ywb
576 lines
23 KiB
Python
576 lines
23 KiB
Python
"""
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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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通过写入临时 shell 脚本再执行，避免 bash -c 单引号转义问题
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"""
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import time
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import math
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import logging
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import threading
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import subprocess
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import os
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from typing import List, Tuple, Optional, Dict
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from enum import Enum
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logger = logging.getLogger(__name__)
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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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setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash"
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full_cmd = f"bash -l -c '{setup} && {cmd}'"
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try:
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result = subprocess.run(full_cmd, shell=True, capture_output=True, text=True, timeout=timeout)
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return result.returncode, result.stdout.strip(), result.stderr.strip()
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except subprocess.TimeoutExpired:
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return -1, "", "Timeout"
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class Nav2Status(Enum):
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IDLE = "idle"
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NAVIGATING = "navigating"
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SUCCEEDED = "succeeded"
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FAILED = "failed"
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CANCELLED = "cancelled"
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UNKNOWN = "unknown"
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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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NAVIGATE_SCRIPT = "/tmp/nav2_send_goal.sh"
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def __init__(self):
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self.status = Nav2Status.IDLE
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self._nav_thread: Optional[threading.Thread] = None
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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._build_script()
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def _build_script(self):
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"""生成 Nav2 action 发送脚本（通过 heredoc 避免所有 bash 转义问题）"""
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script = self.NAVIGATE_SCRIPT
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content = [
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"#!/bin/bash",
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"source /opt/ros/humble/setup.bash",
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"source /home/elephant/agv_pro_ros2/install/setup.bash",
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"",
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"TARGET_X=${1:-0}",
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"TARGET_Y=${2:-0}",
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"TARGET_YAW=${3:-0}",
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"",
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"# 计算四元数",
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"YAW_QZ=$(python3 -c \"import math; print(math.sin($TARGET_YAW / 2.0))\")",
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"YAW_QW=$(python3 -c \"import math; print(math.cos($TARGET_YAW / 2.0))\")",
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"",
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"# 通过 stdin pipe 发送 goal",
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'cat << \'GOAL\' | ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose - --feedback',
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"pose:",
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" header:",
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" stamp:",
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" sec: 0",
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" nanosec: 0",
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" frame_id: map",
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" pose:",
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" position:",
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" x: $TARGET_X",
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" y: $TARGET_Y",
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" z: 0.0",
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" orientation:",
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" x: 0.0",
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" y: 0.0",
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" z: $YAW_QZ",
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" w: $YAW_QW",
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"GOAL",
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]
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with open(script, "w") as f:
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f.write("\n".join(content) + "\n")
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os.chmod(script, 0o755)
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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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# 写入脚本文件执行，兼容 Flask subprocess 环境
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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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"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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import os
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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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rc = r.returncode
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out = r.stdout
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err = r.stderr
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result = rc == 0 and ("/navigate_to_pose" in out or "navigate_to_pose" in out)
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logger.debug(f"_check_nav2_available: rc={rc}, out={out[:100]}, 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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def _get_current_pose(self) -> List[float]:
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"""从 /odom 获取当前位置 [x, y, yaw]"""
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try:
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rc, out, err = _run_ros2_bash("timeout 3 ros2 topic echo /odom --once 2>/dev/null", timeout=4)
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if rc == 0 and out:
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import re, yaml
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clean = re.sub(r'\x1b\[[0-9;]*[a-zA-Z]', '', out)
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yaml_str = re.sub(r'^[\d\-:. ]+\[RTPS[^\]]*\].*\n?', '', clean, flags=re.MULTILINE).strip()
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yaml_str = yaml_str.split('---')[0]
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data = yaml.safe_load(yaml_str)
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if data:
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pos = data.get("pose", {}).get("pose", {}).get("position", {})
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orient = data.get("pose", {}).get("pose", {}).get("orientation", {})
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x = pos.get("x", 0.0)
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y = pos.get("y", 0.0)
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qz = orient.get("z", 0.0)
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qw = orient.get("w", 1.0)
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yaw = math.atan2(2.0 * qw * qz, 1.0 - 2.0 * qz * qz)
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self._current_pose = [x, y, yaw]
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return self._current_pose
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except Exception as e:
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logger.debug(f"获取 odom 失败: {e}")
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return self._current_pose
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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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"""
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导航到目标坐标（Nav2 navigate_to_pose action）
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Args:
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x, y: 目标位置（世界坐标，米）
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yaw: 目标朝向（弧度），None 则保持当前朝向
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timeout_sec: 超时时间（秒）
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blocking: 是否阻塞等待导航完成
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Returns:
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blocking=True: 是否成功到达
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blocking=False: 是否成功启动导航
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"""
