2026RM仿真

mapping.sh

@@ -3,14 +3,14 @@ source install/setup.bash
 commands=(
     "ros2 launch rm_serial_driver rm_serial_driver.launch.py"
     "ros2 launch rm_decision decision.launch.py"
-    # "ros2 launch rm_simpal_move simple_move.launch.py"
+    "ros2 launch rm_simpal_move simple_move.launch.py"
-    # "ros2 launch rm_nav_bringup bringup_real.launch.py \
+    "ros2 launch rm_nav_bringup bringup_sim.launch.py \
-    #   world:=wanzheng \
+      world:=2026RMUL \
-    #   mode:=mapping  \
+      mode:=mapping  \
-    #   lio:=fastlio \
+      lio:=fastlio \
-    #   lio_rviz:=True \
+      lio_rviz:=True \
-    #   nav_rviz:=True
+      nav_rviz:=True
-    # "
+    "
 )
 
 for cmd in "${commands[@]}"; do

sim.sh

@@ -5,7 +5,7 @@ commands=(
     # "ros2 launch rm_decision decision.launch.py"
     "ros2 launch rm_simpal_move simple_move.launch.py"
     "ros2 launch rm_nav_bringup bringup_sim.launch.py \
-    world:=RMUC \
+    world:=2026RMUL \
     mode:=nav \
     lio:=fastlio \
     localization:=gicp \

src/rm_nav/rm_nav_bringup/config/simulation/fastlio_mid360_sim.yaml

@@ -7,7 +7,7 @@
         filter_size_map: 0.5
         cube_side_length: 1000.0
         runtime_pos_log_enable: false
-        map_file_path: "src/rm_nav/rm_nav_bringup/PCD/RMUL2026.pcd"
+        map_file_path: "src/rm_nav/rm_nav_bringup/PCD/2026RMUL.pcd"
 
         common:
             lid_topic:  "/livox/lidar"

src/rm_nav/rm_nav_bringup/map/2026RMUL.yaml

@@ -0,0 +1,7 @@
+image: 2026RMUL.pgm
+mode: trinary
+resolution: 0.05
+origin: [-0.921, -6.36, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/rm_nav/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py

@@ -18,6 +18,7 @@ class WorldType:
     RMUC = 'RMUC'
     RMUL = 'RMUL'
     RMUL2026 = 'RMUL2026'
+    _2026RMUL = '2026RMUL'
 
 def get_world_config(world_type):
     world_configs = {
@@ -42,6 +43,13 @@ def get_world_config(world_type):
             'z': '0.063720',
             'yaw': '0.0',
             'world_path': 'RMUL2026_world/RMUL2026_world.world'
+        },
+        WorldType._2026RMUL: {
+            'x': '-5.3',
+            'y': '2.3',
+            'z': '0.063720',
+            'yaw': '0.0',
+            'world_path': '2026RMUL_world/2026RMUL_world.world'
         }
     }
     return world_configs.get(world_type, None)
@@ -155,6 +163,7 @@ def generate_launch_description():
     bringup_RMUC_cmd_group = create_gazebo_launch_group(WorldType.RMUC)
     bringup_RMUL_cmd_group = create_gazebo_launch_group(WorldType.RMUL)
     bringup_RMUL2026_cmd_group = create_gazebo_launch_group(WorldType.RMUL2026)
+    bringup_2026RMUL_cmd_group = create_gazebo_launch_group(WorldType._2026RMUL)
 
     # Create the launch description and populate
     ld = LaunchDescription()
@@ -172,6 +181,7 @@ def generate_launch_description():
     ld.add_action(bringup_RMUL_cmd_group) # type: ignore
     ld.add_action(bringup_RMUC_cmd_group) # type: ignore
     ld.add_action(bringup_RMUL2026_cmd_group) # type: ignore
+    ld.add_action(bringup_2026RMUL_cmd_group) # type: ignore
 
     # Uncomment this line if you want to start RViz
     ld.add_action(start_rviz_cmd)

src/rm_nav/rm_simulation/pb_rm_simulation/meshes/2026RMUL_world/model.config

@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<model>
+  <name>2026RMUL_world</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+</model>

src/rm_nav/rm_simulation/pb_rm_simulation/meshes/2026RMUL_world/model.sdf

@@ -0,0 +1,45 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="2026RMUL">
+    <static>true</static>
+    <link name="link">
+      <visual name="visual">
+        <pose>0 0 0 1.5705 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>0.3 0.3 0.3 1</ambient>
+          <diffuse>0.7 0.7 0.7 1</diffuse>
+          <specular>0.01 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+      <collision name="collision">
+        <pose>0 0 0 1.5705 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </link>
+  </model>
+</sdf>

src/rm_nav/rm_simulation/pb_rm_simulation/world/2026RMUL_world/2026RMUL_world.world

@@ -0,0 +1,149 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>0</shadows>
+    </scene>
+    <model name='2026RMUL'>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <pose>0 0 0 1.5705 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+        </visual>
+        <collision name='collision'>
+          <pose>0 0 0 1.5705 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://2026RMUL_world/meshes/2026RMUL.STL</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </link>
+      <static>1</static>
+      <pose>-6.2 4.2 0 0 0 0</pose>
+    </model>
+    <light name='user_directional_light_0' type='directional'>
+      <pose>0.5 0.5 13 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <direction>0 0 -1</direction>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+    </light>
+    <light name='user_point_light_0' type='point'>
+      <pose>0.5 0.5 14 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>7.46312 3.78907 13.2486 -2.7e-05 1.5698 1.56647</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>