Merge remote-tracking branch 'origin/sl-controls/issue-506-launch-profiles'
This commit is contained in:
commit
2e2ed2d0a7
126
jetson/ros2_ws/src/saltybot_bringup/config/profile_demo.yaml
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jetson/ros2_ws/src/saltybot_bringup/config/profile_demo.yaml
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# Profile: Demo Mode (Issue #506)
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# Agile settings for demonstration and autonomous tricks
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# - Medium-high velocities for responsive behavior (0.6 m/s)
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# - Enhanced obstacle detection with all sensors
|
||||
# - Balanced costmap inflation (0.32m)
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# - Medium-sized local costmap (3.5m x 3.5m)
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||||
# - Tuned for tricks demonstrations (spin, backups, dynamic behaviors)
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velocity_smoother:
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ros__parameters:
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max_velocity: [0.6, 0.0, 1.2] # Agile: 0.6 m/s forward, 1.2 rad/s angular
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min_velocity: [-0.3, 0.0, -1.2]
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smoothing_frequency: 20.0 # Increased smoothing for tricks
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controller_server:
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ros__parameters:
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controller_frequency: 10.0 # Hz
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FollowPath:
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max_vel_x: 0.6 # Agile forward speed
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max_vel_theta: 1.2
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min_vel_x: -0.3
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vx_samples: 25 # More sampling for agility
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vy_samples: 5
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vtheta_samples: 25
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sim_time: 1.7
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critics:
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["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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BaseObstacle.scale: 0.025 # Enhanced obstacle avoidance
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PathAlign.scale: 32.0
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GoalAlign.scale: 24.0
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||||
PathDist.scale: 32.0
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||||
GoalDist.scale: 24.0
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||||
RotateToGoal.scale: 32.0
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||||
RotateToGoal.slowing_factor: 4.0 # Faster rotations for tricks
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||||
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behavior_server:
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||||
ros__parameters:
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cycle_frequency: 10.0
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max_rotational_vel: 1.5 # Enable faster spins for tricks
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||||
min_rotational_vel: 0.3
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||||
|
||||
local_costmap:
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||||
local_costmap:
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||||
ros__parameters:
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||||
width: 3.5 # 3.5m x 3.5m rolling window
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height: 3.5
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||||
resolution: 0.05
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||||
update_frequency: 10.0
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||||
publish_frequency: 5.0
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||||
plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
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|
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obstacle_layer:
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plugin: "nav2_costmap_2d::ObstacleLayer"
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observation_sources: scan surround_cameras
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scan:
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topic: /scan
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max_obstacle_height: 0.80
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clearing: true
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marking: true
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data_type: "LaserScan"
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raytrace_max_range: 8.0
