From feee2d8315e6993e0367f5d7a4f406f0ef1cc15e Mon Sep 17 00:00:00 2001 From: zhujinzhao Date: Wed, 9 Sep 2026 14:27:17 +0800 Subject: [PATCH] update:add run step guide --- README.md | 38 ++- SweetAiRviz.rviz | 280 ++++++++++++++++++ .../mock_start_pose_and_publish_rtk.py | 64 ++-- 3 files changed, 349 insertions(+), 33 deletions(-) create mode 100644 SweetAiRviz.rviz diff --git a/README.md b/README.md index 9261a52..dcf2b14 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,38 @@ -auto drive misson center webots simulation: +# auto drive misson center webots simulation: +## 1, `ubuntu20.04`, `ubuntu22.04` +## 2, 安装 `webots` +`https://github.com/cyberbotics/webots/tags`， 版本： `ubuntu20.04： R2023a， ubuntu22.04：R2025a` +## 3, 创建ros2 工作空间 +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` +```shell +cd ~/sweet_ws +colcon build --packages-select sweet_webots_robot --cmake-clean-cache +source install/setup.bash +colcon build --packages-select robots_rviz_panel --cmake-clean-cache +source install/setup.bash +colcon build --packages-select webots_simulation --cmake-clean-cache +source install/setup.bash +colcon build --packages-select auto_drive_proj_utils --cmake-clean-cache +source install/setup.bash +colcon build --packages-select auto_drive_proj_msg --cmake-clean-cache +source install/setup.bash +colcon build --packages-select auto_drive_misson_center --cmake-clean-cache +source install/setup.bash +``` +## 4, 运行 webots: +终端执行命令： `webots` +## 5, 运行 rviz2界面 +`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。 +## 6, 运行 path_visualizer +`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` +## 7, 模拟 `/start_pose` 服务 +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 ` +## 8, 运行 mission_center 任务节点 +运行 `ros2 launch auto_drive_misson_center mission_center_launch.py` 启动 任务节点。 +## 9, 请求 /invoke/missionOn 服务 +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： +```shell +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: ''}" +``` +> 观察任务轨迹。 diff --git a/SweetAiRviz.rviz b/SweetAiRviz.rviz new file mode 100644 index 0000000..bd64e68 --- /dev/null +++ b/SweetAiRviz.rviz @@ -0,0 +1,280 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + - /Grid1/Offset1 + - /SweetRobot1 + - /HistoryPosePath1 + - /TextInfo1 + - /TF1/Tree1 + Splitter Ratio: 0.4790419042110443 + Tree Height: 727 + - 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 + - /ThirdPersonFollower1 + Name: Views + Splitter Ratio: 0.5 + - Class: sweet_rviz_panel/SweetRvizPanel + Name: SweetRvizPanel +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.699999988079071 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 180; 180; 174 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Billboards + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 200 + Reference Frame: odom + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: PlanningPath + Namespaces: + path: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz_planning_path + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: VehiclePose + Namespaces: + vehicle: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz_vehicle_pose + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle_pose_array + Value: false + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: true + Description File: /home/sweetai/webots_simulation/src/sweet_webots_robot/urdf/rviz_robot.urdf + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: + {} + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: SweetRobot + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: HistoryPosePath + Namespaces: + "": true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz_history_traj + Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: TextInfo + Namespaces: + vehicle_info: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz_text_info + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + odom: + base_link: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 3 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: odom + 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 + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/ThirdPersonFollower + Distance: 28.86780548095703 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.0536713600158691 + Y: -0.3854414224624634 + Z: -0.37999600172042847 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5747960805892944 + Target Frame: base_link + Value: ThirdPersonFollower (rviz_default_plugins) + Yaw: 2.934211492538452 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 10.54976749420166 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.0536713600158691 + Y: -0.3854414224624634 + Z: -0.37999600172042847 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4897962808609009 + Target Frame: base_link + Value: ThirdPersonFollower (rviz_default_plugins) + Yaw: 3.124211072921753 +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001180000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000003d0000039e000000c10100001cfa000000010100000002fb0000001c00530077006500650074005200760069007a00500061006e0065006c0100000000ffffffff000000a000fffffffb0000000a0056006900650077007301000009240000035c0000010000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000c800000022cfc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004b00000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + SweetRvizPanel: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1834 + X: 86 + Y: 27 diff --git a/auto_drive_misson_center/scripts/mock_start_pose_and_publish_rtk.py b/auto_drive_misson_center/scripts/mock_start_pose_and_publish_rtk.py index 629d5f3..0093f43 100644 --- a/auto_drive_misson_center/scripts/mock_start_pose_and_publish_rtk.py +++ b/auto_drive_misson_center/scripts/mock_start_pose_and_publish_rtk.py @@ -20,20 +20,20 @@ class MockPoseNode(Node): ) self.get_logger().info("Service /start_pose ready, always return success=True") - # 2. rtk_pose publisher - self.pub_rtk = self.create_publisher( - PoseWithCovarianceStamped, - "/rtk_pose", - 10 - ) + # # 2. rtk_pose publisher + # self.pub_rtk = self.create_publisher( + # PoseWithCovarianceStamped, + # "/rtk_pose", + # 10 + # ) - self.url = url - self.coord_list = [] - self.load_geojson() + # self.url = url + # self.coord_list = [] + # self.load_geojson() - self.index = 0 - self.timer_period = 0.2 - self.timer = self.create_timer(self.timer_period, self.publish_rtk_pose_cb) + # self.index = 0 + # self.timer_period = 0.2 + # self.timer = self.create_timer(self.timer_period, self.publish_rtk_pose_cb) def load_geojson(self): try: @@ -53,33 +53,33 @@ class MockPoseNode(Node): response.success = True return response - def publish_rtk_pose_cb(self): - if not self.coord_list: - return + # def publish_rtk_pose_cb(self): + # if not self.coord_list: + # return - lon, lat, alt = self.coord_list[self.index] + # lon, lat, alt = self.coord_list[self.index] - msg = PoseWithCovarianceStamped() - msg.header.stamp = self.get_clock().now().to_msg() - msg.header.frame_id = "enu" + # msg = PoseWithCovarianceStamped() + # msg.header.stamp = self.get_clock().now().to_msg() + # msg.header.frame_id = "enu" - msg.pose.pose.position.x = lon - msg.pose.pose.position.y = lat - msg.pose.pose.position.z = alt + # msg.pose.pose.position.x = lon + # msg.pose.pose.position.y = lat + # msg.pose.pose.position.z = alt - msg.pose.pose.orientation.w = 1.0 - msg.pose.pose.orientation.x = 0.0 - msg.pose.pose.orientation.y = 0.0 - msg.pose.pose.orientation.z = 0.0 + # msg.pose.pose.orientation.w = 1.0 + # msg.pose.pose.orientation.x = 0.0 + # msg.pose.pose.orientation.y = 0.0 + # msg.pose.pose.orientation.z = 0.0 - for i in range(36): - msg.pose.covariance[i] = 0.0 + # for i in range(36): + # msg.pose.covariance[i] = 0.0 - self.pub_rtk.publish(msg) + # self.pub_rtk.publish(msg) - self.index += 1 - if self.index >= len(self.coord_list): - self.index = 0 + # self.index += 1 + # if self.index >= len(self.coord_list): + # self.index = 0 def main(args=None):