Merge pull request 'feat: full_stack.launch.py — one-command autonomous stack bringup' (#68) from sl-jetson/full-stack-launch into main
This commit is contained in:
commit
b97ce09d80
472
jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
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472
jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
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"""
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full_stack.launch.py — One-command full autonomous stack bringup for SaltyBot.
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Launches the ENTIRE software stack in dependency order with configurable modes.
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Usage
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─────
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# Full indoor autonomous (SLAM + Nav2 + person follow + UWB):
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ros2 launch saltybot_bringup full_stack.launch.py
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# Person-follow only (no SLAM, no Nav2 — living room demo):
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ros2 launch saltybot_bringup full_stack.launch.py mode:=follow
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# Outdoor GPS nav + person follow:
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ros2 launch saltybot_bringup full_stack.launch.py mode:=outdoor
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# Indoor, no CSI cameras (RealSense + RPLIDAR only):
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ros2 launch saltybot_bringup full_stack.launch.py mode:=indoor enable_csi_cameras:=false
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# Simulation / rosbag replay:
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ros2 launch saltybot_bringup full_stack.launch.py use_sim_time:=true enable_bridge:=false
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Modes
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─────
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indoor (default)
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─ RPLIDAR + RealSense D435i sensors
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─ RTAB-Map SLAM (RGB-D + LIDAR, fresh map each boot)
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─ Nav2 navigation stack (planners, controllers, BT navigator)
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─ CSI 4× IMX219 surround cameras (optional, default on)
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─ UWB driver (2-anchor DW3000, publishes /uwb/target)
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─ YOLOv8n person detection (TensorRT)
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─ Person follower with UWB+camera fusion
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─ cmd_vel bridge → STM32 (deadman + ramp + AUTONOMOUS gate)
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─ rosbridge WebSocket (port 9090)
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outdoor
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─ RPLIDAR + RealSense D435i sensors (no SLAM)
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─ GPS-based outdoor navigation (robot_localization EKF + Nav2)
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─ UWB + person detection + follower
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─ cmd_vel bridge + rosbridge
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follow
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─ RealSense D435i + RPLIDAR only (no SLAM, no Nav2)
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─ UWB + person detection + follower
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─ cmd_vel bridge + rosbridge
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─ Note: obstacle avoidance disabled (no Nav2 local costmap)
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Launch sequence (wall-clock delays — conservative for cold start)
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─────────────────────────────────────────────────────────────────
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t= 0s robot_description (URDF + TF tree)
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t= 0s STM32 bridge (serial port owner — must be first)
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t= 2s cmd_vel bridge (consumes /cmd_vel, needs STM32 bridge up)
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t= 2s sensors (RPLIDAR + RealSense)
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t= 4s UWB driver (independent serial device)
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t= 4s CSI cameras (optional, independent)
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t= 6s SLAM / outdoor nav (needs sensors; indoor/outdoor mode only)
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t= 6s person detection (needs RealSense up)
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t=14s Nav2 (needs SLAM to have partial map; indoor only)
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t= 9s person follower (needs perception + UWB)
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t=17s rosbridge (last — exposes all topics over WebSocket)
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Safety wiring
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─────────────
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• STM32 bridge must be up before cmd_vel bridge sends any command.
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• cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
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• STM32 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
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until STM32 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
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• follow_enabled:=false disables person follower without stopping the node.
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• To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'
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Topics published by this stack
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───────────────────────────────
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/scan RPLIDAR LaserScan
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/camera/color/image_raw RealSense RGB
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/camera/depth/image_rect_raw RealSense depth
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/camera/imu RealSense IMU
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/rtabmap/map OccupancyGrid (indoor only)
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/rtabmap/odom Odometry (indoor only)
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/uwb/target PoseStamped (UWB position, base_link)
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/uwb/ranges UwbRangeArray (raw anchor ranges)
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/person/target PoseStamped (camera position, base_link)
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/person/detections Detection2DArray
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/cmd_vel Twist (from follower or Nav2)
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/saltybot/cmd String (to STM32)
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/saltybot/imu Imu
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/saltybot/balance_state String
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (
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DeclareLaunchArgument,
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GroupAction,
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IncludeLaunchDescription,
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LogInfo,
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TimerAction,
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)
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression
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# ── Convenience: package share paths ──────────────────────────────────────────
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def _pkg(name: str) -> str:
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return get_package_share_directory(name)
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def _launch(pkg: str, *parts: str) -> PythonLaunchDescriptionSource:
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return PythonLaunchDescriptionSource(os.path.join(_pkg(pkg), *parts))
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# ── Mode helpers ───────────────────────────────────────────────────────────────
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def _mode_is(mode_str: str):
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"""IfCondition: true when 'mode' arg == mode_str."""
