переписал ноду
This commit is contained in:
Hitoshi-Hub
parent
2f45473891
commit
f80c810358
1 changed files with 185 additions and 166 deletions
|
|
@ -1,216 +1,235 @@
|
|||
"""
|
||||
ROS 2 узел для биоинспирированного пайплайна FlyGuard (ЛЦТ-2026 Кейс 05).
|
||||
Связывает входные данные 3D-лидара с ядром FlyGuard и публикует детекции/маркеры.
|
||||
"""ROS 2 adapter for the FlyGuard lidar-obstacle detector.
|
||||
|
||||
The processing core deliberately has no ROS dependency. This node adapts
|
||||
``sensor_msgs/msg/PointCloud2`` to the core's ``flyguard.cdr.PointCloud2``
|
||||
contract and publishes final decisions for consumers and RViz.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import math
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
import numpy as np
|
||||
|
||||
# Автоматически добавляем корень репозитория в sys.path
|
||||
ROOT_DIR = Path(__file__).resolve().parent.parent
|
||||
if str(ROOT_DIR) not in sys.path:
|
||||
sys.path.insert(0, str(ROOT_DIR))
|
||||
|
||||
import rclpy
|
||||
from rclpy.executors import ExternalShutdownException
|
||||
from rclpy.node import Node
|
||||
from rclpy.qos import qos_profile_sensor_data
|
||||
|
||||
# Импорт сообщений ROS 2
|
||||
from sensor_msgs.msg import PointCloud2
|
||||
from std_msgs.msg import String
|
||||
from vision_msgs.msg import Detection3DArray, Detection3D, BoundingBox3D
|
||||
from visualization_msgs.msg import MarkerArray, Marker
|
||||
from geometry_msgs.msg import Vector3
|
||||
|
||||
from sensor_msgs.msg import PointCloud2 as RosPointCloud2
|
||||
import sensor_msgs_py.point_cloud2 as pc2
|
||||
from std_msgs.msg import String
|
||||
from vision_msgs.msg import BoundingBox3D, Detection3D, Detection3DArray
|
||||
from visualization_msgs.msg import Marker, MarkerArray
|
||||
|
||||
# Импорт ядра FlyGuard
|
||||
try:
|
||||
from flyguard.pipeline import FlyGuard, Params
|
||||
from flyguard.mushroom_body import MushroomBody
|
||||
except ImportError as e:
|
||||
FlyGuard = None
|
||||
Params = None
|
||||
MushroomBody = None
|
||||
from flyguard.cdr import PointCloud2 as CorePointCloud2
|
||||
from flyguard.export import export_frame
|
||||
from flyguard.mbon_readout import MbonReadout
|
||||
from flyguard.mushroom_body import MushroomBody
|
||||
from flyguard.pipeline import FlyGuard, Params
|
||||
|
||||
|
||||
class FlyGuardNode(Node):
|
||||
def __init__(self):
|
||||
super().__init__('flyguard_node')
|
||||
"""Consume lidar clouds and publish final FlyGuard decisions."""
|
||||
|
||||
# --- Объявление параметров ---
|
||||
self.declare_parameter('lidar_topic', '/pandar_points')
|
||||
self.declare_parameter('frame_id', 'pandar')
|
||||
self.declare_parameter('memory_path', '')
|
||||
self.declare_parameter('fov_deg', 30.0)
|
||||
def __init__(self) -> None:
|
||||
super().__init__("flyguard_node")
|
||||
self.declare_parameter("lidar_topic", "/pandar_points")
