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Feature/orange sensor tools #104

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1bf0c37
Update rosinstall file.
shunsugar Jul 30, 2025
9f7cddf
Add led_node.
shunsugar Aug 6, 2025
a5d20a7
Add wheel_imu_odom.
shunsugar Aug 6, 2025
fde160b
apply format
shunsugar Aug 6, 2025
88f667b
Delete livox and replace with velodyne.
shunsugar Aug 6, 2025
4eca6d6
Migrate GNSS-related programs to orange_gnss.
shunsugar Aug 6, 2025
aed0b29
Update launch files.
shunsugar Aug 6, 2025
d5832b1
apply format
shunsugar Aug 6, 2025
5e9eccf
Merge pull request #106 from KBKN-Autonomous-Robotics-Lab/feature/VLP…
shunsugar Aug 6, 2025
6390551
Merge branch 'devel/VLP-16' into feature/orange_sensor_tools
shunsugar Aug 6, 2025
1a6ada4
Update orange_ros2.rosinstall
shunsugar Aug 6, 2025
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36 changes: 10 additions & 26 deletions orange_bringup/launch/data_processing.launch.xml
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Expand Up @@ -7,8 +7,6 @@
<arg name="hokuyo_scan_topic" default="/hokuyo_scan"/>
<arg name="velodyne_scan_topic" default="/velodyne_scan"/>
<arg name="velodyne_points_topic" default="/velodyne_points"/>
<arg name="livox_scan_topic" default="/livox_scan"/>
<arg name="livox_points_topic" default="/livox_points"/>
<arg name="merged_cloud_topic" default="/merged_cloud"/>
<arg name="merged_scan_topic" default="/merged_scan"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
Expand All @@ -18,50 +16,36 @@
<arg name="imu_in" value="$(var imu_topic)"/>
<arg name="fusion_odom_out" value="$(var fusion_odom_topic)"/>
</include>-->
<!-- Fast lio odom -->
<include file="$(find-pkg-share fast_lio)/launch/mapping.launch.py"/>
<node pkg="fast_odom_convert" exec="fast_odom_convert"/>
<!-- GPSposition converter -->
<node pkg="orange_bringup" exec="lonlat_to_odom" output="screen">
<node pkg="orange_gnss" exec="lonlat_to_odom" output="screen">
<param name="Position_magnification" value="1.675"/>
</node>
<!-- combination_GPSposition_GPSheading -->
<node pkg="orange_bringup" exec="combination" output="screen"/>
<node pkg="orange_gnss" exec="combination" output="screen"/>
<!-- ekf_myself -->
<node pkg="orange_bringup" exec="ekf_myself" output="screen">
<node pkg="orange_gnss" exec="ekf_myself" output="screen">
<param name="ekf_publish_TF" value="$(var ekf_publish_TF)"/>
<param name="speed_limit" value="3.5"/>
<param name="speed_stop" value="0.15"/>
</node>
<!-- livox_to_pointcloud2 -->
<node pkg="livox_to_pointcloud2" exec="livox_to_pointcloud2_node">
<remap from="/livox_pointcloud" to="/livox/lidar"/>
</node>
<!-- ground_segmentation -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<arg name="config_file_path" value="$(find-pkg-share orange_sensor_tools)/config/ground_segmentation.yaml"/>
<arg name="input_topic" value="/converted_pointcloud2"/>
<arg name="ground_output_topic" value="$(var livox_points_topic)/ground"/>
<arg name="obstacle_output_topic" value="$(var livox_points_topic)/obstacle"/>
</include> -->
<!-- ground_segmentation2 -->
<include file="$(find-pkg-share pcd_convert)/launch/pcd_convert.launch.py"/>
<arg name="ground_output_topic" value="$(var velodyne_points_topic)/ground"/>
<arg name="obstacle_output_topic" value="$(var velodyne_points_topic)/obstacle"/>
</include>
<!-- pointcloud_to_laserscan -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/pointcloud_to_laserscan.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/pointcloud_to_laserscan.launch.xml">
<arg name="cloud_in" value="$(var velodyne_points_topic)/obstacle"/>
<arg name="scan_out" value="$(var velodyne_scan_topic)"/>
</include>-->
<!-- pointcloud2_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan.launch.py">
<arg name="cloud_in" value="/pcd_segment_obs"/>
<arg name="scan_out" value="$(var livox_scan_topic)"/>
</include>
<!-- laserscan_multi_merger -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/laserscan_multi_merger.launch.xml">
