1、build.sh。2、uss

build.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+if [ $# -eq 0 ]; then
+    echo "编译全部"
+
+    colcon build \
+      --symlink-install \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release 
+
+else
+    echo "编译: $@"
+
+    colcon build \
+      --symlink-install \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release  \
+      --packages-up-to "$@"
+fi
+
+source install/setup.bash
+
+echo "编译完成"

src/perception/uss/src/uss.cpp

@@ -4,7 +4,7 @@
 
 // 超声波传感器的CAN ID定义 (J1939格式: 0x18EC5700)
 // Priority: 0x18, PGN: 0xEC00 (60416), Device ID: 0x57 (87)
-constexpr uint32_t USS_CAN_ID = 0x18EC5700;
+constexpr uint32_t USS_CAN_ID = 0x18EC0057;
 constexpr uint32_t USS_CAN_MASK = 0xFFFFFFFF;  // 精确匹配
 
 UssDriver::UssDriver() : print_debug_(false), initialized_(false)
@@ -41,8 +41,8 @@ bool UssDriver::init(const std::string& can_interface)
 
     // 设置CAN过滤器，只接收超声波的CAN数据
     struct can_filter filter;
-    filter.can_id = USS_CAN_ID;
+    filter.can_id = USS_CAN_ID | CAN_EFF_FLAG;
-    filter.can_mask = USS_CAN_MASK;
+    filter.can_mask = CAN_EFF_MASK | CAN_EFF_FLAG;
     std::vector<struct can_filter> filters;
     filters.push_back(filter);
 

src/perception/uss/src/uss_node.cpp

@@ -67,21 +67,34 @@ class UssNode : public rclcpp::Node
 
             message.data[0] = static_cast<int8_t>(uss_data.distances_calib[0]);
             message.data[1] = static_cast<int8_t>(uss_data.distances_calib[1]);
+
             message.data[2] = static_cast<int8_t>(uss_data.distances_calib[2]);
             message.data[3] = static_cast<int8_t>(uss_data.distances_calib[3]);
             message.data[4] = static_cast<int8_t>(uss_data.distances_calib[4]);
             message.data[5] = static_cast<int8_t>(uss_data.distances_calib[5]);
             message.data[6] = static_cast<int8_t>(uss_data.distances_calib[6]);
-            message.data[7] = static_cast<int8_t>(uss_data.distances_calib[7]);
+
+            message.data[7] = static_cast<int8_t>(uss_data.distances_calib[2]);
 
             // 发布消息
             uss_publisher_->publish(message);
 
             // 调试打印
-            for (int i = 0; i < 8; i++)
+            RCLCPP_INFO(
-            {
+                this->get_logger(),
-                RCLCPP_INFO(this->get_logger(), "USS %d: %d cm", i + 1, static_cast<int>(message.data[i]));
+                "USS 1~4: %d %d %d %d cm",
-            }
+                static_cast<int8_t>(uss_data.distances_calib[0]),
+                static_cast<int8_t>(uss_data.distances_calib[1]),
+                static_cast<int8_t>(uss_data.distances_calib[2]),
+                static_cast<int8_t>(uss_data.distances_calib[3]));
+            RCLCPP_INFO(
+                this->get_logger(),
+                "USS 5~8: %d %d %d %d cm",
+                static_cast<int8_t>(uss_data.distances_calib[4]),
+                static_cast<int8_t>(uss_data.distances_calib[5]),
+                static_cast<int8_t>(uss_data.distances_calib[6]),
+                static_cast<int8_t>(uss_data.distances_calib[7]));
+            RCLCPP_INFO(this->get_logger(), "==========================");
         }
         else
         {