src/autonomy/route/src/route_node.cpp

@@ -16,7 +16,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "sweeper_interfaces/msg/rtk.hpp"
 #include "sweeper_interfaces/msg/sub.hpp"
-#include "sweeper_interfaces/msg/vehicle_identity.hpp"
 
 std::mutex collect_mutex;  // 互斥锁，用于保护 isCollecting 变量
 
@@ -114,11 +113,6 @@ class route_node : public rclcpp::Node
 
         msg_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>(
             "rtk_message", 10, std::bind(&route_node::msg_callback, this, std::placeholders::_1));
-
-        // identity（transient_local，确保晚启动也能拿到）
-        identity_sub_ = this->create_subscription<sweeper_interfaces::msg::VehicleIdentity>(
-            "/vehicle/identity", rclcpp::QoS(1).transient_local().reliable(),
-            std::bind(&route_node::identityCallback, this, std::placeholders::_1));
     }
 
    private:
@@ -176,17 +170,9 @@ class route_node : public rclcpp::Node
             }
         }
     }
-    void identityCallback(const sweeper_interfaces::msg::VehicleIdentity::SharedPtr msg)
-    {
-        vid = msg->vid;
-
-        LOG_INFO("Identity: VID=%s", msg->vid.c_str());
-    }
-
     // 声明订阅者
     rclcpp::Subscription<sweeper_interfaces::msg::Sub>::SharedPtr sub_subscribe_;
     rclcpp::Subscription<sweeper_interfaces::msg::Rtk>::SharedPtr msg_subscribe_;
-    rclcpp::Subscription<sweeper_interfaces::msg::VehicleIdentity>::SharedPtr identity_sub_;
 };
 
 double ntzx_GPS_length(double lonti1, double lati1, double lonti2, double lati2)
@@ -243,7 +229,9 @@ void init_main()
     }
     if (reader.parse(in, root))
     {
+        vid = root["mqtt"]["vid"].asString();
         upload_URL = root["mqtt"]["upload_url"].asString();
+        LOG_INFO("vid:%s", vid.c_str());
     }
     in.close();  // 关闭文件流
 }

src/communication/mqtt_report/src/can/can_decoder.cpp

@@ -69,7 +69,7 @@ void CanDecoder::handle_bms_101(const sweeperMsg::CanFrame& msg)
         ctx_.info.power = rsoc;
     }
 
-    LOG_INFO("[0x101] 充满容量: %.2f Ah, 循环次数: %d 次, 剩余容量百分比(RSOC): %.2f %%", full_capacity, cycle_count,
+    LOG_INFO("[0x101] 充满容量: %.2f Ah, 循环次数: %d 次, 剩余容量百分比(RSOC): %.1f %", full_capacity, cycle_count,
              rsoc);
 }