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obstacle_max_range: 7.5
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surround_cameras:
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topic: /surround_vision/obstacles
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min_obstacle_height: 0.05
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max_obstacle_height: 1.50
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marking: true
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data_type: "PointCloud2"
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raytrace_max_range: 3.5
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obstacle_max_range: 3.0
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|
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voxel_layer:
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enabled: true
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observation_sources: depth_camera
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depth_camera:
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||||
topic: /camera/depth/color/points
|
||||
min_obstacle_height: 0.05
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||||
max_obstacle_height: 0.80
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||||
marking: true
|
||||
clearing: true
|
||||
data_type: "PointCloud2"
|
||||
raytrace_max_range: 4.0
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||||
obstacle_max_range: 3.5
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|
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inflation_layer:
|
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cost_scaling_factor: 3.0
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||||
inflation_radius: 0.32 # Balanced inflation for demo tricks
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
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||||
ros__parameters:
|
||||
resolution: 0.05
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||||
update_frequency: 5.0
|
||||
publish_frequency: 1.0
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||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
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||||
|
||||
obstacle_layer:
|
||||
observation_sources: scan depth_scan surround_cameras
|
||||
scan:
|
||||
topic: /scan
|
||||
max_obstacle_height: 0.80
|
||||
clearing: true
|
||||
marking: true
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 8.0
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||||
obstacle_max_range: 7.5
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||||
depth_scan:
|
||||
topic: /depth_scan
|
||||
max_obstacle_height: 0.80
|
||||
clearing: true
|
||||
marking: true
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 6.0
|
||||
obstacle_max_range: 5.5
|
||||
surround_cameras:
|
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topic: /surround_vision/obstacles
|
||||
min_obstacle_height: 0.05
|
||||
max_obstacle_height: 1.50
|
||||
marking: true
|
||||
data_type: "PointCloud2"
|
||||
raytrace_max_range: 3.5
|
||||
obstacle_max_range: 3.0
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||||
|
||||
inflation_layer:
|
||||
cost_scaling_factor: 3.0
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inflation_radius: 0.32 # Balanced inflation for demo tricks
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@ -0,0 +1,55 @@
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# Profile: Indoor Mode (Issue #506)
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# Conservative settings for safe indoor navigation
|
||||
# - Lower max velocities for precision and safety (0.4 m/s)
|
||||
# - Tighter costmap inflation for confined spaces (0.35m)
|
||||
# - Aggressive obstacle detection (RealSense depth + LIDAR + surround cameras)
|
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# - Smaller local costmap window (3m x 3m)
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||||
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velocity_smoother:
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ros__parameters:
|
||||
max_velocity: [0.4, 0.0, 0.8] # Conservative: 0.4 m/s forward, 0.8 rad/s angular
|
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min_velocity: [-0.2, 0.0, -0.8]
|
||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
controller_frequency: 10.0 # Hz
|
||||
FollowPath:
|
||||
max_vel_x: 0.4 # Conservative forward speed
|
||||
max_vel_theta: 0.8
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min_vel_x: -0.2
|
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vx_samples: 20
|
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vy_samples: 5
|
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vtheta_samples: 20
|
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sim_time: 1.7
|
||||
critics:
|
||||
["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
|
||||
BaseObstacle.scale: 0.03 # Slightly aggressive obstacle avoidance
|
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PathAlign.scale: 32.0
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GoalAlign.scale: 24.0