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return IfCondition(
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PythonExpression(["'", LaunchConfiguration("mode"), f"' == '{mode_str}'"])
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)
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def _mode_in(*modes):
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"""IfCondition: true when 'mode' arg is one of the given strings."""
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mode_set = repr(set(modes))
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return IfCondition(
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PythonExpression(["'", LaunchConfiguration("mode"), f"' in {mode_set}"])
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)
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# ── Main ──────────────────────────────────────────────────────────────────────
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def generate_launch_description():
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# ── Launch arguments ──────────────────────────────────────────────────────
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mode_arg = DeclareLaunchArgument(
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"mode",
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default_value="indoor",
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choices=["indoor", "outdoor", "follow"],
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description=(
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"Stack mode — indoor: SLAM+Nav2+follow; "
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"outdoor: GPS nav+follow; "
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"follow: sensors+UWB+perception+follower only"
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),
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)
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use_sim_time_arg = DeclareLaunchArgument(
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"use_sim_time",
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default_value="false",
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description="Use /clock from rosbag/simulator instead of wall clock",
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)
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enable_csi_cameras_arg = DeclareLaunchArgument(
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"enable_csi_cameras",
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default_value="true",
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description="Launch 4× IMX219 CSI surround cameras",
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)
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enable_uwb_arg = DeclareLaunchArgument(
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"enable_uwb",
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default_value="true",
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description="Launch UWB driver (requires MaUWB anchors on USB)",
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)
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enable_perception_arg = DeclareLaunchArgument(
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"enable_perception",
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default_value="true",
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description="Launch YOLOv8n person detection (TensorRT)",
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)
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enable_follower_arg = DeclareLaunchArgument(
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"enable_follower",
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default_value="true",
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description="Launch proportional person-follower controller",
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)
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enable_bridge_arg = DeclareLaunchArgument(
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"enable_bridge",
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default_value="true",
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description="Launch STM32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
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)
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enable_rosbridge_arg = DeclareLaunchArgument(
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"enable_rosbridge",
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default_value="true",
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description="Launch rosbridge WebSocket server (port 9090)",
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)
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follow_distance_arg = DeclareLaunchArgument(
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"follow_distance",
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default_value="1.5",
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description="Person-follower target distance (m)",
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)
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max_linear_vel_arg = DeclareLaunchArgument(
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"max_linear_vel",
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default_value="0.5",
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description="Max forward velocity cap (m/s) — forwarded to both follower and cmd_vel bridge",
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)
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uwb_port_a_arg = DeclareLaunchArgument(
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"uwb_port_a",
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default_value="/dev/uwb-anchor0",
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description="UWB anchor-0 serial port (port/left side)",
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)
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uwb_port_b_arg = DeclareLaunchArgument(
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"uwb_port_b",
