使能imu

BMS查询改成远程帧
VID 透传改成200ms持续发布
2026-03-20 11:15:59 +08:00 · 2026-03-19 15:22:13 +08:00 · 2026-03-19 15:20:13 +08:00 · 2026-03-19 10:21:26 +08:00 · 2026-03-12 16:46:57 +08:00 · 2026-03-12 16:17:55 +08:00
867 changed files with 105286 additions and 19184 deletions
--- a/.clang-format
+++ b/.clang-format
@ -0,0 +1,4 @@
+BasedOnStyle: Google
+IndentWidth: 4
+ColumnLimit: 120
+BreakBeforeBraces: Allman
--- a/.cmake-format.yaml
+++ b/.cmake-format.yaml
@ -0,0 +1,21 @@
+# 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
--- a/.gitignore
+++ b/.gitignore
@ -3,3 +3,4 @@ install
 log
 .vscode
 deb_build
+nodes_log
--- a/README.md
+++ b/README.md
@ -1,148 +1,37 @@
-# 清扫车 ROS2 控制与定位消息接口
+
+# ZXOS

 ## 1. 文档概述

-清扫车 ROS2 控制与定位消息接口
+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。

 ## 2. 依赖环境

 ### 2.1 系统环境

-*   **ROS2 版本**：Foxy 
-*   **Ubuntu 版本**：20.04
+* **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

-### 2.2 .deb 的安装、启动与卸载
+## 3. 启动

-在目标机器上执行安装：
+### 3.1 单遥控

 ```bash
-sudo dpkg -i controller_XXXX_arm64.deb
+./radio_ctrl.sh
 ```

-安装完成后主要文件路径：
+### 3.1 单远控

-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
-sudo systemctl start controller.service
+./remote_ctrl.sh
 ```

-重启服务：
+### 3.1 全部节点
+
 ```bash
-sudo systemctl restart controller.service
+./start_all.sh
 ```
-
-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`
-
-
--- a/config.json
+++ b/config.json
@ -1,18 +1,17 @@
 {
    "mqtt": {
-        "vid": "V060003",
+        "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",
        "upload_url": "https://qsc.ntiov.com:8443/api/sys/route/upload",
        "download_url_pre": "http://36.153.162.171:9510/api/ccp-web/file/",
-        "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"
+        "mqtt_topic_push_status": "/zxwl/sweeper/{vid}/task/status",
+        "mqtt_topic_sub_task": "/zxwl/sweeper/{vid}/task"
    },
    "detect_line_tolerance": 3.06,
    "detect_head_tolerance": 2,
--- a/controller_202509290926_arm64.deb
+++ b/controller_202509290926_arm64.deb
--- a/gps_load_now.txt
+++ b/gps_load_now.txt
@ -1,96 +1,100 @@
-32.0311468570
-120.91525671300
-358.096008
+32.0310917570
+120.91525467400
+349.971985
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+0.000000
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 0.000000
--- a/make_deb.sh
+++ b/make_deb.sh
@ -1,194 +0,0 @@
-#!/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"
--- a/prepare.sh
+++ b/prepare.sh
@ -2,6 +2,6 @@

 sudo ./can.sh

-sudo chmod 777 /dev/ttyTHS0 
+sudo chmod 777 /dev/ttyTHS1 

-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
--- a/radio_ctrl.sh
+++ b/radio_ctrl.sh
@ -5,7 +5,12 @@ set -e
 source install/setup.bash

 # 启动节点
-ros2 run radio_ctrl radio_ctrl_node & 
+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 & 
 sleep 0.2

 ros2 run mc mc_node &
@ -14,4 +19,7 @@ sleep 0.2
 ros2 run ctrl_arbiter ctrl_arbiter_node &
 sleep 0.2

+ros2 run mqtt_report mqtt_report_node &
+sleep 0.2
+
 wait
--- a/remote_ctrl.sh
+++ b/remote_ctrl.sh
@ -0,0 +1,23 @@
+#!/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
--- a/ros2_nodes.sh
+++ b/ros2_nodes.sh
@ -1,190 +0,0 @@
-#!/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
--- a/routes/gps_load_1762240877588.txt
+++ b/routes/gps_load_1762240877588.txt
--- a/routes/gps_load_1764825047297.txt
+++ b/routes/gps_load_1764825047297.txt
@ -0,0 +1,332 @@
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--- a/routes/gps_load_1764825202500.txt
+++ b/routes/gps_load_1764825202500.txt
@ -0,0 +1,100 @@
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--- a/routes/gps_load_1764828281583.txt
+++ b/routes/gps_load_1764828281583.txt
@ -0,0 +1,72 @@
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--- a/routes/gps_load_1764829550392.txt
+++ b/routes/gps_load_1764829550392.txt
@ -0,0 +1,68 @@
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--- a/routes/gps_load_1767938262858.txt
+++ b/routes/gps_load_1767938262858.txt
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--- a/routes/gps_load_1768959704281.txt
+++ b/routes/gps_load_1768959704281.txt
--- a/routes/gps_load_1768981254899.txt
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--- a/routes/gps_load_1768981796615.txt
+++ b/routes/gps_load_1768981796615.txt
--- a/routes/gps_load_1769059102539.txt
+++ b/routes/gps_load_1769059102539.txt
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+0.000000
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+0.000000
--- a/routes/gps_load_1769663101074.txt
+++ b/routes/gps_load_1769663101074.txt
--- a/routes/gps_load_1769663889258.txt
+++ b/routes/gps_load_1769663889258.txt
@ -0,0 +1,8 @@
+32.0308500220
+120.91511424200
+0.000000
+0.000000
+0.0000000000
+0.00000000000
+0.000000
+0.000000
--- a/routes/gps_load_1769672776320.txt
+++ b/routes/gps_load_1769672776320.txt
--- a/routes/gps_load_1769673831859.txt
+++ b/routes/gps_load_1769673831859.txt
@ -0,0 +1,4 @@
+32.0937184760
+120.79454789700
+84.724998
+0.000000
--- a/routes/gps_load_1769674440790.txt
+++ b/routes/gps_load_1769674440790.txt
--- a/routes/gps_load_1772267218953.txt
+++ b/routes/gps_load_1772267218953.txt
@ -0,0 +1,4 @@
+32.0309222090
+120.91505759600
+170.675995
+0.000000
--- a/routes/gps_load_1772267935994.txt
+++ b/routes/gps_load_1772267935994.txt
@ -0,0 +1,100 @@
+32.0310917570
+120.91525467400
+349.971985
+0.000000
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+32.0312278010
+120.91538624100
+86.753998
+0.000000
+32.0312285410
+120.91539710300
+85.632004
+0.000000
--- a/routes/gps_load_1772332169883.txt
+++ b/routes/gps_load_1772332169883.txt
@ -0,0 +1,128 @@
+32.0375316490
+120.83905455600
+19.548000
+0.000000
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+120.83905791600
+16.787001
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+0.000000
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+278.270996
+0.000000
--- a/routes/gps_load_1772332560597.txt
+++ b/routes/gps_load_1772332560597.txt
--- a/routes/gps_load_1772335172259.txt
+++ b/routes/gps_load_1772335172259.txt
@ -0,0 +1,220 @@
+32.0375256980
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+120.83897525300
+276.519989
+0.000000
--- a/routes/gps_load_1772335284266.txt
+++ b/routes/gps_load_1772335284266.txt
--- a/routes/gps_load_1772341919663.txt
+++ b/routes/gps_load_1772341919663.txt
--- a/routes/gps_load_1772342685557.txt
+++ b/routes/gps_load_1772342685557.txt
--- a/routes/gps_load_1772343534611.txt
+++ b/routes/gps_load_1772343534611.txt
--- a/run.sh
+++ b/run.sh
@ -1,54 +0,0 @@
-#!/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"
-}
--- a/src/airy/rslidar_sdk-main/launch/start.py
+++ b/src/airy/rslidar_sdk-main/launch/start.py
@ -1,28 +0,0 @@
-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],
-            # ),
-        ]
-    )
--- a/src/autonomy/fu/CMakeLists.txt
