переписал ноду
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Hitoshi-Hub
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1 changed files with 185 additions and 166 deletions
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"""
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ROS 2 узел для биоинспирированного пайплайна FlyGuard (ЛЦТ-2026 Кейс 05).
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Связывает входные данные 3D-лидара с ядром FlyGuard и публикует детекции/маркеры.
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"""ROS 2 adapter for the FlyGuard lidar-obstacle detector.
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The processing core deliberately has no ROS dependency. This node adapts
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``sensor_msgs/msg/PointCloud2`` to the core's ``flyguard.cdr.PointCloud2``
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contract and publishes final decisions for consumers and RViz.
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"""
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from __future__ import annotations
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import math
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import sys
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from pathlib import Path
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import numpy as np
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# Автоматически добавляем корень репозитория в sys.path
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ROOT_DIR = Path(__file__).resolve().parent.parent
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if str(ROOT_DIR) not in sys.path:
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sys.path.insert(0, str(ROOT_DIR))
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import rclpy
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from rclpy.executors import ExternalShutdownException
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from rclpy.node import Node
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from rclpy.qos import qos_profile_sensor_data
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# Импорт сообщений ROS 2
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from sensor_msgs.msg import PointCloud2
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from std_msgs.msg import String
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from vision_msgs.msg import Detection3DArray, Detection3D, BoundingBox3D
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from visualization_msgs.msg import MarkerArray, Marker
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from geometry_msgs.msg import Vector3
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from sensor_msgs.msg import PointCloud2 as RosPointCloud2
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import sensor_msgs_py.point_cloud2 as pc2
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from std_msgs.msg import String
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from vision_msgs.msg import BoundingBox3D, Detection3D, Detection3DArray
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from visualization_msgs.msg import Marker, MarkerArray
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# Импорт ядра FlyGuard
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try:
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from flyguard.pipeline import FlyGuard, Params
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from flyguard.cdr import PointCloud2 as CorePointCloud2
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from flyguard.export import export_frame
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from flyguard.mbon_readout import MbonReadout
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from flyguard.mushroom_body import MushroomBody
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except ImportError as e:
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FlyGuard = None
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Params = None
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MushroomBody = None
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from flyguard.pipeline import FlyGuard, Params
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class FlyGuardNode(Node):
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def __init__(self):
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super().__init__('flyguard_node')
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"""Consume lidar clouds and publish final FlyGuard decisions."""
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# --- Объявление параметров ---
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self.declare_parameter('lidar_topic', '/pandar_points')
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self.declare_parameter('frame_id', 'pandar')
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self.declare_parameter('memory_path', '')
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self.declare_parameter('fov_deg', 30.0)
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def __init__(self) -> None:
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super().__init__("flyguard_node")
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self.declare_parameter("lidar_topic", "/pandar_points")
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# Empty means preserve the PointCloud2 header frame for downstream use.
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self.declare_parameter("frame_id", "")
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self.declare_parameter("memory_path", "artifacts/mushroom_body.npz")
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self.declare_parameter("mbon_path", "artifacts/mbon_readout.npz")
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self.declare_parameter("fov_deg", 30.0)
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self.lidar_topic = self.get_parameter('lidar_topic').get_parameter_value().string_value
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self.frame_id = self.get_parameter('frame_id').get_parameter_value().string_value
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memory_path = self.get_parameter('memory_path').get_parameter_value().string_value
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fov_deg = self.get_parameter('fov_deg').get_parameter_value().double_value
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self.lidar_topic = self.get_parameter("lidar_topic").value
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self.frame_id_override = self.get_parameter("frame_id").value
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memory_path = self.get_parameter("memory_path").value
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mbon_path = self.get_parameter("mbon_path").value
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fov_deg = self.get_parameter("fov_deg").value
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# --- Инициализация ядра FlyGuard ---
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if FlyGuard is not None:
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self.get_logger().info("Инициализация ядра FlyGuard...")
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memory = MushroomBody.load(memory_path) if memory_path else None
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params = Params(fov_deg=fov_deg)
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self.fg = FlyGuard(params, memory=memory)
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else:
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self.get_logger().error("Модуль flyguard.pipeline не найден!")