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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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if not self._check_nav2_available():
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logger.error("Nav2 action server 不可用，请确保 navigation2_active.launch.py 已启动")
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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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logger.info(f"发送导航目标: ({x:.3f}, {y:.3f}), yaw={math.degrees(yaw):.1f}°")
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# 启动导航线程
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self._cancel_event.clear()
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self._result_status = None
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self.status = Nav2Status.NAVIGATING
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self._nav_thread = threading.Thread(
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target=self._nav_thread_func,
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args=(x, y, yaw, timeout_sec),
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daemon=True
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)
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self._nav_thread.start()
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if blocking:
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self._nav_thread.join(timeout=timeout_sec + 10)
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return self.status == Nav2Status.SUCCEEDED
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return True
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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 heredoc 脚本避免 bash 转义问题"""
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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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elapsed = 0.0
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check_interval = 1.0
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result_received = False
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# 使用 pipe 方式运行导航
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# 通过 subprocess.Popen + stdin heredoc 避免所有引号转义问题
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setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash"
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qz = math.sin(yaw / 2.0)
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qw = math.cos(yaw / 2.0)
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# 构建 goal YAML（用 bash heredoc 方式避免转义问题）
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# 写入临时文件
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import tempfile
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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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f"behavior_tree: ''\n"
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)
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goal_file = "/tmp/nav2_goal_{}.yaml".format(os.getpid())
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with open(goal_file, "w") as f:
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f.write(goal_yaml)
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cmd = (
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f'bash -l -c \''
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f'source /opt/ros/humble/setup.bash && '
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f'source /home/elephant/agv_pro_ros2/install/setup.bash && '
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f'ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose '
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f'"$(cat {goal_file})" --feedback\''
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)
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process = subprocess.Popen(
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cmd, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
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)
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stdout_lines = []
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stderr_lines = []
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stop_reading = threading.Event()
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def reader(pipe, lines):
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for line in iter(pipe.readline, ''):
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if stop_reading.is_set():
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break
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lines.append(line)
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# 写入 goal（通过 bash heredoc）
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# 写入 goal（通过 bash 脚本方式）
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script_content = (
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f'#!/bin/bash\n'
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f'source /opt/ros/humble/setup.bash\n'
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f'source /home/elephant/agv_pro_ros2/install/setup.bash\n'
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f'GOAL=$(cat {goal_file})\n'
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f'ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "$GOAL" --feedback\n'
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)
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script_file = "/tmp/nav2_action.sh"
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with open(script_file, "w") as sf:
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sf.write(script_content)
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os.chmod(script_file, 0o755)
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out_thread = threading.Thread(target=reader, args=(process.stdout, stdout_lines))
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err_thread = threading.Thread(target=reader, args=(process.stderr, stderr_lines))
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out_thread.start()
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err_thread.start()
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# 用 subprocess.Popen([script_path]) 替代 stdin
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stop_reading.set()
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if process.poll() is None:
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process.terminate()
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process.wait(timeout=3)
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act_proc = subprocess.Popen(
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[script_file],
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stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
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)
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stdout_lines2 = []
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stderr_lines2 = []
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stop_reading2 = threading.Event()
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def reader2(pipe, lines):
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for line in iter(pipe.readline, ''):
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if stop_reading2.is_set():
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break
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lines.append(line)
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t_out2 = threading.Thread(target=reader2, args=(act_proc.stdout, stdout_lines2))
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t_err2 = threading.Thread(target=reader2, args=(act_proc.stderr, stderr_lines2))
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t_out2.start()
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t_err2.start()
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# 轮询等待 action 完成（每 2s 检查一次结果）
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result_received = False
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for _ in range(60): # 最多等 120 秒
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time.sleep(2)
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elapsed = time.time() - start_time
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# 检查是否有结果
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full_out = "".join(stdout_lines2)
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full_err = "".join(stderr_lines2)
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combined = full_out + full_err
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result_idx = combined.find("Result:")
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if result_idx >= 0:
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import re
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status_m = re.search(r'status[\s:]+(\w+)', combined[result_idx:])
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if status_m:
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st = status_m.group(1).lower()
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if st in ('succeeded', 'SUCCEEDED'):
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logger.info("✅ Nav2 导航成功到达目标")
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self._result_status = "succeeded"
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result_received = True
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break
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elif st in ('failed', 'FAILED', 'aborted'):
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logger.warning(f"⚠️ Nav2 导航失败: status={st}")
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self._result_status = "failed"
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result_received = True
