From 11a7ee57aa8cc603cbcc97bae0668558698882bb Mon Sep 17 00:00:00 2001 From: lyq Date: Sat, 28 Feb 2026 17:00:02 +0800 Subject: [PATCH] 0228 --- gps_load_now.txt | 3026 +---------------- routes/gps_load_1772267218953.txt | 4 + routes/gps_load_1772267935994.txt | 100 + .../launch_system/launch/start_all.launch.py | 31 +- .../airy/rslidar_sdk-main/launch/start.py | 29 +- start_all (copy).sh | 21 +- start_all.sh | 21 +- 7 files changed, 234 insertions(+), 2998 deletions(-) create mode 100644 routes/gps_load_1772267218953.txt create mode 100644 routes/gps_load_1772267935994.txt diff --git a/gps_load_now.txt b/gps_load_now.txt index 1a2ed80..dacebe2 100644 --- a/gps_load_now.txt +++ b/gps_load_now.txt @@ -1,2976 +1,100 @@ -32.0937196050 -120.79455761700 -81.000999 +32.0310917570 +120.91525467400 +349.971985 0.000000 -32.0937213170 -120.79456853900 -74.303001 +32.0311007180 +120.91525281000 +347.497009 0.000000 -32.0937250550 -120.79457864600 -52.578999 +32.0311098440 +120.91525041500 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@@ +32.0309222090 +120.91505759600 +170.675995 +0.000000 diff --git a/routes/gps_load_1772267935994.txt b/routes/gps_load_1772267935994.txt new file mode 100644 index 0000000..dacebe2 --- /dev/null +++ b/routes/gps_load_1772267935994.txt @@ -0,0 +1,100 @@ +32.0310917570 +120.91525467400 +349.971985 +0.000000 +32.0311007180 +120.91525281000 +347.497009 +0.000000 +32.0311098440 +120.91525041500 +345.182007 +0.000000 +32.0311188070 +120.91524761800 +346.235992 +0.000000 +32.0311277000 +120.91524564100 +354.537994 +0.000000 +32.0311374250 +120.91524478800 +357.682007 +0.000000 +32.0311464090 +120.91524462200 +0.736000 +0.000000 +32.0311554610 +120.91524524600 +10.159000 +0.000000 +32.0311641680 +120.91524787300 +22.878000 +0.000000 +32.0311729890 +120.91525282200 +26.490000 +0.000000 +32.0311815850 +120.91525809100 +32.991001 +0.000000 +32.0311895440 +120.91526488500 +38.161999 +0.000000 +32.0311965870 +120.91527158500 +42.695000 +0.000000 +32.0312034590 +120.91527970700 +51.610001 +0.000000 +32.0312087060 +120.91528835600 +59.937000 +0.000000 +32.0312130590 +120.91529852200 +66.385002 +0.000000 +32.0312169790 +120.91530905400 +69.073997 +0.000000 +32.0312201740 +120.91531981700 +74.775002 +0.000000 +32.0312224930 +120.91533104600 +79.578003 +0.000000 +32.0312241310 +120.91534217100 +85.223999 +0.000000 +32.0312249230 +120.91535273500 +85.499001 +0.000000 +32.0312258660 +120.91536327800 +83.461998 +0.000000 +32.0312269000 +120.91537477100 +84.094002 +0.000000 +32.0312278010 +120.91538624100 +86.753998 +0.000000 +32.0312285410 +120.91539710300 +85.632004 +0.000000 diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py index 38c3867..b136186 100644 --- a/src/common/launch_system/launch/start_all.launch.py +++ b/src/common/launch_system/launch/start_all.launch.py @@ -21,13 +21,22 @@ def generate_launch_description(): respawn_delay=2 ), + # Node( + # package="radio_ctrl", + # executable="radio_ctrl_node", + # name="radio_ctrl_node", + # output="screen", + # respawn=True, + # respawn_delay=2 + # ), + Node( - package="radio_ctrl", - executable="radio_ctrl_node", - name="radio_ctrl_node", + package="can_radio_ctrl", + executable="can_radio_ctrl_node", + name="can_radio_ctrl_node", output="screen", - respawn=True, - respawn_delay=2 + respawn=True, + respawn_delay=2 ), Node( @@ -69,9 +78,7 @@ def