|
||||
# Empty means preserve the PointCloud2 header frame for downstream use.
|
||||
self.declare_parameter("frame_id", "")
|
||||
self.declare_parameter("memory_path", "artifacts/mushroom_body.npz")
|
||||
self.declare_parameter("mbon_path", "artifacts/mbon_readout.npz")
|
||||
self.declare_parameter("fov_deg", 30.0)
|
||||
|
||||
self.lidar_topic = self.get_parameter('lidar_topic').get_parameter_value().string_value
|
||||
self.frame_id = self.get_parameter('frame_id').get_parameter_value().string_value
|
||||
memory_path = self.get_parameter('memory_path').get_parameter_value().string_value
|
||||
fov_deg = self.get_parameter('fov_deg').get_parameter_value().double_value
|
||||
self.lidar_topic = self.get_parameter("lidar_topic").value
|
||||
self.frame_id_override = self.get_parameter("frame_id").value
|
||||
memory_path = self.get_parameter("memory_path").value
|
||||
mbon_path = self.get_parameter("mbon_path").value
|
||||
fov_deg = self.get_parameter("fov_deg").value
|
||||
|
||||
# --- Инициализация ядра FlyGuard ---
|
||||
if FlyGuard is not None:
|
||||
self.get_logger().info("Инициализация ядра FlyGuard...")
|
||||
memory = MushroomBody.load(memory_path) if memory_path else None
|
||||
params = Params(fov_deg=fov_deg)
|
||||
self.fg = FlyGuard(params, memory=memory)
|
||||
else:
|
||||
self.get_logger().error("Модуль flyguard.pipeline не найден!")
|
||||
self.fg = None
|
||||
memory = self._load_model(memory_path, "memory", MushroomBody.load)
|
||||
readout = self._load_model(mbon_path, "MBON readout", MbonReadout.load)
|
||||
self.fg = FlyGuard(Params(fov_deg=float(fov_deg)), memory=memory,
|
||||
readout=readout)
|
||||
|
||||
# --- Подписчики и Публикаторы ---
|
||||
# Pandar and most lidar drivers offer BEST_EFFORT sensor QoS. A
|
||||
# default RELIABLE subscriber is incompatible and would receive no data.
|
||||
self.sub_cloud = self.create_subscription(
|
||||
PointCloud2,
|
||||
self.lidar_topic,
|
||||
self.pointcloud_callback,
|
||||
10
|
||||
RosPointCloud2, self.lidar_topic, self.pointcloud_callback,
|
||||
qos_profile_sensor_data,
|
||||
)
|
||||
self.pub_threat = self.create_publisher(String, "flyguard/threat_level", 10)
|
||||
self.pub_boxes = self.create_publisher(
|
||||
Detection3DArray, "flyguard/bounding_boxes", 10)
|
||||
self.pub_markers = self.create_publisher(MarkerArray, "flyguard/markers", 10)
|
||||
|
||||
self.received_frames = 0
|
||||
self.processed_frames = 0
|
||||
self.get_logger().info(
|
||||
"FlyGuard started: input=%s, frame=%s, memory=%s, mbon=%s"
|
||||
% (self.lidar_topic, self.frame_id_override or "<input header>",
|
||||
memory_path or "disabled", mbon_path or "disabled")
|
||||
)
|
||||
|
||||
self.pub_threat = self.create_publisher(String, 'flyguard/threat_level', 10)
|
||||
self.pub_boxes = self.create_publisher(Detection3DArray, 'flyguard/bounding_boxes', 10)
|
||||
self.pub_markers = self.create_publisher(MarkerArray, 'flyguard/markers', 10)
|
||||
def _load_model(self, value: str, label: str, loader):
|
||||
"""Load an optional model and fail early for a supplied bad path."""
|
||||
if not value:
|
||||
self.get_logger().warning(f"{label} is disabled (empty path)")
|
||||
return None
|
||||
path = Path(value)
|
||||
if not path.is_absolute():
|
||||
path = ROOT_DIR / path
|
||||
if not path.is_file():
|
||||
raise FileNotFoundError(
|
||||
f"{label} file does not exist: {path}. Pass an empty parameter "
|
||||
"only when the model is intentionally disabled."
|
||||
)
|
||||
self.get_logger().info(f"Loading {label} from {path}")
|
||||
return loader(path)
|
||||
|
||||
self.get_logger().info(f"FlyGuard ROS 2 Node запущен! Топик: {self.lidar_topic}")
|
||||
@staticmethod
|
||||
def _to_core_cloud(msg: RosPointCloud2) -> CorePointCloud2:
|
||||
"""Adapt ROS metadata and retain the complete raw scan ordering."""
