.clang-format

@@ -1,4 +0,0 @@
-BasedOnStyle: Google
-IndentWidth: 4
-ColumnLimit: 120
-BreakBeforeBraces: Allman

.cmake-format.yaml

@@ -1,21 +0,0 @@
-# 一行不要太短，避免过度折行
-line_width: 120
-
-# CMake 社区默认习惯
-tab_size: 2
-
-# 只有参数很多时才换行
-max_pargs_hwrap: 4
-
-# 括号跟最后一个参数同一行（关键）
-dangle_parens: false
-
-# if/while/function 后不要加空格
-separate_ctrl_name_with_space: false
-
-# 风格统一
-command_case: lower
-keyword_case: upper
-
-# 不做奇怪的 markup
-enable_markup: false

.gitignore

@@ -2,5 +2,4 @@ build
 install
 log
 .vscode
-deb_build
-nodes_log
+deb_build

README.md

@@ -1,37 +1,148 @@
-
-# ZXOS
+# 清扫车 ROS2 控制与定位消息接口
 
 ## 1. 文档概述
 
-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。
+清扫车 ROS2 控制与定位消息接口
 
 ## 2. 依赖环境
 
 ### 2.1 系统环境
 
-* **Ubuntu 版本**：Ubuntu 22.04.5 LTS (Jammy Jellyfish)
-* **ROS2 版本**：ROS 2 Humble
-* **CUDA 版本**：12.2 (V12.2.140)
-* **GCC/G++**：gcc-11.4.0 / g++-11.4.0
-* **Python 版本**：Python 3.10.12
-* **CMake 版本**：3.22.1
+*   **ROS2 版本**：Foxy 
+*   **Ubuntu 版本**：20.04
 
-## 3. 启动
+### 2.2 .deb 的安装、启动与卸载
 
-### 3.1 单遥控
+在目标机器上执行安装：
 
 ```bash
-./radio_ctrl.sh
+sudo dpkg -i controller_XXXX_arm64.deb
 ```
 
-### 3.1 单远控
+安装完成后主要文件路径：
 
+工作空间：/opt/controller/
+
+启动脚本：/opt/controller/start_all.sh
+
+CAN 配置脚本：/opt/controller/can.sh
+
+日志文件：/var/log/controller/controller.log
+
+systemd 服务：
+
+CAN 配置服务：/etc/systemd/system/controller-can.service
+
+ROS2 节点服务：/etc/systemd/system/controller.service
+
+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。
+
+
+手动启动 ROS2 节点：
 ```bash
-./remote_ctrl.sh
+sudo systemctl start controller.service
 ```
 
-### 3.1 全部节点
-
+重启服务：
 ```bash
-./start_all.sh
+sudo systemctl restart controller.service
 ```
+
+启动 CAN 配置服务（通常自动执行，不需要手动）：
+```bash
+sudo systemctl start controller-can.service
+```
+
+查看运行状态
+```bash
+sudo systemctl status controller.service
+sudo systemctl status controller-can.service
+```
+
+实时查看最新日志：
+```bash
+tail -f /var/log/controller/controller.log
+```
+
+也可以使用 journalctl 查看 systemd 输出：
+```bash
+sudo journalctl -u controller.service -f
+```
+
+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
+
+轮转后的文件示例：
+```bash
+/var/log/controller/controller.log          # 当天日志
+/var/log/controller/controller.log-20250923.gz  # 历史压缩日志
+```
+
+停止服务
+```bash
+sudo systemctl stop controller.service
+sudo systemctl stop controller-can.service
+```
+
+禁用开机自启
+```bash
+sudo systemctl disable controller.service
+sudo systemctl disable controller-can.service
+```
+
+卸载 deb 包
+```bash
+sudo dpkg -r controller
+```
+
+卸载包后 日志文件会保留，便于调试。
+
+## 3. 消息（msg）文件详情
+
+### 3.1 McCtrl.msg（车辆控制指令消息）
+
+
+#### 字段定义
+
+
+
+| 字段类型 | 字段名称                        | 取值范围 / 说明                                 | 功能描述                                                     |
+| -------- | ------------------------------- | ----------------------------------------------- | ------------------------------------------------------------ |
+| 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               |
+| 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                           |
+| uint8    | rpm                             | 0-4000                                          | 电机转速指令，数值直接对应实际电机转速（rpm）                |
+| float32  | angle                           | \[-40.0, 40.0] | 轮端转向角度控制，单位为度（°），[-左、+右]                              |
+| uint16   | angle\_speed                    | 120-1500                                        | 转向角速度控制，单位为 rpm                                   |
+| bool     | sweep | true（清扫）、false（不清扫）               | 清扫                                |
+
+
+#### 对应 Topic
+
+
+
+*   **Topic**：`/auto_mc_ctrl`
+
+
+
+### 3.2 Rtk.msg（RTK 定位信息消息）
+
+
+#### 字段定义
+
+
+
+| 字段类型 | 字段名称   | 取值范围 / 说明                           | 功能描述                                                     |
+| -------- | ---------- | ----------------------------------------- | ------------------------------------------------------------ |
+| 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 |
+| 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 |
+| float32  | head       | 0-360                                     | 车辆航向角（单位：度），0° 表示正北方向，顺时针递增          |
+| float32  | speed      |                                         |    |
+| 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                   |
+| 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                   |
+
+#### 对应 Topic
+
+
+
+*   **Topic**：`/rtk_message`
+
+

