Start of refactor - remove upstream code and just contain deltas

2026-07-11 19:55:46 +01:00
parent 39cb5cf26f
commit 9efe4a8e76
907 changed files with 365 additions and 92107 deletions
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_pro_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
@@ -0,0 +1,50 @@
+-- Copyright 2016 The Cartographer Authors
+--
+-- 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 "map_builder.lua"
+include "trajectory_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  trajectory_builder = TRAJECTORY_BUILDER,
+  map_frame = "map",
+  tracking_frame = "base_footprint",
+  published_frame = "base_footprint",
+  odom_frame = "odom",
+  provide_odom_frame = true,
+  publish_frame_projected_to_2d = true,
+  use_pose_extrapolator = true,
+  use_odometry = true,
+  use_nav_sat = false,
+  use_landmarks = false,
+  num_laser_scans = 1,
+  num_multi_echo_laser_scans = 0,
+  num_subdivisions_per_laser_scan = 1,
+  num_point_clouds = 0,
+  lookup_transform_timeout_sec = 0.2,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+  trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 1.,
+  fixed_frame_pose_sampling_ratio = 1.,
+  imu_sampling_ratio = 1.,
+  landmarks_sampling_ratio = 1.,
+}
+
+MAP_BUILDER.use_trajectory_builder_2d = true
+TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10
+TRAJECTORY_BUILDER_2D.use_imu_data = false
+
+return options
@@ -0,0 +1,118 @@
+import os
+from launch import LaunchDescription
+from launch.conditions import IfCondition
+from launch_ros.actions import Node,PushRosNamespace
+from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
+from launch.substitutions import Command,LaunchConfiguration,PythonExpression
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+def include_lidar(pkg_name, launch_file, enable_lidar, lidar_type, expected_type):
+
+    return IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory(pkg_name),
+                'launch',
+                launch_file
+            )
+        ),
+        condition=IfCondition(
+            PythonExpression([
+                "'", enable_lidar, "' == 'true' and '",
+                lidar_type, "' == '", expected_type, "'"
+            ])
+        )
+    )
+
+def generate_launch_description():
+
+    port_name_arg = LaunchConfiguration('port_name')
+    namespace = LaunchConfiguration('namespace')
+    lidar_type = LaunchConfiguration('lidar_type')
+    enable_lidar = LaunchConfiguration('enable_lidar')
+
+    urdf_file = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'urdf',
+        'agv_pro.urdf'
+    )
+
+    robot_description_content = Command([
+        'xacro ',
+        urdf_file,
+        ' namespace:=',
+        PythonExpression(['"', namespace, '" + "/" if "', namespace, '" != "" else ""']),
+    ])
+
+    declare_port_name_arg = DeclareLaunchArgument(
+        'port_name', 
+        default_value='/dev/agvpro_controller',
+        description='port name, e.g. /dev/ttyACM0'
+    )
+
+    declare_namespace_arg = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Namespace for nodes'
+    )
+
+    declare_enable_lidar_arg = DeclareLaunchArgument(
+        'enable_lidar',
+        default_value='true',
+        description='Whether to launch lidar drivers'
+    )
+
+    declare_lidar_type_arg = DeclareLaunchArgument(
+        'lidar_type',
+        default_value='n10p',
+        description='Lidar type: n10p | mid360 | l2'
+    )
+
+    ns_action = PushRosNamespace(namespace)
+
+    agv_pro_node = Node(
+        package='agv_pro_base',
+        executable='agv_pro_node',
+        name='agv_pro_node',
+        output='screen',
+        parameters=[{
+            'port_name': port_name_arg,
+            'namespace': namespace,             
+        }],
+        remappings=[('cmd_vel', '/cmd_vel')]
+    )
+
+    joint_state_pub = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher'
+    )
+
+    robot_state_pub = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        parameters=[{'robot_description': robot_description_content}],
+        output='screen'
+    )
+
+    lidar_launchs = [
+        include_lidar('lslidar_driver', 'lsn10p_launch.py', enable_lidar, lidar_type, 'n10p'),
+        include_lidar('livox_ros_driver2', 'MID360_launch.py',enable_lidar, lidar_type, 'mid360'),
+        include_lidar('unitree_lidar_ros2', 'launch.py', enable_lidar, lidar_type, 'l2'),
+    ]
+
+    return LaunchDescription(
+        [
+            declare_port_name_arg,
+            declare_namespace_arg,
+            declare_enable_lidar_arg,
+            declare_lidar_type_arg,
+            ns_action,
+            agv_pro_node,
+            joint_state_pub,
+            robot_state_pub,
+            *lidar_launchs,
+        ]
+    )
@@ -0,0 +1,71 @@
+"""
+  Copyright 2018 The Cartographer Authors
+  Copyright 2022 Wyca Robotics (for the ros2 conversion)
+
+  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.
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import Shutdown
+
+def generate_launch_description():
+
+    ## ***** Launch arguments *****
+    use_sim_time_arg = DeclareLaunchArgument('use_sim_time', default_value = 'False')
+
+    ## ***** File paths ******
+    # AGV-specific cartographer configuration lives in this package so the
+    # upstream cartographer_ros install can stay in its vanilla state.
+    configuration_directory = FindPackageShare('agv_pro_bringup').find('agv_pro_bringup') + '/config'
+    # The RViz config is provided by the (vanilla) upstream cartographer_ros package.
+    rviz_config = FindPackageShare('cartographer_ros').find('cartographer_ros') + '/configuration_files/demo_2d.rviz'
+
+    cartographer_node = Node(
+        package = 'cartographer_ros',
+        executable = 'cartographer_node',
+        parameters = [{'use_sim_time': LaunchConfiguration('use_sim_time')}],
+        arguments = [
+            '-configuration_directory', configuration_directory,
+            '-configuration_basename', 'agvpro_backpack_2d.lua'],
+        remappings = [
+            ('echoes', 'horizontal_laser_2d')],
+        output = 'screen'
+        )
+
+    cartographer_occupancy_grid_node = Node(
+        package = 'cartographer_ros',
+        executable = 'cartographer_occupancy_grid_node',
+        parameters = [
+            {'use_sim_time': False},
+            {'resolution': 0.05}],
+        )
+
+    rviz_node = Node(
+        package = 'rviz2',
+        executable = 'rviz2',
+        on_exit = Shutdown(),
+        arguments = ['-d', rviz_config],
+        parameters = [{'use_sim_time': False}],
+    )
+
+    return LaunchDescription([
+        use_sim_time_arg,
+        # Nodes
+        rviz_node,
+        cartographer_node,
+        cartographer_occupancy_grid_node,
+    ])
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>agv_pro_bringup</name>
+  <version>1.0.8</version>
+  <description>ROS 2 launch scripts for starting the AGV Pro</description>
+  <maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
+  <license>BSD-3-Clause license</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>agv_pro_description</exec_depend>
+  <exec_depend>agv_pro_base</exec_depend>
+  <exec_depend>cartographer_ros</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>