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add humble-navigation2

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X-lanni
2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
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navigation2/.devcontainer/caddy/srv/assets/foxglove/manifest.json
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{
"name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
"short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
"icons": [
{
"src": "/media/icons/foxglove/any_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "any"
},
{
"src": "/media/icons/foxglove/maskable_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "maskable"
}
],
"id": "/foxglove/",
"start_url": "/foxglove/autoconnect",
"theme_color": "#6F3BE8",
"background_color": "#6F3BE8",
"display": "fullscreen",
"shortcuts" : [
{
"name": "Auto Connect",
"url": "/foxglove/autoconnect",
"description": "Auto connect to default data source"
},
{
"name": "Auto Layout",
"url": "/foxglove/autolayout",
"description": "Auto connect using default layout"
},
{
"name": "Manual Connect",
"url": "/foxglove/",
"description": "Manually connect to data source"
}
]
}
navigation2/.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json
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{
"configById": {
"3D!18i6zy7": {
"layers": {
"845139cb-26bc-40b3-8161-8ab60af4baf5": {
"visible": true,
"frameLocked": true,
"label": "Grid",
"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
"layerId": "foxglove.Grid",
"size": 10,
"divisions": 10,
"lineWidth": 1,
"color": "#A0A0A4ff",
"position": [
0,
0,
0
],
"rotation": [
0,
0,
0
],
"order": 1
}
},
"cameraState": {
"perspective": true,
"distance": 21.05263157877764,
"phi": 38.925517117715195,
"thetaOffset": -138.92710744521386,
"targetOffset": [
-2.6847696124888896,
0.2191229688744439,
3.6086809432821955e-16
],
"target": [
0,
0,
0
],
"targetOrientation": [
0,
0,
0,
1
],
"fovy": 45,
"near": 0.5,
"far": 5000
},
"followMode": "follow-pose",
"scene": {
"transforms": {
"showLabel": false,
"editable": false,
"labelSize": 0.049999999999999975,
"enablePreloading": false,
"lineWidth": 2
}
},
"transforms": {
"frame:camera_link": {
"visible": false
},
"frame:camera_depth_frame": {
"visible": false
},
"frame:camera_depth_optical_frame": {
"visible": false
},
"frame:camera_rgb_frame": {
"visible": false
},
"frame:camera_rgb_optical_frame": {
"visible": false
},
"frame:imu_link": {
"visible": false
},
"frame:caster_back_right_link": {
"visible": false
},
"frame:caster_back_left_link": {
"visible": false
},
"frame:odom": {
"visible": true
},
"frame:base_footprint": {
"visible": true
},
"frame:wheel_left_link": {
"visible": false
},
"frame:wheel_right_link": {
"visible": false
},
"frame:base_link": {
"visible": false
},
"frame:base_scan": {
"visible": false
},
"frame:map": {
"visible": true
}
},
"topics": {
"/scan": {
"visible": true,
"colorField": "intensity",
"colorMode": "flat",
"colorMap": "turbo",
"pointSize": 5,
"flatColor": "#ff0000"
},
"/global_costmap/costmap": {
"visible": true,
"maxColor": "#E800174d",
"unknownColor": "#5700ff4d",
"minColor": "#ffffff4d",
"invalidColor": "#ff00ff4d",
"colorMode": "costmap",
"alpha": 0.3
},
"/global_costmap/obstacle_layer": {
"visible": false
},
"/global_costmap/voxel_marked_cloud": {
"visible": false
},
"/goal_pose": {
"visible": false
},
"/local_costmap/costmap": {
"visible": false
},