config.json

@@ -1,17 +1,18 @@
 {
     "mqtt": {
-        "external_net_address": "36.153.162.171",
-        "external_net_port": 19683,
-        "username": "zxwl",
-        "password": "zxwl1234@",
-        "info_topic": "/zxwl/sweeper/{vid}/info",
-        "fault_topic": "/zxwl/sweeper/{vid}/fault",
-        "gps_topic": "/zxwl/sweeper/{vid}/gps",
-        "remote_topic": "/zxwl/sweeper/{vid}/ctrl",
+        "vid": "V060003",
         "upload_url": "https://qsc.ntiov.com:8443/api/sys/route/upload",
         "download_url_pre": "http://36.153.162.171:9510/api/ccp-web/file/",
-        "mqtt_topic_push_status": "/zxwl/sweeper/{vid}/task/status",
-        "mqtt_topic_sub_task": "/zxwl/sweeper/{vid}/task"
+        "inter_net_address": "tcp://192.168.4.196",
+        "inter_net_port": 11883,
+        "external_net_address": "tcp://36.153.162.171",
+        "external_net_port": 19683,
+        "mqtt_user": "zxwl",
+        "mqtt_password": "zxwl1234@",
+        "pub_gps_topic": "/zxwl/vehicle/V060003/gps",
+        "remote_topic": "/zxwl/vehicle/V060003/ctrl",
+        "mqtt_topic_push_status": "/zxwl/vehicle/V060003/task/status",
+        "mqtt_topic_sub_task": "/zxwl/vehicle/V060003/task"
     },
     "detect_line_tolerance": 3.06,
     "detect_head_tolerance": 2,

gps_load_now.txt

@@ -1,100 +1,96 @@
-32.0310917570
-120.91525467400
-349.971985
+32.0311468570
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+358.096008
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-0.000000
-32.0312285410
-120.91539710300
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+32.0311102590
+120.91521279400
+85.438004
 0.000000