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self.fg = None
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memory = self._load_model(memory_path, "memory", MushroomBody.load)
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readout = self._load_model(mbon_path, "MBON readout", MbonReadout.load)
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self.fg = FlyGuard(Params(fov_deg=float(fov_deg)), memory=memory,
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readout=readout)
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# --- Подписчики и Публикаторы ---
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# Pandar and most lidar drivers offer BEST_EFFORT sensor QoS. A
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# default RELIABLE subscriber is incompatible and would receive no data.
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self.sub_cloud = self.create_subscription(
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PointCloud2,
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self.lidar_topic,
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self.pointcloud_callback,
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10
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RosPointCloud2, self.lidar_topic, self.pointcloud_callback,
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qos_profile_sensor_data,
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)
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self.pub_threat = self.create_publisher(String, "flyguard/threat_level", 10)
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self.pub_boxes = self.create_publisher(
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Detection3DArray, "flyguard/bounding_boxes", 10)
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self.pub_markers = self.create_publisher(MarkerArray, "flyguard/markers", 10)
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self.received_frames = 0
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self.processed_frames = 0
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self.get_logger().info(
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"FlyGuard started: input=%s, frame=%s, memory=%s, mbon=%s"
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% (self.lidar_topic, self.frame_id_override or "<input header>",
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memory_path or "disabled", mbon_path or "disabled")
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)
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self.pub_threat = self.create_publisher(String, 'flyguard/threat_level', 10)
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self.pub_boxes = self.create_publisher(Detection3DArray, 'flyguard/bounding_boxes', 10)
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self.pub_markers = self.create_publisher(MarkerArray, 'flyguard/markers', 10)
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def _load_model(self, value: str, label: str, loader):
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"""Load an optional model and fail early for a supplied bad path."""
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if not value:
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self.get_logger().warning(f"{label} is disabled (empty path)")
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return None
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path = Path(value)
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if not path.is_absolute():
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path = ROOT_DIR / path
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if not path.is_file():
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raise FileNotFoundError(
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f"{label} file does not exist: {path}. Pass an empty parameter "
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"only when the model is intentionally disabled."
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)
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self.get_logger().info(f"Loading {label} from {path}")
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return loader(path)
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self.get_logger().info(f"FlyGuard ROS 2 Node запущен! Топик: {self.lidar_topic}")
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@staticmethod
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def _to_core_cloud(msg: RosPointCloud2) -> CorePointCloud2:
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"""Adapt ROS metadata and retain the complete raw scan ordering."""
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# Do not skip NaNs: removing no-return points changes the point order
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# and prevents the core from recognising an organised Pandar scan.
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points = np.asarray(pc2.read_points(msg, skip_nans=False))
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names = points.dtype.names or ()
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missing = {"x", "y", "z", "intensity"}.difference(names)
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if missing:
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raise ValueError("PointCloud2 is missing required fields: %s" %
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", ".join(sorted(missing)))
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expected = int(msg.height) * int(msg.width)
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if points.size != expected:
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raise ValueError(
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f"PointCloud2 has {points.size} decoded points, expected {expected}")
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stamp = float(msg.header.stamp.sec) + float(msg.header.stamp.nanosec) * 1e-9
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return CorePointCloud2(
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stamp=stamp,
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frame_id=msg.header.frame_id,
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height=int(msg.height),
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width=int(msg.width),
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point_step=int(msg.point_step),
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is_dense=bool(msg.is_dense),
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points=points,
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)
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def pointcloud_callback(self, msg: PointCloud2):
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"""Обработка каждого кадра лидара (10 Гц)"""
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start_time = self.get_clock().now()
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# 1. Читаем точки из PointCloud2 в structured numpy array
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# (сохраняет стандартную структуру PointCloud)
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pc_data = pc2.read_points(msg, skip_nans=True)
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if pc_data.size == 0:
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def pointcloud_callback(self, msg: RosPointCloud2) -> None:
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self.received_frames += 1
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started = self.get_clock().now()
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try:
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cloud = self._to_core_cloud(msg)
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if cloud.n_points == 0:
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self.get_logger().warning("Ignoring an empty PointCloud2 frame")
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return
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result = self.fg.process(cloud)
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except Exception as exc:
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# A malformed frame must not kill the ROS executor.
