使用他们的导航方法
This commit is contained in:
ywb
+155
-249
@@ -1,8 +1,6 @@
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"""
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Nav2 导航模块 - 通过 ROS2 Action Server 控制 AGV 导航
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使用 Nav2 的 navigate_to_pose 和 navigate_through_poses action
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通过 stdin pipe 发送 goal YAML，避免 bash $() 替换破坏 YAML 格式
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Nav2 导航模块 - 使用官方 nav2_simple_commander.BasicNavigator API
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参考: https://github.com/elephantrobotics/agv_pro_ros2/blob/humble/agv_pro_navigation2/scripts/example_nav_to_pose.py
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"""
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import time
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import math
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@@ -16,6 +14,28 @@ from enum import Enum
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logger = logging.getLogger(__name__)
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# 延迟导入 rclpy 和 nav2_simple_commander（避免在模块加载时初始化 ROS）
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_rclpy = None
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_BasicNavigator = None
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_TaskResult = None
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_PoseStamped = None
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_Duration = None
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def _init_ros():
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"""延迟初始化 ROS2 依赖"""
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global _rclpy, _BasicNavigator, _TaskResult, _PoseStamped, _Duration
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if _rclpy is None:
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import rclpy
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_rclpy = rclpy
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from geometry_msgs.msg import PoseStamped
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from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
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from rclpy.duration import Duration
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_PoseStamped = PoseStamped
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_BasicNavigator = BasicNavigator
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_TaskResult = TaskResult
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_Duration = Duration
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def _run_ros2_bash(cmd: str, timeout: float = 5.0) -> Tuple[int, str, str]:
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"""执行 ros2 命令（直接运行，不二次包装）"""
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@@ -38,7 +58,7 @@ class Nav2Status(Enum):
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class Nav2Navigator:
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"""Nav2 导航器 — 通过 ros2 action /navigate_to_pose 与 Nav2 通信"""
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"""Nav2 导航器 — 使用官方 BasicNavigator API"""
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def __init__(self):
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self.status = Nav2Status.IDLE
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@@ -46,30 +66,33 @@ class Nav2Navigator:
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self._cancel_event = threading.Event()
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self._result_status = None
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self._current_pose = [0.0, 0.0, 0.0]
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self._navigator = None # BasicNavigator 实例
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self._rclpy_initialized = False
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def _ensure_rclpy(self):
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"""确保 rclpy 已初始化（每个线程只能调用一次）"""
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_init_ros()
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if not self._rclpy_initialized:
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if not _rclpy.ok():
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_rclpy.init()
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self._rclpy_initialized = True
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def _get_navigator(self):
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"""获取或创建 BasicNavigator 实例"""
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self._ensure_rclpy()
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if self._navigator is None:
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self._navigator = _BasicNavigator()
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return self._navigator
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def _check_nav2_available(self) -> bool:
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"""检查 Nav2 action server 是否可用（带缓存 10 秒）"""
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import time as time_mod
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if hasattr(self, '_nav2_check_time') and hasattr(self, '_nav2_check_result'):
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if time_mod.time() - self._nav2_check_time < 10:
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return self._nav2_check_result
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script = (
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"#!/bin/bash\n"
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"source /opt/ros/humble/setup.bash 2>/dev/null\n"
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"source /home/elephant/agv_pro_ros2/install/setup.bash 2>/dev/null\n"
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"export ROS_DOMAIN_ID=1\n"
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"ros2 action list 2>&1\n"
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)
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script_file = "/tmp/nav2_check.sh"
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with open(script_file, "w") as f:
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f.write(script)
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os.chmod(script_file, 0o755)
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r = subprocess.run([script_file], capture_output=True, text=True, timeout=8)
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result = r.returncode == 0 and ("/navigate_to_pose" in r.stdout or "navigate_to_pose" in r.stdout)
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logger.debug(f"_check_nav2_available: rc={r.returncode}, result={result}")
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self._nav2_check_result = result
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self._nav2_check_time = time_mod.time()
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return result
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"""检查 Nav2 action server 是否可用"""
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try:
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nav = self._get_navigator()
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# BasicNavigator 内部会检查 Nav2 是否活跃
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return True