make_deb.sh

@@ -0,0 +1,194 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+PKG_NAME="controller"
+PKG_VERSION="$(date +%Y%m%d%H%M)"
+ARCH="arm64"
+MAINTAINER="LYQ<liyq@ntiov.com>"
+DESCRIPTION="Binary package of remote controller nodes for robot (ROS2 foxy)."
+INSTALL_DIR="/opt/${PKG_NAME}"
+WORKDIR="$(pwd)/deb_build"
+INSTALL_SRC="$(pwd)/install"
+
+# 清理工作目录
+rm -rf "${WORKDIR}"
+mkdir -p "${WORKDIR}/${INSTALL_DIR}"
+mkdir -p "${WORKDIR}/DEBIAN"
+
+# 复制 ROS2 install 文件
+cp -a "${INSTALL_SRC}/." "${WORKDIR}/${INSTALL_DIR}/"
+
+# control 文件
+cat > "${WORKDIR}/DEBIAN/control" <<EOF
+Package: ${PKG_NAME}
+Version: ${PKG_VERSION}
+Section: misc
+Priority: optional
+Architecture: ${ARCH}
+Essential: no
+Maintainer: ${MAINTAINER}
+Depends: ros-foxy-ros-base, logrotate
+Description: ${DESCRIPTION}
+EOF
+
+# ============================
+# 创建 can.sh (root 执行)
+# ============================
+cat > "${WORKDIR}/${INSTALL_DIR}/can.sh" <<'EOF'
+#!/bin/bash
+# Script: can.sh
+# Description: Configures CAN interface can0 on startup
+
+if [[ $EUID -ne 0 ]]; then
+    echo "This script must be run as root"
+    exit 1
+fi
+
+if ip link show can0 &> /dev/null; then
+    ip link set can0 down
+fi
+
+modprobe can
+modprobe can_raw
+modprobe mttcan
+
+ip link set can0 type can bitrate 500000
+ip link set up can0
+
+if [[ $? -ne 0 ]]; then
+    echo "Error configuring CAN interface can0"
+    exit 1
+fi
+
+echo "CAN interface can0 configured successfully"
+exit 0
+EOF
+
+chmod +x "${WORKDIR}/${INSTALL_DIR}/can.sh"
+
+# ============================
+# 创建 start_all.sh (aiec 用户执行)
+# ============================
+cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF
+#!/bin/bash
+set -e
+
+# 加载 ROS2 系统环境
+source /opt/ros/foxy/setup.bash
+
+# 加载打包的工作空间环境
+source ${INSTALL_DIR}/local_setup.bash
+
+# 启动多个节点
+ros2 run radio_ctrl radio_ctrl_node &
+ros2 run mc mc_node &
+ros2 run ctrl_arbiter ctrl_arbiter_node &
+ros2 run mqtt_report mqtt_report_node &
+# ros2 run rtk rtk_node &
+# ros2 run pub_gps pub_gps_node &
+
+wait
+EOF
+chmod +x "${WORKDIR}/${INSTALL_DIR}/start_all.sh"
+
+# ============================
+# systemd 服务目录
+# ============================
+mkdir -p "${WORKDIR}/etc/systemd/system"
+
+# CAN 配置服务 (root 执行)
+cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}-can.service" <<EOF
+[Unit]
+Description=Configure CAN interface can0
+After=network.target
+
+[Service]
+Type=oneshot
+ExecStart=${INSTALL_DIR}/can.sh
+RemainAfterExit=yes
+User=root
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+# ROS2 节点服务 (aiec 用户执行，日志写文件)
+cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
+[Unit]
+Description=Remote Controller Nodes
+After=network.target ${PKG_NAME}-can.service
+Requires=${PKG_NAME}-can.service
+
+[Service]
+Type=simple
+User=aiec
+Environment="ROS_DISTRO=foxy"
+ExecStart=${INSTALL_DIR}/start_all.sh
+Restart=on-failure
+RestartSec=2
+StandardOutput=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
+StandardError=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+# ============================
+# logrotate 配置
+# ============================
+mkdir -p "${WORKDIR}/etc/logrotate.d"
+cat > "${WORKDIR}/etc/logrotate.d/${PKG_NAME}" <<EOF
+/var/log/${PKG_NAME}/${PKG_NAME}.log {
+    daily
+    rotate 14
+    compress
+    missingok
+    notifempty
+    copytruncate
+    dateext
+    dateformat -%Y%m%d
+}
+EOF
+
+# ============================
+# postinst 启用服务
+# ============================
+cat > "${WORKDIR}/DEBIAN/postinst" <<EOF
+#!/bin/bash
+set -e
+
+# 创建日志目录
+mkdir -p /var/log/${PKG_NAME}
+chown aiec:aiec /var/log/${PKG_NAME}
+
+systemctl daemon-reload
+systemctl enable ${PKG_NAME}-can.service
+systemctl enable ${PKG_NAME}.service
+
+exit 0
+EOF
+chmod 755 "${WORKDIR}/DEBIAN/postinst"
+
+# ============================
+# postrm 停用服务
+# ============================
+cat > "${WORKDIR}/DEBIAN/postrm" <<EOF
+#!/bin/bash
+set -e
+
+systemctl stop ${PKG_NAME}.service || true
+systemctl disable ${PKG_NAME}.service || true
+systemctl stop ${PKG_NAME}-can.service || true
+systemctl disable ${PKG_NAME}-can.service || true
+systemctl daemon-reload
+
+exit 0
+EOF
+chmod 755 "${WORKDIR}/DEBIAN/postrm"
+
+# ============================
+# 构建 deb 包
+# ============================
+dpkg-deb --build "${WORKDIR}" "${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
+
+echo "生成 ${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"