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default_value="/dev/uwb-anchor1",
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description="UWB anchor-1 serial port (starboard/right side)",
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)
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stm32_port_arg = DeclareLaunchArgument(
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"stm32_port",
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default_value="/dev/stm32-bridge",
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description="STM32 USB CDC serial port",
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)
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# ── Shared substitution handles ───────────────────────────────────────────
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mode = LaunchConfiguration("mode")
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use_sim_time = LaunchConfiguration("use_sim_time")
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follow_distance = LaunchConfiguration("follow_distance")
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max_linear_vel = LaunchConfiguration("max_linear_vel")
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uwb_port_a = LaunchConfiguration("uwb_port_a")
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uwb_port_b = LaunchConfiguration("uwb_port_b")
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stm32_port = LaunchConfiguration("stm32_port")
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# ── t=0s Robot description (URDF + TF tree) ──────────────────────────────
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robot_description = IncludeLaunchDescription(
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_launch("saltybot_description", "launch", "robot_description.launch.py"),
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launch_arguments={"use_sim_time": use_sim_time}.items(),
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)
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# ── t=0s STM32 bidirectional serial bridge ────────────────────────────────
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stm32_bridge = GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_bridge")),
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_bridge", "launch", "bridge.launch.py"),
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launch_arguments={
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"mode": "bidirectional",
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"serial_port": stm32_port,
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}.items(),
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),
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],
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)
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# ── t=2s cmd_vel safety bridge (depends on STM32 bridge) ────────────────
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cmd_vel_bridge = TimerAction(
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period=2.0,
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actions=[
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GroupAction(
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condition=IfCondition(LaunchConfiguration("enable_bridge")),
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_bridge", "launch", "cmd_vel_bridge.launch.py"),
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launch_arguments={
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"max_linear_vel": max_linear_vel,
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}.items(),
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),
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],
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),
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],
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)
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# ── t=2s Sensors: RPLIDAR + RealSense D435i ──────────────────────────────
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sensors = TimerAction(
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period=2.0,
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actions=[
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IncludeLaunchDescription(
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_launch("saltybot_bringup", "launch", "sensors.launch.py"),
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),
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],
|
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)
|
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|
|
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# ── t=4s Optional: 4× IMX219 CSI surround cameras ───────────────────────
|
||||||
|
csi_cameras = TimerAction(
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period=4.0,
|
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|
actions=[
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|
GroupAction(
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|
condition=IfCondition(LaunchConfiguration("enable_csi_cameras")),
|
||||||
|
actions=[
|
||||||
|
IncludeLaunchDescription(
|
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|
_launch("saltybot_cameras", "launch", "csi_cameras.launch.py"),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── t=4s UWB driver (independent serial — can start early) ──────────────
|
||||||
|
uwb_driver = TimerAction(
|
||||||
|
period=4.0,
|
||||||
|
actions=[
|
||||||
|
GroupAction(
|
||||||
|
condition=IfCondition(LaunchConfiguration("enable_uwb")),
|
||||||
|
actions=[
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
_launch("saltybot_uwb", "launch", "uwb.launch.py"),
|
||||||
|
launch_arguments={
|
||||||
|
"port_a": uwb_port_a,
|
||||||
|
"port_b": uwb_port_b,
|
||||||
|
}.items(),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── t=6s SLAM — RTAB-Map (indoor only; needs sensors up for ~4s) ─────────
|
||||||
|
slam = TimerAction(
|
||||||
|
period=6.0,
|
||||||
|
actions=[
|
||||||
|
GroupAction(
|
||||||
|
condition=_mode_is("indoor"),
|
||||||
|
actions=[
|
||||||
|