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self.get_logger().error(f"FlyGuard failed to process cloud: {exc}")
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return
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# 2. Вызываем ядро FlyGuard
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if self.fg is None:
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# The first calib_frames scans intentionally produce no result.
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if result is None:
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return
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res = self.fg.process(pc_data)
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if res is None:
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return
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self.processed_frames += 1
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decision = result.decision
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frame_id = self.frame_id_override or msg.header.frame_id
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exported = export_frame(decision, result.plane, result.corridor,
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stamp=result.stamp)
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threat_level = ("EMERGENCY" if decision.emergency else
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"WARNING" if decision.detected else "CLEAR")
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d = res.decision
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tracks = getattr(self.fg.cx, 'tracks', [])
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self.pub_threat.publish(String(data=threat_level))
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self.publish_detections(exported.boxes, msg.header.stamp, frame_id)
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self.publish_rviz_markers(exported.boxes, msg.header.stamp, frame_id)
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# 3. Определяем уровень угрозы
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if d.detected:
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threat_level = "EMERGENCY" if getattr(d, 'emergency', False) else "WARNING"
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elapsed_ms = (self.get_clock().now() - started).nanoseconds / 1e6
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self.get_logger().debug(
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"frame=%d processed=%d %.1f ms: %s, %d object(s)"
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% (self.received_frames, self.processed_frames, elapsed_ms,
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threat_level, len(exported.boxes))
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)
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def publish_detections(self, boxes, stamp, frame_id: str) -> None:
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message = Detection3DArray()
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message.header.stamp = stamp
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message.header.frame_id = frame_id
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for box in boxes:
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detection = Detection3D()
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detection.header = message.header
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detection.bbox = BoundingBox3D()
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detection.bbox.center.position.x = box.x
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detection.bbox.center.position.y = box.y
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detection.bbox.center.position.z = box.z
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detection.bbox.center.orientation.z = math.sin(box.yaw * 0.5)
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detection.bbox.center.orientation.w = math.cos(box.yaw * 0.5)
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detection.bbox.size = Vector3(x=box.dx, y=box.dy, z=box.dz)
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message.detections.append(detection)
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self.pub_boxes.publish(message)
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def publish_rviz_markers(self, boxes, stamp, frame_id: str) -> None:
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message = MarkerArray()
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clear = Marker()
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clear.header.stamp = stamp
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clear.header.frame_id = frame_id
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clear.action = Marker.DELETEALL
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message.markers.append(clear)
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for box in boxes:
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cube = Marker()
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cube.header.stamp = stamp
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cube.header.frame_id = frame_id
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cube.ns = "flyguard_boxes"
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cube.id = int(box.track_id)
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cube.type = Marker.CUBE
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cube.action = Marker.ADD
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cube.pose.position.x, cube.pose.position.y, cube.pose.position.z = box.x, box.y, box.z
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cube.pose.orientation.z = math.sin(box.yaw * 0.5)
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cube.pose.orientation.w = math.cos(box.yaw * 0.5)
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cube.scale = Vector3(x=max(box.dx, 0.01), y=max(box.dy, 0.01), z=max(box.dz, 0.01))
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if box.threat_level.name == "EMERGENCY":
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cube.color.r, cube.color.g, cube.color.b, cube.color.a = 1.0, 0.0, 0.0, 0.75
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else:
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threat_level = "CLEAR"
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cube.color.r, cube.color.g, cube.color.b, cube.color.a = 1.0, 0.85, 0.0, 0.65
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message.markers.append(cube)
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# 4. Публикация статуса
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threat_msg = String()
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threat_msg.data = threat_level
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self.pub_threat.publish(threat_msg)
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# 5. Публикация маркеров и рамок
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stamp = msg.header.stamp
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self.publish_detections(tracks, stamp)
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self.publish_rviz_markers(tracks, threat_level, d, stamp)
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elapsed_ms = (self.get_clock().now() - start_time).nanoseconds / 1e6
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self.get_logger().debug(f"Кадр за {elapsed_ms:.1f} мс | Статус: {threat_level} | Треков: {len(tracks)}")
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def publish_detections(self, tracks, stamp):
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"""Формирование vision_msgs/Detection3DArray"""
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det_array = Detection3DArray()