+++ b/src/autonomy/fu/CMakeLists.txt
@ -19,10 +19,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang
  add_compile_options(-w) # 禁用所有警告
 endif()

-include_directories(
-  include/fu 
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include/fu ${catkin_INCLUDE_DIRS})
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@ -30,19 +27,23 @@ find_package(std_msgs REQUIRED)
 find_package(sweeper_interfaces REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(mc REQUIRED)
+find_package(logger REQUIRED)

 include_directories(include)

 add_executable(fu_node src/fu_node.cpp src/jsoncpp.cpp)
-ament_target_dependencies(fu_node rclcpp std_msgs sweeper_interfaces sensor_msgs mc)
-
-install(TARGETS
+ament_target_dependencies(
  fu_node
-  DESTINATION lib/${PROJECT_NAME}
-)
+  rclcpp
+  std_msgs
+  sweeper_interfaces
+  sensor_msgs
+  mc
+  logger)

-install(DIRECTORY launch config
-  DESTINATION share/${PROJECT_NAME})
+install(TARGETS fu_node DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})

 if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
--- a/src/autonomy/fu/config/fu_params.yaml
+++ b/src/autonomy/fu/config/fu_params.yaml
@ -1,7 +1,7 @@
 FU:
  ros__parameters:
    # 遇障停车功能 False or True
-    enable_obstacle_stop: False
+    enable_obstacle_stop: True

    # 绕障功能 False or True
    enable_obstacle_avoid: False  
@ -30,3 +30,18 @@ FU:
    # 右侧扩展检测区域 int
    right_area_extend: 2  

+    # 路点到达容差(米)
+    waypoint_tolerance: 0.1
+
+    # 横向偏移量(栅格数)
+    lateral_offset: 2
+
+    # 平行前进距离(栅格数)
+    parallel_distance: 3
+
+    # 可绕过的最大障碍物宽度(栅格数)
+    avoid_able_width: 6
+
+    # 绕过所需最小空间(栅格数)
+    min_free_space: 6
+    
--- a/src/autonomy/fu/include/fu/json.h
+++ b/src/autonomy/fu/include/fu/json.h
--- a/src/autonomy/fu/launch/fu.launch.py
+++ b/src/autonomy/fu/launch/fu.launch.py
--- a/src/autonomy/fu/package.xml
+++ b/src/autonomy/fu/package.xml
--- a/src/autonomy/fu/src/fu_node
+++ b/src/autonomy/fu/src/fu_node
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp
--- a/src/autonomy/fu/src/jsoncpp.cpp
+++ b/src/autonomy/fu/src/jsoncpp.cpp
--- a/src/autonomy/pl/CMakeLists.txt
+++ b/src/autonomy/pl/CMakeLists.txt
@ -21,19 +21,19 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sweeper_interfaces REQUIRED)
 # find_package(mc REQUIRED)
+find_package(logger REQUIRED)

-include_directories(
-  include/pl
-  ${catkin_INCLUDE_DIRS}
-)
+include_directories(include/pl ${catkin_INCLUDE_DIRS})

 add_executable(pl_node src/pl_node.cpp src/pl.cpp src/jsoncpp.cpp)
-ament_target_dependencies(pl_node rclcpp std_msgs sweeper_interfaces)
-
-install(TARGETS
+ament_target_dependencies(
  pl_node
-  DESTINATION lib/${PROJECT_NAME}
-)
+  rclcpp
+  std_msgs
+  sweeper_interfaces
+  logger)
+
+install(TARGETS pl_node DESTINATION lib/${PROJECT_NAME})

 if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
--- a/src/autonomy/pl/include/pl/json.h
+++ b/src/autonomy/pl/include/pl/json.h
--- a/src/autonomy/pl/include/pl/pl.hpp
+++ b/src/autonomy/pl/include/pl/pl.hpp
--- a/src/autonomy/pl/package.xml
+++ b/src/autonomy/pl/package.xml
@ -13,6 +13,7 @@
  <depend>std_msgs</depend>
  <depend>sweeper_interfaces</depend>
  <depend>mc</depend>
+  <depend>logger</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
--- a/src/autonomy/pl/src/jsoncpp.cpp
+++ b/src/autonomy/pl/src/jsoncpp.cpp
--- a/src/autonomy/pl/src/pl.cpp
+++ b/src/autonomy/pl/src/pl.cpp
@ -1,9 +1,12 @@
 #include "pl.hpp"

-#include <iostream>
-#include <unistd.h>
-#include <string.h>
 #include <math.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <iostream>
+
+#include "logger/logger.h"

 using namespace std;

@ -46,7 +49,8 @@ double ntzx_GPS_length(double lonti1, double lati1, double lonti2, double lati2)
 }

 // Cur_navAngle指定y轴正方向.Cur_lonti，Cur_lati为原点；x_diff,y_diff是Dest_lonti,Dest_lati在该坐标系的直角坐标:m
-int ntzx_GPS_posit(double Cur_navAngle, double Cur_lonti, double Cur_lati, double Dest_lonti, double Dest_lati, double *x_diff, double *y_diff)
+int ntzx_GPS_posit(double Cur_navAngle, double Cur_lonti, double Cur_lati, double Dest_lonti, double Dest_lati,
+                   double* x_diff, double* y_diff)
 {
    double Navi_rad, x, y;
    float k1, k2, k3, k4;               // 旋转矩阵的四个参数，对应cos(theta),-sin(theta),sin(theta),cos(theta);
@ -75,17 +79,16 @@ int Road_Planning_Find_Nearest_Point(int start_index, WRC_MC_NAV_INFO Cur_GPS_in

    int Nearest_point_index = start_index;  // 初始化为起始索引
    double min_distance = ntzx_GPS_length(Cur_GPS_info.Longitude_degree, Cur_GPS_info.Latitude_degree,
-                                          Road_info[start_index].LongitudeInfo,
-                                          Road_info[start_index].LatitudeInfo);
+                                          Road_info[start_index].LongitudeInfo, Road_info[start_index].LatitudeInfo);

    // 从 start_index + 1 开始搜索
    for (int i = 1; i < GpsPointNum; i++)
    {
        int current_index = (start_index + i) % GpsPointNum;  // 环绕访问

-        double current_distance = ntzx_GPS_length(Cur_GPS_info.Longitude_degree, Cur_GPS_info.Latitude_degree,
-                                                  Road_info[current_index].LongitudeInfo,
-                                                  Road_info[current_index].LatitudeInfo);
+        double current_distance =
+            ntzx_GPS_length(Cur_GPS_info.Longitude_degree, Cur_GPS_info.Latitude_degree,
+                            Road_info[current_index].LongitudeInfo, Road_info[current_index].LatitudeInfo);

        if (current_distance < min_distance)
        {
@ -112,13 +115,15 @@ int Road_Planning_Find_Nearest_Point(int start_index, WRC_MC_NAV_INFO Cur_GPS_in
    }
    int Nearest_point_index = 0;
    double aft_distance = 0, pre_distance = 0;
-    pre_distance = ntzx_GPS_length(Cur_GPS_info.Longitude_degree, Cur_GPS_info.Latitude_degree, Road_info[start_index].LongitudeInfo, Road_info[start_index].LatitudeInfo);
+    pre_distance = ntzx_GPS_length(Cur_GPS_info.Longitude_degree, Cur_GPS_info.Latitude_degree,
+Road_info[start_index].LongitudeInfo, Road_info[start_index].LatitudeInfo);

    int start = start_index + 1;
    for (int i = start; i < GpsPointNum; i++)
    {

-        aft_distance = ntzx_GPS_length(Cur_GPS_info.Longitude_degree, Cur_GPS_info.Latitude_degree, Road_info[i].LongitudeInfo, Road_info[i].LatitudeInfo);
+        aft_distance = ntzx_GPS_length(Cur_GPS_info.Longitude_degree, Cur_GPS_info.Latitude_degree,
+Road_info[i].LongitudeInfo, Road_info[i].LatitudeInfo);
        // printf("i: %d , aft_distance: %lf \t",i,aft_distance);
        if (aft_distance < pre_distance)
        {
@ -164,7 +169,7 @@ int star_find_nearest_point(double lon, double lat, WRC_GPS_Point *Road_info)
            dis = dis_temp;
            point = i;
        }
-        printf("i: %d , dis_temp: %lf", i, dis_temp);
