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README.md
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README.md
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# 清扫车 ROS2 控制与定位消息接口
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# ZXOS
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## 1. 文档概述
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清扫车 ROS2 控制与定位消息接口
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智行智驾低速自主驾驶体系 -- 车端ROS2固件（ZXOS）。该固件适配ZX200/ZX800自主智能清扫车。
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## 2. 依赖环境
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### 2.1 系统环境
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* **ROS2 版本**：Foxy
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* **Ubuntu 版本**：20.04
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### 2.2 .deb 的安装、启动与卸载
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在目标机器上执行安装：
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```bash
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sudo dpkg -i controller_XXXX_arm64.deb
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```
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安装完成后主要文件路径：
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工作空间：/opt/controller/
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启动脚本：/opt/controller/start_all.sh
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CAN 配置脚本：/opt/controller/can.sh
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日志文件：/var/log/controller/controller.log
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systemd 服务：
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CAN 配置服务：/etc/systemd/system/controller-can.service
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ROS2 节点服务：/etc/systemd/system/controller.service
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安装后，CAN 配置服务会先运行，确保 can0 接口可用，然后 ROS2 节点服务会启动。
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手动启动 ROS2 节点：
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```bash
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sudo systemctl start controller.service
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```
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重启服务：
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```bash
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sudo systemctl restart controller.service
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```
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启动 CAN 配置服务（通常自动执行，不需要手动）：
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```bash
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sudo systemctl start controller-can.service
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```
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查看运行状态
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```bash
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sudo systemctl status controller.service
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sudo systemctl status controller-can.service
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```
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实时查看最新日志：
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```bash
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tail -f /var/log/controller/controller.log
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```
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也可以使用 journalctl 查看 systemd 输出：
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```bash
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sudo journalctl -u controller.service -f
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```
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旧日志会自动轮转，由 logrotate 管理，每天生成一个历史日志，历史日志会压缩 .gz，默认保留最近 14 天日志
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轮转后的文件示例：
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```bash
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/var/log/controller/controller.log # 当天日志
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/var/log/controller/controller.log-20250923.gz # 历史压缩日志
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```
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停止服务
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```bash
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sudo systemctl stop controller.service
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sudo systemctl stop controller-can.service
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```
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禁用开机自启
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```bash
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sudo systemctl disable controller.service
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sudo systemctl disable controller-can.service
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```
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卸载 deb 包
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```bash
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sudo dpkg -r controller
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```
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卸载包后 日志文件会保留，便于调试。
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## 3. 消息（msg）文件详情
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### 3.1 McCtrl.msg（车辆控制指令消息）
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#### 字段定义
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| 字段类型 | 字段名称 | 取值范围 / 说明 | 功能描述 |
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| -------- | ------------------------------- | ----------------------------------------------- | ------------------------------------------------------------ |
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| uint8 | brake | 0（不刹）、1（刹） | 电磁刹控制：0 表示解除电磁刹，1 表示激活电磁刹 |
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| uint8 | gear | 0（空挡）、1（后退）、2（前进）、3（保留） | 车辆挡位控制，3 为预留挡位暂未使用 |
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| uint8 | rpm | 0-4000 | 电机转速指令，数值直接对应实际电机转速（rpm） |
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| float32 | angle | \[-40.0, 40.0] | 轮端转向角度控制，单位为度（°），[-左、+右] |
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| uint16 | angle\_speed | 120-1500 | 转向角速度控制，单位为 rpm |
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| bool | sweep | true（清扫）、false（不清扫） | 清扫 |
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#### 对应 Topic
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* **Topic**：`/auto_mc_ctrl`
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### 3.2 Rtk.msg（RTK 定位信息消息）
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#### 字段定义
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| 字段类型 | 字段名称 | 取值范围 / 说明 | 功能描述 |
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| -------- | ---------- | ----------------------------------------- | ------------------------------------------------------------ |
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| float64 | lat | 无固定范围（符合 WGS84 坐标系经纬度格式） | 车辆所在位置的纬度 |
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| float64 | lon | 无固定范围（符合 WGS84 坐标系经纬度格式） | 车辆所在位置的经度 |
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| float32 | head | 0-360 | 车辆航向角（单位：度），0° 表示正北方向，顺时针递增 |
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| float32 | speed | | |
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| int32 | p\_quality | 0-9 | 定位解状态<br /> 0初始化， 1单点定位， 2码差分， 3无效PPS， 4固定解， 5浮点解， 6正在估算， 7，人工输入固定值， 8模拟模式， 9WAAS差分;<br /> 固定解是最优解 |
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| int32 | h\_quality | 0-9 | 定向解状态<br /> 0初始化， 1单点定位， 2码差分， 3无效PPS， 4固定解， 5浮点解， 6正在估算， 7，人工输入固定值， 8模拟模式， 9WAAS差分;<br /> 固定解是最优解 |
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#### 对应 Topic
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* **Topic**：`/rtk_message`
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* **ROS2 版本**：ROS2 Humble
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* **Ubuntu 版本**：Ubuntu 22.04
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Binary file not shown.
