20260206

README.md

@@ -154,7 +154,7 @@ saveconfig
 ### 操作
 
 #### 自动、远程驾驶
-首先进入工作空间 minibus
+首先进入工作空间 JingMenBus
 
 终端一：
 ``` bash

can.sh

@@ -23,7 +23,7 @@ ip link set can0 type can bitrate 250000
 ip link set up can0
 
 # RTK
-chmod 777 /dev/ttyUSB0
+chmod 777 /dev/ttyCH341USB0
 
 # remote
 chmod 777 /dev/input/event*

install_frp.sh

@@ -0,0 +1,214 @@
+#!/bin/bash
+set -euo pipefail
+
+echo "=============================="
+echo "       FRPC 安装程序"
+echo "=============================="
+
+# ==========================================
+# 0. 工具函数
+# ==========================================
+die() { echo "❌ $*" >&2; exit 1; }
+info() { echo "✔ $*"; }
+step() { echo "➡ $*"; }
+
+need_cmd() {
+  command -v "$1" >/dev/null 2>&1
+}
+
+# 统一下载：优先 wget，其次 curl（断点续传）
+download() {
+  local url="$1"
+  local out="$2"
+
+  if need_cmd wget; then
+    # -c: 断点续传
+    # -T: 超时
+    # -t: 重试次数
+    info "使用 wget 下载（支持断点续传）"
+    wget -c \
+  --timeout=20 \
+  --read-timeout=20 \
+  -t 0 \
+  "$url" -O "$out"
+
+  elif need_cmd curl; then
+    # -C - : 断点续传
+    # -f   : HTTP 非 2xx 失败
+    # -L   : 跟随重定向
+    # --retry-* : 抗抖动
+    info "使用 curl 下载（断点续传）"
+curl -fL -C - \
+  --connect-timeout 20 \
+  --retry 0 \
+  --retry-delay 3 \
+  --retry-all-errors \
+  "$url" -o "$out"
+
+  else
+    die "系统中既没有 wget 也没有 curl，无法下载：$url"
+  fi
+}
+
+# ==========================================
+# 1. 确保 sudo 权限
+# ==========================================
+if ! need_cmd sudo; then
+  die "系统未安装 sudo，请用 root 执行该脚本"
+fi
+sudo -v
+
+# ==========================================
+# 2. 输入设备名
+# ==========================================
+read -r -p "请输入设备名称（deviceName，例如 z200_01）： " deviceName
+[ -n "${deviceName}" ] || die "设备名不能为空"
+
+# 简单合法性校验：只允许字母数字下划线中划线
+if ! [[ "$deviceName" =~ ^[A-Za-z0-9_-]+$ ]]; then
+  die "设备名不合法：仅允许字母/数字/_/-"
+fi
+
+echo ""
+info "设备名：$deviceName"
+echo ""
+
+# ==========================================
+# 3. 检测架构
+# ==========================================
+ARCH="$(uname -m)"
+info "检测到架构：$ARCH"
+
+case "$ARCH" in
+  aarch64) PKG="frp_0.65.0_linux_arm64.tar.gz" ;;
+  armv7l|armv7*) PKG="frp_0.65.0_linux_arm.tar.gz" ;;
+  x86_64|amd64) PKG="frp_0.65.0_linux_amd64.tar.gz" ;;
+  *) die "不支持架构：$ARCH" ;;
+esac
+
+BASE="http://36.153.162.171:20080/frp"
+URL="$BASE/$PKG"
+
+# ==========================================
+# 4. 下载 / 解压（断电可恢复）
+# ==========================================
+FRP_DIR="/usr/local/frp"
+FRPC_BIN="$FRP_DIR/frpc"
+
+CACHE_DIR="/var/cache/frp"
+PKG_PATH="$CACHE_DIR/$PKG"
+
+if sudo test -x "$FRPC_BIN"; then
+  info "检测到本地已有 FRPC：$FRPC_BIN（跳过下载）"
+else
+  step "准备缓存目录：$CACHE_DIR"
+  sudo mkdir -p "$CACHE_DIR"
+  sudo chown "$(id -u):$(id -g)" "$CACHE_DIR"
+
+  if [ -f "$PKG_PATH" ]; then
+    info "检测到缓存文件，继续断点续传：$PKG_PATH"
+  else
+    info "缓存中不存在安装包，将开始下载"
+  fi
+
+  step "下载：$URL"
+  download "$URL" "$PKG_PATH"
+  info "下载完成：$PKG_PATH"
+
+  step "解压到：$FRP_DIR"
+  sudo mkdir -p "$FRP_DIR"