+        LOG_DEBUG("i: %d , dis_temp: %lf", i, dis_temp);
    }
    return point;
 }
@ -174,8 +179,7 @@ Direction straight_or_turn(double cur_direction, double des_direction, int thres
 {
    double diff = std::fmod(std::fabs(cur_direction - des_direction), 360.0);

-    if (diff > 180)
-        diff = 360 - diff;
+    if (diff > 180) diff = 360 - diff;

    // std::cout << "diff : " << diff << std::endl;

@ -214,11 +218,6 @@ void PL_ProcThread()
        des_pos = Road_Planning_Find_Aim_Point(road_pos, 3);        // 找到当前点后第 3 个点，作为目标点
        direction_pos = Road_Planning_Find_Aim_Point(road_pos, 6);  // 找到当前点后第 6 个点，判断直行/转弯

-        printf("当前位置: %d\n", road_pos);
-        printf("目标位置: %d\n", des_pos);
-        // printf("direction_pos: %d\n", direction_pos);
-        printf("\n");
-
        drive_mode = straight_or_turn(g_rtk.direction, GPSPointQueue[direction_pos].Heading, 12);

        // 新增距离判断逻辑
@ -229,6 +228,12 @@ void PL_ProcThread()
        double target_lat = GPSPointQueue[des_pos].LatitudeInfo;
        double target_head = GPSPointQueue[des_pos].Heading;

+        LOG_INFO_THROTTLE(1000, "当前位置: %d  经度: %.6f  纬度: %.6f  朝向: %.1f", road_pos, current_lon, current_lat,
+                          current_head);
+        LOG_INFO_THROTTLE(1000, "目标位置: %d  经度: %.6f  纬度: %.6f  朝向: %.1f", des_pos, target_lon, target_lat,
+                          target_head);
+        LOG_INFO_THROTTLE(1000, "############################################################");
+
        // 计算当前定位点与目标点距离
        double distance = ntzx_GPS_length(current_lon, current_lat, target_lon, target_lat);
        int nl_within_head = (abs(target_head - current_head) < 30) ? 1 : 0;
@ -238,16 +243,15 @@ void PL_ProcThread()
        // cout << "  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  * * *  *" << endl;
        // cout << endl;

-        // cout << "--- -target_head " << target_head << "--- current_head " << current_head << "    " << abs(target_head - current_head) << endl;
-        // cout << endl;
-        // cout << "--- -distance " << distance << "- -nl_radius " << nl_radius << endl;
+        // cout << "--- -target_head " << target_head << "--- current_head " << current_head << "    " <<
+        // abs(target_head - current_head) << endl; cout << endl; cout << "--- -distance " << distance << "- -nl_radius
+        // " << nl_radius << endl;

        // cout << endl;
        // cout << "  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  * * *  *" << endl;

        if (road_pos >= (GpsPointNum - 1))
        {
-
            x = 0.0;
            y = 1.0;
            pl_speed = 0;
@ -260,10 +264,8 @@ void PL_ProcThread()
            double x_cm_tmp = 0;
            double y_cm_tmp = 0;

-            ntzx_GPS_posit(g_rtk.direction, g_rtk.lon, g_rtk.lat,
-                           GPSPointQueue[des_pos].LongitudeInfo,
-                           GPSPointQueue[des_pos].LatitudeInfo,
-                           &x_cm_tmp, &y_cm_tmp);
+            ntzx_GPS_posit(g_rtk.direction, g_rtk.lon, g_rtk.lat, GPSPointQueue[des_pos].LongitudeInfo,
+                           GPSPointQueue[des_pos].LatitudeInfo, &x_cm_tmp, &y_cm_tmp);

            x = x_cm_tmp;
            y = y_cm_tmp;
@ -287,10 +289,10 @@ void *pl_thread(void *args)
    FILE* fp_gps = fopen("gps_load_now.txt", "r");
    if (NULL == fp_gps)
    {
-        printf("open route file error\n");
+        LOG_ERROR("open route file error");
        return NULL;
    }
-    std::cout << "have opened " << "gps_load_now.txt" << std::endl;
+    LOG_INFO("have opened gps_load_now.txt");

    char mystring[200];
    memset(mystring, '\0', 200);
@ -318,11 +320,10 @@ void *pl_thread(void *args)
    }

    GpsPointNum = i / 4;
-    printf("point_num:%d\n", GpsPointNum);
+    LOG_INFO("point_num:%d", GpsPointNum);
    fclose(fp_gps);
-    std::cout << std::endl;

-    printf("#################### auto drive on! ####################\n");
+    LOG_INFO("#################### auto drive on! ####################");

    PL_ProcThread();
    return NULL;
--- a/src/autonomy/pl/src/pl_node.cpp
+++ b/src/autonomy/pl/src/pl_node.cpp
@ -1,19 +1,21 @@
+#include <arpa/inet.h>
+#include <pthread.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <chrono>  // 新增：用于时间戳处理
+#include <cstring>
+#include <fstream>
+#include <iostream>
+
+#include "json.h"
+#include "logger/logger.h"
+#include "pl.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "sweeper_interfaces/msg/rtk.hpp"
 #include "sweeper_interfaces/msg/pl.hpp"
 #include "sweeper_interfaces/msg/route.hpp"
+#include "sweeper_interfaces/msg/rtk.hpp"
 #include "sweeper_interfaces/msg/task.hpp"
-#include "json.h"
-#include <pthread.h>
-#include <iostream>
-#include <fstream>
-#include <unistd.h>
-#include "pl.hpp"
-#include <sys/socket.h>
-#include <arpa/inet.h>
-#include <unistd.h>
-#include <cstring>
-#include <chrono> // 新增：用于时间戳处理

 using namespace std;
 using namespace std::chrono;  // 新增：时间戳命名空间
@ -25,28 +27,32 @@ static int sock = -1;
 // 新增：全局变量记录最后接收RTK数据的时间戳
 system_clock::time_point last_rtk_time;
 // 新增：超时阈值（0.5秒）
-const duration<double> rtk_timeout = duration<double>(0.2);
+const duration<double> rtk_timeout = duration<double>(0.5);

 class pl_node : public rclcpp::Node
 {
   public:
    pl_node(std::string name) : Node(name)
    {
-        RCLCPP_INFO(this->get_logger(), "%s节点已经启动.", name.c_str());
+        LOG_INFO("%s节点已经启动.", name.c_str());
        // 初始化最后接收时间为当前时间（避免初始状态直接超时）
        last_rtk_time = system_clock::now();

        // 创建订阅者订阅话题
-        msg_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>("rtk_message", 10, std::bind(&pl_node::msg_callback, this, std::placeholders::_1));
-        task_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Task>("task_message/download", 10, std::bind(&pl_node::task_callback, this, std::placeholders::_1));
+        msg_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>(
+            "rtk_message", 10, std::bind(&pl_node::msg_callback, this, std::placeholders::_1));
+        task_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Task>(
+            "task_message/download", 10, std::bind(&pl_node::task_callback, this, std::placeholders::_1));

        // 创建发布者
        msg_publisher_ = this->create_publisher<sweeper_interfaces::msg::Pl>("pl_message", 10);
        task_publisher_ = this->create_publisher<sweeper_interfaces::msg::Task>("task_message/upload", 10);

        // 创建定时器，定时发布
-        timer_pl = this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&pl_node::timer_callback_pl, this));
-        timer_task = this->create_wall_timer(std::chrono::milliseconds(200), std::bind(&pl_node::timer_callback_task, this));
+        timer_pl =
+            this->create_wall_timer(std::chrono::milliseconds(500), std::bind(&pl_node::timer_callback_pl, this));
+        timer_task =