|
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PathDist.scale: 32.0
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||||
GoalDist.scale: 24.0
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||||
RotateToGoal.scale: 32.0
|
||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
||||
width: 3 # 3m x 3m rolling window
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||||
height: 3
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||||
resolution: 0.05
|
||||
update_frequency: 10.0
|
||||
plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
|
||||
|
||||
inflation_layer:
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.35 # Tighter inflation for confined spaces
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
resolution: 0.05
|
||||
update_frequency: 5.0
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
|
||||
inflation_layer:
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.35 # Tighter inflation for confined spaces
|
||||
@ -0,0 +1,78 @@
|
||||
# Profile: Outdoor Mode (Issue #506)
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||||
# Moderate settings for outdoor GPS-based navigation
|
||||
# - Medium velocities for practical outdoor operation (0.8 m/s)
|
||||
# - Standard costmap inflation (0.3m)
|
||||
# - Larger local costmap window (4m x 4m) for path preview
|
||||
# - Reduced obstacle layer complexity (LIDAR focused)
|
||||
|
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velocity_smoother:
|
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ros__parameters:
|
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max_velocity: [0.8, 0.0, 1.0] # Moderate: 0.8 m/s forward, 1.0 rad/s angular
|
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min_velocity: [-0.4, 0.0, -1.0]
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||||
|
||||
controller_server:
|
||||
ros__parameters:
|
||||
controller_frequency: 10.0 # Hz
|
||||
FollowPath:
|
||||
max_vel_x: 0.8 # Moderate forward speed
|
||||
max_vel_theta: 1.0
|
||||
min_vel_x: -0.4
|
||||
vx_samples: 20
|
||||
vy_samples: 5
|
||||
vtheta_samples: 20
|
||||
sim_time: 1.7
|
||||
critics:
|
||||
["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
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||||
BaseObstacle.scale: 0.02 # Standard obstacle avoidance
|
||||
PathAlign.scale: 32.0
|
||||
GoalAlign.scale: 24.0
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PathDist.scale: 32.0
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||||
GoalDist.scale: 24.0
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||||
RotateToGoal.scale: 32.0
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||||
|
||||
local_costmap:
|
||||
local_costmap:
|
||||
ros__parameters:
|
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width: 4 # 4m x 4m rolling window
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||||
height: 4
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||||
resolution: 0.05
|
||||
update_frequency: 5.0
|
||||
plugins: ["obstacle_layer", "inflation_layer"]
|
||||
|
||||
obstacle_layer:
|
||||
plugin: "nav2_costmap_2d::ObstacleLayer"
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan
|
||||
max_obstacle_height: 0.80
|
||||
clearing: true
|
||||
marking: true
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 8.0
|
||||
obstacle_max_range: 7.5
|
||||
|
||||
inflation_layer:
|
||||
cost_scaling_factor: 3.0
|
||||
inflation_radius: 0.3 # Standard inflation
|
||||
|
||||
global_costmap:
|
||||
global_costmap:
|
||||
ros__parameters:
|
||||
resolution: 0.05
|
||||
update_frequency: 5.0
|
||||
plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
|
||||
|
||||
obstacle_layer:
|
||||
observation_sources: scan
|
||||
scan:
|
||||
topic: /scan
|
||||
max_obstacle_height: 0.80
|
||||
clearing: true
|
||||
marking: true
|
||||
data_type: "LaserScan"
|
||||
raytrace_max_range: 8.0
|
||||
obstacle_max_range: 7.5
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||||
|
||||
inflation_layer:
|
||||
cost_scaling_factor: 3.0
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||||
inflation_radius: 0.3 # Standard inflation
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@ -0,0 +1,83 @@
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# Issue #506: Demo Launch Profile
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# Optimized for demonstrations: tricks, dancing, social interactions, tight maneuvering
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#
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# Parameters:
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# - Max speed: 0.3 m/s (controlled for safe demo performance)
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# - Geofence: tight (demo area boundary)
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# - GPS: disabled (indoor demo focus)
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# - Costmap inflation: aggressive (enhanced obstacle awareness)
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# - Recovery behaviors: quick recovery from collisions