LogInfo(msg="[full_stack] Starting RTAB-Map SLAM (indoor mode)"),
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
_launch("saltybot_bringup", "launch", "slam_rtabmap.launch.py"),
|
||||||
|
launch_arguments={
|
||||||
|
"use_sim_time": use_sim_time,
|
||||||
|
}.items(),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── t=6s Outdoor navigation (outdoor only; no SLAM) ─────────────────────
|
||||||
|
outdoor_nav = TimerAction(
|
||||||
|
period=6.0,
|
||||||
|
actions=[
|
||||||
|
GroupAction(
|
||||||
|
condition=_mode_is("outdoor"),
|
||||||
|
actions=[
|
||||||
|
LogInfo(msg="[full_stack] Starting outdoor GPS navigation"),
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
_launch("saltybot_outdoor", "launch", "outdoor_nav.launch.py"),
|
||||||
|
launch_arguments={
|
||||||
|
"use_sim_time": use_sim_time,
|
||||||
|
}.items(),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── t=6s Person detection (needs RealSense up for ~4s) ──────────────────
|
||||||
|
perception = TimerAction(
|
||||||
|
period=6.0,
|
||||||
|
actions=[
|
||||||
|
GroupAction(
|
||||||
|
condition=IfCondition(LaunchConfiguration("enable_perception")),
|
||||||
|
actions=[
|
||||||
|
LogInfo(msg="[full_stack] Starting YOLOv8n person detection"),
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
_launch("saltybot_perception", "launch", "person_detection.launch.py"),
|
||||||
|
launch_arguments={
|
||||||
|
"use_sim_time": use_sim_time,
|
||||||
|
}.items(),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── t=9s Person follower (needs perception + UWB; ~3s after both start) ─
|
||||||
|
follower = TimerAction(
|
||||||
|
period=9.0,
|
||||||
|
actions=[
|
||||||
|
GroupAction(
|
||||||
|
condition=IfCondition(LaunchConfiguration("enable_follower")),
|
||||||
|
actions=[
|
||||||
|
LogInfo(msg="[full_stack] Starting person follower"),
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
_launch("saltybot_follower", "launch", "person_follower.launch.py"),
|
||||||
|
launch_arguments={
|
||||||
|
"follow_distance": follow_distance,
|
||||||
|
"max_linear_vel": max_linear_vel,
|
||||||
|
}.items(),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── t=14s Nav2 (indoor only; SLAM needs ~8s to build initial map) ────────
|
||||||
|
nav2 = TimerAction(
|
||||||
|
period=14.0,
|
||||||
|
actions=[
|
||||||
|
GroupAction(
|
||||||
|
condition=_mode_is("indoor"),
|
||||||
|
actions=[
|
||||||
|
LogInfo(msg="[full_stack] Starting Nav2 navigation stack"),
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
_launch("saltybot_bringup", "launch", "nav2.launch.py"),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── t=17s rosbridge WebSocket (last — all topics must be alive) ──────────
|
||||||
|
rosbridge = TimerAction(
|
||||||
|
period=17.0,
|
||||||
|
actions=[
|
||||||
|
GroupAction(
|
||||||
|
condition=IfCondition(LaunchConfiguration("enable_rosbridge")),
|
||||||
|
actions=[
|
||||||
|
LogInfo(msg="[full_stack] Starting rosbridge (ws://0.0.0.0:9090)"),
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
_launch("saltybot_bringup", "launch", "rosbridge.launch.py"),
|
||||||
|
),
|
||||||
|
],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── Startup banner ────────────────────────────────────────────────────────
|
||||||
|
banner = LogInfo(
|
||||||
|
msg=["[full_stack] SaltyBot bringup starting — mode=", mode,
|
||||||
|
" sim_time=", use_sim_time]
|
||||||
|
)
|
||||||
|
|
||||||
|
# ── Assemble ──────────────────────────────────────────────────────────────
|
||||||
|
return LaunchDescription([
|
||||||
|
# Arguments
|
||||||
|
mode_arg,
|
||||||
|
use_sim_time_arg,
|
||||||
|
enable_csi_cameras_arg,
|
||||||
|
enable_uwb_arg,
|
||||||
|
enable_perception_arg,
|
||||||
|
enable_follower_arg,
|
||||||
|
enable_bridge_arg,
|
||||||
|
enable_rosbridge_arg,
|
||||||
|
follow_distance_arg,
|
||||||
|
max_linear_vel_arg,
|
||||||
|
uwb_port_a_arg,
|
||||||
|
uwb_port_b_arg,
|
||||||
|
stm32_port_arg,
|
||||||
|
|
||||||
|
# Startup banner
|
||||||
|
banner,
|
||||||
|
|
||||||
|
# t=0s
|
||||||
|
robot_description,
|
||||||
|
stm32_bridge,
|
||||||
|
|
||||||
|
# t=2s
|
||||||
|
sensors,
|
||||||
|
cmd_vel_bridge,
|
||||||
|
|
||||||
|
# t=4s
|
||||||
|
csi_cameras,
|
||||||
|
uwb_driver,
|
||||||
|
|
||||||
|
# t=6s
|
||||||
|
slam,
|
||||||
|
outdoor_nav,
|
||||||
|
perception,
|
||||||
|
|
||||||
|
# t=9s
|
||||||
|
follower,
|
||||||
|
|
||||||
|
# t=14s
|
||||||
|
nav2,
|
||||||
|
|
||||||
|
# t=17s
|
||||||
|
rosbridge,
|
||||||
|
])
|
||||||
@ -3,8 +3,8 @@
|
|||||||
<package format="3">
|
<package format="3">
|
||||||
<name>saltybot_bringup</name>
|
<name>saltybot_bringup</name>
|
||||||
<version>0.1.0</version>
|
<version>0.1.0</version>
|
||||||
<description>SaltyBot launch files — RealSense D435i + RPLIDAR A1M8 sensor bringup and SLAM integration</description>
|
<description>SaltyBot launch files — full autonomous stack bringup (sensors, SLAM, Nav2, UWB, perception, follower)</description>
|
||||||
<maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
|
<maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
|
||||||
<license>MIT</license>
|
<license>MIT</license>
|
||||||
|
|
||||||
<exec_depend>rplidar_ros</exec_depend>
|
<exec_depend>rplidar_ros</exec_depend>
|
||||||
@ -18,6 +18,14 @@
|
|||||||
<exec_depend>rosbridge_server</exec_depend>
|
<exec_depend>rosbridge_server</exec_depend>
|
||||||
<exec_depend>image_transport</exec_depend>
|
<exec_depend>image_transport</exec_depend>
|
||||||
<exec_depend>image_transport_plugins</exec_depend>
|
<exec_depend>image_transport_plugins</exec_depend>
|
||||||
|
<!-- SaltyBot packages included by full_stack.launch.py -->
|
||||||
|
<exec_depend>saltybot_bridge</exec_depend>
|
||||||
|
<exec_depend>saltybot_cameras</exec_depend>
|
||||||
|
<exec_depend>saltybot_description</exec_depend>
|
||||||
|
<exec_depend>saltybot_follower</exec_depend>
|
||||||
|
<exec_depend>saltybot_outdoor</exec_depend>
|
||||||
|
<exec_depend>saltybot_perception</exec_depend>
|
||||||
|
<exec_depend>saltybot_uwb</exec_depend>
|
||||||
|
|
||||||
<buildtool_depend>ament_python</buildtool_depend>
|
<buildtool_depend>ament_python</buildtool_depend>
|
||||||
|
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user