# Greenhouse

**Repository Path**: mos-cherry/greenhouse

## Basic Information

- **Project Name**: Greenhouse
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-03-21
- **Last Updated**: 2026-03-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 温室

为了快速验证模型部署，计划使用 Leaderboard 的 ROS 2 Agent 来接入模型输入和输出

## 开源项目

- [Carla](https://github.com/carla-simulator/carla) `~/carla_0.9.15/`
- [Leaderboard](https://github.com/carla-simulator/leaderboard) `./leaderboard/`
- [Carla ROS Bridge](https://github.com/carla-simulator/ros-bridge) `./docker/ros_client/ros-bridge/`
- [Scenario Runner](https://github.com/carla-simulator/scenario_runner) `./scenario_runner/`

**note**: I recommand you to put your carla at `~/carla_0.9.15` or you need to edit `./docker/docker-compose.yml` and `./scripts/env.sh` synchronously. And I do **not** recommand you to use carla on dockerhub, since it does not have additional maps.  

## 项目结构

- Host:
  - Carla 0.9.15
  - Docker: Ubuntu 22.04
    - Leaderboard
    - ROS 2 Humble
      - ROS 2 Agent(Leaderboard Node)
      - LaunchNode
      - InferNode

```mermaid
graph TD
  A[宿主机] -->|运行 CARLA 仿真器| A1(Carla)
  
  subgraph B[ROS2 Humble 容器]
    B1(Leaderboard 进程)
    B2(ROS2 Agent 节点)
    B3(ros bridge 节点)
    B4(模型推理节点)
  end
  
  A --> B
  A1 <-->|网络通信（端口 2000）| B1
  A1 <-->|网络通信（端口 2000）| B3
  B1 -->|Python API| B2
  B3 <-->|ROS2 话题| B4
  B2 <-->|ROS2 话题| B4
```

## 程序结构

```mermaid
classDiagram
  class ROSBaseAgent {
    init()
    _vehicle_control_cmd_callback
    run_step()
    destroy()
  }

  class ROS2Agent {
    init()
    spawn_object()
    destroy_object()
    set_global_plan()
    destroy()
  }

  class TCP_Agent {
    ros_entrypoint()
    setup()
    sensors()
  }

  ROSBaseAgent <|-- ROS2Agent
  ROS2Agent <|-- TCP_Agent

  class leaderboard_node {
    -/carla/spawn_object(type_, id_, transform, attributes, attach_to=0)[service]
    -/carla/destroy_object(uid)[service]

    +CarlaRoute /carla/hero/global_plan[topic]
    +CarlaGnssRoute /carla/hero/global_plan_gnss[topic]
    -CarlaEgoVehicleControl /carla/hero/vehicle_control_cmd[topic]
    -Bool /carla/hero/status[topic]
  }

  class infer_node {
    init()
    infer_once()
  }

  ROS2Agent ..> leaderboard_node : 启动
```