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# - Tricks: all enabled (spin, dance, nod, celebrate, shy)
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# - Social features: enhanced (face emotion, audio response)
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profile: demo
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description: "Demo mode with tricks, dancing, and social features (0.3 m/s)"
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# ── Navigation & Velocity ──────────────────────────────────────────────────────
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max_linear_vel: 0.3 # m/s — controlled for safe trick execution
|
||||
max_angular_vel: 0.8 # rad/s — agile rotation for tricks
|
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max_vel_theta: 0.8 # rad/s — Nav2 controller (agile)
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|
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# ── Costmap Configuration ──────────────────────────────────────────────────────
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costmap:
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inflation_radius: 0.70 # 0.35m robot + 0.35m padding (enhanced safety)
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cost_scaling_factor: 12.0 # slightly higher cost scaling for obstacle avoidance
|
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obstacle_layer:
|
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inflation_radius: 0.70
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clearing: true
|
||||
marking: true
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||||
|
||||
# ── Behavior Server (Recovery) ─────────────────────────────────────────────────
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behavior_server:
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spin:
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||||
max_rotational_vel: 2.0 # fast spins for tricks
|
||||
min_rotational_vel: 0.5
|
||||
rotational_acc_lim: 3.5 # higher acceleration for trick execution
|
||||
backup:
|
||||
max_linear_vel: 0.12 # conservative backup
|
||||
min_linear_vel: -0.12
|
||||
linear_acc_lim: 2.5
|
||||
max_distance: 0.25 # 25cm max backup distance (safety first)
|
||||
wait:
|
||||
wait_duration: 1000 # 1 second waits (quick recovery)
|
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|
||||
# ── Geofence (if enabled) ──────────────────────────────────────────────────────
|
||||
geofence:
|
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enabled: true
|
||||
mode: "tight" # tight geofence for controlled demo area
|
||||
radius_m: 3.0 # 3m radius (small demo arena)
|
||||
|
||||
# ── SLAM Configuration ─────────────────────────────────────────────────────────
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slam:
|
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enabled: true
|
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mode: "rtabmap" # RTAB-Map for demo space mapping
|
||||
gps_enabled: false # no GPS in demo mode
|
||||
|
||||
# ── Trick Behaviors (Social) ───────────────────────────────────────────────────
|
||||
tricks:
|
||||
enabled: true
|
||||
available: ["spin", "dance", "nod", "celebrate", "shy"]
|
||||
trick_cooldown_sec: 2.0 # slightly longer cooldown for safe sequencing
|
||||
max_trick_duration_sec: 5.0 # 5 second max trick duration
|
||||
|
||||
# ── Social Features ────────────────────────────────────────────────────────────
|
||||
social:
|
||||
face_emotion_enabled: true # enhanced emotional expression
|
||||
audio_response_enabled: true # respond with audio for demo engagement
|
||||
greeting_trigger_enabled: true # greet approaching humans
|
||||
personality: "friendly" # social personality preset
|
||||
|
||||
# ── Person Follower ────────────────────────────────────────────────────────────
|
||||
follower:
|
||||
follow_distance: 1.0 # closer following for demo engagement
|
||||
max_linear_vel: 0.3
|
||||
min_linear_vel: 0.05
|
||||
kp_linear: 0.6 # higher proportional gain for responsiveness
|
||||
kp_angular: 0.4 # moderate angular gain for agility
|
||||
following_enabled: true
|
||||
|
||||
# ── Scenario Presets ──────────────────────────────────────────────────────────
|
||||
scenario:
|
||||
preset: "public_demo" # optimized for crowds and public spaces
|
||||
collision_tolerance: "low" # abort tricks on any obstacle
|
||||
speed_limit_enforcement: "strict" # strictly enforce max_linear_vel
|
||||
@ -0,0 +1,66 @@
|
||||
# Issue #506: Indoor Launch Profile
|
||||
# Optimized for controlled indoor environments: tight spaces, no GPS, conservative speed
|
||||
#
|
||||
# Parameters:
|
||||
# - Max speed: 0.2 m/s (tight indoor corridors)
|
||||
# - Geofence: tight (e.g., single room: ~5m radius)
|
||||
# - GPS: disabled
|
||||
# - Costmap inflation: aggressive (0.55m → 0.65m for safety)
|
||||
# - Recovery behaviors: conservative (short spin/backup distances)
|
||||
# - Tricks: enabled (safe for indoor demo)
|
||||
|
||||
profile: indoor
|
||||
description: "Tight indoor spaces, no GPS, conservative speed (0.2 m/s)"
|
||||
|
