update:add run step guide
This commit is contained in:
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README.md
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README.md
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auto drive misson center webots simulation:
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# auto drive misson center webots simulation:
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## 1, `ubuntu20.04`, `ubuntu22.04`
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## 2, 安装 `webots`
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`https://github.com/cyberbotics/webots/tags`， 版本： `ubuntu20.04： R2023a， ubuntu22.04：R2025a`
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## 3, 创建ros2 工作空间
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如 `~/sweet_ws `, 编译 `sweet_webots_robot, robots_rviz_panel, webots_simulation, auto_drive_proj_utils,auto_drive_proj_msg, auto_drive_misson_center`
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```shell
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cd ~/sweet_ws
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colcon build --packages-select sweet_webots_robot --cmake-clean-cache
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source install/setup.bash
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colcon build --packages-select robots_rviz_panel --cmake-clean-cache
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source install/setup.bash
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colcon build --packages-select webots_simulation --cmake-clean-cache
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source install/setup.bash
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colcon build --packages-select auto_drive_proj_utils --cmake-clean-cache
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source install/setup.bash
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colcon build --packages-select auto_drive_proj_msg --cmake-clean-cache
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source install/setup.bash
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colcon build --packages-select auto_drive_misson_center --cmake-clean-cache
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source install/setup.bash
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```
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## 4, 运行 webots:
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终端执行命令： `webots`
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## 5, 运行 rviz2界面
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`ros2 launch webots_simulation robot_launch.py` ，等待rviz2界面打开后，加载配置文件：` File->Open Config->` 选择 `SweetAiRviz.rviz` ，方便起见，打开后，File->Save Config 下次不用再重复加载。该 rviz界面 左右两侧拉开留出视图空间。
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## 6, 运行 path_visualizer
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`ros2 run webots_simulation path_visualizer` ，提示 ： 请输入路径文件路径: ，输入`https://test.sweetai.cn:4433/load/locationCmdPath/`中任意一个json文件名即可，如：`1699983696942006272.json`
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## 7, 模拟 `/start_pose` 服务
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另启一个终端，模拟 `/start_pose` 服务，常开，执行脚本(注意路径)：`python3 /home/ada/sweet_ws/install/auto_drive_misson_center/share/auto_drive_misson_center/scripts/mock_start_pose_and_publish_rtk.py `
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## 8, 运行 mission_center 任务节点
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运行 `ros2 launch auto_drive_misson_center mission_center_launch.py` 启动 任务节点。
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## 9, 请求 /invoke/missionOn 服务
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另启一个终端，执行发送任务命令，这里的任务，必须和 `6` 中的匹配，将11699983696942006272.json1内容填充到指令中：
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```shell
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ros2 service call /invoke/missionOn auto_drive_proj_msg/srv/ReqString "{request: '[{\"name\":\"value\",\"value\":\"https://test.sweetai.cn:4433/load/locationCmdPath/1699983696942006272.json\"}]', value: ''}"
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```
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> 观察任务轨迹。
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280
SweetAiRviz.rviz
Normal file
280
SweetAiRviz.rviz
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Panels:
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- Class: rviz_common/Displays
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Help Height: 138
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /Grid1
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- /Grid1/Offset1
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- /SweetRobot1
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- /HistoryPosePath1
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- /TextInfo1
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- /TF1/Tree1
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Splitter Ratio: 0.4790419042110443
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Tree Height: 727
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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- /ThirdPersonFollower1
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Name: Views
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Splitter Ratio: 0.5
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- Class: sweet_rviz_panel/SweetRvizPanel
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Name: SweetRvizPanel
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.699999988079071
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 180; 180; 174
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Billboards
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 200
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Reference Frame: odom
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Value: true
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- Class: rviz_default_plugins/Marker
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Enabled: true
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Name: PlanningPath
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Namespaces:
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path: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rviz_planning_path
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Value: true
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- Class: rviz_default_plugins/Marker
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Enabled: true
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Name: VehiclePose
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Namespaces:
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vehicle: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rviz_vehicle_pose
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Value: true
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- Class: rviz_default_plugins/MarkerArray
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Enabled: false
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Name: MarkerArray
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /vehicle_pose_array
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Value: false
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: true
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Description File: /home/sweetai/webots_simulation/src/sweet_webots_robot/urdf/rviz_robot.urdf
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: true
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Links:
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All Links Enabled:
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{}
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Mass Properties:
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Inertia: false
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Mass: false
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Name: SweetRobot
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz_default_plugins/Marker
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Enabled: true
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Name: HistoryPosePath
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Namespaces:
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"": true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rviz_history_traj
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Value: true
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- Class: rviz_default_plugins/Marker
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Enabled: true
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Name: TextInfo
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Namespaces:
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vehicle_info: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /rviz_text_info
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Value: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base_link:
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Value: true