"/local_costmap/voxel_layer": {
"visible": false
},
"/local_costmap/clearing_endpoints": {
"visible": false,
"colorField": "x",
"colorMode": "colormap",
"colorMap": "turbo"
},
"/map": {
"visible": true,
"minColor": "#ffffff",
"maxColor": "#000000",
"unknownColor": "#708986ff",
"frameLocked": false,
"colorMode": "map"
},
"/amcl_pose": {
"visible": false
},
"/local_plan": {
"visible": true,
"lineWidth": 0.01,
"gradient": [
"#c8ff00c7",
"#00c8ffba"
]
},
"/plan": {
"visible": false,
"gradient": [
"rgba(124, 107, 255, 1)",
"#ff6b6b"
],
"lineWidth": 1
},
"/plan_smoothed": {
"visible": false
},
"/received_global_plan": {
"visible": true,
"gradient": [
"#ff0000c7",
"#6b70ffc2"
],
"lineWidth": 0.02,
"type": "line",
"arrowScale": [
0.02,
0.0015,
0.0015
]
},
"/transformed_global_plan": {
"visible": false
},
"/robot_description": {
"visible": false
},
"/cost_cloud": {
"visible": false
},
"/initialpose": {
"visible": false
}
},
"publish": {
"type": "pose_estimate",
"poseTopic": "/move_base_simple/goal",
"pointTopic": "",
"poseEstimateTopic": "/initialpose",
"poseEstimateXDeviation": 0.5,
"poseEstimateYDeviation": 0.5,
"poseEstimateThetaDeviation": 0.26179939
},
"followTf": "map"
},
"DiagnosticSummary!3bo4e39": {
"minLevel": 0,
"pinnedIds": [],
"hardwareIdFilter": "",
"topicToRender": "/diagnostics",
"sortByLevel": true
},
"RosOut!1iib9dq": {
"searchTerms": [],
"minLogLevel": 1
},
"3D!2agiaqk": {
"layers": {
"845139cb-26bc-40b3-8161-8ab60af4baf5": {
"visible": false,
"frameLocked": true,
"label": "Grid",
"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
"layerId": "foxglove.Grid",
"size": 10,
"divisions": 10,
"lineWidth": 1,
"color": "#A0A0A4ff",
"position": [
0,
0,
0
],
"rotation": [
0,
0,
0
],
"order": 1
}
},
"cameraState": {
"perspective": true,
"distance": 4.078136514883917,
"phi": 56.068374260572,
"thetaOffset": 92.50000000000723,
"targetOffset": [
0.03816360663426963,
0.15755079607173259,
7.341598429161142e-18
],
"target": [
0,
0,
0
],
"targetOrientation": [
0,
0,
0,
1
],
"fovy": 45,
"near": 0.5,
"far": 5000
},
"followMode": "follow-pose",
"scene": {
"transforms": {
"showLabel": true,
"editable": false,
"labelSize": 0.049999999999999975,
"enablePreloading": false,
"lineWidth": 2
}
},
"transforms": {
"frame:camera_link": {
"visible": false
},
"frame:camera_depth_frame": {
"visible": false
},
"frame:camera_depth_optical_frame": {
"visible": false
},
"frame:camera_rgb_frame": {
"visible": false
},
"frame:camera_rgb_optical_frame": {
"visible": false
},
"frame:imu_link": {
"visible": false
},
"frame:caster_back_right_link": {
"visible": false
},
"frame:caster_back_left_link": {
"visible": false
},
"frame:odom": {
"visible": true
},
"frame:base_footprint": {
"visible": true
},
"frame:wheel_left_link": {
"visible": false
},
"frame:wheel_right_link": {
"visible": false
},
"frame:base_link": {
"visible": false
},
"frame:base_scan": {
"visible": false
},
"frame:map": {
"visible": true
}
},
"topics": {
"/scan": {
"visible": true,
"colorField": "intensity",
"colorMode": "flat",
"colorMap": "turbo",
"pointSize": 5,
"flatColor": "#ff0000"
},
"/global_costmap/costmap": {
"visible": true,
"maxColor": "#E800174d",
"unknownColor": "#5700ff4d",
"minColor": "#ffffff4d",
"invalidColor": "#ff00ff4d",
"colorMode": "costmap",
"alpha": 0.3
},
"/global_costmap/obstacle_layer": {
"visible": false
},
"/global_costmap/voxel_marked_cloud": {
"visible": false
},
"/goal_pose": {
"visible": false
},
