Feature/nebula

config/camera/c1_camera.yaml

@@ -0,0 +1,26 @@
+image_width: 1920
+image_height: 1280
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [859.59833,   0.     , 957.65917,
+           0.     , 905.13896, 644.25074,
+           0.     ,   0.     ,   1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.141101, 0.023163, -0.004701, -0.003043, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [701.62775,   0.     , 936.96648,   0.     ,
+           0.     , 836.91895, 635.76492,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]

config/scan_segmentation.yaml

@@ -8,4 +8,4 @@ perception:
             distance_ratio : 2.0
             theta_threashold : 0.3141592653589793
             output_frame_id : "base_link"
-            visualize_frame_id : "map"
+            visualize_frame_id : "base_link"

config/urdf/miniv_sensors.urdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from miniv_sensors.xacro.urdf       | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="miniv_sensors">
+  <link name="base_link">
+    </link>
+  <link name="front_velodyne">
+    </link>
+  <link name="front_camera_link">
+    </link>
+  <link name="front_camera_optical_link">
+    </link>
+  <joint name="front_velodyne_to_camera_joint" type="fixed">
+    <parent link="front_velodyne"/>
+    <child link="front_camera_link"/>
+    <origin rpy="3.141592653589793 0 0" xyz="0.05 0 -0.08"/>
+  </joint>
+  <joint name="front_camera_to_camera_optical_joint" type="fixed">
+    <parent link="front_camera_link"/>
+    <child link="front_camera_optical_link"/>
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <joint name="front_base_link_to_velodyne_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="front_velodyne"/>
+    <origin rpy="3.141592653589793 0 0" xyz="0.2 0 0.1"/>
+  </joint>
+</robot>

config/urdf/miniv_sensors.xacro.urdf

@@ -0,0 +1,6 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="miniv_sensors">
+    <xacro:include filename="sensor_mount.xacro.urdf"/>
+
+    <xacro:property name="sensor_prefix" value="front"/>
+    <xacro:sensor_mount prefix="${sensor_prefix}"/>
+</robot>

config/urdf/sensor_mount.xacro.urdf

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sensor_mount">
+
+  <xacro:macro name="sensor_mount" params="prefix:=sensor">
+    <link name="base_link">
+    </link>
+
+    <link name="${prefix}_velodyne">
+    </link>
+
+    <link name="${prefix}_camera_link">
+    </link>
+
+    <link name="${prefix}_camera_optical_link">
+    </link>
+
+    <joint name="${prefix}_velodyne_to_camera_joint" type="fixed">
+      <parent link="${prefix}_velodyne"/>
+      <child link="${prefix}_camera_link"/>
+      <origin xyz="0.05 0 -0.08" rpy="${pi} 0 0"/>
+    </joint>
+
+    <joint name="${prefix}_camera_to_camera_optical_joint" type="fixed">
+      <parent link="${prefix}_camera_link"/>
+      <child link="${prefix}_camera_optical_link"/>
+      <origin xyz="0 0 0" rpy="-${pi/2} 0 -${pi/2}"/>
+    </joint>
+
+    <joint name="${prefix}_base_link_to_velodyne_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="${prefix}_velodyne"/>
+      <origin xyz="0.2 0 0.1" rpy="${pi} 0 0"/>
+    </joint>
+
+  </xacro:macro>
+</robot>

config/velodyne/front_lidar_nebula_driver.yaml

@@ -0,0 +1,22 @@
+/**:
+  ros__parameters:
+    host_ip: 192.168.0.200
+    sensor_ip: 192.168.0.201
+    data_port: 2368
+    gnss_port: 2369
+    packet_mtu_size: 1500
+    launch_hw: true
+    setup_sensor: true
+    udp_only: false
+    frame_id: front_velodyne
+    advanced_diagnostics: false
+    diag_span: 1000
+    calibration_file: $(find-pkg-share nebula_decoders)/calibration/velodyne/VLP16.yaml
+    min_range: 0.3
+    max_range: 300.0
+    cloud_min_angle: 0
+    cloud_max_angle: 360
+    scan_phase: 0.0
+    sensor_model: VLP16
+    rotation_speed: 600
+    return_mode: Dual

dependency-humble.repos

@@ -51,3 +51,17 @@ repositories:
     type: git
     url: https://github.com/OUXT-Polaris/detic_onnx_ros2
     version: master
+  # TCP version of transport drivers
+  transport_drivers:
+    type: git
+    url: https://github.com/autowarefoundation/transport_drivers
+    version: main
+  # Continental compatible version of ROS 2 socket CAN
+  ros2_socketcan:
+    type: git
+    url: https://github.com/autowarefoundation/ros2_socketcan
+    version: main
+  nebula:
+    type: git
+    url: https://github.com/tier4/nebula.git
+    version: main

launch/logger.sh

@@ -0,0 +1,3 @@
+source /opt/ros/humble/setup.bash
+source /home/ubuntu/ouxt_automation/robotx_ws/install/local_setup.bash
+ros2 bag record -o /home/ubuntu/auto_logger/rosbag/$(date '+%Y-%m-%d-%H-%M-%S') -d 10 -s mcap --storage-config-file /home/ubuntu/ouxt_automation/.github/workflows/docker/auto_logger/settings/storage_options.yaml /wamv/sensors/cameras/front_camera_sensor/image_raw/compressed /wamv/sensors/lidars/front_lidar_sensor/velodyne_points /protolink/gps/geopose