194
make_deb.sh
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make_deb.sh
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#!/usr/bin/env bash
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set -euo pipefail
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PKG_NAME="controller"
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PKG_VERSION="$(date +%Y%m%d%H%M)"
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ARCH="arm64"
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MAINTAINER="LYQ<liyq@ntiov.com>"
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DESCRIPTION="Binary package of remote controller nodes for robot (ROS2 foxy)."
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INSTALL_DIR="/opt/${PKG_NAME}"
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WORKDIR="$(pwd)/deb_build"
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INSTALL_SRC="$(pwd)/install"
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# 清理工作目录
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rm -rf "${WORKDIR}"
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mkdir -p "${WORKDIR}/${INSTALL_DIR}"
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mkdir -p "${WORKDIR}/DEBIAN"
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# 复制 ROS2 install 文件
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cp -a "${INSTALL_SRC}/." "${WORKDIR}/${INSTALL_DIR}/"
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# control 文件
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cat > "${WORKDIR}/DEBIAN/control" <<EOF
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Package: ${PKG_NAME}
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Version: ${PKG_VERSION}
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Section: misc
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Priority: optional
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Architecture: ${ARCH}
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Essential: no
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Maintainer: ${MAINTAINER}
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Depends: ros-foxy-ros-base, logrotate
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Description: ${DESCRIPTION}
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EOF
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# ============================
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# 创建 can.sh (root 执行)
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# ============================
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cat > "${WORKDIR}/${INSTALL_DIR}/can.sh" <<'EOF'
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#!/bin/bash
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# Script: can.sh
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# Description: Configures CAN interface can0 on startup
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if [[ $EUID -ne 0 ]]; then
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echo "This script must be run as root"
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exit 1
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fi
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if ip link show can0 &> /dev/null; then
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ip link set can0 down
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fi
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modprobe can
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modprobe can_raw
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modprobe mttcan
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ip link set can0 type can bitrate 500000
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ip link set up can0
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if [[ $? -ne 0 ]]; then
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echo "Error configuring CAN interface can0"
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exit 1
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fi
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echo "CAN interface can0 configured successfully"
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exit 0
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EOF
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chmod +x "${WORKDIR}/${INSTALL_DIR}/can.sh"
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# ============================
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# 创建 start_all.sh (aiec 用户执行)
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# ============================
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cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF
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#!/bin/bash
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set -e
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# 加载 ROS2 系统环境
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source /opt/ros/foxy/setup.bash
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# 加载打包的工作空间环境
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source ${INSTALL_DIR}/local_setup.bash
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# 启动多个节点
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ros2 run radio_ctrl radio_ctrl_node &
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ros2 run mc mc_node &
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ros2 run ctrl_arbiter ctrl_arbiter_node &
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ros2 run mqtt_report mqtt_report_node &
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# ros2 run rtk rtk_node &
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# ros2 run pub_gps pub_gps_node &
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wait
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EOF
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chmod +x "${WORKDIR}/${INSTALL_DIR}/start_all.sh"
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# ============================
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# systemd 服务目录
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# ============================
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mkdir -p "${WORKDIR}/etc/systemd/system"
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# CAN 配置服务 (root 执行)
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}-can.service" <<EOF
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[Unit]
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Description=Configure CAN interface can0
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After=network.target
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[Service]
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Type=oneshot
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ExecStart=${INSTALL_DIR}/can.sh
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RemainAfterExit=yes
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User=root
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[Install]
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WantedBy=multi-user.target
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EOF
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# ROS2 节点服务 (aiec 用户执行，日志写文件)
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
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[Unit]
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Description=Remote Controller Nodes
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After=network.target ${PKG_NAME}-can.service
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Requires=${PKG_NAME}-can.service
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[Service]
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Type=simple
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User=aiec
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Environment="ROS_DISTRO=foxy"
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ExecStart=${INSTALL_DIR}/start_all.sh
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Restart=on-failure
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RestartSec=2
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StandardOutput=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
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StandardError=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
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[Install]
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WantedBy=multi-user.target
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EOF
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# ============================
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# logrotate 配置
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# ============================
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mkdir -p "${WORKDIR}/etc/logrotate.d"
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cat > "${WORKDIR}/etc/logrotate.d/${PKG_NAME}" <<EOF
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/var/log/${PKG_NAME}/${PKG_NAME}.log {
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daily
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rotate 14