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odom:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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odom:
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base_link:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz_default_plugins/Axes
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Enabled: true
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Length: 3
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Name: Axes
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Radius: 0.10000000149011612
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Reference Frame: odom
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: odom
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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- Class: nav2_rviz_plugins/GoalTool
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/ThirdPersonFollower
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Distance: 28.86780548095703
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 1.0536713600158691
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Y: -0.3854414224624634
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Z: -0.37999600172042847
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.5747960805892944
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Target Frame: base_link
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Value: ThirdPersonFollower (rviz_default_plugins)
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Yaw: 2.934211492538452
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Saved:
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- Class: rviz_default_plugins/ThirdPersonFollower
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Distance: 10.54976749420166
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 1.0536713600158691
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Y: -0.3854414224624634
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Z: -0.37999600172042847
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: ThirdPersonFollower
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.4897962808609009
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Target Frame: base_link
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Value: ThirdPersonFollower (rviz_default_plugins)
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Yaw: 3.124211072921753
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001180000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000003d0000039e000000c10100001cfa000000010100000002fb0000001c00530077006500650074005200760069007a00500061006e0065006c0100000000ffffffff000000a000fffffffb0000000a0056006900650077007301000009240000035c0000010000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000c800000022cfc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004b00000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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SweetRvizPanel:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1834
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X: 86
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Y: 27
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@ -20,20 +20,20 @@ class MockPoseNode(Node):
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)
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self.get_logger().info("Service /start_pose ready, always return success=True")
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# 2. rtk_pose publisher
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self.pub_rtk = self.create_publisher(
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PoseWithCovarianceStamped,
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"/rtk_pose",
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10
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)
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# # 2. rtk_pose publisher
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# self.pub_rtk = self.create_publisher(
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# PoseWithCovarianceStamped,
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# "/rtk_pose",
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# 10
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# )
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self.url = url
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self.coord_list = []
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self.load_geojson()
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# self.url = url
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# self.coord_list = []
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# self.load_geojson()
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self.index = 0
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self.timer_period = 0.2
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self.timer = self.create_timer(self.timer_period, self.publish_rtk_pose_cb)
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# self.index = 0
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# self.timer_period = 0.2
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# self.timer = self.create_timer(self.timer_period, self.publish_rtk_pose_cb)
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def load_geojson(self):
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try:
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@ -53,33 +53,33 @@ class MockPoseNode(Node):
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response.success = True
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return response
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def publish_rtk_pose_cb(self):
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if not self.coord_list:
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return
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# def publish_rtk_pose_cb(self):
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# if not self.coord_list:
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# return
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lon, lat, alt = self.coord_list[self.index]
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# lon, lat, alt = self.coord_list[self.index]
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msg = PoseWithCovarianceStamped()
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msg.header.stamp = self.get_clock().now().to_msg()
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msg.header.frame_id = "enu"
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# msg = PoseWithCovarianceStamped()
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# msg.header.stamp = self.get_clock().now().to_msg()
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# msg.header.frame_id = "enu"
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msg.pose.pose.position.x = lon
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msg.pose.pose.position.y = lat
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msg.pose.pose.position.z = alt
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# msg.pose.pose.position.x = lon
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# msg.pose.pose.position.y = lat
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# msg.pose.pose.position.z = alt
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msg.pose.pose.orientation.w = 1.0
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msg.pose.pose.orientation.x = 0.0
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msg.pose.pose.orientation.y = 0.0
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msg.pose.pose.orientation.z = 0.0
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# msg.pose.pose.orientation.w = 1.0
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# msg.pose.pose.orientation.x = 0.0
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# msg.pose.pose.orientation.y = 0.0
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# msg.pose.pose.orientation.z = 0.0
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for i in range(36):
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msg.pose.covariance[i] = 0.0
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# for i in range(36):
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# msg.pose.covariance[i] = 0.0
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self.pub_rtk.publish(msg)
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# self.pub_rtk.publish(msg)
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self.index += 1
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if self.index >= len(self.coord_list):
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self.index = 0
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# self.index += 1
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# if self.index >= len(self.coord_list):
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# self.index = 0
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def main(args=None):
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