增加雷达

README.md

@@ -63,18 +63,58 @@ curl http://{IP}:8765/state
 
 ```json
 {
-  "x": -2.0,
-  "y": -2.3,
-  "z": 0.08,
-  "yaw_deg": 0.0,
-  "speed_target": 1.0,
-  "speed_actual": 0.98,
-  "steer_target": 0.0,
-  "speed_amp": 1.0,
-  "steer_amp": 0.35
+  "x": -2.0, "y": -2.3, "z": 0.08, "yaw_deg": 0.0,
+  "vx": 0.98, "vy": 0.0, "wx": 0.0, "wy": 0.0, "wz": 0.01,
+  "speed_target": 1.0, "speed_actual": 0.98, "steer_target": 0.0,
+  "speed_amp": 1.0, "steer_amp": 0.35
 }
 ```
 
+### GET `/scan`
+
+模拟 LSLIDAR N10 2D 激光雷达（360°, 450 点）。
+
+```bash
+curl http://{IP}:8765/scan
+```
+
+返回示例：
+
+```json
+{
+  "angle_min": -3.14, "angle_max": 3.14, "angle_increment": 0.014,
+  "range_min": 0.15, "range_max": 3.0,
+  "ranges": [0.52, 0.51, 0.53, ...]
+}
+```
+
+### GET `/odom`
+
+里程计数据（匹配 `nav_msgs/Odometry`）。
+
+```bash
+curl http://{IP}:8765/odom
+```
+
+返回示例：
+
+```json
+{
+  "x": -2.0, "y": -2.3, "yaw": 3.14,
+  "vx": 0.98, "vy": 0.0, "wz": 0.01,
+  "orientation": {"w": 0.0, "x": 0.0, "y": 0.0, "z": 1.0}
+}
+```
+
+### GET `/power`
+
+电池电压（模拟 12V）。
+
+```bash
+curl http://{IP}:8765/power
+# → {"voltage": 12.0}
+```
+
 ### GET `/imu`
 
 获取 IMU 数据（含 MPU6050 噪声），JSON。
@@ -107,11 +147,28 @@ curl -X POST http://{IP}:8765/cmd \
   -d '{"speed": 1.0, "steer": 0.3}'
 ```
 
+**Ackermann 模式**：
+
 | 字段 | 类型 | 说明 |
 |------|------|------|
 | `speed` | float | 目标速度 m/s，正=前进，负=后退 |
 | `steer` | float | 目标转向角 rad，正=左转，负=右转 |
 
+**差速模式**（兼容 `cmd_vel/Twist`）：
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `vx` | float | 线速度 m/s |
+| `vy` | float | 横向速度 m/s（忽略） |
+| `wz` | float | 角速度 rad/s，自动转为转向角 |
+
+```bash
+# 差速模式
+curl -X POST http://{IP}:8765/cmd \
+  -H "Content-Type: application/json" \
+  -d '{"vx": 1.0, "wz": 0.5}'
+```
+
 **Python 客户端示例**：
 
 ```python
@@ -135,40 +192,69 @@ time.sleep(2)
 requests.post(f"http://{IP}:8765/cmd", json={"speed": 0.0, "steer": 0.0})
 ```
 
-**ROS2 桥接示例**：
+**ROS2 桥接示例**（仿真机 HTTP → ROS2 局域网）：
 
 ```python
 import rclpy
 from rclpy.node import Node
-from sensor_msgs.msg import Image as RosImage
-from geometry_msgs.msg import Twist
-from cv_bridge import CvBridge
-import requests
-import numpy as np
-import cv2
+from sensor_msgs.msg import Image, Imu, LaserScan
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Twist, Quaternion
+from std_msgs.msg import Float32
+import requests, math, numpy as np, cv2
 
 IP = "192.168.1.100"
 
 class OrigincarBridge(Node):
     def __init__(self):
         super().__init__("origincar_bridge")
-        self.bridge = CvBridge()
-        self.pub = self.create_publisher(RosImage, "/image", 10)
+        self.pub_scan = self.create_publisher(LaserScan, "/scan", 10)
+        self.pub_odom = self.create_publisher(Odometry, "/odom", 10)
+        self.pub_imu  = self.create_publisher(Imu, "/imu/data_raw", 10)
+        self.pub_pwr  = self.create_publisher(Float32, "/PowerVoltage", 10)
         self.sub = self.create_subscription(Twist, "/cmd_vel", self.cmd_cb, 10)
-        self.timer = self.create_timer(0.1, self.fetch_and_publish)
+        self.timer = self.create_timer(0.033, self.sync)  # ~30Hz
 
-    def fetch_and_publish(self):
-        r = requests.get(f"http://{IP}:8765/image", timeout=1)
-        if r.status_code == 200:
-            arr = np.frombuffer(r.content, np.uint8)
-            cv_img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
-            msg = self.bridge.cv2_to_imgmsg(cv_img, "bgr8")
-            self.pub.publish(msg)
+    def sync(self):
+        # LaserScan
+        data = requests.get(f"http://{IP}:8765/scan", timeout=1).json()
+        msg = LaserScan()
+        msg.header.frame_id = "laser"; msg.header.stamp = self.get_clock().now().to_msg()
+        msg.angle_min = data["angle_min"]; msg.angle_max = data["angle_max"]
+        msg.angle_increment = data["angle_increment"]
+        msg.range_min = data["range_min"]; msg.range_max = data["range_max"]
+        msg.ranges = data["ranges"]
+        self.pub_scan.publish(msg)
+
+        # Odometry
+        odom = requests.get(f"http://{IP}:8765/odom", timeout=1).json()
+        o = Odometry()
+        o.header.frame_id = "odom"; o.child_frame_id = "base_link"
+        o.pose.pose.position.x = odom["x"]; o.pose.pose.position.y = odom["y"]
+        o.pose.pose.orientation = Quaternion(**odom["orientation"])
+        o.twist.twist.linear.x = odom["vx"]; o.twist.twist.angular.z = odom["wz"]
+        self.pub_odom.publish(o)
+
+        # IMU
+        imu_d = requests.get(f"http://{IP}:8765/imu", timeout=1).json()
+        imu = Imu()
+        imu.header.frame_id = "gyro_link"
+        imu.orientation = Quaternion(**imu_d["orientation"])
+        imu.angular_velocity.x = imu_d["angular_velocity"]["x"]
+        imu.angular_velocity.y = imu_d["angular_velocity"]["y"]
+        imu.angular_velocity.z = imu_d["angular_velocity"]["z"]
+        imu.linear_acceleration.x = imu_d["linear_acceleration"]["x"]
+        imu.linear_acceleration.y = imu_d["linear_acceleration"]["y"]
+        imu.linear_acceleration.z = imu_d["linear_acceleration"]["z"]
+        self.pub_imu.publish(imu)
+
+        # Power
+        p = Float32(data=requests.get(f"http://{IP}:8765/power", timeout=1).json()["voltage"])
+        self.pub_pwr.publish(p)
 
     def cmd_cb(self, msg: Twist):
         requests.post(f"http://{IP}:8765/cmd", json={
-            "speed": msg.linear.x,
-            "steer": msg.angular.z
+            "vx": msg.linear.x, "wz": msg.angular.z
         })
 
 rclpy.init()