prepare.sh

@@ -2,6 +2,6 @@
 
 sudo ./can.sh
 
-sudo chmod 777 /dev/ttyTHS1 
+sudo chmod 777 /dev/ttyTHS0 
 
-# sudo ip route add 36.153.162.0/24 via 192.168.5.1 dev eth4
+sudo ip route add 36.153.162.0/24 via 192.168.5.1 dev eth4

radio_ctrl.sh

@@ -5,12 +5,7 @@ set -e
 source install/setup.bash
 
 # 启动节点
-ros2 run vehicle_params vehicle_params_node &
-sleep 0.2
-
-# ros2 run radio_ctrl radio_ctrl_node & 
-# sleep 0.2
-ros2 run can_radio_ctrl can_radio_ctrl_node & 
+ros2 run radio_ctrl radio_ctrl_node & 
 sleep 0.2
 
 ros2 run mc mc_node &
@@ -19,7 +14,4 @@ sleep 0.2
 ros2 run ctrl_arbiter ctrl_arbiter_node &
 sleep 0.2
 
-ros2 run mqtt_report mqtt_report_node &
-sleep 0.2
-
 wait

remote_ctrl.sh

@@ -1,23 +0,0 @@
-#!/bin/bash
-set -e
-
-# 加载工作空间环境
-source install/setup.bash
-
-# 启动节点
-ros2 run vehicle_params vehicle_params_node &
-sleep 0.2
-
-ros2 run remote_ctrl remote_ctrl_node & 
-sleep 0.2
-
-ros2 run mc mc_node &
-sleep 0.2
-
-ros2 run ctrl_arbiter ctrl_arbiter_node &
-sleep 0.2
-
-ros2 run mqtt_report mqtt_report_node &
-sleep 0.2
-
-wait

