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4
.clang-format
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BasedOnStyle: Google
IndentWidth: 4
ColumnLimit: 120
BreakBeforeBraces: Allman

21
.cmake-format.yaml
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# 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

3
.gitignore vendored
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@ -2,5 +2,4 @@ build
install
log
.vscode
deb_build
nodes_log
deb_build

145
README.md
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# 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`

22
build.sh
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#!/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"

21
config.json
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{
"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,

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controller_202509290926_arm64.deb Normal file
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copy start_all.sh
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#!/bin/bash
set -e
source install/setup.bash
# ==============================================
# 1. 车辆参数节点（你之前漏掉的！必须第一个启动）
# ==============================================
taskset -c 0 ros2 run vehicle_params vehicle_params_node &
sleep 0.2
# ==============================================
# 2. 控制类节点（低负载，不影响雷达）
# ==============================================
taskset -c 0 ros2 run can_radio_ctrl can_radio_ctrl_node &
sleep 0.2
taskset -c 2 ros2 run remote_ctrl remote_ctrl_node &
sleep 0.2
taskset -c 1 ros2 run mc mc_node &
sleep 0.2
taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
sleep 0.2
taskset -c 2 ros2 run pl pl_node &
sleep 0.2
taskset -c 6 ros2 run mqtt_report mqtt_report_node &
sleep 0.3
# ==============================================
# 3. 雷达驱动 —— 专用核心 3、4（绝不被抢占）
# ==============================================
taskset -c 3,4 ros2 launch rslidar_sdk start_double.launch.py &
sleep 1.5
# ==============================================
# 4. 点云融合 —— 专用核心 5（完全隔离）
# ==============================================
taskset -c 5 ros2 launch rslidar_pointcloud_merger merge_two_lidars.launch.py &
sleep 0.3
# ==============================================
# 5. 定位 & 业务节点（不干扰雷达）
# ==============================================
taskset -c 6 ros2 run rtk rtk_node &
sleep 0.3
taskset -c 6 ros2 run route route_node &
sleep 0.3
taskset -c 6 ros2 run sub sub_node &
sleep 0.3
taskset -c 7 ros2 run task_manager task_manager_node &
sleep 0.3
taskset -c 7 ros2 launch fu fu.launch.py &
wait

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gps_load_now.txt
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194
make_deb.sh Executable file
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#!/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"

4
prepare.sh
View File

@ -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

14
radio_ctrl.sh
View File

@ -5,19 +5,13 @@ set -e
source install/setup.bash
# 启动节点
taskset -c 0 ros2 run vehicle_params vehicle_params_node &
ros2 run radio_ctrl radio_ctrl_node &
sleep 0.2
taskset -c 1 ros2 run can_radio_ctrl can_radio_ctrl_node &
ros2 run mc mc_node &
sleep 0.2
taskset -c 3 ros2 run mc mc_node &
ros2 run ctrl_arbiter ctrl_arbiter_node &
sleep 0.2
taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
sleep 0.2
taskset -c 4 ros2 run mqtt_report mqtt_report_node &
sleep 0.2
wait
wait

23
remote_ctrl.sh
View File

@ -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

190
ros2_nodes.sh Executable file
View File

@ -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

1504
routes/gps_load_1762240877588.txt
View File

File diff suppressed because it is too large Load Diff

332
routes/gps_load_1764825047297.txt
View File

@ -1,332 +0,0 @@
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100
routes/gps_load_1764825202500.txt
View File

@ -1,100 +0,0 @@
32.0309685520
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72
routes/gps_load_1764828281583.txt
View File

@ -1,72 +0,0 @@
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68
routes/gps_load_1764829550392.txt
View File

@ -1,68 +0,0 @@
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308
routes/gps_load_1767938262858.txt
View File

@ -1,308 +0,0 @@
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2348
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routes/gps_load_1776036521243.txt
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routes/gps_load_1776133105337.txt
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32.0306440200
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0
routes/gps_load_1776301286991.txt
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routes/gps_load_1776301727282.txt
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31.9880897660
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routes/gps_load_1776302555543.txt
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routes/gps_load_1776302739249.txt
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routes/gps_load_1776403621977.txt
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routes/gps_load_1776403666678.txt
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280
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28
routes/gps_load_1776757186629.txt
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@ -1,28 +0,0 @@
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54
run.sh Executable file
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@ -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"
}