||||
# ── Navigation & Velocity ──────────────────────────────────────────────────────
|
||||
max_linear_vel: 0.2 # m/s — tight indoor corridors
|
||||
max_angular_vel: 0.3 # rad/s — conservative rotation
|
||||
max_vel_theta: 0.3 # rad/s — Nav2 controller (same as above)
|
||||
|
||||
# ── Costmap Configuration ──────────────────────────────────────────────────────
|
||||
costmap:
|
||||
inflation_radius: 0.65 # 0.35m robot + 0.30m padding (aggressive for safety)
|
||||
cost_scaling_factor: 10.0
|
||||
obstacle_layer:
|
||||
inflation_radius: 0.65
|
||||
clearing: true
|
||||
marking: true
|
||||
|
||||
# ── Behavior Server (Recovery) ─────────────────────────────────────────────────
|
||||
behavior_server:
|
||||
spin:
|
||||
max_rotational_vel: 1.0
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
backup:
|
||||
max_linear_vel: 0.10 # very conservative backup
|
||||
min_linear_vel: -0.10
|
||||
linear_acc_lim: 2.5
|
||||
max_distance: 0.3 # 30cm max backup distance
|
||||
wait:
|
||||
wait_duration: 2000 # 2 second waits
|
||||
|
||||
# ── Geofence (if enabled) ──────────────────────────────────────────────────────
|
||||
geofence:
|
||||
enabled: true
|
||||
mode: "tight" # tight geofence for single-room operation
|
||||
radius_m: 5.0 # 5m radius max (typical room size)
|
||||
|
||||
# ── Trick Behaviors (Social) ───────────────────────────────────────────────────
|
||||
tricks:
|
||||
enabled: true
|
||||
available: ["spin", "dance", "nod", "celebrate", "shy"]
|
||||
|
||||
# ── SLAM Configuration ─────────────────────────────────────────────────────────
|
||||
slam:
|
||||
enabled: true
|
||||
mode: "rtabmap" # RTAB-Map SLAM for indoor mapping
|
||||
gps_enabled: false # no GPS indoors
|
||||
|
||||
# ── Person Follower ────────────────────────────────────────────────────────────
|
||||
follower:
|
||||
follow_distance: 1.5 # meters
|
||||
max_linear_vel: 0.2
|
||||
min_linear_vel: 0.05
|
||||
kp_linear: 0.5 # proportional gain for linear velocity
|
||||
kp_angular: 0.3 # proportional gain for angular velocity
|
||||
@ -0,0 +1,72 @@
|
||||
# Issue #506: Outdoor Launch Profile
|
||||
# Optimized for outdoor environments: wide spaces, GPS-enabled, moderate speed
|
||||
#
|
||||
# Parameters:
|
||||
# - Max speed: 0.5 m/s (open outdoor terrain)
|
||||
# - Geofence: wide (e.g., park boundary: ~20m radius)
|
||||
# - GPS: enabled via outdoor_nav with EKF fusion
|
||||
# - Costmap inflation: moderate (0.55m standard)
|
||||
# - Recovery behaviors: moderate distances
|
||||
# - Tricks: enabled (safe for outdoor social features)
|
||||
|
||||
profile: outdoor
|
||||
description: "Wide outdoor spaces, GPS-enabled navigation, moderate speed (0.5 m/s)"
|
||||
|
||||
# ── Navigation & Velocity ──────────────────────────────────────────────────────
|
||||
max_linear_vel: 0.5 # m/s — open outdoor terrain
|
||||
max_angular_vel: 0.5 # rad/s — moderate rotation
|
||||
max_vel_theta: 0.5 # rad/s — Nav2 controller (same as above)
|
||||
|
||||
# ── Costmap Configuration ──────────────────────────────────────────────────────
|
||||
costmap:
|
||||
inflation_radius: 0.55 # 0.35m robot + 0.20m padding (standard)
|
||||
cost_scaling_factor: 10.0
|
||||
obstacle_layer:
|
||||
inflation_radius: 0.55
|
||||
clearing: true
|
||||
marking: true
|
||||
|
||||
# ── Behavior Server (Recovery) ─────────────────────────────────────────────────
|
||||
behavior_server:
|
||||
spin:
|
||||
max_rotational_vel: 1.5
|
||||
min_rotational_vel: 0.4
|
||||
rotational_acc_lim: 3.2
|
||||
backup:
|
||||
max_linear_vel: 0.15 # moderate backup speed
|
||||
min_linear_vel: -0.15
|
||||
linear_acc_lim: 2.5
|
||||
max_distance: 0.5 # 50cm max backup distance
|
||||
wait:
|
||||
wait_duration: 2000 # 2 second waits
|
||||
|
||||
# ── Geofence (if enabled) ──────────────────────────────────────────────────────
|
||||
geofence:
|
||||
enabled: true
|
||||
mode: "wide" # wide geofence for outdoor exploration
|
||||
radius_m: 20.0 # 20m radius max (park boundary)
|
||||
|
||||
# ── SLAM Configuration ─────────────────────────────────────────────────────────
|
||||
slam:
|
||||
enabled: false # no SLAM outdoors — use GPS instead
|
||||
mode: "gps"
|
||||
gps_enabled: true # GPS nav via outdoor_nav + EKF
|
||||
|
||||
# ── Outdoor Navigation (EKF + GPS) ────────────────────────────────────────────
|
||||
outdoor_nav:
|
||||
enabled: true
|
||||
use_gps: true
|
||||
ekf_config: "ekf_outdoor.yaml"
|
||||
|
||||
# ── Person Follower ────────────────────────────────────────────────────────────
|
||||
follower:
|
||||
follow_distance: 2.0 # meters (slightly further for outdoor)
|
||||
max_linear_vel: 0.5
|
||||
min_linear_vel: 0.05
|
||||
kp_linear: 0.4 # slightly lower gain for stability
|
||||
kp_angular: 0.25 # slightly lower gain for outdoor
|
||||
|
||||
# ── Trick Behaviors (Social) ───────────────────────────────────────────────────
|
||||
tricks:
|
||||
enabled: true
|
||||
available: ["spin", "dance", "celebrate"] # subset safe for outdoor
|
||||
@ -1,13 +1,22 @@
|
||||
"""
|
||||
full_stack.launch.py — One-command full autonomous stack bringup for SaltyBot.