+  sudo tar -xzf "$PKG_PATH" -C "$FRP_DIR" --strip-components=1
+  sudo chmod +x "$FRPC_BIN" || true
+
+  sudo test -x "$FRPC_BIN" || die "解压后未找到可执行 frpc：$FRPC_BIN"
+  info "解压完成"
+
+  # 可选：如果你希望节省空间，确认安装成功后再删
+  # sudo rm -f "$PKG_PATH"
+fi
+
+# ==========================================
+# 5. 生成 frpc.toml
+# ==========================================
+PROXY_NAME="${deviceName}_stcp"
+SECRET_KEY="${deviceName}_key"
+
+step "生成配置 /etc/frp/frpc.toml"
+sudo mkdir -p /etc/frp
+
+sudo tee /etc/frp/frpc.toml >/dev/null <<EOF
+serverAddr = "36.153.162.171"
+serverPort = 7001
+
+[auth]
+method = "token"
+token = "token123456"
+
+[transport]
+protocol = "kcp"
+
+[[proxies]]
+name = "$PROXY_NAME"
+type = "stcp"
+localIP = "127.0.0.1"
+localPort = 22
+secretKey = "$SECRET_KEY"
+
+# visitor 由服务器 callback 自动追加
+EOF
+
+info "已生成 /etc/frp/frpc.toml"
+
+# ==========================================
+# 6. 回调注册（一定要在重启 frpc 之前）
+# ==========================================
+CALLBACK_URL="$BASE/callback?device=$deviceName"
+step "回调注册（在重启 frpc 之前）：$CALLBACK_URL"
+
+# 用 download 抓取返回文本（落到临时文件）
+tmp_cb="$(mktemp)"
+trap 'rm -f "$tmp_cb"' EXIT
+
+download "$CALLBACK_URL" "$tmp_cb" || die "回调请求失败"
+RESULT="$(cat "$tmp_cb" 2>/dev/null || true)"
+info "服务器返回：$RESULT"
+
+# ==========================================
+# 7. systemd 服务
+# ==========================================
+step "写入 systemd 服务 /etc/systemd/system/frpc.service"
+
+sudo tee /etc/systemd/system/frpc.service >/dev/null <<EOF
+[Unit]
+Description=FRPC Client
+After=network-online.target
+Wants=network-online.target
+
+[Service]
+Type=simple
+ExecStart=$FRPC_BIN -c /etc/frp/frpc.toml
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+sudo systemctl daemon-reload
+sudo systemctl enable frpc
+
+info "即将重启 frpc，当前 SSH 连接可能会断开"
+sudo systemctl restart frpc
+
+# 给 1 秒让它起起来再检查
+sleep 1
+sudo systemctl --no-pager -l status frpc || die "frpc 服务启动失败，请看上面的日志"
+
+info "FRPC 已重新启动（新配置已生效）"
+
+
+echo "=============================="
+echo "  安装完成！"
+echo "  设备名：$deviceName"
+echo "=============================="
+

lidar128.sh

@@ -9,4 +9,4 @@ sudo modprobe 8021q
 sudo vconfig add eth3 129
 sudo ifconfig eth3.129 172.31.129.38 up
 
-sudo tcpreplay  --loop=0 --multiplier=1  -i  eth3.129   /home/nvidia/Downloads/minibus/4647.pcap
+sudo tcpreplay  --loop=0 --multiplier=1  -i  eth3.129   /home/nvidia/Downloads/JingMenBus/4647.pcap

rosbag/rosbag2_2026_02_06-15_38_46/metadata.yaml

@@ -0,0 +1,25 @@
+rosbag2_bagfile_information:
+  version: 4
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - rosbag2_2026_02_06-15_38_46_0.db3
+  duration:
+    nanoseconds: 552772372058
+  starting_time:
+    nanoseconds_since_epoch: 1770363529066087141
+  message_count: 6266
+  topics_with_message_count:
+    - topic_metadata:
+        name: /mc_message
+        type: interface/msg/MC
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 2147483647\n    nsec: 4294967295\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+      message_count: 184
