l4ms/opil.iot.ran

OPIL Robot Agent Node 镜像说明

镜像概述

OPIL Robot Agent Node（RAN）是位于OPIL平台与机器人硬件之间的中间层组件，主要实现两大功能：基于ROS（机器人操作系统）的导航管理，以及作为OPIL数字物理中间件与机器人硬件的接口（通过FIWARE Orion Context Broker）。它能将FIWARE实体转换为ROS可理解的消息和服务，反之亦然。

核心功能

1. 机器人导航管理：基于ROS框架提供路径规划与导航能力。
2. 数据交互接口：连接OPIL平台与机器人硬件，实现FIWARE实体与ROS消息/服务的双向转换。
3. 仿真支持：集成RViz、Stage等工具，用于机器人系统的测试与验证。

使用场景

• 多机器人 fleet 管理与任务调度。
• 工业自动化场景下的机器人控制。
• OPIL平台与机器人硬件的集成测试。
• 机器人导航算法的仿真验证。

部署与配置说明

前提条件

需准备以下配置文件（与docker-compose.yml同目录）：

• firos_config.json
• firos_robots.json
• firos_whitelist.json
• mod_iot_ran.launch
• simulation.launch
• stage.world

创建空文件命令：

bash
touch firos_config.json firos_robots.json firos_whitelist.json mod_iot_ran.launch simulation.launch stage.world

Docker Compose 示例

yml
services: 
  opil.mod.sw.tp.ts:
    image: "docker.xuanyuan.run/l4ms/opil.sw.tp.ts"
    depends_on: 
      - opil.mod.sw.tp.mtp
    environment: 
      - PYTHONUNBUFFERED=1
      - "ROS_MASTER_URI=http://opil.mod.sw.tp.mtp:11311"
    volumes:
      - ./ts_firos_config.ini:/catkin_ws/src/taskplanner/firos_config.ini 
    ports: 
      - "2906:2906" 

  opil.mod.sw.tp.mtp: 
    image: "docker.xuanyuan.run/l4ms/opil.sw.tp.mtp:latest"
    environment: 
      - "ROS_MASTER_URI=http://localhost:11311"
      - DISPLAY=$DISPLAY
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./mod_sw_tp.launch:/catkin_ws/src/mod_sw_tp/launch/mod_sw_tp.launch 
      - ./firos_robots.json:/catkin_ws/src/firos/config/robots.json
      - ./firos_whitelist.json:/catkin_ws/src/firos/config/whitelist.json
      - ./firos_config.json:/catkin_ws/src/firos/config/config.json
    ports: 
      - "11311:11311"
      - "39001:39001"
            
version: "3.5"

启动命令

1. Linux/macOS：允许本地root访问X11

bash
xhost local:root

2. 启动容器

bash
docker-compose up

• Linux/macOS：打开RViz窗口显示机器人状态；Windows：无可视化，但可通过浏览器查看订阅信息。

详细配置

Firos配置

firos_config.json（连接Orion）

json
{
  "environment": "docker",
  "docker": {
    "server": { "port": 10101 },
    "contextbroker": {
      "address": "<orion地址>",
      "port": 1026,
      "subscription": { "throttling":0, "subscription_length":300, "subscription_refresh_delay":0.5 }
    },
    "endpoint": { "address": "<本地网络地址>", "port":39000 },
    "log_level": "INFO"
  }
}

firos_robots.json（话题映射）

json
{
    "robot_opil_v2": {
        "topics": {
            "current_motion": {"msg":"mars_agent_physical_robot_msgs.msg.Motion","type":"subscriber"},
            "robot_description": {"msg":"mars_agent_physical_robot_msgs.msg.RobotAgentProperties","type":"subscriber"},
            "cancel_order": {"msg":"mars_agent_physical_robot_msgs.msg.CancelTask","type":"publisher"},
            "motion_assignment": {"msg":"mars_agent_physical_robot_msgs.msg.MotionAssignment","type":"publisher"},
            "action_assignment": {"msg":"mars_agent_physical_robot_msgs.msg.ActionAssignment","type":"publisher"}
        }
    }
}

firos_whitelist.json（话题白名单）

json
{
    "robot_opil_v2": {
        "publisher": ["cancel_order","motion_assignment","action_assignment"],
        "subscriber": ["current_motion","robot_description"]
    }
}

RAN配置（mod_iot_ran.launch）

核心启动文件，包含机器人参数、Firos与仿真集成：

xml
<launch>
  <arg name="robot_1_name" default="robot_1" />
  <arg name="initial_pose_robot_1_x" default="6.0"/>
  <arg name="initial_pose_robot_1_y" default="0.0"/>
  <arg name="initial_pose_robot_1_a" default="0.0"/>
  <arg name="robot_1_id" default="00000000-0000-0000-0000-000000000001"/>
  
  <node name="firos" pkg="firos" type="core.py"/>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mars_simulation)/rviz/opil_finnland.rviz" />
  <include file="$(find mars_simulation)/launch/opil_finnland_simulation.launch"/>

  <group ns="robot_opil_v2">
    <param name="tf_prefix" value="robot_1" />
    <include file="$(find mars_simulation_ctv_agent)/launch/mars_simulation_ctv_agent.launch">
      <arg name="robot_id" value="$(arg robot_1_id)"/>
      <arg name="robot_name" value="$(arg robot_1_name)"/>
      <arg name="initial_pose_x" value="$(arg initial_pose_robot_1_x)"/>
    </include>
    <node pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 1 map robot_1/odom" />
    <node name="fake_localization" pkg="fake_localization" type="fake_localization">
      <param name="odom_frame_id" value="robot_1/odom"/>
      <param name="base_frame_id" value="robot_1/base_link"/>
    </node>
  </group>
</launch>

仿真配置

stage.world

include "multishuttle.inc"
resolution 0.05 
interval_sim 100 
window ( size [800 800] scale 21.642 )
map ( name "opil_finnland" size [26.891 15.126 1.000] pose [3.512 1.479 0.000 0.000] bitmap "opil_finnland.png" )
multishuttle( pose [6.0 0.0 0.000 0.000] name "robot_0" color "yellow")

simulation.launch

xml
<launch>
  <arg name="robot_1_ns" default="00000000000000000000000000000001"/>
  <param name="/use_sim_time" value="true"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(find mars_simulation_data)/world/opil_finnland.yaml"/>
  <node pkg="stage_ros" type="stageros" args="$(find mars_simulation_data)/world/opil_finnland.world">
    <remap from="robot_1/cmd_vel" to="/robot_opil_v2/cmd_vel" />
  </node>
</launch>