|
||||
|
||||
Launches the ENTIRE software stack in dependency order with configurable modes.
|
||||
Launches the ENTIRE software stack in dependency order with configurable modes and profiles.
|
||||
|
||||
Usage
|
||||
─────
|
||||
# Full indoor autonomous (SLAM + Nav2 + person follow + UWB):
|
||||
ros2 launch saltybot_bringup full_stack.launch.py
|
||||
|
||||
# Indoor profile (conservative 0.2 m/s, tight geofence, no GPS):
|
||||
ros2 launch saltybot_bringup full_stack.launch.py profile:=indoor
|
||||
|
||||
# Outdoor profile (0.5 m/s, wide geofence, GPS-enabled):
|
||||
ros2 launch saltybot_bringup full_stack.launch.py profile:=outdoor
|
||||
|
||||
# Demo profile (tricks, dancing, social features, 0.3 m/s):
|
||||
ros2 launch saltybot_bringup full_stack.launch.py profile:=demo
|
||||
|
||||
# Person-follow only (no SLAM, no Nav2 — living room demo):
|
||||
ros2 launch saltybot_bringup full_stack.launch.py mode:=follow
|
||||
|
||||
@ -135,14 +144,28 @@ def generate_launch_description():
|
||||
|
||||
# ── Launch arguments ──────────────────────────────────────────────────────
|
||||
|
||||
# Issue #506: Profile argument — overrides mode-based defaults
|
||||
profile_arg = DeclareLaunchArgument(
|
||||
"profile",
|
||||
default_value="indoor",
|
||||
choices=["indoor", "outdoor", "demo"],
|
||||
description=(
|
||||
"Launch profile (Issue #506) — overrides nav2/costmap/behavior params: "
|
||||
"indoor (0.2 m/s, tight geofence, no GPS); "
|
||||
"outdoor (0.5 m/s, wide geofence, GPS); "
|
||||
"demo (0.3 m/s, tricks, social features)"
|
||||
),
|
||||
)
|
||||
|
||||
mode_arg = DeclareLaunchArgument(
|
||||
"mode",
|
||||
default_value="indoor",
|
||||
choices=["indoor", "outdoor", "follow"],
|
||||
description=(
|
||||
"Stack mode — indoor: SLAM+Nav2+follow; "
|
||||
"Stack mode (legacy) — indoor: SLAM+Nav2+follow; "
|
||||
"outdoor: GPS nav+follow; "
|
||||
"follow: sensors+UWB+perception+follower only"
|
||||
"follow: sensors+UWB+perception+follower only. "
|
||||
"Profiles (profile arg) take precedence over mode."
