280 lines
9.2 KiB
Python
280 lines
9.2 KiB
Python
#!/usr/bin/env python3
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"""
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Gazebo Bridge - GPS-denied interface with camera and rover control.
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Provides sensor data: IMU, altimeter, camera image.
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Controls rover movement via Gazebo pose commands.
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"""
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import base64
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import json
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import math
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from typing import Optional, Dict, Any
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import numpy as np
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import rclpy
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from rclpy.node import Node
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from rclpy.qos import QoSProfile, ReliabilityPolicy
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from geometry_msgs.msg import Twist, Pose
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from nav_msgs.msg import Odometry
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from sensor_msgs.msg import Image
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from std_msgs.msg import String
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class GazeboBridge(Node):
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"""Bridges Gazebo topics to GPS-denied sensor interface with camera."""
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CAMERA_FOV = 60.0
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CAMERA_RANGE = 10.0
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CAMERA_WIDTH = 320
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CAMERA_HEIGHT = 240
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def __init__(self):
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super().__init__('gazebo_bridge')
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self.get_logger().info('=' * 60)
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self.get_logger().info('Gazebo Bridge Starting (GPS-Denied + Camera)...')
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self.get_logger().info('=' * 60)
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self._landed = False
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self._step_count = 0
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self._rover_pos = [0.0, 0.0, 0.15]
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self._last_camera_image = None
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self._drone_pos = [0.0, 0.0, 5.0]
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self._drone_orn = [0.0, 0.0, 0.0, 1.0]
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sensor_qos = QoSProfile(
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reliability=ReliabilityPolicy.BEST_EFFORT,
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depth=10
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)
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self._cmd_vel_sub = self.create_subscription(
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Twist, '/cmd_vel', self._cmd_vel_callback, 10
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)
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self.get_logger().info(' Subscribed to: /cmd_vel')
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self._odom_sub = self.create_subscription(
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Odometry, '/model/drone/odometry', self._odom_callback, sensor_qos
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)
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self.get_logger().info(' Subscribed to: /model/drone/odometry')
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self._camera_sub = self.create_subscription(
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Image, '/drone/camera', self._camera_callback, sensor_qos
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)
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self.get_logger().info(' Subscribed to: /drone/camera')
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self._rover_sub = self.create_subscription(
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String, '/rover/telemetry', self._rover_callback, 10
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)
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self.get_logger().info(' Subscribed to: /rover/telemetry')
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self._gz_cmd_vel_pub = self.create_publisher(
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Twist, '/drone/cmd_vel', 10
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)
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self.get_logger().info(' Publishing to: /drone/cmd_vel (Gazebo)')
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self._telemetry_pub = self.create_publisher(
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String, '/drone/telemetry', 10
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)
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self.get_logger().info(' Publishing to: /drone/telemetry')
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self.get_logger().info('Gazebo Bridge Ready!')
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def _cmd_vel_callback(self, msg: Twist) -> None:
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gz_msg = Twist()
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gz_msg.linear.x = msg.linear.x
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gz_msg.linear.y = msg.linear.y
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gz_msg.linear.z = msg.linear.z
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gz_msg.angular.z = msg.angular.z
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self._gz_cmd_vel_pub.publish(gz_msg)
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def _rover_callback(self, msg: String) -> None:
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"""Receive rover position (for telemetry only - rover is static in Gazebo)."""
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try:
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data = json.loads(msg.data)
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pos = data.get('position', {})
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self._rover_pos = [
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pos.get('x', 0.0),
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pos.get('y', 0.0),
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pos.get('z', 0.15)
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]
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# Note: In Gazebo mode, rover position is tracked but the visual
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# model stays static. Moving the model requires the set_pose service
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# which has networking issues in WSL2. For moving rover tests,
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# use PyBullet (standalone_simulation.py or simulation_host.py).
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except json.JSONDecodeError:
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pass
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def _camera_callback(self, msg: Image) -> None:
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"""Process camera images and encode as base64."""