+            this->create_wall_timer(std::chrono::milliseconds(200), std::bind(&pl_node::timer_callback_task, this));
    }

   private:
@ -56,7 +62,8 @@ private:
        // 新增：更新最后接收时间戳
        last_rtk_time = system_clock::now();

-        // RCLCPP_INFO(this->get_logger(), "lat:'%.9lf',lon:'%.9lf',head:'%lf',speed:'%lf',p_quality:'%d',h_quality:'%d'",
+        // LOG_INFO(
+        // "lat:'%.9lf',lon:'%.9lf',head:'%lf',speed:'%lf',p_quality:'%d',h_quality:'%d'",
        //             msg->lat, msg->lon, msg->head, msg->speed, msg->p_quality, msg->h_quality);

        g_rtk.reliability = 1;
@ -75,19 +82,19 @@ private:
        if (is_start == 0 && msg->task_status == 1)
        {
            pthread_create(&pl_thread_t, NULL, pl_thread, NULL);
-            cout << " started" << endl;
+            LOG_INFO("started");
            is_start = 1;
            task_status = TaskStatus::PENDING;
        }
        else if (is_start == 1 && msg->task_status == 0)
        {
            pthread_cancel(pl_thread_t);
-            cout << "pl_thread_t is canceled " << endl;
+            LOG_INFO("pl_thread_t is canceled");
            is_start = 0;
            task_status = TaskStatus::COMPLETED;
        }
-        // RCLCPP_INFO(this->get_logger(), " ==================================== is_start : %d", is_start);
-        // RCLCPP_INFO(this->get_logger(), " ==================================== task_status : %d", msg->task_status);
+        // LOG_INFO(" ==================================== is_start : %d", is_start);
+        // LOG_INFO(" ==================================== task_status : %d", msg->task_status);
    }

    void timer_callback_pl()
@ -103,7 +110,7 @@ private:
                struct sockaddr_in serv_addr;
                if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0)
                {
-                    RCLCPP_ERROR(this->get_logger(), "Socket creation error");
+                    LOG_ERROR("Socket creation error");
                    return;
                }

@ -112,14 +119,14 @@ private:

                if (inet_pton(AF_INET, "192.168.5.1", &serv_addr.sin_addr) <= 0)
                {
-                    RCLCPP_ERROR(this->get_logger(), "Invalid address/ Address not supported");
+                    LOG_ERROR("Invalid address/ Address not supported");
                    close(sock);
                    return;
                }

                if (connect(sock, (struct sockaddr*)&serv_addr, sizeof(serv_addr)) < 0)
                {
-                    RCLCPP_ERROR(this->get_logger(), "Connection Failed");
+                    LOG_ERROR("Connection Failed");
                    close(sock);
                    sock = -1;
                    return;
@ -151,11 +158,11 @@ private:
            message.speed = 0;
            if (time_since_last > rtk_timeout)
            {
-                RCLCPP_ERROR(this->get_logger(), "RTK数据超时(%.2fs)，停车！！！", time_since_last.count());
+                LOG_ERROR("RTK数据超时(%.2fs)，停车！！！", time_since_last.count());
            }
            else
            {
-                RCLCPP_ERROR(this->get_logger(), "RTK信号差，停车！！！");
+                LOG_ERROR("RTK信号差，停车！！！");
            }
        }
        else
@ -170,10 +177,11 @@ private:

        message.enter_range = nl_within_radius;
        message.is_start = is_start;
-        // RCLCPP_INFO(this->get_logger(), " ==================================== message.is_start : %d", message.is_start);
+        // LOG_INFO(" ==================================== message.is_start : %d",
+        // message.is_start);

        // 日志打印
-        // RCLCPP_INFO(this->get_logger(), "x:'%lf',y:'%lf',speed:'%lf',drive_mode:'%d'",
+        // LOG_INFO("x:'%lf',y:'%lf',speed:'%lf',drive_mode:'%d'",
        //             message.x, message.y, message.speed, message.drive_mode);
        // 发布消息
        msg_publisher_->publish(message);
@ -207,7 +215,7 @@ void initConfig()
    std::ifstream in("config.json", std::ios::binary);
    if (!in.is_open())
    {
-        std::cout << "read config file error" << std::endl;
+        LOG_ERROR("read config file error");
        return;
    }
    if (reader.parse(in, root))
@ -220,11 +228,15 @@ int main(int argc, char **argv)
 {
    initConfig();
    rclcpp::init(argc, argv);
+    // 初始化日志系统
+    logger::Logger::Init("pl", "./nodes_log");
    /*创建对应节点的共享指针对象*/
    auto node = std::make_shared<pl_node>("pl_node");
    /* 运行节点，并检测退出信号*/
    rclcpp::spin(node);
    rclcpp::shutdown();
+    // 关闭日志系统
+    logger::Logger::Shutdown();

    // pthread_join(pl_thread_t, NULL);
    return 0;
--- a/src/autonomy/route/CMakeLists.txt
+++ b/src/autonomy/route/CMakeLists.txt
@ -21,23 +21,20 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sweeper_interfaces REQUIRED)
 find_package(CURL REQUIRED)
+find_package(logger REQUIRED)

+include_directories(include/route ${catkin_INCLUDE_DIRS})

-include_directories(
-  include/route
-  ${catkin_INCLUDE_DIRS}
-)
-
-add_executable(route_node 
-                src/route_node.cpp 
-                src/md5.cpp 
-                src/jsoncpp.cpp)
-ament_target_dependencies(route_node rclcpp std_msgs sweeper_interfaces CURL)
-
-install(TARGETS
+add_executable(route_node src/route_node.cpp src/md5.cpp src/jsoncpp.cpp)
+ament_target_dependencies(
  route_node
-  DESTINATION lib/${PROJECT_NAME}
-)
+  rclcpp
+  std_msgs
+  sweeper_interfaces
+  CURL
+  logger)
+
+install(TARGETS route_node DESTINATION lib/${PROJECT_NAME})

 if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
--- a/src/autonomy/route/include/route/json.h
+++ b/src/autonomy/route/include/route/json.h
--- a/src/autonomy/route/include/route/md5.h
+++ b/src/autonomy/route/include/route/md5.h
--- a/src/autonomy/route/package.xml
+++ b/src/autonomy/route/package.xml
@ -12,6 +12,7 @@
  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <depend>sweeper_interfaces</depend>
+  <depend>logger</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>
--- a/src/autonomy/route/src/jsoncpp.cpp
+++ b/src/autonomy/route/src/jsoncpp.cpp
--- a/src/autonomy/route/src/md5.cpp
+++ b/src/autonomy/route/src/md5.cpp
--- a/src/autonomy/route/src/route_node.cpp
+++ b/src/autonomy/route/src/route_node.cpp
@ -1,19 +1,22 @@
+#include <curl/curl.h>
+#include <pthread.h>
+#include <unistd.h>
+
+#include <chrono>
+#include <cstdio>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <mutex>
+#include <sstream>
+
+#include "json.h"
+#include "logger/logger.h"
+#include "md5.h"
 #include "rclcpp/rclcpp.hpp"
 #include "sweeper_interfaces/msg/rtk.hpp"
 #include "sweeper_interfaces/msg/sub.hpp"
-#include <curl/curl.h>
-#include "md5.h"
-#include "json.h"
-#include <pthread.h>
-#include <iostream>
-#include <unistd.h>
-#include <cstdio>
-#include <chrono>
-
-#include <fstream>
-#include <sstream>
-#include <iomanip>
-#include <mutex>