|
||||
# Do not skip NaNs: removing no-return points changes the point order
|
||||
# and prevents the core from recognising an organised Pandar scan.
|
||||
points = np.asarray(pc2.read_points(msg, skip_nans=False))
|
||||
names = points.dtype.names or ()
|
||||
missing = {"x", "y", "z", "intensity"}.difference(names)
|
||||
if missing:
|
||||
raise ValueError("PointCloud2 is missing required fields: %s" %
|
||||
", ".join(sorted(missing)))
|
||||
expected = int(msg.height) * int(msg.width)
|
||||
if points.size != expected:
|
||||
raise ValueError(
|
||||
f"PointCloud2 has {points.size} decoded points, expected {expected}")
|
||||
stamp = float(msg.header.stamp.sec) + float(msg.header.stamp.nanosec) * 1e-9
|
||||
return CorePointCloud2(
|
||||
stamp=stamp,
|
||||
frame_id=msg.header.frame_id,
|
||||
height=int(msg.height),
|
||||
width=int(msg.width),
|
||||
point_step=int(msg.point_step),
|
||||
is_dense=bool(msg.is_dense),
|
||||
points=points,
|
||||
)
|
||||
|
||||
def pointcloud_callback(self, msg: PointCloud2):
|
||||
"""Обработка каждого кадра лидара (10 Гц)"""
|
||||
start_time = self.get_clock().now()
|
||||
|
||||
# 1. Читаем точки из PointCloud2 в structured numpy array
|
||||
# (сохраняет стандартную структуру PointCloud)
|
||||
pc_data = pc2.read_points(msg, skip_nans=True)
|
||||
if pc_data.size == 0:
|
||||
def pointcloud_callback(self, msg: RosPointCloud2) -> None:
|
||||
self.received_frames += 1
|
||||
started = self.get_clock().now()
|
||||
try:
|
||||
cloud = self._to_core_cloud(msg)
|
||||
if cloud.n_points == 0:
|
||||
self.get_logger().warning("Ignoring an empty PointCloud2 frame")
|
||||
return
|
||||
result = self.fg.process(cloud)
|
||||
except Exception as exc:
|
||||
# A malformed frame must not kill the ROS executor.
|
||||
self.get_logger().error(f"FlyGuard failed to process cloud: {exc}")
|
||||
return
|
||||
|
||||
# 2. Вызываем ядро FlyGuard
|
||||
if self.fg is None:
|
||||
# The first calib_frames scans intentionally produce no result.
|
||||
if result is None:
|
||||
return
|
||||
|
||||
res = self.fg.process(pc_data)
|
||||
if res is None:
|
||||
return
|
||||
self.processed_frames += 1
|
||||
decision = result.decision
|
||||
frame_id = self.frame_id_override or msg.header.frame_id
|
||||
exported = export_frame(decision, result.plane, result.corridor,
|
||||
stamp=result.stamp)
|
||||
threat_level = ("EMERGENCY" if decision.emergency else
|
||||
"WARNING" if decision.detected else "CLEAR")
|
||||
|
||||
d = res.decision
|
||||
tracks = getattr(self.fg.cx, 'tracks', [])
|
||||
self.pub_threat.publish(String(data=threat_level))
|
||||
self.publish_detections(exported.boxes, msg.header.stamp, frame_id)
|
||||
self.publish_rviz_markers(exported.boxes, msg.header.stamp, frame_id)
|
||||
|
||||
# 3. Определяем уровень угрозы
|
||||
if d.detected:
|
||||
threat_level = "EMERGENCY" if getattr(d, 'emergency', False) else "WARNING"
|
||||
else:
|
||||
threat_level = "CLEAR"
|
||||
elapsed_ms = (self.get_clock().now() - started).nanoseconds / 1e6
|
||||
self.get_logger().debug(
|
||||
"frame=%d processed=%d %.1f ms: %s, %d object(s)"
|
||||
% (self.received_frames, self.processed_frames, elapsed_ms,
|
||||
threat_level, len(exported.boxes))
|
||||
)
|
||||
|
||||
# 4. Публикация статуса
|
||||
threat_msg = String()