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try:
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if msg.encoding == 'rgb8':
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image = np.frombuffer(msg.data, dtype=np.uint8).reshape(
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msg.height, msg.width, 3
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)
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elif msg.encoding == 'bgr8':
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image = np.frombuffer(msg.data, dtype=np.uint8).reshape(
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msg.height, msg.width, 3
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)[:, :, ::-1]
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else:
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return
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# Encode as base64 JPEG
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try:
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from PIL import Image as PILImage
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import io
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pil_img = PILImage.fromarray(image)
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buffer = io.BytesIO()
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pil_img.save(buffer, format='JPEG', quality=70)
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self._last_camera_image = base64.b64encode(buffer.getvalue()).decode('utf-8')
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except ImportError:
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self._last_camera_image = base64.b64encode(image.tobytes()).decode('utf-8')
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except Exception as e:
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self.get_logger().warning(f'Camera processing error: {e}')
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def _get_landing_pad_detection(self) -> Optional[Dict[str, float]]:
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dx = self._rover_pos[0] - self._drone_pos[0]
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dy = self._rover_pos[1] - self._drone_pos[1]
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dz = self._rover_pos[2] - self._drone_pos[2]
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horizontal_dist = math.sqrt(dx**2 + dy**2)
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vertical_dist = -dz
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if vertical_dist <= 0 or vertical_dist > self.CAMERA_RANGE:
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return None
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fov_rad = math.radians(self.CAMERA_FOV / 2)
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max_horizontal = vertical_dist * math.tan(fov_rad)
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if horizontal_dist > max_horizontal:
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return None
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roll, pitch, yaw = self._quaternion_to_euler(
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self._drone_orn[0], self._drone_orn[1],
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self._drone_orn[2], self._drone_orn[3]
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)
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cos_yaw = math.cos(-yaw)
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sin_yaw = math.sin(-yaw)
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relative_x = dx * cos_yaw - dy * sin_yaw
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relative_y = dx * sin_yaw + dy * cos_yaw
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angle = math.atan2(horizontal_dist, vertical_dist)
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confidence = max(0.0, 1.0 - (angle / fov_rad))
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confidence *= max(0.0, 1.0 - (vertical_dist / self.CAMERA_RANGE))
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return {
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"relative_x": round(relative_x, 4),
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"relative_y": round(relative_y, 4),
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"distance": round(vertical_dist, 4),
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"confidence": round(confidence, 4)
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}
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def _odom_callback(self, msg: Odometry) -> None:
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self._step_count += 1
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pos = msg.pose.pose.position
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vel = msg.twist.twist.linear
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ang_vel = msg.twist.twist.angular
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quat = msg.pose.pose.orientation
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self._drone_pos = [pos.x, pos.y, pos.z]
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self._drone_orn = [quat.x, quat.y, quat.z, quat.w]
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roll, pitch, yaw = self._quaternion_to_euler(quat.x, quat.y, quat.z, quat.w)
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landing_height = 0.5
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self._landed = (
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abs(pos.x - self._rover_pos[0]) < 0.5 and
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abs(pos.y - self._rover_pos[1]) < 0.5 and
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pos.z < landing_height and
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abs(vel.z) < 0.2
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)
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pad_detection = self._get_landing_pad_detection()
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telemetry = {
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"imu": {
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"orientation": {
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"roll": round(roll, 4),
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"pitch": round(pitch, 4),
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"yaw": round(yaw, 4)
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},
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"angular_velocity": {
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"x": round(ang_vel.x, 4),
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"y": round(ang_vel.y, 4),
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"z": round(ang_vel.z, 4)
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},
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"linear_acceleration": {
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"x": 0.0,
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"y": 0.0,
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"z": 9.81
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}
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},
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"altimeter": {
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"altitude": round(pos.z, 4),
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"vertical_velocity": round(vel.z, 4)
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},
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"velocity": {
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"x": round(vel.x, 4),
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"y": round(vel.y, 4),
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"z": round(vel.z, 4)
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},
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"landing_pad": pad_detection,
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"camera": {
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"width": self.CAMERA_WIDTH,
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"height": self.CAMERA_HEIGHT,
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"fov": self.CAMERA_FOV,
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"image": self._last_camera_image
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},
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"landed": self._landed,
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"timestamp": round(self._step_count * 0.02, 4)
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}
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telemetry_msg = String()
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telemetry_msg.data = json.dumps(telemetry)
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self._telemetry_pub.publish(telemetry_msg)
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def _quaternion_to_euler(self, x: float, y: float, z: float, w: float) -> tuple:
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sinr_cosp = 2 * (w * x + y * z)
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cosr_cosp = 1 - 2 * (x * x + y * y)
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roll = math.atan2(sinr_cosp, cosr_cosp)
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sinp = 2 * (w * y - z * x)
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if abs(sinp) >= 1:
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pitch = math.copysign(math.pi / 2, sinp)
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else:
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pitch = math.asin(sinp)
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siny_cosp = 2 * (w * z + x * y)
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cosy_cosp = 1 - 2 * (y * y + z * z)
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yaw = math.atan2(siny_cosp, cosy_cosp)
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return roll, pitch, yaw
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def main(args=None):
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print("\n" + "=" * 60)
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print(" GAZEBO BRIDGE (GPS-DENIED + CAMERA)")
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print("=" * 60 + "\n")
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rclpy.init(args=args)
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bridge_node = None
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try:
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bridge_node = GazeboBridge()
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rclpy.spin(bridge_node)
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except KeyboardInterrupt:
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print('\nShutting down...')
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finally:
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if bridge_node is not None:
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bridge_node.destroy_node()
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if rclpy.ok():
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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