+#include "sweeper_interfaces/msg/vehicle_identity.hpp"

 std::mutex collect_mutex;  // 互斥锁，用于保护 isCollecting 变量

@ -47,7 +50,7 @@ string calculate_md5(string filename)
    ifstream file;
    file.open(filename, ios::binary);
    md5.update(file);
-    cout << md5.toString() << endl;
+    LOG_INFO("%s", md5.toString().c_str());
    return md5.toString();
 }
 bool upload_file(string filename)
@ -57,20 +60,25 @@ bool upload_file(string filename)
    curl = curl_easy_init();
    struct curl_httppost* post = NULL;
    struct curl_httppost* last = NULL;
-    curl_formadd(&post, &last, CURLFORM_PTRNAME, "vid", CURLFORM_PTRCONTENTS, vid.c_str(), CURLFORM_END); // form-data key(path) 和 value(device_cover)
+
+    // 只计算一次MD5值
+    string md5_value = calculate_md5(filename);
+
+    curl_formadd(&post, &last, CURLFORM_PTRNAME, "vid", CURLFORM_PTRCONTENTS, vid.c_str(),
+                 CURLFORM_END);  // form-data key(path) 和 value(device_cover)
    curl_formadd(&post, &last, CURLFORM_COPYNAME, "file", CURLFORM_FILE, filename.c_str(), CURLFORM_END);
-    curl_formadd(&post, &last, CURLFORM_COPYNAME, "md5", CURLFORM_COPYCONTENTS, calculate_md5(filename).c_str(), CURLFORM_END);
+    curl_formadd(&post, &last, CURLFORM_COPYNAME, "md5", CURLFORM_COPYCONTENTS, md5_value.c_str(), CURLFORM_END);
    curl_easy_setopt(curl, CURLOPT_URL, upload_URL.c_str());
    curl_easy_setopt(curl, CURLOPT_HTTPPOST, post);
    ret = curl_easy_perform(curl);
    if (ret != CURLE_OK)
    {
-        fprintf(stderr, "curl_easy_perform() failed: %s\n", curl_easy_strerror(ret));
+        LOG_ERROR("curl_easy_perform() failed: %s", curl_easy_strerror(ret));
        return false;
    }
    curl_formfree(post);
    curl_easy_cleanup(curl);
-    cout << "上传成功" << endl;
+    LOG_INFO("上传成功");
    return true;
 }
 void copyFileAndOverwrite(const std::string& sourceFilePath, const std::string& destinationFilePath)
@ -80,13 +88,13 @@ void copyFileAndOverwrite(const std::string &sourceFilePath, const std::string &

    if (!src)
    {
-        std::cerr << "无法打开源文件: " << sourceFilePath << std::endl;
+        LOG_ERROR("无法打开源文件: %s", sourceFilePath.c_str());
        return;
    }

    if (!dst)
    {
-        std::cerr << "无法打开目标文件: " << destinationFilePath << std::endl;
+        LOG_ERROR("无法打开目标文件: %s", destinationFilePath.c_str());
        return;
    }

@ -94,7 +102,7 @@ void copyFileAndOverwrite(const std::string &sourceFilePath, const std::string &

    if (!dst)
    {
-        std::cerr << "复制文件时出错" << std::endl;
+        LOG_ERROR("复制文件时出错");
    }
 }
 class route_node : public rclcpp::Node
@ -102,11 +110,18 @@ class route_node : public rclcpp::Node
   public:
    route_node(std::string name) : Node(name)
    {
-        RCLCPP_INFO(this->get_logger(), "%s节点已经启动.", name.c_str());
+        LOG_INFO("%s节点已经启动.", name.c_str());
        // 创建一个订阅者订阅话题
-        sub_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Sub>("gather", 10, std::bind(&route_node::sub_callback, this, std::placeholders::_1));
+        sub_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Sub>(
+            "gather", 10, std::bind(&route_node::sub_callback, this, std::placeholders::_1));

-        msg_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>("rtk_message", 10, std::bind(&route_node::msg_callback, this, std::placeholders::_1));
+        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:
@ -116,7 +131,7 @@ private:
        if (msg->p_quality < 4 || msg->h_quality < 4)
        {
            g_rtk.reliability = 0;
-            RCLCPP_INFO(this->get_logger(), "rtk信号差!");
+            LOG_INFO("rtk信号差!");
        }
        if (first_flag)
        {
@ -133,11 +148,11 @@ private:

        if (!isCollecting)
        {
-            cout << "等待采集...." << endl;
+            LOG_INFO("等待采集.....");
        }
        else
        {
-            cout << "平台采集中" << endl;
+            LOG_INFO("平台采集中.....");
        }
    }
    void sub_callback(const sweeper_interfaces::msg::Sub::SharedPtr msg)
@ -146,27 +161,35 @@ private:
        {
            std::lock_guard<std::mutex> lock(collect_mutex);  // 加锁
            isCollecting = true;
-            cout << "平台开始采集" << endl;
+            LOG_INFO("平台开始采集");
            pthread_create(&route_thread_t, NULL, route_thread, NULL);
        }
        else if (!msg->get_route && isCollecting)
        {
            isCollecting = false;
-            cout << "平台结束采集" << endl;
+            LOG_INFO("平台结束采集");
            pthread_cancel(route_thread_t);
            if (upload_file(filename))
            {
-                cout << "上传成功" << endl;
+                LOG_INFO("上传成功");
            }
            else
            {
-                cout << "上传失败" << endl;
+                LOG_INFO("上传失败");
            }
        }
    }
+    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)
@ -206,7 +229,7 @@ void *route_thread(void *args)
            last_g_rtk.lat = g_rtk.lat;
            last_g_rtk.lon = g_rtk.lon;
            last_g_rtk.head = g_rtk.head;
-            printf("hit!\n");
+            LOG_DEBUG("hit!");
        }
    }
 }
@ -218,14 +241,12 @@ void init_main()
    std::ifstream in("config.json", std::ios::binary);
    if (!in.is_open())
    {
-        std::cout << "read config file error" << std::endl;
+        LOG_ERROR("read config file error");
        return;
    }
    if (reader.parse(in, root))
    {
-        vid = root["mqtt"]["vid"].asString();
        upload_URL = root["mqtt"]["upload_url"].asString();
-        cout << "vid:" << vid << endl;
    }
    in.close();  // 关闭文件流
 }
@ -234,11 +255,15 @@ int main(int argc, char **argv)
 {
    init_main();
    rclcpp::init(argc, argv);
+    /*初始化日志系统*/
+    logger::Logger::Init("route", "./nodes_log");
    /*创建对应节点的共享指针对象*/
    auto node = std::make_shared<route_node>("route_node");
    /* 运行节点，并检测退出信号*/
    rclcpp::spin(node);
    rclcpp::shutdown();
+    /*关闭日志系统*/
+    logger::Logger::Shutdown();
    // pthread_join(route_thread_t, NULL);
    return 0;
 }
--- a/src/base/mc/CMakeLists.txt
+++ b/src/base/mc/CMakeLists.txt
@ -11,6 +11,7 @@ find_package(ament_index_cpp REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(logger REQUIRED)

 # 搜索 src 目录下所有 .cpp 文件
 file(GLOB SRC_FILES src/*.cpp)
@ -18,12 +19,16 @@ file(GLOB SRC_FILES src/*.cpp)
 # 创建可执行文件
 add_executable(mc_node ${SRC_FILES})

-ament_target_dependencies(mc_node ament_index_cpp rclcpp std_msgs sweeper_interfaces)
+ament_target_dependencies(
+  mc_node
+  ament_index_cpp
+  rclcpp
+  std_msgs
+  sweeper_interfaces
+  logger)

 # Set include directories for the target
-target_include_directories(
-  mc_node
-  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+target_include_directories(mc_node PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
                                          $<INSTALL_INTERFACE:include>)