|
||||
threat_msg.data = threat_level
|
||||
self.pub_threat.publish(threat_msg)
|
||||
def publish_detections(self, boxes, stamp, frame_id: str) -> None:
|
||||
message = Detection3DArray()
|
||||
message.header.stamp = stamp
|
||||
message.header.frame_id = frame_id
|
||||
for box in boxes:
|
||||
detection = Detection3D()
|
||||
detection.header = message.header
|
||||
detection.bbox = BoundingBox3D()
|
||||
detection.bbox.center.position.x = box.x
|
||||
detection.bbox.center.position.y = box.y
|
||||
detection.bbox.center.position.z = box.z
|
||||
detection.bbox.center.orientation.z = math.sin(box.yaw * 0.5)
|
||||
detection.bbox.center.orientation.w = math.cos(box.yaw * 0.5)
|
||||
detection.bbox.size = Vector3(x=box.dx, y=box.dy, z=box.dz)
|
||||
message.detections.append(detection)
|
||||
self.pub_boxes.publish(message)
|
||||
|
||||
# 5. Публикация маркеров и рамок
|
||||
stamp = msg.header.stamp
|
||||
self.publish_detections(tracks, stamp)
|
||||
self.publish_rviz_markers(tracks, threat_level, d, stamp)
|
||||
def publish_rviz_markers(self, boxes, stamp, frame_id: str) -> None:
|
||||
message = MarkerArray()
|
||||
clear = Marker()
|
||||
clear.header.stamp = stamp
|
||||
clear.header.frame_id = frame_id
|
||||
clear.action = Marker.DELETEALL
|
||||
message.markers.append(clear)
|
||||
|
||||
elapsed_ms = (self.get_clock().now() - start_time).nanoseconds / 1e6
|
||||
self.get_logger().debug(f"Кадр за {elapsed_ms:.1f} мс | Статус: {threat_level} | Треков: {len(tracks)}")
|
||||
|
||||
def publish_detections(self, tracks, stamp):
|
||||
"""Формирование vision_msgs/Detection3DArray"""
|
||||
det_array = Detection3DArray()
|
||||
det_array.header.stamp = stamp
|
||||
det_array.header.frame_id = self.frame_id
|
||||
|
||||
for trk in tracks:
|
||||
det = Detection3D()
|
||||
det.header = det_array.header
|
||||
|
||||
bbox = BoundingBox3D()
|
||||
bbox.center.position.x = float(getattr(trk, 'x', 0.0))
|
||||
bbox.center.position.y = float(getattr(trk, 'y', 0.0))
|
||||
bbox.center.position.z = float(getattr(trk, 'z', 0.0))
|
||||
|
||||
bbox.size.x = float(getattr(trk, 'dx', 0.5))
|
||||
bbox.size.y = float(getattr(trk, 'dy', 0.5))
|
||||
bbox.size.z = float(getattr(trk, 'dz', 1.5))
|
||||
|
||||
det.bbox = bbox
|
||||
det_array.detections.append(det)
|
||||
|
||||
self.pub_boxes.publish(det_array)
|
||||
|
||||
def publish_rviz_markers(self, tracks, threat_level: str, decision, stamp):
|
||||
"""Генерация маркеров для RViz2"""
|
||||
marker_array = MarkerArray()
|
||||
|
||||
delete_all = Marker()
|
||||
delete_all.action = Marker.DELETEALL
|
||||
marker_array.markers.append(delete_all)
|
||||
|
||||
for i, trk in enumerate(tracks):
|
||||
# Куб вокруг объекта
|
||||
box_marker = Marker()
|
||||
box_marker.header.stamp = stamp
|
||||
box_marker.header.frame_id = self.frame_id
|
||||
box_marker.ns = "flyguard_boxes"
|
||||
box_marker.id = i
|
||||
box_marker.type = Marker.CUBE
|
||||
box_marker.action = Marker.ADD
|
||||
|
||||
x = float(getattr(trk, 'x', 0.0))
|
||||
y = float(getattr(trk, 'y', 0.0))
|
||||
z = float(getattr(trk, 'z', 0.0))
|
||||
|
||||
box_marker.pose.position.x = x
|
||||
box_marker.pose.position.y = y
|
||||
box_marker.pose.position.z = z
|
||||
|
||||
dx = float(getattr(trk, 'dx', 0.5))
|
||||
dy = float(getattr(trk, 'dy', 0.5))