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except Exception as e:
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logger.debug(f"Nav2 不可用: {e}")
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return False
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def _get_current_pose(self) -> List[float]:
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"""从 /amcl_pose 获取当前位置 [x, y, yaw]"""
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@@ -98,7 +121,7 @@ class Nav2Navigator:
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def navigate_to_pose(self, x: float, y: float, yaw: float = None,
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timeout_sec: float = 120.0,
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blocking: bool = True) -> bool:
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"""导航到目标坐标"""
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"""导航到目标坐标（使用官方 BasicNavigator API）"""
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if self.status == Nav2Status.NAVIGATING:
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logger.warning("导航正在进行中，请先停止当前导航")
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return False
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@@ -106,10 +129,6 @@ class Nav2Navigator:
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self.status = Nav2Status.IDLE
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self._result_status = None
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if not self._check_nav2_available():
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logger.error("Nav2 action server 不可用")
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return False
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if yaw is None:
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current = self._get_current_pose()
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yaw = current[2]
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@@ -137,161 +156,88 @@ class Nav2Navigator:
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return True
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def _parse_result_status(self, combined: str) -> Optional[str]:
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"""从 ros2 action send_goal 输出中解析导航结果状态"""
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result_idx = combined.find("Result:")
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if result_idx < 0:
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return None
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# 匹配 "status: STATUS_SUCCEEDED" 或 "status: SUCCEEDED" 等格式
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status_m = re.search(r'status\s*:\s*(\w+)', combined[result_idx:])
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if status_m:
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st = status_m.group(1).upper()
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if 'SUCCEEDED' in st:
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return "succeeded"
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elif 'FAILED' in st or 'ABORTED' in st:
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return "failed"
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elif 'CANCELED' in st or 'CANCELLED' in st:
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return "cancelled"
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logger.warning(f"未知的导航状态: {st}")
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return None
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def _nav_thread_func(self, x: float, y: float, yaw: float, timeout_sec: float):
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"""导航执行线程 — 使用 stdin pipe 发送 goal YAML"""
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"""导航执行线程 — 使用官方 BasicNavigator API"""
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try:
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logger.info(f"Nav2 线程启动: x={x}, y={y}, yaw={yaw}, timeout={timeout_sec}s")
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start_time = time.time()
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# 在子线程中初始化 rclpy
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_init_ros()
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if not _rclpy.ok():
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_rclpy.init()
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navigator = _BasicNavigator()
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# 等待 Nav2 激活（可选，如果 Nav2 已启动可跳过）
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# navigator.waitUntilNav2Active()
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# 构造目标位姿
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goal_pose = _PoseStamped()
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goal_pose.header.frame_id = 'map'
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goal_pose.header.stamp = navigator.get_clock().now().to_msg()
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goal_pose.pose.position.x = x
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goal_pose.pose.position.y = y
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goal_pose.pose.position.z = 0.0
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# 四元数（仅 z, w）
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qz = math.sin(yaw / 2.0)
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qw = math.cos(yaw / 2.0)
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goal_pose.pose.orientation.x = 0.0
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goal_pose.pose.orientation.y = 0.0
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goal_pose.pose.orientation.z = qz
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goal_pose.pose.orientation.w = qw
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goal_yaml = (
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f"pose:\n"
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f" header:\n"
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f" stamp:\n"
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f" sec: 0\n"
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f" nanosec: 0\n"
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f" frame_id: map\n"
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f" pose:\n"
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f" position:\n"
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f" x: {x}\n"
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f" y: {y}\n"
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f" z: 0.0\n"
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f" orientation:\n"
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f" x: 0.0\n"
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f" y: 0.0\n"
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f" z: {qz}\n"
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f" w: {qw}\n"
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)
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# 写入临时文件，用 $(cat file) 方式传递（stdin pipe "-" 在 Humble 有 bug）
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import tempfile
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goal_file = "/tmp/nav2_goal_{}_{}.yaml".format(os.getpid(), int(time.time()))
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with open(goal_file, "w") as f:
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f.write(goal_yaml)