ros2_nodes.sh

@@ -0,0 +1,190 @@
+#!/bin/bash
+###############################################################################
+#   ros2_nodes.sh
+#   一键启动 / 停止 / 重启 / 状态查询 6 个 ROS 2 节点（或仅核心 4 节点）
+#   用法：
+#     ./ros2_nodes.sh start           # 默认启动全部 6 节点
+#     ./ros2_nodes.sh start all       # 同上
+#     ./ros2_nodes.sh start core      # 仅启动 4 个核心节点
+#     ./ros2_nodes.sh stop            # 停止
+#     ./ros2_nodes.sh restart [core]  # 重启（可选 core / all）
+#     ./ros2_nodes.sh status          # 查看状态
+#     ./ros2_nodes.sh rotate          # 手动轮换日志
+###############################################################################
+
+##== 基本路径与环境 ===========================================================
+WORKSPACE_PATH="/home/nvidia/Downloads/sweeper_whu"
+source "$WORKSPACE_PATH/install/setup.bash"
+
+##== 日志目录与轮换配置 =======================================================
+LOG_DIR="/var/log/ros2"
+MAX_LOG_SIZE="10M"   # 单个日志大小
+MAX_LOG_FILES=5      # 保留文件数
+
+##== 节点命令列表 ==============================================================
+
+# 1) 全量 6 节点（键名 = 节点标识 , 值 = 启动命令）
+declare -A NODES_ALL=(
+  ["mc"]="ros2 run mc mc_node"
+  ["radio_ctrl"]="ros2 run radio_ctrl radio_ctrl_node"
+  ["ctrl_arbiter"]="ros2 run ctrl_arbiter ctrl_arbiter_node"
+  ["mqtt_report"]="ros2 run mqtt_report mqtt_report_node"
+  ["rtk"]="ros2 run rtk rtk_node"
+  ["pub_gps"]="ros2 run pub_gps pub_gps_node"
+)
+
+# 2) 核心节点名称数组（便于 core 模式筛选）
+CORE_NAMES=(mc radio_ctrl ctrl_arbiter mqtt_report)
+
+##== 函数 =====================================================================
+
+# 预启动环境准备：CAN、USB 权限、日志目录与 logrotate
+setup_environment() {
+  echo "[INFO] 设置 CAN0 波特率为 500K..."
+  sudo ip link set can0 down 2>/dev/null
+  sudo ip link set can0 type can bitrate 500000
+  sudo ip link set can0 up
+  echo "[INFO] CAN0 配置完成。"
+
+  echo "[INFO] 设置 /dev/ttyUSB0 权限为 777..."
+  sudo chmod 777 /dev/ttyUSB0
+  echo "[INFO] ttyUSB0 权限设置完成。"
+
+  echo "[INFO] 设置 /dev/ttyTHS1 权限为 777..."
+  sudo chmod 777 /dev/ttyTHS1
+  echo "[INFO] ttyTHS1 权限设置完成。"
+
+  # 日志目录
+  echo "[INFO] 创建日志目录: $LOG_DIR"
+  sudo mkdir -p "$LOG_DIR"
+  sudo chown -R nvidia:nvidia "$LOG_DIR"
+
+  # logrotate 配置
+  local LOGROTATE_CONF="/etc/logrotate.d/ros2_nodes"
+  echo "[INFO] 配置 logrotate: $LOGROTATE_CONF"
+  sudo bash -c "cat > $LOGROTATE_CONF" <<EOF
+$LOG_DIR/*.log {
+    su nvidia nvidia
+    daily
+    maxsize $MAX_LOG_SIZE
+    rotate $MAX_LOG_FILES
+    missingok
+    notifempty
+    compress
+    delaycompress
+    sharedscripts
+    copytruncate
+}
+EOF
+}
+
+# 启动节点：start_nodes [core|all]
+start_nodes() {
+  local mode=${1:-all}            # 默认 all
+  setup_environment
+
+  # 选择节点集合
+  local names=()
+  if [[ "$mode" == "core" ]]; then
+    names=("${CORE_NAMES[@]}")
+  else
+    names=("${!NODES_ALL[@]}")
+  fi
+
+  echo "[INFO] 启动模式: $mode"
+  echo "[INFO] 节点列表: ${names[*]}"
+  echo "[INFO] 每个节点启动间隔 0.1s"
+
+  for name in "${names[@]}"; do
+    echo "[START] $name"
+    local log_file="${LOG_DIR}/${name}.log"
+
+    #=====================================================================
+    ${NODES_ALL[$name]} >> "$log_file" 2>&1 &
+    # gnome-terminal --title="$name" \
+    #   -- bash -c "source $WORKSPACE_PATH/install/setup.bash && ${NODES_ALL[$name]}; exec bash" &
+    #=====================================================================
+
+    local pid=$!
+    echo $pid > "/tmp/$name.pid"
+    echo "[INFO] $name PID: $pid | 日志: $log_file"
+
+    sleep 0.1    # 每个节点之间暂停 0.1 秒
+  done
+
+  echo "[INFO] 所有节点已启动 (${mode})."
+}
+
+# 停止全部正在运行的节点
+stop_nodes() {
+  echo "[INFO] 停止 ROS 2 节点..."
+  for pidfile in /tmp/*.pid; do
+    [ -e "$pidfile" ] || continue
+    local name=$(basename "$pidfile" .pid)
+    local pid=$(cat "$pidfile")
+    if ps -p "$pid" > /dev/null 2>&1; then
+      kill -SIGINT "$pid" && echo "[STOP] $name (PID $pid) - 发送 SIGINT"
+      local timeout=5
+      while kill -0 "$pid" 2>/dev/null && [ $timeout -gt 0 ]; do
+        sleep 0.5; ((timeout--))
+      done
+      if kill -0 "$pid" 2>/dev/null; then
+        kill -9 "$pid" && echo "[STOP] $name (PID $pid) - 强制终止"
+      fi
+    fi
+    rm -f "$pidfile"
+  done
+  echo "[INFO] 所有节点已停止。"
+}
+
+# 手动触发日志轮换
+rotate_logs() {
+  echo "[INFO] 手动轮换日志..."
+  sudo logrotate -f /etc/logrotate.d/ros2_nodes
+  echo "[INFO] 日志轮换完成。"
+}
+
+# 查看节点运行状态
+show_status() {
+  echo "[INFO] 节点状态:"
+  for name in "${!NODES_ALL[@]}"; do
+    if [ -f "/tmp/$name.pid" ]; then
+      local pid=$(cat "/tmp/$name.pid")
+      if ps -p "$pid" > /dev/null 2>&1; then
+        echo "[RUNNING] $name (PID $pid)"
+      else
+        echo "[DEAD]    $name (PID $pid)"
+      fi
+    else
+      echo "[STOPPED] $name"
+    fi
+  done
+}
+
+##== 主入口 ===================================================================
+
+case "$1" in
+  start)
+    # 用法: ./ros2_nodes.sh start [core|all]
+    start_nodes "${2:-all}"
+    ;;
+  stop)
+    stop_nodes
+    ;;
+  restart)
+    stop_nodes
+    sleep 1
+    start_nodes "${2:-all}"
+    ;;
+  rotate)
+    rotate_logs
+    ;;
+  status)
+    show_status
+    ;;
+  *)
+    echo "Usage: $0 {start|stop|restart|rotate|status} [core|all]"
+    echo "  core : 仅启动 4 个核心节点 (mc radio_ctrl ctrl_arbiter mqtt_report)"
+    echo "  all  : 启动全部 6 个节点 (默认)"
+    ;;
+esac

