システム概要¶

ナビゲーションパイプライン¶

graph TB
    subgraph Inputs
        Unity["Unity Sim\n/sim_odom"]
        FASTLIO["FAST-LIO\n/Odometry"]
        MapPNG["core1_field.png"]
        LiDAR["Livox Mid-360\n/livox/lidar"]
    end

    BehaviorSystem["Behavior System"]

    subgraph Bridge["データ変換"]
        OdomBridge["odom_bridge_node"]
        MapServer["map_server_node"]
    end

    subgraph Planning["経路計画・コストマップ"]
        PathPlanner["path_planner_node"]
        CostmapBuilder["costmap_build_node"]
    end

    MPPI["core_mppi_node"]
    Smoother["cmd_vel_smoother_node"]

    subgraph Control["車体制御"]
        BodyController["body_control_node"]
        Hardware["core_hardware"]
    end

    RViz["RViz2"]

    Unity -->|/sim_odom| OdomBridge
    FASTLIO -->|/Odometry| OdomBridge
    MapPNG --> MapServer
    LiDAR -->|/livox/lidar| CostmapBuilder

    BehaviorSystem -->|/goal_pose| PathPlanner

    OdomBridge -->|/start_pose| PathPlanner
    OdomBridge -->|/odom| MPPI
    OdomBridge -->|TF| RViz
    MapServer -->|/map| PathPlanner
    MapServer -->|/costmap/global| MPPI

    PathPlanner -->|/planned_path| MPPI
    CostmapBuilder -->|/costmap/local| MPPI

    MPPI -->|/cmd_vel_raw| Smoother
    Smoother -->|/cmd_vel| BodyController
    BodyController -->|can/tx| Hardware

    style MapPNG fill:#e1f5fe,color:#333
    style Unity fill:#e1f5fe,color:#333
    style FASTLIO fill:#e1f5fe,color:#333
    style LiDAR fill:#e1f5fe,color:#333
    subgraph Shooter["射撃系"]
        Camera["カメラ"] -->|画像| TargetDetector["target_detector"]
        TargetDetector --> TargetSelector["target_selector"]
        TargetSelector -->|target_pose| AimBot["aim_bot"]
        ShooterGate["shooter_cmd_gate"] --> ShooterCtrl["shooter_controller"]
        MagazineMgr["magazine_manager"]
    end

    subgraph SystemMode["システム管理"]
        WirelessParser["wireless_parser_node"]
        EmergencyHandler["emergency_handler_node"]
        Diagnostic["diagnostic_node"]
        Diagnostic --> EmergencyHandler
    end

    WirelessParser -->|/cmd_vel| BodyController
    EmergencyHandler -->|/hazard_status| BodyController

    AimBot -->|can/tx| Hardware
    ShooterCtrl -->|can/tx| Hardware

    subgraph Localization["局在化（実機オプション）"]
        PCDMap["PCD地図"] -->|点群| LocalizationNode["localization_node"]
    end

    FASTLIO -->|/cloud_registered| LocalizationNode
    LocalizationNode -->|"map→odom TF"| RViz

    style Localization fill:#e8f5e9,color:#333
    style BehaviorSystem fill:#fff3e0,color:#333

ノード一覧¶

起動モード¶

起動モードの詳細（コマンド、引数、実機テスト手順など）はナビゲーション起動ガイドを参照してください。

静的TF¶

navigation.launch.py で以下の静的TFがブロードキャストされます:

動的TFはTFフレームと座標系を参照してください。