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det_array.header.stamp = stamp
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det_array.header.frame_id = self.frame_id
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for trk in tracks:
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det = Detection3D()
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det.header = det_array.header
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bbox = BoundingBox3D()
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bbox.center.position.x = float(getattr(trk, 'x', 0.0))
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bbox.center.position.y = float(getattr(trk, 'y', 0.0))
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bbox.center.position.z = float(getattr(trk, 'z', 0.0))
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bbox.size.x = float(getattr(trk, 'dx', 0.5))
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bbox.size.y = float(getattr(trk, 'dy', 0.5))
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bbox.size.z = float(getattr(trk, 'dz', 1.5))
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det.bbox = bbox
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det_array.detections.append(det)
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self.pub_boxes.publish(det_array)
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def publish_rviz_markers(self, tracks, threat_level: str, decision, stamp):
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"""Генерация маркеров для RViz2"""
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marker_array = MarkerArray()
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delete_all = Marker()
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delete_all.action = Marker.DELETEALL
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marker_array.markers.append(delete_all)
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for i, trk in enumerate(tracks):
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# Куб вокруг объекта
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box_marker = Marker()
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box_marker.header.stamp = stamp
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box_marker.header.frame_id = self.frame_id
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box_marker.ns = "flyguard_boxes"
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box_marker.id = i
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box_marker.type = Marker.CUBE
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box_marker.action = Marker.ADD
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x = float(getattr(trk, 'x', 0.0))
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y = float(getattr(trk, 'y', 0.0))
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z = float(getattr(trk, 'z', 0.0))
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box_marker.pose.position.x = x
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box_marker.pose.position.y = y
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box_marker.pose.position.z = z
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dx = float(getattr(trk, 'dx', 0.5))
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dy = float(getattr(trk, 'dy', 0.5))
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dz = float(getattr(trk, 'dz', 1.5))
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box_marker.scale = Vector3(x=dx, y=dy, z=dz)
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if threat_level == "EMERGENCY":
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box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 1.0, 0.0, 0.0, 0.6
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elif threat_level == "WARNING":
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box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 1.0, 0.9, 0.0, 0.5
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else:
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box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 0.0, 1.0, 0.0, 0.4
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marker_array.markers.append(box_marker)
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# Текст с дистанцией над объектом
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text_marker = Marker()
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text_marker.header.stamp = stamp
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text_marker.header.frame_id = self.frame_id
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text_marker.ns = "flyguard_labels"
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text_marker.id = 1000 + i
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text_marker.type = Marker.TEXT_VIEW_FACING
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text_marker.action = Marker.ADD
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text_marker.pose.position.x = x
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text_marker.pose.position.y = y
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text_marker.pose.position.z = z + dz / 2.0 + 0.3
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text_marker.scale.z = 0.4
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dist = getattr(trk, 'distance', np.hypot(x, y))
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text_marker.text = f"D: {dist:.1f}m"
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text_marker.color.r, text_marker.color.g, text_marker.color.b, text_marker.color.a = 1.0, 1.0, 1.0, 1.0
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marker_array.markers.append(text_marker)
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self.pub_markers.publish(marker_array)
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label = Marker()
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label.header.stamp = stamp
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label.header.frame_id = frame_id
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label.ns = "flyguard_labels"
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label.id = 100000 + int(box.track_id)
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label.type = Marker.TEXT_VIEW_FACING
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label.action = Marker.ADD
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label.pose.position.x, label.pose.position.y = box.x, box.y
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label.pose.position.z = box.z + box.dz * 0.5 + 0.35
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label.pose.orientation.w = 1.0
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label.scale.z = 0.40
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label.color.r = label.color.g = label.color.b = label.color.a = 1.0
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label.text = "ID:%d | %.1f m | conf:%.2f" % (
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box.track_id, box.distance_along_track, box.confidence)
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message.markers.append(label)
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self.pub_markers.publish(message)
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def main(args=None):
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def main(args=None) -> None:
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rclpy.init(args=args)
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node = FlyGuardNode()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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except (KeyboardInterrupt, ExternalShutdownException):
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||||
pass
|
||||
finally:
|
||||
node.destroy_node()
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Loading…
Reference in a new issue