"/local_costmap/costmap": {
"visible": false
},
"/local_costmap/voxel_layer": {
"visible": false
},
"/local_costmap/clearing_endpoints": {
"visible": false,
"colorField": "x",
"colorMode": "colormap",
"colorMap": "turbo"
},
"/map": {
"visible": true,
"minColor": "#ffffff",
"maxColor": "#000000",
"unknownColor": "#708986ff",
"frameLocked": false,
"colorMode": "map"
},
"/amcl_pose": {
"visible": false
},
"/local_plan": {
"visible": true,
"lineWidth": 0.01,
"gradient": [
"#c8ff00c7",
"#00c8ffba"
]
},
"/plan": {
"visible": false,
"gradient": [
"rgba(124, 107, 255, 1)",
"#ff6b6b"
],
"lineWidth": 1
},
"/plan_smoothed": {
"visible": false
},
"/received_global_plan": {
"visible": true,
"gradient": [
"#ff0000c7",
"#6b70ffc2"
],
"lineWidth": 0.02,
"type": "line",
"arrowScale": [
0.02,
0.0015,
0.0015
]
},
"/transformed_global_plan": {
"visible": false
},
"/robot_description": {
"visible": true
},
"/cost_cloud": {
"visible": false
},
"/initialpose": {
"visible": false
}
},
"publish": {
"type": "pose_estimate",
"poseTopic": "/move_base_simple/goal",
"pointTopic": "",
"poseEstimateTopic": "/initialpose",
"poseEstimateXDeviation": 0.5,
"poseEstimateYDeviation": 0.5,
"poseEstimateThetaDeviation": 0.26179939
},
"followTf": "base_link"
}
},
"globalVariables": {},
"userNodes": {},
"playbackConfig": {
"speed": 1
},
"layout": {
"first": "3D!18i6zy7",
"second": {
"first": "DiagnosticSummary!3bo4e39",
"second": {
"first": "RosOut!1iib9dq",
"second": "3D!2agiaqk",
"direction": "column"
},
"direction": "column",
"splitPercentage": 28.227360308285164
},
"direction": "row",
"splitPercentage": 74.87855655794587
}
}
navigation2/.devcontainer/caddy/srv/assets/glances/manifest.json
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{
"name": "Glances: {{placeholder "http.vars.ReqHost"}}",
"short_name": "Glances: {{placeholder "http.vars.ReqHost"}}",
"icons": [
{
"src": "/media/icons/glances/any_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "any"
},
{
"src": "/media/icons/glances/maskable_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "maskable"
}
],
"id": "/glances/",
"start_url": "/glances/",
"theme_color": "#2C363F",
"background_color": "#2C363F",
"display": "fullscreen",
"shortcuts" : [
{
"name": "Refresh 1sec",
"url": "/glances/1",
"description": "Refresh page every 1 second"
},
{
"name": "Refresh 5sec",
"url": "/glances/5",
"description": "Refresh page every 5 seconds"
},
{
"name": "Refresh 10sec",
"url": "/glances/10",
"description": "Refresh page every 10 seconds"
}
]
}
navigation2/.devcontainer/caddy/srv/assets/gzweb/manifest.json
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{
"name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
"short_name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
"icons": [
{
"src": "/media/icons/gzweb/any_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "any"
},
{
"src": "/media/icons/gzweb/maskable_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "maskable"
}
],
"id": "/gzweb/",
"start_url": "/gzweb/",
"theme_color": "#ffffff",
"background_color": "#ffffff",
"display": "fullscreen"
}
navigation2/.devcontainer/caddy/srv/assets/nav2/manifest.json
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{
"name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
"short_name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
"icons": [
{
"src": "/media/icons/nav2/any_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "any"
},
{