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compress
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missingok
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notifempty
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copytruncate
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dateext
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dateformat -%Y%m%d
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}
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EOF
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# ============================
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# postinst 启用服务
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# ============================
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cat > "${WORKDIR}/DEBIAN/postinst" <<EOF
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#!/bin/bash
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set -e
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# 创建日志目录
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mkdir -p /var/log/${PKG_NAME}
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chown aiec:aiec /var/log/${PKG_NAME}
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systemctl daemon-reload
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systemctl enable ${PKG_NAME}-can.service
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systemctl enable ${PKG_NAME}.service
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postinst"
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# ============================
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# postrm 停用服务
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# ============================
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cat > "${WORKDIR}/DEBIAN/postrm" <<EOF
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#!/bin/bash
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set -e
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systemctl stop ${PKG_NAME}.service || true
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systemctl disable ${PKG_NAME}.service || true
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systemctl stop ${PKG_NAME}-can.service || true
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systemctl disable ${PKG_NAME}-can.service || true
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systemctl daemon-reload
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postrm"
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# ============================
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# 构建 deb 包
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# ============================
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dpkg-deb --build "${WORKDIR}" "${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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echo "生成 ${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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src/README.md
138
src/README.md
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# sweeper_200 src 目录结构说明
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## 1. 总体说明
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sweeper_200 是一个基于 ROS2 的多节点系统，
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用于清扫车的感知、定位、控制、作业与平台通信。
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src 目录按功能域（functional domain）对 ROS2 节点进行分组，
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用于明确节点职责边界，降低系统复杂度，
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并作为系统架构约束的一部分。
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新增节点或调整现有节点时，应优先考虑其所属功能域。
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---
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## 2. 目录分层说明
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### base/
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底层硬件与接口抽象。
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用于放置直接与硬件交互，
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或对硬件能力进行抽象的节点与接口包。
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职责包括：
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- CAN、串口、设备接口
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- 底层控制与状态采集
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- 硬件能力封装
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示例包：
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- sweeper_interfaces
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- mc
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- fu
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---
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### control/
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控制输入与仲裁。
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用于放置产生控制意图的节点，
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以及多控制源的仲裁逻辑。
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职责包括：
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- 遥控、远控输入
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- 控制权仲裁
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- 控制指令标准化
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示例包：
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- radio_ctrl
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- remote_ctrl
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- ctrl_arbiter
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---
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### communication/
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平台与外部通信。
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用于放置系统与外部平台
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（云端、设备服务等）进行通信的节点。
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职责包括：
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- 设备身份获取与管理
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- MQTT、HTTP 通信
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- 云端任务同步
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示例包：
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- identity
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- mqtt_report
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- task_manager
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---
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### perception/
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感知与定位。
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用于放置传感器处理、定位、
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环境感知相关节点。
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职责包括：
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- 雷达、GPS、RTK
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- 传感器融合
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- 感知数据预处理
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示例包：
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- rslidar_pointcloud_merger
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- rtk
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- sub
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---
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### autonomy/
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自动驾驶与作业逻辑。
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用于放置路径规划、
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作业流程等高层逻辑节点。
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职责包括：
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- 路径规划
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- 作业状态机
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- 自动驾驶决策
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示例包：
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- route
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- pl
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- airy
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---
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### execution/
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执行与状态发布。
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用于向系统外部或平台
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发布执行结果与状态信息。
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示例包：
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- pub_gps
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---
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### tools/
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工具与调试节点（可选）。
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---
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## 3. 使用原则
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- 新增包必须明确所属目录
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- 禁止跨层直接依赖
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- 系统级通信（HTTP、MQTT）只允许存在于 communication 目录
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---
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## 4. 设计说明
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目录结构用于表达系统的架构边界，
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而不仅是代码整理。
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当无法判断一个节点应放入哪个目录时，
|
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通常意味着该节点职责需要重新拆分或澄清。
|
||||
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Reference in New Issue
Block a user