 target_compile_features(mc_node PUBLIC c_std_99 cxx_std_17)
--- a/src/base/mc/VID透传.md
+++ b/src/base/mc/VID透传.md
@ -0,0 +1,108 @@
+# CAN 协议定义 — VID 透传报文
+
+## 1 报文基本信息
+
+| 项目 | 内容 |
+|-----|-----|
+| 报文名称 | VID_Transmit |
+| 报文功能 | 透传设备 VID |
+| CAN ID | 0x180 |
+| 帧类型 | Standard Frame |
+| DLC | 8 |
+| 发送方式 | 按需发送 |
+| 发送节点 | MCU |
+| 接收节点 | VCU / 上位机 |
+
+---
+
+## 2 数据格式
+
+| Byte | 信号名称 | 类型 | 说明 |
+|-----|----------|------|------|
+| Byte0 | VID_CHAR1 | ASCII | VID 第1个字符 |
+| Byte1 | VID_CHAR2 | ASCII | VID 第2个字符 |
+| Byte2 | VID_CHAR3 | ASCII | VID 第3个字符 |
+| Byte3 | VID_CHAR4 | ASCII | VID 第4个字符 |
+| Byte4 | VID_CHAR5 | ASCII | VID 第5个字符 |
+| Byte5 | VID_CHAR6 | ASCII | VID 第6个字符 |
+| Byte6 | VID_CHAR7 | ASCII | VID 第7个字符 |
+| Byte7 | XOR_CHECK | uint8 | Byte0~Byte6 异或校验 |
+
+---
+
+## 3 校验规则
+
+XOR 校验计算方式：
+
+`CHECK = Byte0 ^ Byte1 ^ Byte2 ^ Byte3 ^ Byte4 ^ Byte5 ^ Byte6`
+
+校验值存放在：
+
+`Byte7`
+
+接收端校验规则：
+
+`(Byte0 ^ Byte1 ^ Byte2 ^ Byte3 ^ Byte4 ^ Byte5 ^ Byte6) == Byte7`
+
+成立则数据有效。
+
+---
+
+## 4 数据编码说明
+
+VID 使用 **7 位 ASCII 字符**编码。
+
+常见字符范围：
+
+| 字符 | ASCII HEX |
+|-----|-----------|
+| 0 ~ 9 | 0x30 ~ 0x39 |
+| A ~ Z | 0x41 ~ 0x5A |
+
+---
+
+## 5 报文示例
+
+示例 VID：
+
+`V060003`
+
+ASCII 编码：
+
+`56 30 36 30 30 30 33`
+
+计算 XOR：
+
+`56 ^ 30 ^ 36 ^ 30 ^ 30 ^ 30 ^ 33 = 03`
+
+最终 CAN 报文：
+
+| ID | DLC | DATA |
+|----|-----|------|
+| 0x180 | 8 | 56 30 36 30 30 30 33 03 |
+
+---
+
+## 6 接收端解析流程
+
+1. 接收 CAN 报文
+2. 计算 Byte0~Byte6 XOR
+3. 与 Byte7 比较
+4. 校验通过则解析 ASCII 字符串
+
+字符串提取：
+
+`VID = Byte0~Byte6`
+
+示例：
+
+`V060003`
+
+---
+
+## 7 约束说明
+
+- VID 固定 **7 字符**
+- 不包含字符串结束符 `\0`
+- 必须为 **ASCII 可打印字符**
+- CAN DLC 固定为 **8**
--- a/src/base/mc/config/config.json
+++ b/src/base/mc/config/config.json
--- a/src/base/mc/include/mc/can_driver.h
+++ b/src/base/mc/include/mc/can_driver.h
--- a/src/base/mc/include/mc/can_struct.h
+++ b/src/base/mc/include/mc/can_struct.h
@ -1,10 +1,12 @@
 #ifndef CAN_STRUCT_H
 #define CAN_STRUCT_H

-#include <cstdint>
-#include <array>
 #include <string.h>
+
+#include <array>
+#include <cstdint>
 #include <iostream>
+
 #include "can_driver.h"

 #pragma pack(push, 1)  // 禁止结构体补齐，确保8字节紧密排列
@ -14,17 +16,14 @@ struct can_BMS_query_0x100
    // 报文ID与控制标志定义
    static constexpr uint32_t CMD_ID = 0x100;  // 标准帧ID
    static constexpr bool EXT_FLAG = false;    // 11位标准帧
-    static constexpr bool RTR_FLAG = false;   // 普通数据帧（非远程帧）
+    static constexpr bool RTR_FLAG = true;     // 普通数据帧（非远程帧）
    static constexpr uint8_t DLC = 8;          // 数据长度为8字节

    // 数据区（主机查询时通常发送全0）
    uint8_t data[8];

    // 构造函数：初始化数据为0
-    can_BMS_query_0x100()
-    {
-        memset(data, 0, sizeof(data));
-    }
+    can_BMS_query_0x100() { memset(data, 0, sizeof(data)); }

    // 生成CAN帧
    CANFrame toFrame() const
@ -44,17 +43,14 @@ struct can_BMS_query_0x101
    // 报文ID与控制标志定义
    static constexpr uint32_t CMD_ID = 0x101;  // 标准帧ID
    static constexpr bool EXT_FLAG = false;    // 11位标准帧
-    static constexpr bool RTR_FLAG = false;   // 普通数据帧（非远程帧）
+    static constexpr bool RTR_FLAG = true;     // 普通数据帧（非远程帧）
    static constexpr uint8_t DLC = 8;          // 数据长度为8字节

    // 数据区（主机查询时通常发送全0）
    uint8_t data[8];

    // 构造函数：初始化数据为0
-    can_BMS_query_0x101()
-    {
-        memset(data, 0, sizeof(data));
-    }
+    can_BMS_query_0x101() { memset(data, 0, sizeof(data)); }

    // 生成CAN帧
    CANFrame toFrame() const
@ -140,10 +136,7 @@ struct can_MCU_cmd
    }

    // 设置使能状态
-    void setEnabled(bool en)
-    {
-        data.fields.can_enabled = en ? 1 : 0;
-    }
+    void setEnabled(bool en) { data.fields.can_enabled = en ? 1 : 0; }

    // 设置档位 (0空挡,1后退,2前进,3保留)
    void setGear(uint8_t gear)
@ -152,10 +145,7 @@ struct can_MCU_cmd
    }

    // 设置刹车状态
-    void setBrake(bool brake_on)
-    {
-        data.fields.switch_status.brake = brake_on ? 1 : 0;
-    }
+    void setBrake(bool brake_on) { data.fields.switch_status.brake = brake_on ? 1 : 0; }

    // 设置转速 (0-6000rpm)
    void setRPM(uint16_t rpm)
@ -175,12 +165,12 @@ struct can_MCU_cmd
        frame.ext = EXT_FLAG;
        frame.rtr = RTR_FLAG;

-        // std::cout << "MCU frame : ";
+        // LOG_INFO("MCU frame : ");
        // for (int i = 0; i < 8; ++i)
        // {
-        //     printf("0X%x ", frame.data[i]);
+        //     LOG_INFO("0X%x ", frame.data[i]);
        // }
-        // printf("\n");
+        // LOG_INFO("");

        return frame;
    }
@ -208,10 +198,7 @@ struct can_EPS_cmd
        data.fields.angle_l = raw & 0xFF;
    }

-    void setCenterCmd(uint8_t cmd)
-    {
-        data.fields.center_cmd = cmd;
-    }
+    void setCenterCmd(uint8_t cmd) { data.fields.center_cmd = cmd; }

    void setAngularSpeed(uint16_t angle_speed)
    {
@ -285,52 +272,28 @@ struct can_VCU_motor1_cmd
    int8_t data[8]{};

    // 设置Byte0
-    void setByte0(int8_t direction)
-    {
-        data[0] = std::clamp(direction, static_cast<int8_t>(0), static_cast<int8_t>(2));
-    }
+    void setByte0(int8_t direction) { data[0] = std::clamp(direction, static_cast<int8_t>(0), static_cast<int8_t>(2)); }

    // 设置Byte1
-    void setByte1(int8_t value)
-    {
-        data[1] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte1(int8_t value) { data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte2
-    void setByte2(int8_t value)
-    {
-        data[2] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte2(int8_t value) { data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte3
-    void setByte3(int8_t value)
-    {
-        data[3] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte3(int8_t value) { data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte4
-    void setByte4(int8_t value)
-    {
-        data[4] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte4(int8_t value) { data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte5
-    void setByte5(int8_t value)
-    {
-        data[5] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte5(int8_t value) { data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte6
-    void setByte6(int8_t value)
-    {
-        data[6] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte6(int8_t value) { data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte7
-    void setByte7(int8_t value)
-    {
-        data[7] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte7(int8_t value) { data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    CANFrame toFrame() const
    {
@ -354,52 +317,28 @@ struct can_VCU_motor2_cmd
    int8_t data[8]{};

    // 设置Byte0
-    void setByte0(int8_t value)
-    {
-        data[0] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte0(int8_t value) { data[0] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte1
-    void setByte1(int8_t value)
-    {