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break
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elif st in ('canceled', 'cancelled'):
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logger.info("Nav2 导航被取消")
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self._result_status = "cancelled"
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result_received = True
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break
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# 检查进程是否已结束但无结果
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if act_proc.poll() is not None and not result_received:
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self._result_status = "failed"
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break
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if self._cancel_event.is_set():
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break
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stop_reading2.set()
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if act_proc.poll() is None:
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act_proc.terminate()
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try:
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act_proc.wait(timeout=3)
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except subprocess.TimeoutExpired:
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act_proc.kill()
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t_out2.join(timeout=2)
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t_err2.join(timeout=2)
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stdout_lines = stdout_lines2
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stderr_lines = stderr_lines2
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# 轮询检查结果
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while not self._cancel_event.is_set() and elapsed < timeout_sec:
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time.sleep(check_interval)
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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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# 查找 Result 节中的 status 字段
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import re
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result_idx = combined.find("Result:")
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if result_idx >= 0:
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status_m = re.search(r'status[\s:]+(\w+)', combined[result_idx:])
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if status_m:
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st = status_m.group(1).lower()
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if st in ('succeeded', 'SUCCEEDED'):
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logger.info("✅ Nav2 导航成功到达目标")
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self._result_status = "succeeded"
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result_received = True
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break
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elif st in ('failed', 'FAILED', 'aborted'):
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logger.warning(f"⚠️ Nav2 导航失败: status={st}")
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self._result_status = "failed"
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result_received = True
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break
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elif st in ('canceled', 'cancelled'):
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logger.info("Nav2 导航被取消")
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self._result_status = "cancelled"
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result_received = True
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break
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if not result_received:
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self._result_status = "failed"
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break
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# 善后
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stop_reading.set()
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if act_proc.poll() is None:
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act_proc.terminate()
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try:
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act_proc.wait(timeout=3)
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except subprocess.TimeoutExpired:
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act_proc.kill()
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out_thread.join(timeout=2)
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err_thread.join(timeout=2)
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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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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\''
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subprocess.run(cancel_cmd, shell=True, timeout=3)
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self._result_status = "cancelled"
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if 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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self.status = Nav2Status.CANCELLED
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else:
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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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self.status = Nav2Status.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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blocking: bool = True) -> bool:
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"""导航通过多个路径点（Nav2 navigate_through_poses action）"""
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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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logger.info(f"发送 {len(poses)} 个路径点的导航任务")
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self._cancel_event.clear()
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self.status = Nav2Status.NAVIGATING
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self._nav_thread = threading.Thread(
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target=self._nav_thread_func_multi,
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args=(poses, timeout_per_pose),
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daemon=True
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)
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self._nav_thread.start()
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if blocking:
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total_timeout = len(poses) * timeout_per_pose + 30
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self._nav_thread.join(timeout=total_timeout)
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return self.status == Nav2Status.SUCCEEDED
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return True
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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"
|
||
|
||
# 构建 poses heredoc
|
||
poses_lines = []
|
||
for i, (x, y, yaw) in enumerate(poses):
|
||
qz = math.sin(yaw / 2.0)
|
||
qw = math.cos(yaw / 2.0)
|
||
poses_lines.extend([
|
||
f" - pose:",
|
||
f" header:",
|
||
f" stamp:",
|
||
f" sec: 0",
|
||
f" nanosec: 0",
|
||
f" frame_id: map",
|
||
f" pose:",
|
||
f" position:",
|
||
f" x: {x}",
|
||
f" y: {y}",
|
||
f" z: 0.0",
|
||
f" orientation:",
|
||
f" x: 0.0",
|
||
f" y: 0.0",
|
||
f" z: {qz}",
|
||
f" w: {qw}",
|
||
])
|
||
poses_yaml = "poses:\n" + "\n".join(poses_lines)
|
||
|
||
cmd = f'bash -l -c \'{setup} && ros2 action send_goal /navigate_through_poses nav2_msgs/action/NavigateThroughPoses - --feedback\''
|
||
|
||
process = subprocess.Popen(
|
||
cmd, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
|
||
)
|
||
|
||
stdout_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))
|
||
out_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 heredoc 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
|
||
|
||
result_idx = combined.find("Result:")
|
||
if result_idx >= 0:
|
||
import re
|
||
status_m = re.search(r'status[\s:]+(\w+)', combined[result_idx:])
|
||
if status_m:
|
||
st = status_m.group(1).lower()
|
||
if st in ('succeeded', 'SUCCEEDED'):
|
||
logger.info(f"✅ Nav2 路径点导航成功完成 {len(poses)} 个点")
|
||
self._result_status = "succeeded"
|
||
result_received = True
|
||
break
|
||
elif st in ('failed', 'FAILED', 'aborted'):
|
||
logger.warning(f"⚠️ Nav2 路径点导航失败")
|
||
self._result_status = "failed"
|
||
result_received = True
|
||
break
|
||
elif st in ('canceled', 'cancelled'):
|
||
self._result_status = "cancelled"
|
||
result_received = True
|
||
break
|
||
|
||
if process.poll() is not None and not result_received:
|
||
self._result_status = "failed"
|
||
break
|
||
|
||
stop_reading.set()
|
||
if process.poll() is None:
|
||
process.terminate()
|
||
process.wait(timeout=3)
|
||
out_thread.join(timeout=2)
|
||
|
||
if self._result_status == "succeeded":
|
||
self.status = Nav2Status.SUCCEEDED
|
||
elif self._result_status == "cancelled":
|
||
self.status = Nav2Status.CANCELLED
|
||
else:
|
||
self.status = Nav2Status.FAILED
|
||
|
||
except Exception as e:
|
||
logger.error(f"Nav2 路径点导航异常: {e}")
|
||
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"
|
||
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()
|
||
return {
|
||
"status": self.status.value,
|
||
"current_position": current,
|
||
"nav2_available": self._check_nav2_available()
|
||
}
|
||
|
||
def get_current_position(self) -> List[float]:
|
||
"""获取当前位置 [x, y, yaw]"""
|
||
return self._get_current_pose() |