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# 写一个临时脚本执行导航（避免引号嵌套地狱）
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script_file = "/tmp/nav2_navigate_{}_{}.sh".format(os.getpid(), int(time.time()))
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with open(script_file, "w") as f:
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f.write('#!/bin/bash\n')
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f.write('source /opt/ros/humble/setup.bash\n')
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f.write('source /home/elephant/agv_pro_ros2/install/setup.bash\n')
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f.write('export ROS_DOMAIN_ID=1\n')
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f.write('ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "$(cat {})" --feedback\n'.format(goal_file))
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os.chmod(script_file, 0o755)
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proc = subprocess.Popen(
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['bash', '-l', script_file],
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stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
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)
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stdout_lines = []
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stderr_lines = []
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stop_reading = threading.Event()
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def reader(pipe, lines):
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for line in iter(pipe.readline, ''):
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if stop_reading.is_set():
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break
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lines.append(line)
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t_out = threading.Thread(target=reader, args=(proc.stdout, stdout_lines))
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t_err = threading.Thread(target=reader, args=(proc.stderr, stderr_lines))
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t_out.start()
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t_err.start()
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# 轮询等待 action 完成
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result_received = False
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max_checks = int(timeout_sec / 2)
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for _ in range(max_checks):
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time.sleep(2)
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elapsed = time.time() - start_time
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full_out = "".join(stdout_lines)
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full_err = "".join(stderr_lines)
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combined = full_out + full_err
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# 检查是否有 YAML 解析错误
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if "Traceback" in combined and "Goal accepted" not in combined:
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logger.error(f"ros2 action send_goal YAML 解析失败: {combined[:500]}")
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self._result_status = "failed"
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result_received = True
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break
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# 检查是否未被接受
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if "Goal accepted" not in combined and elapsed > 15:
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logger.warning(f"导航目标 15 秒内未被接受，输出: {combined[:300]}")
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# 解析 Result
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parsed = self._parse_result_status(combined)
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if parsed:
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self._result_status = parsed
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result_received = True
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if parsed == "succeeded":
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logger.info(f"✅ Nav2 导航成功到达目标 ({x:.3f}, {y:.3f})")
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elif parsed == "failed":
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logger.warning(f"⚠️ Nav2 导航失败")
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else:
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logger.info("Nav2 导航被取消")
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break
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# 进程已结束但无 Result
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if proc.poll() is not None and not result_received:
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logger.error(f"导航进程提前退出，rc={proc.returncode}，输出: {combined[:300]}")
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self._result_status = "failed"
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result_received = True
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break
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# 发送导航目标
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navigator.goToPose(goal_pose)
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logger.info("导航目标已发送，等待完成...")
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# 等待导航完成
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start_time = time.time()
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while not navigator.isTaskComplete():
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if self._cancel_event.is_set():
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navigator.cancelTask()
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logger.info("导航被取消")
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self._result_status = "cancelled"
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break
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# 清理
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stop_reading.set()
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if proc.poll() is None:
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proc.terminate()
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try:
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proc.wait(timeout=3)
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except subprocess.TimeoutExpired:
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proc.kill()
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t_out.join(timeout=2)
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t_err.join(timeout=2)
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elapsed = time.time() - start_time
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if elapsed > timeout_sec:
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logger.warning(f"导航超时 ({timeout_sec}s)，取消任务")
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navigator.cancelTask()
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self._result_status = "failed"
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break
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# 处理取消
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if self._cancel_event.is_set() and not result_received:
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logger.info("取消 Nav2 导航...")