|
||||
),
|
||||
)
|
||||
|
||||
@ -237,6 +260,8 @@ enable_mission_logging_arg = DeclareLaunchArgument(
|
||||
)
|
||||
|
||||
# ── Shared substitution handles ───────────────────────────────────────────
|
||||
# Profile argument for parameter override (Issue #506)
|
||||
profile = LaunchConfiguration("profile")
|
||||
mode = LaunchConfiguration("mode")
|
||||
use_sim_time = LaunchConfiguration("use_sim_time")
|
||||
follow_distance = LaunchConfiguration("follow_distance")
|
||||
|
||||
@ -12,6 +12,13 @@ Localization is provided by RTAB-Map (slam_rtabmap.launch.py must be running):
|
||||
Output:
|
||||
/cmd_vel — consumed by saltybot_bridge → STM32 over UART
|
||||
|
||||
Profile Support (Issue #506)
|
||||
────────────────────────────
|
||||
Supports profile-based parameter overrides via 'profile' launch argument:
|
||||
profile:=indoor — conservative (0.2 m/s, tight geofence, aggressive inflation)
|
||||
profile:=outdoor — moderate (0.5 m/s, wide geofence, standard inflation)
|
||||
profile:=demo — agile (0.3 m/s, tricks enabled, enhanced obstacle avoidance)
|
||||
|
||||
Run sequence on Orin:
|
||||
1. docker compose up saltybot-ros2 # RTAB-Map + sensors
|
||||
2. docker compose up saltybot-nav2 # this launch file
|
||||
@ -20,14 +27,25 @@ Run sequence on Orin:
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
|
||||
bringup_dir = get_package_share_directory('saltybot_bringup')
|
||||
|
||||
# Profile argument (Issue #506)
|
||||
profile_arg = DeclareLaunchArgument(
|
||||
"profile",
|
||||
default_value="indoor",
|
||||
choices=["indoor", "outdoor", "demo"],
|
||||
description="Launch profile for parameter overrides (Issue #506)"
|
||||
)
|
||||
|
||||
profile = LaunchConfiguration('profile')
|
||||
|
||||
nav2_params_file = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
|
||||
bt_xml_file = os.path.join(
|
||||
bringup_dir, 'behavior_trees', 'navigate_to_pose_with_recovery.xml'
|
||||
@ -47,4 +65,12 @@ def generate_launch_description():
|
||||
}.items(),
|
||||
)
|
||||
|
||||
return LaunchDescription([nav2_launch])
|
||||
profile_log = LogInfo(
|
||||
msg=['[nav2] Loaded profile: ', profile]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
profile_arg,
|
||||
profile_log,
|
||||
nav2_launch,
|
||||
])
|
||||
|
||||
@ -0,0 +1,167 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Issue #506: Profile Loader for SaltyBot Launch Profiles
|
||||
|
||||
Loads and merges launch parameter profiles (indoor, outdoor, demo) into
|
||||
the full_stack.launch.py configuration.
|
||||
|
||||
Usage:
|
||||
from saltybot_bringup.profile_loader import ProfileLoader
|
||||
loader = ProfileLoader()
|
||||
profile_params = loader.load_profile('indoor')
|
||||
# Override parameters based on profile
|
||||
"""
|
||||
|
||||
import os
|
||||
import yaml
|
||||
from typing import Dict, Any, Optional
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
|
||||
class ProfileLoader:
|
||||
"""Load and parse launch parameter profiles."""
|
||||
|
||||
VALID_PROFILES = ["indoor", "outdoor", "demo"]
|
||||
|
||||
def __init__(self):
|
||||
"""Initialize profile loader with package paths."""
|
||||
self.pkg_dir = get_package_share_directory("saltybot_bringup")
|
||||
self.profiles_dir = os.path.join(self.pkg_dir, "config", "profiles")
|
||||
|
||||
def load_profile(self, profile_name: str) -> Dict[str, Any]:
|
||||
"""
|
||||
Load a profile by name.
|
||||
|
||||
Args:
|
||||
profile_name: Profile name (indoor, outdoor, demo)
|
||||
|
||||
Returns:
|
||||
Dictionary of profile parameters
|
||||
|
||||
Raises:
|
||||
ValueError: If profile doesn't exist
|
||||
yaml.YAMLError: If profile YAML is invalid
|
||||
"""
|
||||
if profile_name not in self.VALID_PROFILES:
|
||||
raise ValueError(
|
||||
f"Invalid profile '{profile_name}'. "
|
||||
f"Valid profiles: {', '.join(self.VALID_PROFILES)}"
|
||||
)
|
||||
|
||||
profile_path = os.path.join(self.profiles_dir, f"{profile_name}.yaml")
|
||||
|
||||
if not os.path.exists(profile_path):
|
||||
raise FileNotFoundError(f"Profile file not found: {profile_path}")
|
||||
|
||||
with open(profile_path, "r") as f:
|
||||
profile = yaml.safe_load(f)
|
||||
|
||||
if not profile:
|
||||
raise ValueError(f"Profile file is empty: {profile_path}")
|
||||
|
||||
return profile
|
||||
|
||||
def get_nav2_overrides(self, profile: Dict[str, Any]) -> Dict[str, Any]:
|
||||
"""
|
||||
Extract Nav2-specific parameters from profile.
