robin
99ae42f5b9
- Port serial_bridge_node's low-level Modbus RTU transport to C++ (fori_serial_bridge_cpp) to remove Python control-loop delay, keeping the existing control algorithm/parameters unchanged - Switch Nav2 and mock/patrol map to the Gunsan 2.5D site (pcd_gunsan_output), with terrain_speed_node scaling drive speed up on uphill grades and down on downhill grades for both Nav2 and patrol - Unify Nav2 cruise speed and motor safety-clamp speed at 0.3 m/s - Add nav2_collision_monitor as a final safety gate against sudden dynamic obstacles, routed so it can't be bypassed by velocity_smoother's internal remap - Fix web dashboard map rendering (stray map_server process, oversized GetMap payload, rosbridge fragment size vs. roslib.js incompatibility) and PWA reachability via mDNS - Fix TF tree: wheel-odometry broadcasts odom->base_link, and camera_init is statically bridged to both odom and map so AMCL's own map->odom broadcast no longer conflicts with the SLAM anchor frame
38 lines
1.7 KiB
Bash
Executable File
38 lines
1.7 KiB
Bash
Executable File
#!/bin/bash
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# FORI AGV 안전 시작 스크립트
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# 이전 프로세스 잔류 문제를 자동으로 처리합니다
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echo "=========================================="
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echo " FORI AGV - 안전 시작 스크립트"
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echo "=========================================="
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# 1. 이전 실행 잔류 프로세스 모두 종료
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echo "[1/3] 이전 프로세스 정리 중..."
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pkill -9 -f "serial_bridge_node" 2>/dev/null
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pkill -9 -f "parking_controller_node" 2>/dev/null
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pkill -9 -f "ui_server_node" 2>/dev/null
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pkill -9 -f "rosbridge_websocket" 2>/dev/null
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pkill -9 -f "web_video_server" 2>/dev/null
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pkill -9 -f "aruco_detector_node.py" 2>/dev/null
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pkill -9 -f "fori_full.launch" 2>/dev/null
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pkill -9 -f "fori_nav2.launch" 2>/dev/null
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fuser -k -9 8080/tcp 9090/tcp 8085/tcp 2>/dev/null
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sleep 2
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echo "[2/3] ROS2 환경 로드..."
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source /opt/ros/humble/setup.bash
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source /home/yoo/fori_ws/fori_ws/install/setup.bash
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# Hikrobot 카메라 SDK(/opt/MVS/lib/64)가 LD_LIBRARY_PATH 맨 앞에 있어서 시스템
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# libusb보다 먼저 잡히는데, 그 안의 libusb가 구버전이라 PCL(fast_lio, pcd_gridmap_converter
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# 등)이 필요로 하는 libusb_set_option 심볼이 없어 "symbol lookup error"로 죽는다.
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# 시스템 라이브러리 경로를 앞에 둬서 심볼 충돌만 피하고, MVS 경로는 카메라 전용 라이브러리
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# 탐색을 위해 그대로 뒤에 남겨둔다.
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export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH}"
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echo "[3/3] FORI AGV 시작!"
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echo " ✅ 웹 UI: http://localhost:8080"
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echo " ✅ 외부(모바일): http://$(hostname -I | awk '{print $1}'):8080"
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echo "=========================================="
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ros2 launch fori_serial_bridge fori_full.launch.py
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