<arg name="delete_intensity" value="true"/>
<arg name="destination_frame" value="livox_frame"/>
<arg name="destination_frame" value="velodyne"/>
<arg name="cloud_destination_topic" value="$(var merged_cloud_topic)"/>
<arg name="scan_destination_topic" value="$(var merged_scan_topic)"/>
<arg name="laserscan_topics" value="$(var hokuyo_scan_topic) $(var livox_scan_topic)"/>
<arg name="laserscan_topics" value="$(var hokuyo_scan_topic) $(var velodyne_scan_topic)"/>
</include>-->
</launch>
22 changes: 6 additions & 16 deletions orange_bringup/launch/orange_robot.launch.xml
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Expand Up @@ -62,29 +62,19 @@
</include>
<!-- GPSposition_publisher -->
<!-- initial heading:housei nakaniwa=179.169287 tsukuba= 276.5 -->
<!--<node pkg="orange_bringup" exec="get_lonlat" output="screen">
<node pkg="orange_gnss" exec="get_lonlat_ttyACM" output="screen">
<param name="port" value="/dev/sensors/GNSSbase"/>
<param name="baud" value="9600"/>
<param name="country_id" value="0"/>
<param name="type" value="1"/>
</node>
<node pkg="orange_bringup" exec="lonlat_to_odom" output="screen">
<param name="Position_magnification" value="1.675"/>
</node>-->
<node pkg="orange_bringup" exec="fix_to_GPSodom" output="screen">
<param name="port" value="/dev/sensors/GNSSbase"/>
<param name="band" value="9600"/>
<param name="country_id" value="0"/>
<param name="heading" value="180"/>
<param name="Position_magnification" value="1.675"/>
</node>
<!-- GPSheading_publisher -->
<node pkg="orange_bringup" exec="movingbase_yaw_to_quat" output="screen">
<node pkg="orange_gnss" exec="movingbase_yaw_to_quat" output="screen">
<param name="port" value="/dev/sensors/GNSSrover"/>
<param name="baud" value="9600"/>
<param name="time_out" value="1.0"/>
</node>
<!--<node pkg="orange_bringup" exec="GPSodom_correction" output="screen"/>-->
<!--<node pkg="orange_gnss" exec="GPSodom_correction" output="screen"/>-->
<!-- hokuyo -->
<!--<node pkg="urg_node" exec="urg_node_driver">
<param name="serial_port" value="/dev/sensors/hokuyo_urg"/>
Expand All @@ -94,7 +84,7 @@
<remap from="/scan" to="/hokuyo_scan"/>
</node>-->
<!-- velodyne -->
<!--<node pkg="velodyne_driver" exec="velodyne_driver_node">
<node pkg="velodyne_driver" exec="velodyne_driver_node">
<param name="device_ip" value=""/>
<param name="gps_time" value="false"/>
<param name="time_offset" value="0.0"/>
Expand All @@ -117,7 +107,7 @@
<param name="fixed_frame" value=""/>
<param name="target_frame" value=""/>
<param name="organize_cloud" value="false"/>
</node>-->
</node>
<!-- mid360 -->
<include file="$(find-pkg-share livox_ros_driver2)/launch_ROS2/msg_MID360_launch.py"/>
<!--<include file="$(find-pkg-share livox_ros_driver2)/launch_ROS2/msg_MID360_launch.py"/>-->
</launch>
34 changes: 5 additions & 29 deletions orange_bringup/launch/with_ros2bag.launch.xml
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Expand Up @@ -9,8 +9,6 @@
<arg name="hokuyo_scan_topic" default="/hokuyo_scan"/>
<arg name="velodyne_scan_topic" default="/velodyne_scan"/>
<arg name="velodyne_points_topic" default="/velodyne_points"/>
<arg name="livox_scan_topic" default="/livox_scan"/>
<arg name="livox_points_topic" default="/livox_points"/>
<arg name="merged_cloud_topic" default="/merged_cloud"/>
<arg name="merged_scan_topic" default="/merged_scan"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
Expand All @@ -21,57 +19,35 @@
<arg name="imu_in" value="$(var imu_topic)"/>
<arg name="fusion_odom_out" value="$(var fusion_odom_topic)"/>
</include>-->
<!-- Fast lio odom -->
<include file="$(find-pkg-share fast_lio)/launch/mapping.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<node pkg="fast_odom_convert" exec="fast_odom_convert">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<!-- GPSposition converter -->
<node pkg="orange_bringup" exec="lonlat_to_odom" output="screen">