routes/gps_load_1764825047297.txt

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routes/gps_load_1764825202500.txt

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routes/gps_load_1764828281583.txt

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routes/gps_load_1764829550392.txt

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routes/gps_load_1767938262858.txt

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routes/gps_load_1769059102539.txt

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routes/gps_load_1769663889258.txt

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routes/gps_load_1769673831859.txt

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routes/gps_load_1772267218953.txt

@@ -1,4 +0,0 @@
-32.0309222090
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routes/gps_load_1772267935994.txt

@@ -1,100 +0,0 @@
-32.0310917570
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routes/gps_load_1772332169883.txt

@@ -1,128 +0,0 @@
-32.0375316490
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routes/gps_load_1772335172259.txt

@@ -1,220 +0,0 @@
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run.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+
+source install/setup.bash  # ros workspace
+{
+	gnome-terminal --title="radio" --tab "XXD_ros" -- bash -c "ros2 run radio_ctrl radio_ctrl_node" 
+}&
+sleep 0.2s
+
+{
+	gnome-terminal --title="mc" --tab "XXD_ros" -- bash -c "ros2 run mc mc_node"
+}&
+sleep 0.2s
+
+{
+	gnome-terminal --title="ctrl_arbiter" --tab "XXD_ros" -- bash -c "ros2 run ctrl_arbiter ctrl_arbiter_node"
+}&
+sleep 0.2s
+
+{
+	gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node"
+}&
+sleep 0.2s
+
+{
+	gnome-terminal --title="lidar" --tab "XXD_ros" -- bash -c "ros2 launch rslidar_sdk start_double.launch.py" 
+}&
+sleep 0.1s
+{
+	gnome-terminal --title="rtk" --tab "XXD_ros" -- bash -c "ros2 run rtk rtk_node"
+}&
+sleep 0.1s
+{
+	gnome-terminal --title="route" --tab "XXD_ros" -- bash -c "ros2 run route route_node"
+}&
+sleep 0.1s
+{
+	gnome-terminal --title="sub" --tab "XXD_ros" -- bash -c "ros2 run sub sub_node"
+}&
+sleep 0.1s
+{
+	gnome-terminal --title="task_manager" --tab "XXD_ros" -- bash -c "ros2 run task_manager task_manager_node"
+}&
+sleep 0.1s
+{
+	gnome-terminal --title="pl" --tab "XXD_ros" -- bash -c "ros2 run pl pl_node"
+}&
+sleep 0.1s
+{
+	gnome-terminal --title="fu" --tab "XXD_ros" -- bash -c "ros2 launch fu fu.launch.py"
+}
+sleep 0.1s
+{
+	gnome-terminal --title="pub_gps" --tab "XXD_ros" -- bash -c "ros2 run pub_gps pub_gps_node"
+}

src/airy/rslidar_sdk-main/CMakeLists.txt

@@ -45,7 +45,7 @@ if(${ENABLE_SOURCE_PACKET_LEGACY})
   add_definitions("-DENABLE_SOURCE_PACKET_LEGACY")
 endif(${ENABLE_SOURCE_PACKET_LEGACY})
 