-        data[1] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte1(int8_t value) { data[1] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte2
-    void setByte2(int8_t value)
-    {
-        data[2] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte2(int8_t value) { data[2] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte3
-    void setByte3(int8_t value)
-    {
-        data[3] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte3(int8_t value) { data[3] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte4
-    void setByte4(int8_t value)
-    {
-        data[4] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte4(int8_t value) { data[4] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte5
-    void setByte5(int8_t value)
-    {
-        data[5] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte5(int8_t value) { data[5] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte6
-    void setByte6(int8_t value)
-    {
-        data[6] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte6(int8_t value) { data[6] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    // 设置Byte7
-    void setByte7(int8_t value)
-    {
-        data[7] = std::clamp(value, static_cast<int8_t>(0), static_cast<int8_t>(100));
-    }
+    void setByte7(int8_t value) { data[7] = std::clamp(value, static_cast<int8_t>(-100), static_cast<int8_t>(100)); }

    CANFrame toFrame() const
    {
--- a/src/base/mc/include/mc/can_utils.hpp
+++ b/src/base/mc/include/mc/can_utils.hpp
--- a/src/base/mc/include/mc/control_cache.hpp
+++ b/src/base/mc/include/mc/control_cache.hpp
--- a/src/base/mc/include/mc/get_config.h
+++ b/src/base/mc/include/mc/get_config.h
--- a/src/base/mc/include/mc/timer_tasks.hpp
+++ b/src/base/mc/include/mc/timer_tasks.hpp
@ -1,6 +1,10 @@
 #pragma once
 #include "rclcpp/rclcpp.hpp"
 #include "mc/can_driver.h"
+#include <functional>

 // 注册所有定时器任务
 void setupTimers(rclcpp::Node::SharedPtr node, CANDriver &canctl);
+
+// 注册 VID 发送定时器任务
+void setupVidTimer(rclcpp::Node::SharedPtr node, std::function<void()> callback);
--- a/src/base/mc/include/mc/vid_transmit.hpp
+++ b/src/base/mc/include/mc/vid_transmit.hpp
@ -0,0 +1,114 @@
+#pragma once
+
+#include <cstdint>
+#include <cstring>
+#include <string>
+
+#include "logger/logger.h"
+#include "mc/can_driver.h"
+
+namespace vid_transmit
+{
+
+constexpr uint32_t VID_CAN_ID = 0x180;
+constexpr uint8_t VID_DLC = 8;
+constexpr size_t VID_LENGTH = 7;
+
+/**
+ * @brief 计算 XOR 校验值
+ * @param data 数据指针（至少 7 字节）
+ * @return 校验值
+ */
+inline uint8_t calculate_xor_check(const uint8_t* data)
+{
+    uint8_t check = 0;
+    for (size_t i = 0; i < VID_LENGTH; ++i)
+    {
+        check ^= data[i];
+    }
+    return check;
+}
+
+/**
+ * @brief 验证 VID 字符串格式
+ * @param vid VID 字符串
+ * @return 是否有效
+ */
+inline bool validate_vid(const std::string& vid)
+{
+    if (vid.length() != VID_LENGTH)
+    {
+        LOG_WARN("VID length invalid: expected %zu, got %zu", VID_LENGTH, vid.length());
+        return false;
+    }
+
+    for (char c : vid)
+    {
+        // 检查是否为 7 位 ASCII 可打印字符
+        if (static_cast<uint8_t>(c) > 0x7F || c < 0x20)
+        {
+            LOG_WARN("VID contains invalid character: 0x%02X", static_cast<uint8_t>(c));
+            return false;
+        }
+    }
+
+    return true;
+}
+
+/**
+ * @brief 构建 VID CAN 帧
+ * @param vid VID 字符串（7个ASCII字符）
+ * @param frame 输出的 CAN 帧
+ * @return 是否成功
+ */
+inline bool build_vid_frame(const std::string& vid, CANFrame& frame)
+{
+    if (!validate_vid(vid))
+    {
+        return false;
+    }
+
+    frame.id = VID_CAN_ID;
+    frame.dlc = VID_DLC;
+    frame.ext = false;
+    frame.rtr = false;
+
+    // 复制 VID ASCII 字符
+    std::memcpy(frame.data, vid.data(), VID_LENGTH);
+
+    // 计算并填充校验值
+    frame.data[7] = calculate_xor_check(frame.data);
+
+    return true;
+}
+
+/**
+ * @brief 发送 VID 到 CAN 总线
+ * @param can_driver CAN 驱动对象引用
+ * @param vid VID 字符串
+ * @return 是否成功发送
+ */
+inline bool send_vid_to_can(CANDriver& can_driver, const std::string& vid)
+{
+    CANFrame frame;
+
+    if (!build_vid_frame(vid, frame))
+    {
+        LOG_ERROR("Failed to build VID frame for VID: %s", vid.c_str());
+        return false;
+    }
+
+    if (!can_driver.sendFrame(frame))
+    {
+        LOG_ERROR_THROTTLE(5000, "Failed to send VID frame to CAN bus");
+        return false;
+    }
+
+    LOG_INFO_THROTTLE(5000, "VID sent to CAN bus: %s (CAN ID: 0x%03X, Data: %02X %02X %02X %02X %02X %02X %02X %02X)",
+                      vid.c_str(), frame.id, frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4],
+                      frame.data[5], frame.data[6], frame.data[7]);
+
+    return true;
+}
+
+}  // namespace vid_transmit
--- a/src/base/mc/include/nlohmann/adl_serializer.hpp
+++ b/src/base/mc/include/nlohmann/adl_serializer.hpp
--- a/src/base/mc/include/nlohmann/byte_container_with_subtype.hpp
+++ b/src/base/mc/include/nlohmann/byte_container_with_subtype.hpp
--- a/src/base/mc/include/nlohmann/detail/abi_macros.hpp
+++ b/src/base/mc/include/nlohmann/detail/abi_macros.hpp
--- a/src/base/mc/include/nlohmann/detail/conversions/from_json.hpp
+++ b/src/base/mc/include/nlohmann/detail/conversions/from_json.hpp
--- a/src/base/mc/include/nlohmann/detail/conversions/to_chars.hpp
+++ b/src/base/mc/include/nlohmann/detail/conversions/to_chars.hpp
--- a/src/base/mc/include/nlohmann/detail/conversions/to_json.hpp
+++ b/src/base/mc/include/nlohmann/detail/conversions/to_json.hpp
--- a/src/base/mc/include/nlohmann/detail/exceptions.hpp
+++ b/src/base/mc/include/nlohmann/detail/exceptions.hpp
--- a/src/base/mc/include/nlohmann/detail/hash.hpp
+++ b/src/base/mc/include/nlohmann/detail/hash.hpp
--- a/src/base/mc/include/nlohmann/detail/input/binary_reader.hpp
+++ b/src/base/mc/include/nlohmann/detail/input/binary_reader.hpp
--- a/src/base/mc/include/nlohmann/detail/input/input_adapters.hpp
+++ b/src/base/mc/include/nlohmann/detail/input/input_adapters.hpp
--- a/src/base/mc/include/nlohmann/detail/input/json_sax.hpp
+++ b/src/base/mc/include/nlohmann/detail/input/json_sax.hpp
--- a/src/base/mc/include/nlohmann/detail/input/lexer.hpp
+++ b/src/base/mc/include/nlohmann/detail/input/lexer.hpp
--- a/src/base/mc/include/nlohmann/detail/input/parser.hpp
+++ b/src/base/mc/include/nlohmann/detail/input/parser.hpp
--- a/src/base/mc/include/nlohmann/detail/input/position_t.hpp
+++ b/src/base/mc/include/nlohmann/detail/input/position_t.hpp
--- a/src/base/mc/include/nlohmann/detail/iterators/internal_iterator.hpp
+++ b/src/base/mc/include/nlohmann/detail/iterators/internal_iterator.hpp
--- a/src/base/mc/include/nlohmann/detail/iterators/iter_impl.hpp
+++ b/src/base/mc/include/nlohmann/detail/iterators/iter_impl.hpp
--- a/src/base/mc/include/nlohmann/detail/iterators/iteration_proxy.hpp
+++ b/src/base/mc/include/nlohmann/detail/iterators/iteration_proxy.hpp
--- a/src/base/mc/include/nlohmann/detail/iterators/iterator_traits.hpp