"src": "/media/icons/nav2/maskable_icon_x512.webp",
"sizes": "512x512",
"type": "image/webp",
"purpose": "maskable"
}
],
"id": "/nav2/",
"start_url": "/nav2/",
"theme_color": "#ffffff",
"background_color": "#ffffff",
"display": "standalone"
}
navigation2/.devcontainer/caddy/srv/nav2/github-markdown.css
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navigation2/.devcontainer/caddy/srv/nav2/index.html
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{{$pathParts := splitList "/" .OriginalReq.URL.Path}}
{{$markdownFilename := default "index" (slice $pathParts 2 | join "/")}}
{{$markdownFilePath := printf "/%s.md" $markdownFilename}}
{{if not (fileExists $markdownFilePath)}}{{httpError 404}}{{end}}
{{$markdownFile := (include $markdownFilePath | splitFrontMatter)}}
{{$title := default $markdownFilename $markdownFile.Meta.title}}
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, minimal-ui">
<title>{{$title}}</title>
<meta name="color-scheme" content="light dark">
<link rel="stylesheet" href="github-markdown.css">
<link rel="icon" type="image/webp" href="/media/icons/nav2/any_icon_x512.webp">
<style>
body {
box-sizing: border-box;
min-width: 200px;
max-width: 980px;
margin: 0 auto;
padding: 45px;
}
@media (prefers-color-scheme: dark) {
body {
background-color: #0d1117;
}
}
</style>
</head>
<body>
<article class="markdown-body">{{markdown $markdownFile.Body}}</article>
</body>
</html>
navigation2/.devcontainer/caddy/srv/nav2/index.md
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{
"title": "Nav2 App"
}
## Progressive Web Apps
| PWAs | Shortcuts |
|-|-|
| [<img src="/media/icons/foxglove/any_icon_x512.webp" height="64">](/foxglove/autoconnect)<br>**Foxglove** | [**Auto Connect**](/foxglove/autoconnect)<br>[Auto Layout](/foxglove/autolayout)<br>[Manual](/foxglove/) |
| [<img src="/media/icons/gzweb/any_icon_x512.webp" height="64">](/gzweb/)<br>**Gzweb** | [**Auto Connect**](/gzweb/) |
| [<img src="/media/icons/glances/any_icon_x512.webp" height="64">](/glances/)<br>**Glances** | [**System Monitor**](/glances/)<br>[Refresh 1sec](/glances/1)<br>[Refresh 10sec](/glances/10) |
| [<img src="/media/icons/nav2/any_icon_x512.webp" height="64">](/nav2/)<br>**Nav2** | [**App Launcher**](/nav2/)<br>[File Browser](/?browse=true) |
## External Resources
For more related documentation:
- [Nav2 Documentation](https://navigation.ros.org)
- [Development Guides](https://navigation.ros.org/development_guides)
- [Dev Containers](https://navigation.ros.org/development_guides/devcontainer_docs)
## Session Info
Useful information about host server and remote client:
|Key | Value |
|-|-|
| Host | `{{.Host}}` |
| Remote IP | `{{placeholder "http.request.remote.host"}}` |
| Date | `{{now}}` |
### Server Diagnostics
<details>
<summary>Websocket Debug</summary>
For troubleshooting websocket connections:
|Key | Value |
|-|-|
| `header.X-Forwarded-Host` | `{{placeholder "http.request.header.X-Forwarded-Host"}}` |
| `http.request.hostport` | `{{placeholder "http.request.hostport"}}` |
| `http.vars.ReqHost` | `{{placeholder "http.vars.ReqHost"}}` |
|Key | Value |
|-|-|
| `http.request.scheme` | `{{placeholder "http.request.scheme"}}` |
| `header.X-Forwarded-Scheme` | `{{placeholder "http.request.header.X-Forwarded-Scheme"}}` |
| `header.X-Forwarded-Proto` | `{{placeholder "http.request.header.X-Forwarded-Proto"}}` |
| `http.vars.WsScheme` | `{{placeholder "http.vars.WsScheme"}}` |
</details>