update : make_deb.sh

.gitignore

@@ -3,4 +3,3 @@ install
 log
 .vscode
 deb_build
-*.deb

README.md

@@ -81,12 +81,12 @@ sudo dpkg -r controller
 
 | 字段类型 | 字段名称                        | 取值范围 / 说明                                 | 功能描述                                                     |
 | -------- | ------------------------------- | ----------------------------------------------- | ------------------------------------------------------------ |
-| uint8    | brake                           | 0（开）、1（关）                                | 电磁刹控制：0 表示解除电磁刹，1 表示激活电磁刹               |
+| 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                             | 0-6000                                          | 电机转速指令，数值直接对应实际电机转速（rpm）                |
-| float32  | angle                           | \[-66.0, 66.0]（分辨率 0.2°，建议适当缩减范围） | 轮端转向角度控制，单位为度（°）                              |
+| 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                                |
+| bool     | sweep | true（清扫）、false（不清扫）               | 清扫                                |
 
 
 #### 对应 Topic
@@ -128,3 +128,5 @@ sudo dpkg -r controller
 | 版本 | 更新日期 | 更新内容                                                     | 开发者             |
 | ---- | -------- | ------------------------------------------------------------ | ------------------ |
 | V1.0 | 2025-09-02 | 初始版本，定义`McCtrl.msg`和`Rtk.msg`结构，明确 Topic  | \[zxwl] |
+| V1.1 | 2025-09-16 | controller.deb的安装、启动与卸载  | \[zxwl] |
+

make_deb.sh

@@ -10,10 +10,12 @@ 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
@@ -29,7 +31,44 @@ Depends: ros-humble-ros-base, libc6 (>= 2.34)
 Description: ${DESCRIPTION}
 EOF
 
-# 创建 start_all.sh
+# ============================
+# 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}/${INSTALL_DIR}/can.sh"
+
+# ============================
+# 创建 start_all.sh (nvidia 用户执行)
+# ============================
 cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF
 #!/bin/bash
 set -e
@@ -44,24 +83,45 @@ source ${INSTALL_DIR}/local_setup.bash
 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 &
+# 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 服务文件
+# ============================
+# systemd 服务目录
+# ============================
 mkdir -p "${WORKDIR}/etc/systemd/system"
-cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
+
+# CAN 配置服务 (root 执行)
+cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}-can.service" <<EOF
 [Unit]
-Description=Remote Controller Nodes
+Description=Configure CAN interface can0
 After=network.target
 
 [Service]
-Type=simple
+Type=oneshot
+ExecStart=${INSTALL_DIR}/can.sh
+RemainAfterExit=yes
 User=root
+
+[Install]
+WantedBy=multi-user.target
+EOF
+
+# ROS2 节点服务 (nvidia 用户执行，依赖 CAN 配置)
+cat > "${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=nvidia
 Environment="ROS_DISTRO=humble"
 ExecStart=${INSTALL_DIR}/start_all.sh
 Restart=on-failure
@@ -71,32 +131,41 @@ RestartSec=2
 WantedBy=multi-user.target
 EOF
 
-# postinst 脚本（安装后执行）
+# ============================
+# postinst 启用服务
+# ============================
 cat > "${WORKDIR}/DEBIAN/postinst" <<EOF
 #!/bin/bash
 set -e
 
 systemctl daemon-reload
+systemctl enable ${PKG_NAME}-can.service
 systemctl enable ${PKG_NAME}.service
 
 exit 0
 EOF
 chmod 755 "${WORKDIR}/DEBIAN/postinst"
 
-# postrm 脚本（卸载时执行）
+# ============================
+# 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"
 
-# 打包
+# ============================
+# 构建 deb 包
+# ============================
 dpkg-deb --build "${WORKDIR}" "${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
 
 echo "生成 ${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"