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setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
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cancel_cmd = f'bash -l -c \'{setup} && ros2 action cancel /navigate_to_pose 2>/dev/null || true\''
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subprocess.run(cancel_cmd, shell=True, timeout=3)
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self._result_status = "cancelled"
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# 获取反馈（可选）
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feedback = navigator.getFeedback()
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if feedback:
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remaining = _Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9
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logger.debug(f"预计剩余时间: {remaining:.1f}s")
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if self._result_status == "succeeded":
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time.sleep(0.5)
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# 获取结果
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result = navigator.getResult()
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if result == _TaskResult.SUCCEEDED:
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logger.info(f"✅ Nav2 导航成功到达目标 ({x:.3f}, {y:.3f})")
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self._result_status = "succeeded"
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self.status = Nav2Status.SUCCEEDED
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elif self._result_status == "cancelled":
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elif result == _TaskResult.CANCELED:
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logger.info("导航被取消")
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self._result_status = "cancelled"
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self.status = Nav2Status.CANCELLED
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elif result == _TaskResult.FAILED:
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logger.warning("⚠️ Nav2 导航失败")
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self._result_status = "failed"
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self.status = Nav2Status.FAILED
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else:
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logger.warning(f"导航返回未知状态: {result}")
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self._result_status = "failed"
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self.status = Nav2Status.FAILED
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except Exception as e:
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logger.error(f"Nav2 导航异常: {e}")
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logger.error(f"Nav2 导航异常: {e}", exc_info=True)
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self.status = Nav2Status.FAILED
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self._result_status = "failed"
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def navigate_through_poses(self, poses: List[Tuple[float, float, float]],
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timeout_per_pose: float = 120.0,
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@@ -300,9 +246,6 @@ class Nav2Navigator:
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if self.status == Nav2Status.NAVIGATING:
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logger.warning("导航正在进行中，请先停止")
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return False
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if not self._check_nav2_available():
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logger.error("Nav2 action server 不可用")
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return False
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if not poses:
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return True
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@@ -326,117 +269,80 @@ class Nav2Navigator:
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def _nav_thread_func_multi(self, poses: List[Tuple[float, float, float]], timeout_per_pose: float):
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"""多路径点导航线程"""
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try:
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setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
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_init_ros()
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if not _rclpy.ok():
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_rclpy.init()
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poses_lines = []
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for i, (x, y, yaw) in enumerate(poses):
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navigator = _BasicNavigator()
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# 构造路径点列表
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goal_poses = []
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for x, y, yaw in poses:
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pose = _PoseStamped()
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pose.header.frame_id = 'map'
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pose.header.stamp = navigator.get_clock().now().to_msg()
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pose.pose.position.x = x
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pose.pose.position.y = y
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pose.pose.position.z = 0.0
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qz = math.sin(yaw / 2.0)
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qw = math.cos(yaw / 2.0)
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poses_lines.extend([
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f" - pose:",
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f" header:",
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f" stamp:",
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f" sec: 0",
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f" nanosec: 0",
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f" frame_id: map",
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f" pose:",
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f" position:",
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f" x: {x}",
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f" y: {y}",
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f" z: 0.0",
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f" orientation:",
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f" x: 0.0",
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f" y: 0.0",
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f" z: {qz}",
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f" w: {qw}",
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])
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poses_yaml = "poses:\n" + "\n".join(poses_lines)
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pose.pose.orientation.x = 0.0
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pose.pose.orientation.y = 0.0
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pose.pose.orientation.z = qz
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pose.pose.orientation.w = qw
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goal_poses.append(pose)
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cmd = f'bash -l -c \'{setup} && ros2 action send_goal /navigate_through_poses nav2_msgs/action/NavigateThroughPoses - --feedback\''
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navigator.goThroughPoses(goal_poses)
|
||||
logger.info(f"已发送 {len(poses)} 个路径点，等待完成...")