generate_launch_description(): IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py") - ), - respawn=True, - respawn_delay=2 + ) ), Node( @@ -85,9 +92,7 @@ def generate_launch_description(): "rtk_params.yaml" ) ], # 从YAML文件加载参数 - output="screen", - respawn=True, - respawn_delay=2 + output="screen" ), Node( @@ -129,9 +134,7 @@ def generate_launch_description(): IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(fu_path, "launch", "fu.launch.py") - ), - respawn=True, - respawn_delay=2 + ) ), ] ) \ No newline at end of file diff --git a/src/perception/airy/rslidar_sdk-main/launch/start.py b/src/perception/airy/rslidar_sdk-main/launch/start.py index 95f915f..3d66283 100755 --- a/src/perception/airy/rslidar_sdk-main/launch/start.py +++ b/src/perception/airy/rslidar_sdk-main/launch/start.py @@ -1,13 +1,18 @@ from launch import LaunchDescription from launch_ros.actions import Node +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource from ament_index_python.packages import get_package_share_directory - +from pathlib import Path +import os def generate_launch_description(): - - rviz_config = get_package_share_directory("rslidar_sdk") + "/rviz/rviz2.rviz" - - config_file = "" # your config file path + pkg_share = get_package_share_directory("rslidar_sdk") + # RViz 配置文件路径 + rviz_config = os.path.join(pkg_share, "rviz", "rviz2.rviz") + # 雷达配置文件路径 + config_front = os.path.join(pkg_share, "config", "config_front.yaml") # 前雷达 + config_rear = os.path.join(pkg_share, "config", "config_rear.yaml") # 后雷达 return LaunchDescription( [ @@ -16,13 +21,13 @@ def generate_launch_description(): package="rslidar_sdk", executable="rslidar_sdk_node", output="screen", - parameters=[{"config_path": config_file}], + parameters=[{"config_path": config_rear}], + ), + Node( + namespace="rviz2", + package="rviz2", + executable="rviz2", + arguments=["-d", rviz_config], ), - # Node( - # namespace="rviz2", - # package="rviz2", - # executable="rviz2", - # arguments=["-d", rviz_config], - # ), ] ) diff --git a/start_all (copy).sh b/start_all (copy).sh index 7563816..048c588 100755 --- a/start_all (copy).sh +++ b/start_all (copy).sh @@ -1,22 +1,13 @@ #!/bin/bash set -e -# ===== 环境 ===== -source /opt/ros/humble/setup.bash -source /home/nvidia/Downloads/sweeper_200/install/setup.bash +# 切换到ROS2工作空间根目录 +# cd /home/nvidia/Downloads/sweeper_200 -# ===== 信号处理（这是核心）===== -terminate() { - echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..." - kill -TERM "$ROS2_PID" - wait "$ROS2_PID" - exit 0 -} +# 加载工作空间环境 +source install/setup.bash -trap terminate SIGINT SIGTERM - -# ===== 启动 launch（前台语义）===== +# 启动节点 ros2 launch launch_system start_all.launch.py & -ROS2_PID=$! -wait "$ROS2_PID" +wait \ No newline at end of file diff --git a/start_all.sh b/start_all.sh index e9a81db..7563816 100755 --- a/start_all.sh +++ b/start_all.sh @@ -1,13 +1,22 @@ #!/bin/bash set -e -# 切换到ROS2工作空间根目录 -# cd /home/nvidia/Downloads/sweeper_200 +# ===== 环境 ===== +source /opt/ros/humble/setup.bash +source /home/nvidia/Downloads/sweeper_200/install/setup.bash -# 加载工作空间环境 -source install/setup.bash +# ===== 信号处理（这是核心）===== +terminate() { + echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..." + kill -TERM "$ROS2_PID" + wait "$ROS2_PID" + exit 0 +} -# 启动节点 +trap terminate SIGINT SIGTERM + +# ===== 启动 launch（前台语义）===== ros2 launch launch_system start_all.launch.py & +ROS2_PID=$! -wait +wait "$ROS2_PID"