|
||||
|
||||
Args:
|
||||
profile: Loaded profile dictionary
|
||||
|
||||
Returns:
|
||||
Dictionary with nav2_params_file overrides
|
||||
"""
|
||||
overrides = {}
|
||||
|
||||
# Velocity limits
|
||||
if "max_linear_vel" in profile:
|
||||
overrides["max_vel_x"] = profile["max_linear_vel"]
|
||||
overrides["max_speed_xy"] = profile["max_linear_vel"]
|
||||
|
||||
if "max_angular_vel" in profile:
|
||||
overrides["max_vel_theta"] = profile["max_angular_vel"]
|
||||
|
||||
# Costmap parameters
|
||||
if "costmap" in profile and "inflation_radius" in profile["costmap"]:
|
||||
overrides["inflation_radius"] = profile["costmap"]["inflation_radius"]
|
||||
|
||||
return overrides
|
||||
|
||||
def get_launch_args(self, profile: Dict[str, Any]) -> Dict[str, str]:
|
||||
"""
|
||||
Extract launch arguments from profile.
|
||||
|
||||
Args:
|
||||
profile: Loaded profile dictionary
|
||||
|
||||
Returns:
|
||||
Dictionary of launch argument name → value
|
||||
"""
|
||||
args = {}
|
||||
|
||||
# Core parameters
|
||||
args["max_linear_vel"] = str(profile.get("max_linear_vel", 0.2))
|
||||
args["follow_distance"] = str(
|
||||
profile.get("follower", {}).get("follow_distance", 1.5)
|
||||
)
|
||||
|
||||
# Mode (indoor/outdoor affects SLAM vs GPS)
|
||||
if profile.get("slam", {}).get("enabled"):
|
||||
args["mode"] = "indoor"
|
||||
else:
|
||||
args["mode"] = "outdoor"
|
||||
|
||||
# Feature toggles
|
||||
args["enable_perception"] = "true"
|
||||
|
||||
if profile.get("tricks", {}).get("enabled"):
|
||||
args["enable_follower"] = "true"
|
||||
else:
|
||||
args["enable_follower"] = "false"
|
||||
|
||||
return args
|
||||
|
||||
def validate_profile(self, profile: Dict[str, Any]) -> bool:
|
||||
"""
|
||||
Validate profile structure.
|
||||
|
||||
Args:
|
||||
profile: Profile dictionary to validate
|
||||
|
||||
Returns:
|
||||
True if valid, raises ValueError otherwise
|
||||
"""
|
||||
required_keys = ["profile", "description"]
|
||||
|
||||
for key in required_keys:
|
||||
if key not in profile:
|
||||
raise ValueError(f"Profile missing required key: {key}")
|
||||
|
||||
return True
|
||||
|
||||
def merge_profiles(
|
||||
self,
|
||||
base_profile: Dict[str, Any],
|
||||
override_profile: Dict[str, Any],
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
Deep merge profile dictionaries (override_profile takes precedence).
|
||||
|
||||
Args:
|
||||
base_profile: Base profile (e.g., indoor)
|
||||
override_profile: Profile to merge in (higher priority)
|
||||
|
||||
Returns:
|
||||
Merged profile dictionary
|
||||
"""
|
||||
merged = base_profile.copy()
|
||||
|
||||
for key, value in override_profile.items():
|
||||
if key in merged and isinstance(merged[key], dict) and isinstance(
|
||||
value, dict
|
||||
):
|
||||
merged[key] = self.merge_profiles(merged[key], value)
|
||||
else:
|
||||
merged[key] = value
|
||||
|
||||
return merged
|
||||
Loading…
x
Reference in New Issue
Block a user