<node pkg="orange_gnss" exec="lonlat_to_odom" output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="Position_magnification" value="1.675"/>
</node>
<!-- combination_GPSposition_GPSheading -->
<node pkg="orange_bringup" exec="combination" output="screen">
<node pkg="orange_gnss" exec="combination" output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
<!-- ekf_myself -->
<node pkg="orange_bringup" exec="ekf_myself" output="screen">
<node pkg="orange_gnss" exec="ekf_myself" output="screen">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<param name="ekf_publish_TF" value="$(var ekf_publish_TF)"/>
<param name="speed_limit" value="3.5"/>
<param name="speed_stop" value="0.15"/>
</node>
<!-- livox_to_pointcloud2 -->
<node pkg="livox_to_pointcloud2" exec="livox_to_pointcloud2_node">
<param name="use_sim_time" value="$(var use_sim_time)"/>
<remap from="/livox_pointcloud" to="/livox/lidar"/>
</node>
<!-- ground_segmentation -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<arg name="config_file_path" value="$(find-pkg-share orange_sensor_tools)/config/ground_segmentation.yaml"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="input_topic" value="$(var velodyne_points_topic)"/>
<arg name="ground_output_topic" value="$(var velodyne_points_topic)/ground"/>
<arg name="obstacle_output_topic" value="$(var velodyne_points_topic)/obstacle"/>
</include>-->
<!-- ground_segmentation2 -->
<include file="$(find-pkg-share pcd_convert)/launch/pcd_convert.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
</include>
<!-- pointcloud_to_laserscan -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/pointcloud_to_laserscan.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/pointcloud_to_laserscan.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="cloud_in" value="$(var velodyne_points_topic)/obstacle"/>
<arg name="scan_out" value="$(var velodyne_scan_topic)"/>
</include>-->
<!-- pointcloud2_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan.launch.py">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="cloud_in" value="/pcd_segment_obs"/>
<arg name="scan_out" value="$(var livox_scan_topic)"/>
</include>
<!-- laserscan_multi_merger -->
<!--<include file="$(find-pkg-share orange_sensor_tools)/launch/laserscan_multi_merger.launch.xml">
Expand Down
10 changes: 1 addition & 9 deletions orange_bringup/setup.py
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Expand Up @@ -29,15 +29,7 @@
tests_require=["pytest"],
entry_points={
"console_scripts": [
"motor_driver_node = orange_bringup.motor_driver_node:main",
"fix_to_GPSodom = orange_bringup.fix_to_GPSodom:main",
"movingbase_yaw_to_quat = orange_bringup.movingbase_yaw_to_quat:main",
"combination = orange_bringup.combination:main",
"ekf_myself = orange_bringup.ekf_myself:main",
"get_lonlat = orange_bringup.get_lonlat:main",
"GPSodom_correction = orange_bringup.GPSodom_correction:main",
"lonlat_to_odom = orange_bringup.lonlat_to_odom:main",
"ekf_myself_noGPS = orange_bringup.ekf_myself_noGPS:main"
"motor_driver_node = orange_bringup.motor_driver_node:main"
],
},
)
0 ...ngup/orange_bringup/GPSodom_correction.py → ...ge_gnss/orange_gnss/GPSodom_correction.py
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File renamed without changes.
Empty file added orange_gnss/orange_gnss/__init__.py
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Empty file.
2 changes: 1 addition & 1 deletion orange_bringup/orange_bringup/combination.py → orange_gnss/orange_gnss/combination.py
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Expand Up @@ -28,7 +28,7 @@ def __init__(self):
self.timer = self.create_timer(1.0, self.publish_combined_odom)

self.get_logger().info("Start combination node")
self.get_logger().info("----------------------")
self.get_logger().info("-------------------------")

def odomgps_callback(self, msg):
self.x = msg.pose.pose.position.x
Expand Down
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