|
||||
dz = float(getattr(trk, 'dz', 1.5))
|
||||
box_marker.scale = Vector3(x=dx, y=dy, z=dz)
|
||||
|
||||
if threat_level == "EMERGENCY":
|
||||
box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 1.0, 0.0, 0.0, 0.6
|
||||
elif threat_level == "WARNING":
|
||||
box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 1.0, 0.9, 0.0, 0.5
|
||||
for box in boxes:
|
||||
cube = Marker()
|
||||
cube.header.stamp = stamp
|
||||
cube.header.frame_id = frame_id
|
||||
cube.ns = "flyguard_boxes"
|
||||
cube.id = int(box.track_id)
|
||||
cube.type = Marker.CUBE
|
||||
cube.action = Marker.ADD
|
||||
cube.pose.position.x, cube.pose.position.y, cube.pose.position.z = box.x, box.y, box.z
|
||||
cube.pose.orientation.z = math.sin(box.yaw * 0.5)
|
||||
cube.pose.orientation.w = math.cos(box.yaw * 0.5)
|
||||
cube.scale = Vector3(x=max(box.dx, 0.01), y=max(box.dy, 0.01), z=max(box.dz, 0.01))
|
||||
if box.threat_level.name == "EMERGENCY":
|
||||
cube.color.r, cube.color.g, cube.color.b, cube.color.a = 1.0, 0.0, 0.0, 0.75
|
||||
else:
|
||||
box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 0.0, 1.0, 0.0, 0.4
|
||||
cube.color.r, cube.color.g, cube.color.b, cube.color.a = 1.0, 0.85, 0.0, 0.65
|
||||
message.markers.append(cube)
|
||||
|
||||
marker_array.markers.append(box_marker)
|
||||
|
||||
# Текст с дистанцией над объектом
|
||||
text_marker = Marker()
|
||||
text_marker.header.stamp = stamp
|
||||
text_marker.header.frame_id = self.frame_id
|
||||
text_marker.ns = "flyguard_labels"
|
||||
text_marker.id = 1000 + i
|
||||
text_marker.type = Marker.TEXT_VIEW_FACING
|
||||
text_marker.action = Marker.ADD
|
||||
|
||||
text_marker.pose.position.x = x
|
||||
text_marker.pose.position.y = y
|
||||
text_marker.pose.position.z = z + dz / 2.0 + 0.3
|
||||
text_marker.scale.z = 0.4
|
||||
|
||||
dist = getattr(trk, 'distance', np.hypot(x, y))
|
||||
text_marker.text = f"D: {dist:.1f}m"
|
||||
|
||||
text_marker.color.r, text_marker.color.g, text_marker.color.b, text_marker.color.a = 1.0, 1.0, 1.0, 1.0
|
||||
marker_array.markers.append(text_marker)
|
||||
|
||||
self.pub_markers.publish(marker_array)
|
||||
label = Marker()
|
||||
label.header.stamp = stamp
|
||||
label.header.frame_id = frame_id
|
||||
label.ns = "flyguard_labels"
|
||||
label.id = 100000 + int(box.track_id)
|
||||
label.type = Marker.TEXT_VIEW_FACING
|
||||
label.action = Marker.ADD
|
||||
label.pose.position.x, label.pose.position.y = box.x, box.y
|
||||
label.pose.position.z = box.z + box.dz * 0.5 + 0.35
|
||||
label.pose.orientation.w = 1.0
|
||||
label.scale.z = 0.40
|
||||
label.color.r = label.color.g = label.color.b = label.color.a = 1.0
|
||||
label.text = "ID:%d | %.1f m | conf:%.2f" % (
|
||||
box.track_id, box.distance_along_track, box.confidence)
|
||||
message.markers.append(label)
|
||||
self.pub_markers.publish(message)
|
||||
|
||||
|
||||
def main(args=None):
|
||||
def main(args=None) -> None:
|
||||
rclpy.init(args=args)
|
||||
node = FlyGuardNode()
|
||||
try:
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
except (KeyboardInterrupt, ExternalShutdownException):
|
||||
pass
|
||||
finally:
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
if rclpy.ok():
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Loading…
Reference in a new issue