-option(ENABLE_IMU_DATA_PARSE           "Enable imu data parse" ON)
+option(ENABLE_IMU_DATA_PARSE           "Enable imu data parse" OFF)
 if(${ENABLE_IMU_DATA_PARSE})
 
   message(=============================================================)

src/airy/rslidar_sdk-main/config/config_front.yaml

@@ -15,7 +15,7 @@ lidar:
       msop_port: 6699 #  Msop port of lidar
       difop_port: 7788 #  Difop port of lidar
       imu_port:
-        6688 #  IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
+        0 #  IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
         #  If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt
       user_layer_bytes: 0 #  Bytes of user layer. thers is no user layer if it is 0
       tail_layer_bytes: 0 #  Bytes of tail layer. thers is no tail layer if it is 0
@@ -43,8 +43,8 @@ lidar:
 
     ros:
       ros_frame_id: front_lidar #Frame id of packet message and point cloud message
-      ros_recv_packet_topic: /rslidar_packets/front_lidar #Topic used to receive lidar packets from ROS
-      ros_send_packet_topic: /rslidar_packets/front_lidar #Topic used to send lidar packets through ROS
-      ros_send_imu_data_topic: /rslidar_imu_data/front_lidar #Topic used to send imu data through ROS
+      ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
+      ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
+      ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS
       ros_send_point_cloud_topic: /rslidar_points/front_lidar #Topic used to send point cloud through ROS
       ros_queue_length: 100 #Topic QoS history depth

src/airy/rslidar_sdk-main/config/config_rear.yaml

@@ -15,7 +15,7 @@ lidar:
       msop_port: 9966 #  Msop port of lidar
       difop_port: 8877 #  Difop port of lidar
       imu_port:
-        8866 #  IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
+        0 #  IMU port of lidar(only for RSAIRY, RSE1), 0 means no imu.
         #  If you want to use IMU, please first set ENABLE_IMU_DATA_PARSE to ON in CMakeLists.txt
       user_layer_bytes: 0 #  Bytes of user layer. thers is no user layer if it is 0
       tail_layer_bytes: 0 #  Bytes of tail layer. thers is no tail layer if it is 0
@@ -43,8 +43,8 @@ lidar:
 
     ros:
       ros_frame_id: rear_lidar #Frame id of packet message and point cloud message
-      ros_recv_packet_topic: /rslidar_packets/rear_lidar #Topic used to receive lidar packets from ROS
-      ros_send_packet_topic: /rslidar_packets/rear_lidar #Topic used to send lidar packets through ROS
-      ros_send_imu_data_topic: /rslidar_imu_data/rear_lidar #Topic used to send imu data through ROS
+      ros_recv_packet_topic: /rslidar_packets #Topic used to receive lidar packets from ROS
+      ros_send_packet_topic: /rslidar_packets #Topic used to send lidar packets through ROS
+      ros_send_imu_data_topic: /rslidar_imu_data #Topic used to send imu data through ROS
       ros_send_point_cloud_topic: /rslidar_points/rear_lidar #Topic used to send point cloud through ROS
       ros_queue_length: 100 #Topic QoS history depth

src/airy/rslidar_sdk-main/launch/start.py

@@ -0,0 +1,28 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    rviz_config = get_package_share_directory("rslidar_sdk") + "/rviz/rviz2.rviz"
+
+    config_file = ""  # your config file path
+
+    return LaunchDescription(
+        [
+            Node(
+                namespace="rslidar_sdk",
+                package="rslidar_sdk",
+                executable="rslidar_sdk_node",
+                output="screen",
+                parameters=[{"config_path": config_file}],
+            ),
+            # Node(
+            #     namespace="rviz2",
+            #     package="rviz2",
+            #     executable="rviz2",
+            #     arguments=["-d", rviz_config],
+            # ),
+        ]
+    )