launch/miniv_perception_bringup.launch.xml

@@ -0,0 +1,32 @@
+<launch>
+    <arg name="use_sim_time" default="false"/>
+
+    <include file="$(find-pkg-share perception_bringup)/launch/sensor_mount_bringup.launch.xml">
+        <arg name="use_sim_time" value="$(var use_sim_time)"/>
+    </include>
+
+    <node_container pkg="rclcpp_components" exec="component_container_mt" name="perception_container" namespace="perception" args="perception">
+        <composable_node pkg="pcl_apps" plugin="pcl_apps::PointCloudToLaserScanComponent" name="pointcloud_to_laserscan_node" namespace="perception">
+            <param name="use_sim_time" value="$(var use_sim_time)"/>
+            <param name="use_intra_process_comms" value="true"/>
+            <remap from="input" to="/wamv/sensors/lidars/$(var prefix)_lidar_sensor/velodyne_points"/>
+            <remap from="output" to="pointcloud_to_laserscan_node/output"/>
+        </composable_node>
+
+        <composable_node pkg="scan_segmentation" plugin="scan_segmentation::ScanSegmentationComponent" name="scan_segmentation_node" namespace="perception">
+            <param name="use_sim_time" value="$(var use_sim_time)"/>
+            <param name="use_intra_process_comms" value="true"/>
+            <param from="$(find-pkg-share perception_bringup)/config/scan_segmentation.yaml"/>
+        </composable_node>
+    </node_container>
+
+    <executable cmd="/home/ubuntu/ouxt_automation/robotx_ws/src/perception/perception_bringup/launch/logger.sh" output="screen" shell="true" />
+
+    <!-- <group>
+        <push_ros_namespace namespace="perception" />
+        <include file="$(find-pkg-share detic_onnx_ros2)/detic_onnx_ros2.launch.xml">
+            <arg name="input_topic" value="/wamv/sensors/cameras/front_camera_sensor/image_raw"/>    
+            <arg name="detection_width" value="1080"/> 
+        </include>
+    </group> -->
+</launch>

launch/sensor_mount_bringup.launch.xml

@@ -0,0 +1,43 @@
+<launch>
+    <arg name="use_sim_time" default="false"/>
+    <arg name="prefix" default="front"/>
+    <arg name="model" default="$(find-pkg-share perception_bringup)/config/urdf/miniv_sensors.urdf"/>
+    <arg name="publish_tf" default="true"/>
+
+    <arg name="vlp16_config_file" default="$(find-pkg-share perception_bringup)/config/velodyne/$(var prefix)_lidar_nebula_driver.yaml"/>
+
+    <node_container pkg="rclcpp_components" exec="component_container_mt" name="sensing_container" namespace="sensing" args="sensing/$(var prefix)_sensor">
+        <!-- Camera Driver -->
+        <composable_node pkg="v4l2_camera" plugin="v4l2_camera::V4L2Camera" name="driver_node" namespace="sensing/$(var prefix)_camera">
+            <param name="use_sim_time" value="$(var use_sim_time)"/>
+            <param name="use_intra_process_comms" value="true"/>
+            <remap from="image_raw" to="/wamv/sensors/cameras/$(var prefix)_camera_sensor/image_raw"/>
+            <remap from="camera_info" to="/wamv/sensors/cameras/$(var prefix)_camera_sensor/camera_info"/>
+            <remap from="image_raw/compressed" to="/wamv/sensors/cameras/$(var prefix)_camera_sensor/image_raw/compressed"/>
+            <param name="camera_info_url" value="file://$(find-pkg-share perception_bringup)/config/camera/c1_camera.yaml"/>
+            <param name="camera_frame_id" value="$(var prefix)_camera_optical_link"/>
+            <param name="video_device" value="/dev/video0"/>
+            <param name="use_image_transport" value="true"/>
+            <param name="image_raw.enable_pub_plugin" value="image_transport/compressed"/>
+            <!-- <param name="image_raw.enable_pub_plugin" value="image_transport/compressed"/> -->
+        </composable_node>
+
+        <!-- Velodyne Driver -->
+        <composable_node pkg="nebula_ros" plugin="VelodyneRosWrapper" name="velodyne_driver" namespace="sensing/$(var prefix)_lidar">
+            <param name="use_sim_time" value="$(var use_sim_time)"/>
+            <param name="use_intra_process_comms" value="true"/>
+            <param from="$(var vlp16_config_file)" allow_substs="true"/>
+            <param name="launch_hw" value="true"/>
+            <remap from="velodyne_points" to="/wamv/sensors/lidars/$(var prefix)_lidar_sensor/velodyne_points"/>
+            <remap from="velodyne_packets" to="/wamv/sensors/lidars/$(var prefix)_lidar_sensor/velodyne_packets"/>
+            <remap from="aw_points_ex" to="/wamv/sensors/lidars/$(var prefix)_lidar_sensor/aw_points_ex"/>
+            <remap from="aw_points" to="/wamv/sensors/lidars/$(var prefix)_lidar_sensor/aw_points"/>
+        </composable_node>
+    </node_container>
+
+    <group if="$(var publish_tf)">
+        <node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
+        <param name="robot_description" value="$(command 'xacro $(var model)')"/>
+        </node>
+    </group>
+</launch>

package.xml

@@ -15,8 +15,10 @@
   <exec_depend>image_processing_utils</exec_depend>
   <exec_depend>velodyne_pointcloud</exec_depend>
   <exec_depend>velodyne_driver</exec_depend>
+  <exec_depend>image_transport_plugins</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>rosbag2_transport</exec_depend>
+  <exec_depend>nebula_ros</exec_depend>
 
   <test_depend>ouxt_lint_common</test_depend>