update:add run step guide

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。

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

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
+        # # 2. rtk_pose publisher
-        self.pub_rtk = self.create_publisher(
+        # self.pub_rtk = self.create_publisher(
-            PoseWithCovarianceStamped,
+        #     PoseWithCovarianceStamped,
-            "/rtk_pose",
+        #     "/rtk_pose",
-            10
+        #     10
-        )
+        # )
 
-        self.url = url
+        # self.url = url
-        self.coord_list = []
+        # self.coord_list = []
-        self.load_geojson()
+        # self.load_geojson()
 
-        self.index = 0
+        # self.index = 0
-        self.timer_period = 0.2
+        # self.timer_period = 0.2
-        self.timer = self.create_timer(self.timer_period, self.publish_rtk_pose_cb)
+        # 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):
+    # def publish_rtk_pose_cb(self):
-        if not self.coord_list:
+    #     if not self.coord_list:
-            return
+    #         return
 
-        lon, lat, alt = self.coord_list[self.index]
+    #     lon, lat, alt = self.coord_list[self.index]
 
-        msg = PoseWithCovarianceStamped()
+    #     msg = PoseWithCovarianceStamped()
-        msg.header.stamp = self.get_clock().now().to_msg()
+    #     msg.header.stamp = self.get_clock().now().to_msg()
-        msg.header.frame_id = "enu"
+    #     msg.header.frame_id = "enu"
 
-        msg.pose.pose.position.x = lon
+    #     msg.pose.pose.position.x = lon
-        msg.pose.pose.position.y = lat
+    #     msg.pose.pose.position.y = lat
-        msg.pose.pose.position.z = alt
+    #     msg.pose.pose.position.z = alt
 
-        msg.pose.pose.orientation.w = 1.0
+    #     msg.pose.pose.orientation.w = 1.0
-        msg.pose.pose.orientation.x = 0.0
+    #     msg.pose.pose.orientation.x = 0.0
-        msg.pose.pose.orientation.y = 0.0
+    #     msg.pose.pose.orientation.y = 0.0
-        msg.pose.pose.orientation.z = 0.0
+    #     msg.pose.pose.orientation.z = 0.0
 
-        for i in range(36):
+    #     for i in range(36):
-            msg.pose.covariance[i] = 0.0
+    #         msg.pose.covariance[i] = 0.0
 
-        self.pub_rtk.publish(msg)
+    #     self.pub_rtk.publish(msg)
 
-        self.index += 1
+    #     self.index += 1
-        if self.index >= len(self.coord_list):
+    #     if self.index >= len(self.coord_list):
-            self.index = 0
+    #         self.index = 0
 
 
 def main(args=None):