|
||||
|
||||
process = subprocess.Popen(
|
||||
cmd, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
|
||||
)
|
||||
start_time = time.time()
|
||||
total_timeout = len(poses) * timeout_per_pose
|
||||
|
||||
stdout_lines = []
|
||||
stderr_lines = []
|
||||
stop_reading = threading.Event()
|
||||
|
||||
def reader(pipe, lines):
|
||||
for line in iter(pipe.readline, ''):
|
||||
if stop_reading.is_set():
|
||||
break
|
||||
lines.append(line)
|
||||
|
||||
out_thread = threading.Thread(target=reader, args=(process.stdout, stdout_lines))
|
||||
err_thread = threading.Thread(target=reader, args=(process.stderr, stderr_lines))
|
||||
out_thread.start()
|
||||
err_thread.start()
|
||||
|
||||
try:
|
||||
process.stdin.write(poses_yaml + "\n")
|
||||
process.stdin.flush()
|
||||
process.stdin.close()
|
||||
except Exception as e:
|
||||
logger.error(f"写入 poses YAML 失败: {e}")
|
||||
self.status = Nav2Status.FAILED
|
||||
return
|
||||
|
||||
result_received = False
|
||||
while not self._cancel_event.is_set():
|
||||
time.sleep(1.0)
|
||||
full_out = "".join(stdout_lines)
|
||||
full_err = "".join(stderr_lines)
|
||||
combined = full_out + full_err
|
||||
|
||||
parsed = self._parse_result_status(combined)
|
||||
if parsed:
|
||||
self._result_status = parsed
|
||||
result_received = True
|
||||
if parsed == "succeeded":
|
||||
logger.info(f"✅ Nav2 路径点导航成功完成 {len(poses)} 个点")
|
||||
while not navigator.isTaskComplete():
|
||||
if self._cancel_event.is_set():
|
||||
navigator.cancelTask()
|
||||
self._result_status = "cancelled"
|
||||
break
|
||||
|
||||
if process.poll() is not None and not result_received:
|
||||
elapsed = time.time() - start_time
|
||||
if elapsed > total_timeout:
|
||||
navigator.cancelTask()
|
||||
self._result_status = "failed"
|
||||
result_received = True
|
||||
break
|
||||
|
||||
stop_reading.set()
|
||||
if process.poll() is None:
|
||||
process.terminate()
|
||||
process.wait(timeout=3)
|
||||
out_thread.join(timeout=2)
|
||||
err_thread.join(timeout=2)
|
||||
time.sleep(0.5)
|
||||
|
||||
if self._result_status == "succeeded":
|
||||
result = navigator.getResult()
|
||||
if result == _TaskResult.SUCCEEDED:
|
||||
logger.info(f"✅ Nav2 路径点导航成功完成 {len(poses)} 个点")
|
||||
self._result_status = "succeeded"
|
||||
self.status = Nav2Status.SUCCEEDED
|
||||
elif self._result_status == "cancelled":
|
||||
elif result == _TaskResult.CANCELED:
|
||||
self._result_status = "cancelled"
|
||||
self.status = Nav2Status.CANCELLED
|
||||
else:
|
||||
self._result_status = "failed"
|
||||
self.status = Nav2Status.FAILED
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"Nav2 路径点导航异常: {e}")
|
||||
logger.error(f"Nav2 路径点导航异常: {e}", exc_info=True)
|
||||
self.status = Nav2Status.FAILED
|
||||
|
||||
def stop(self):
|
||||
"""取消当前导航"""
|
||||
if self.status == Nav2Status.NAVIGATING:
|
||||
self._cancel_event.set()
|
||||
setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
|
||||
cancel_cmd = f'bash -l -c \'{setup} && ros2 action cancel /navigate_to_pose 2>/dev/null || ros2 action cancel /navigate_through_poses 2>/dev/null || true\''
|
||||
subprocess.run(cancel_cmd, shell=True, timeout=3)
|
||||
self.status = Nav2Status.CANCELLED
|
||||
logger.info("导航已停止")
|
||||
|
||||
def get_status(self) -> Dict:
|
||||
"""获取导航状态"""
|
||||
current = self._get_current_pose()
|
||||
nav2_available = self._check_nav2_available()
|
||||
return {
|
||||
"status": self.status.value,
|
||||
"current_position": current,
|
||||
"nav2_available": self._check_nav2_available()
|
||||
"nav2_available": nav2_available
|
||||
}
|
||||
|
||||
def get_current_position(self) -> List[float]:
|
||||
|
||||
Reference in New Issue
Block a user