+++ b/src/base/mc/include/nlohmann/detail/iterators/iterator_traits.hpp
--- a/src/base/mc/include/nlohmann/detail/iterators/json_reverse_iterator.hpp
+++ b/src/base/mc/include/nlohmann/detail/iterators/json_reverse_iterator.hpp
--- a/src/base/mc/include/nlohmann/detail/iterators/primitive_iterator.hpp
+++ b/src/base/mc/include/nlohmann/detail/iterators/primitive_iterator.hpp
--- a/src/base/mc/include/nlohmann/detail/json_custom_base_class.hpp
+++ b/src/base/mc/include/nlohmann/detail/json_custom_base_class.hpp
--- a/src/base/mc/include/nlohmann/detail/json_pointer.hpp
+++ b/src/base/mc/include/nlohmann/detail/json_pointer.hpp
--- a/src/base/mc/include/nlohmann/detail/json_ref.hpp
+++ b/src/base/mc/include/nlohmann/detail/json_ref.hpp
--- a/src/base/mc/include/nlohmann/detail/macro_scope.hpp
+++ b/src/base/mc/include/nlohmann/detail/macro_scope.hpp
--- a/src/base/mc/include/nlohmann/detail/macro_unscope.hpp
+++ b/src/base/mc/include/nlohmann/detail/macro_unscope.hpp
--- a/src/base/mc/include/nlohmann/detail/meta/call_std/begin.hpp
+++ b/src/base/mc/include/nlohmann/detail/meta/call_std/begin.hpp
--- a/src/base/mc/include/nlohmann/detail/meta/call_std/end.hpp
+++ b/src/base/mc/include/nlohmann/detail/meta/call_std/end.hpp
--- a/src/base/mc/include/nlohmann/detail/meta/cpp_future.hpp
+++ b/src/base/mc/include/nlohmann/detail/meta/cpp_future.hpp
--- a/src/base/mc/include/nlohmann/detail/meta/detected.hpp
+++ b/src/base/mc/include/nlohmann/detail/meta/detected.hpp
--- a/src/base/mc/include/nlohmann/detail/meta/identity_tag.hpp
+++ b/src/base/mc/include/nlohmann/detail/meta/identity_tag.hpp
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
lyq	d11bb73beb	使能imu	2026-03-20 11:15:59 +08:00
lyq	e6f549cc2a	BMS查询改成远程帧	2026-03-19 15:22:13 +08:00
lyq	15b9046d8b	VID 透传改成200ms持续发布	2026-03-19 15:20:13 +08:00
lyq	a5bd401f9c	VID 透传	2026-03-19 10:21:26 +08:00
lyq	3391fa4d60	README	2026-03-12 16:46:57 +08:00
lyq	e1efdb45ab	sh	2026-03-12 16:17:55 +08:00
lyq	8a06e6b9a1	优化点云处理性能	2026-03-12 16:11:32 +08:00
lyq	0fc2f051f4	GPU	2026-03-11 17:22:18 +08:00
lyq	b3ee1a647d	fix bug	2026-03-11 14:46:50 +08:00
lyq	d3e57eb77e	gpu_processing	2026-03-11 13:59:03 +08:00
lyq	1c81a127af	sh	2026-03-09 19:08:52 +08:00
lyq	37d350dd82	format launch file	2026-03-09 19:08:43 +08:00
lyq	7d3ecde581	提升雷达数据处理性能	2026-03-09 13:39:01 +08:00
lyq	1960fc8805	检查栅格数据过期	2026-03-09 13:06:23 +08:00
lyq	96dde92d9e	fu_node 260306	2026-03-06 14:58:55 +08:00
lyq	0dd6687c09	提高遥控车速	2026-03-06 13:24:48 +08:00
lyq	4cdddde818	some routes	2026-03-06 13:24:28 +08:00
lyq	86d2d7d514	0228_2	2026-02-28 17:19:29 +08:00
lyq	11a7ee57aa	0228	2026-02-28 17:00:02 +08:00
lyq	c55105c9bf	从配置文件读取串口名	2026-02-28 13:25:32 +08:00
lyq	101bc924aa	start_all scipt	2026-02-26 14:09:01 +08:00
lyq	92beb100b8	更改控制通道	2026-02-25 13:39:57 +08:00
lyq	09fa75aa90	8 Channels print	2026-02-25 13:09:02 +08:00
lyq	d701062b3b	can_filter	2026-02-12 17:01:41 +08:00
lyq	eabf181280	云卓T12通讯遥控器CAN	2026-02-10 13:42:29 +08:00
lyq	347f980794	format task node	2026-02-09 13:50:34 +08:00
lyq	a8ed715631	修复遥控接收器松了还在发遥控指令BUG	2026-02-02 17:35:28 +08:00
lyq	3cdea52783	遇障停车bug	2026-02-02 17:32:55 +08:00
lyq	689c10bd91	修正先订阅topic再获取vid bug	2026-02-02 14:13:33 +08:00
lyq	93afcdebbb	提高代码健壮性	2026-02-02 13:59:53 +08:00
lyq	26d7ce5bf6	修正前进后退档位上报相反的问题	2026-02-02 13:19:41 +08:00
lyq	ee5f90c9ff	docs: 完善 README 文档，补充项目架构、功能模块、配置说明等完整信息	2026-01-30 10:50:35 +08:00
lyq	47f280b2a0	readme	2026-01-30 09:47:41 +08:00
lyq	7049668465	sh	2026-01-30 09:39:00 +08:00
lyq	7cf7201361	readme	2026-01-30 09:37:06 +08:00
lyq	381788f467	修改启动方式	2026-01-30 09:30:02 +08:00
lyq	0939e19f3b	launch包	2026-01-30 09:07:15 +08:00
lyq	d7ae466462	0129	2026-01-29 17:06:08 +08:00
lyq	02f0b42d36	修改绕障逻辑	2026-01-29 09:00:35 +08:00
lyq	7dc03a3c47	使能绕障	2026-01-27 10:28:46 +08:00
lyq	316e1e50eb	RsSDK 路径	2026-01-27 10:28:28 +08:00
lyq	853d0155fe	删除DetectLine相关	2026-01-27 10:22:50 +08:00
lyq	20b6002099	优化点云处理流程	2026-01-27 09:49:42 +08:00
lyq	45a853b86c	删除pub_gps包	2026-01-26 15:18:13 +08:00
lyq	61fd82ee18	调整打印	2026-01-26 15:17:55 +08:00
lyq	86871a4ab8	修复清扫部件初始化bug	2026-01-26 15:17:36 +08:00
lyq	5211cd55dc	修复使能可视化栅格但是不打印的bug	2026-01-23 14:45:24 +08:00
lyq	ae9b7c1704	修改远控逻辑	2026-01-22 15:54:01 +08:00
lyq	71e63419b8	B6门口	2026-01-22 15:53:42 +08:00
lyq	098e67d798	修改远控逻辑	2026-01-21 16:44:29 +08:00
lyq	4e6b05eb3f	关闭sub节点发布remote_mc_ctrl	2026-01-21 16:43:45 +08:00
lyq	8edaa28967	园区大圈2	2026-01-21 16:42:47 +08:00
lyq	886b6b6de3	解决打印的 MD5 和实际上传的 MD5 不一致。	2026-01-21 16:40:50 +08:00
lyq	466a615378	更新gitignore	2026-01-21 13:29:42 +08:00
lyq	0c429ac416	优化日志文件结构	2026-01-21 13:29:22 +08:00
lyq	58656ed633	园区大圈	2026-01-21 10:21:09 +08:00
lyq	707b5e0c66	修复路径上传vid为空bug	2026-01-21 10:20:58 +08:00
lyq	c52bce7aed	修复日志输出转义bug	2026-01-21 10:20:01 +08:00
lyq	06adb527c8	持久化日志并格式化代码	2026-01-20 14:18:54 +08:00
lyq	885277d97a	修改启动脚本，增加vehicle_params_node	2026-01-20 10:22:20 +08:00
lyq	605bedc3e0	添加高性能异步日志系统	2026-01-19 17:01:23 +08:00
lyq	9c73d52dce	修改task_manager节点获取vid和话题的方式	2026-01-19 14:36:36 +08:00
lyq	cec7a19971	修改远控节点获取vid及远控话题的方式	2026-01-19 10:17:00 +08:00
lyq	caeb6cbc2b	修改sub节点获取vid的方式，以及topic的方式	2026-01-15 17:05:43 +08:00
lyq	19182ffe53	合并gps上报功能，去除原有的pub_gps节点	2026-01-15 09:38:48 +08:00
lyq	180bf5df50	调整mqtt节点架构	2026-01-15 09:02:54 +08:00
lyq	d3246d551d	调整mqtt_node架构	2026-01-15 09:01:56 +08:00
lyq	43b8299e6a	合并定位信息上报节点至mqtt上报节点	2026-01-14 16:44:15 +08:00
lyq	977fab0f9a	添加部分打印信息	2026-01-13 17:29:29 +08:00
lyq	603dc42acf	修改mqtt上报节点的配置获取	2026-01-13 17:24:17 +08:00
lyq	cc09a445de	拆分节点逻辑与业务逻辑	2026-01-13 16:14:55 +08:00
lyq	3568ef7ff9	修改md5文件变量类型重定义	2026-01-13 15:16:58 +08:00
lyq	a115de4977	修改目录	2026-01-13 14:47:12 +08:00
lyq	9cc4998c71	修改配置文件和路径文件	2026-01-13 14:05:25 +08:00
lyq	d24ea2ece9	分离mqtt和任务管理；增加mqtt断线重连	2026-01-13 14:04:17 +08:00
lyq	d69cc29ec9	调整打印信息	2026-01-13 13:59:44 +08:00
lyq	d5b01517a0	调整优先级	2026-01-13 13:59:43 +08:00
lyq	cf5a698eb9	修改滚刷推杆不下沉的bug	2026-01-13 13:59:43 +08:00
lyq	0195ddb3f8	260106	2026-01-06 10:18:25 +08:00
lyq	f445d3718b	调整整体程序架构，进行功能区分	2026-01-05 15:47:58 +08:00
lyq	f0349d21f9	修改远控节点配置文件	2026-01-04 16:51:53 +08:00
lyq	4e62bf4e66	修正三方库	2025-12-30 11:36:49 +08:00
lyq	53f104fff0	修正paho库报错	2025-12-30 11:34:07 +08:00
lyq	f8dcfa68b5	修正三方库报错	2025-12-30 11:30:52 +08:00
lyq	673a5e4adc	修改远控看门狗逻辑	2025-12-30 11:25:32 +08:00
lyq	3ce0c0b16e	remote ctrl	2025-12-30 09:45:05 +08:00
lyq	5ddb2662c6	remote_ctrl	2025-12-19 15:20:59 +08:00
lyq	e5bd3f9c90	新采集的路线1204	2025-12-04 15:00:06 +08:00
lyq	e798a7c15f	调整一些打印	2025-12-04 14:59:41 +08:00
lyq	9e7ae8f7fd	bug:brake 搞反了应该1的	2025-12-04 14:59:04 +08:00
lyq	fdde0c6e24	降低打印输出频率	2025-11-26 09:45:13 +08:00
lyq	b5686a81b0	fix : mqtt 死锁	2025-11-18 13:36:06 +08:00
lyq	048cefc202	humble分支修改rtk串口号	2025-11-06 14:13:35 +08:00
lyq	b555b84e53	手柄控制脚本增加mqtt上报	2025-11-06 14:11:47 +08:00
lyq	4fde924479	humble分支修改rtk串口号	2025-11-06 14:11:09 +08:00