0
src/perception/airy/rslidar_msg-master/CMakeLists.txt → src/airy/rslidar_msg-master/CMakeLists.txt
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0
src/perception/airy/rslidar_msg-master/LICENSE → src/airy/rslidar_msg-master/LICENSE
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0
src/perception/airy/rslidar_msg-master/README.md → src/airy/rslidar_msg-master/README.md
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0
src/perception/airy/rslidar_msg-master/msg/RslidarPacket.msg → src/airy/rslidar_msg-master/msg/RslidarPacket.msg
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0
src/perception/airy/rslidar_msg-master/package.xml → src/airy/rslidar_msg-master/package.xml
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0
src/perception/airy/rslidar_msg-master/ros1/CMakeLists.txt → src/airy/rslidar_msg-master/ros1/CMakeLists.txt
View File

0
src/perception/airy/rslidar_msg-master/ros1/package.xml → src/airy/rslidar_msg-master/ros1/package.xml
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0
src/perception/airy/rslidar_msg-master/ros2/CMakeLists.txt → src/airy/rslidar_msg-master/ros2/CMakeLists.txt
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0
src/perception/airy/rslidar_msg-master/ros2/package.xml → src/airy/rslidar_msg-master/ros2/package.xml
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0
src/perception/airy/rslidar_sdk-main/.clang-format → src/airy/rslidar_sdk-main/.clang-format
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0
src/perception/airy/rslidar_sdk-main/CHANGELOG.md → src/airy/rslidar_sdk-main/CHANGELOG.md
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2
src/perception/airy/rslidar_sdk-main/CMakeLists.txt → src/airy/rslidar_sdk-main/CMakeLists.txt
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@ -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(=============================================================)

0
src/perception/airy/rslidar_sdk-main/LICENSE → src/airy/rslidar_sdk-main/LICENSE
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src/perception/airy/rslidar_sdk-main/README.md → src/airy/rslidar_sdk-main/README.md
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src/perception/airy/rslidar_sdk-main/README_CN.md → src/airy/rslidar_sdk-main/README_CN.md
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src/perception/airy/rslidar_sdk-main/config/config.yaml → src/airy/rslidar_sdk-main/config/config.yaml
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src/perception/airy/rslidar_sdk-main/config/config_double.yaml → src/airy/rslidar_sdk-main/config/config_double.yaml
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src/perception/airy/rslidar_sdk-main/config/config_front.yaml → src/airy/rslidar_sdk-main/config/config_front.yaml
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@ -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

8
src/perception/airy/rslidar_sdk-main/config/config_rear.yaml → src/airy/rslidar_sdk-main/config/config_rear.yaml
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@ -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

0
src/perception/airy/rslidar_sdk-main/create_debian.sh → src/airy/rslidar_sdk-main/create_debian.sh
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src/perception/airy/rslidar_sdk-main/doc/howto/04_how_to_work_along_with_rslidar_sdk_node_v1.3.x_CN.md → src/airy/rslidar_sdk-main/doc/howto/04_how_to_work_along_with_rslidar_sdk_node_v1.3.x_CN.md
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src/perception/airy/rslidar_sdk-main/doc/howto/05_how_to_change_point_type.md → src/airy/rslidar_sdk-main/doc/howto/05_how_to_change_point_type.md
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src/perception/airy/rslidar_sdk-main/doc/howto/05_how_to_change_point_type_CN.md → src/airy/rslidar_sdk-main/doc/howto/05_how_to_change_point_type_CN.md
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src/perception/airy/rslidar_sdk-main/doc/howto/06_how_to_decode_online_lidar.md → src/airy/rslidar_sdk-main/doc/howto/06_how_to_decode_online_lidar.md
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src/perception/airy/rslidar_sdk-main/doc/howto/06_how_to_decode_online_lidar_CN.md → src/airy/rslidar_sdk-main/doc/howto/06_how_to_decode_online_lidar_CN.md
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src/perception/airy/rslidar_sdk-main/doc/howto/07_online_lidar_advanced_topics.md → src/airy/rslidar_sdk-main/doc/howto/07_online_lidar_advanced_topics.md
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