: uppercase; + letter-spacing: 0.4px; + padding: 2px 6px; + border-radius: 999px; + background: rgba(255,255,255,0.08); +} +.task-goal-policy.rough { + color: #ffe680; +} +.task-goal-policy.crawl { + color: #8deda7; +} +.task-goal-meta { + font-size: 11px; + color: var(--text-tertiary); + font-family: monospace; +} +.obstacle-grid { + display: grid; + grid-template-columns: repeat(5, minmax(0, 1fr)); + gap: 8px; +} +.obstacle-grid .btn { + padding-left: 6px; + padding-right: 6px; + overflow: hidden; + text-overflow: ellipsis; +} #map-canvas { width: 100%; height: calc(100% - 56px); @@ -296,4 +387,5 @@ body { } .center-panel { min-height: 700px; } #map-canvas { min-height: 420px; } + .task-goals-list { grid-template-columns: 1fr; } } diff --git a/README.md b/README.md index f660bf2..90f007a 100644 --- a/README.md +++ b/README.md @@ -39,7 +39,7 @@ RC_WheelLeg/ - [x] 整理后期 MuJoCo 姿态、IK、动力学和 MPC 工具 - [x] 整理后期 Sim2Sim、路线检查与比赛 Rough ONNX 策略 - [x] 整理导航地图、打点工具、路线迭代和抽样 PCD -- [x] 整理 Python Sim2Real v2、ROS 2/C++ 初版与导航原型 +- [x] 整理 Python Sim2Real v2、ROS 2/C++ 初版、导航原型与 Odin/TensorRT 调参版 - [ ] 核对比赛机械与仿真模型参数 - [ ] 整理 URDF/MJCF 机器人描述 - [ ] 整理后续统一训练、ROS 2 和比赛版本

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