+    - topic_metadata:
+        name: /rtk_message
+        type: interface/msg/RTK
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 6082
+  compression_format: ""
+  compression_mode: ""

rosbag/rosbag2_2026_02_06-16_07_46/metadata.yaml

@@ -0,0 +1,25 @@
+rosbag2_bagfile_information:
+  version: 4
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - rosbag2_2026_02_06-16_07_46_0.db3
+  duration:
+    nanoseconds: 525753341144
+  starting_time:
+    nanoseconds_since_epoch: 1770365270093730756
+  message_count: 5960
+  topics_with_message_count:
+    - topic_metadata:
+        name: /rtk_message
+        type: interface/msg/RTK
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 5785
+    - topic_metadata:
+        name: /mc_message
+        type: interface/msg/MC
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 175
+  compression_format: ""
+  compression_mode: ""

service.md

@@ -9,14 +9,14 @@
 
 ## 二、准备工作
 1. **确认脚本路径**  
-   记录当前脚本所在的完整路径（`minibus`目录的绝对路径），示例：  
-   `/home/nvidia/Downloads/minibus`  
-   （若主机更换，只需替换`minibus`之前的可变路径部分）
+   记录当前脚本所在的完整路径（`JingMenBus`目录的绝对路径），示例：  
+   `/home/nvidia/Downloads/JingMenBus`  
+   （若主机更换，只需替换`JingMenBus`之前的可变路径部分）
 
 2. **验证脚本可执行性**  
    确保所有脚本具有执行权限（若已配置可跳过）：  
     ```bash
-    cd /home/nvidia/Downloads/minibus  # 替换为实际路径
+    cd /home/nvidia/Downloads/JingMenBus  # 替换为实际路径
     chmod +x can.sh lidar128.sh start.sh pubJM.sh
     ```
 
@@ -37,7 +37,7 @@ Documentation=https://www.freedesktop.org/wiki/Software/systemd/
 [Service]
 Type=oneshot
 # 替换为实际的can.sh路径
-ExecStart=/home/nvidia/Downloads/minibus/can.sh
+ExecStart=/home/nvidia/Downloads/JingMenBus/can.sh
 User=root  # 必须root权限（配置CAN接口和设备权限）
 RemainAfterExit=yes  # 确保服务状态在执行后保持为active
 
@@ -61,7 +61,7 @@ Documentation=https://www.freedesktop.org/wiki/Software/systemd/
 [Service]
 Type=simple  # 因tcpreplay是持续运行的进程，需用simple类型
 # 替换为实际的lidar128.sh路径
-ExecStart=/home/nvidia/Downloads/minibus/lidar128.sh
+ExecStart=/home/nvidia/Downloads/JingMenBus/lidar128.sh
 User=root  # 需root权限（配置网络接口和vlan）
 Restart=on-failure  # 进程意外退出时自动重启
 
@@ -85,8 +85,8 @@ Requires=can.service lidar128.service
 [Service]
 Type=simple
 User=nvidia
-WorkingDirectory=/home/nvidia/Downloads/minibus
-ExecStart=/home/nvidia/Downloads/minibus/start.sh
+WorkingDirectory=/home/nvidia/Downloads/JingMenBus
+ExecStart=/home/nvidia/Downloads/JingMenBus/start.sh
 Restart=on-failure
 Environment=RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 # 如果需要ROS_DOMAIN_ID等环境变量，也在这里加 Environment=
@@ -156,7 +156,7 @@ journalctl -u start.service -f  # 查看start服务日志
 
 1. 路径变更处理
 
-    若主机更换导致minibus目录路径变化，需重新修改 3 个服务文件中的ExecStart路径，并执行：
+    若主机更换导致JingMenBus目录路径变化，需重新修改 3 个服务文件中的ExecStart路径，并执行：
 
 ```bash
 sudo systemctl daemon-reload

start.sh

@@ -3,7 +3,7 @@ set -e
 
 source  /opt/ros/foxy/setup.bash
 
-source /home/nvidia/Downloads/minibus/install/setup.bash
+source /home/nvidia/Downloads/JingMenBus/install/setup.bash
 
 ros2 run mc mc_node &
 ros2 run rtk rtk_node &