forked from zbw/yiliao2026
Please enter the commit message for your changes. Lines starting
with '#' will be ignored, and an empty message aborts the commit. On branch master Your branch is ahead of 'origin/master' by 2 commits. (use "git push" to publish your local commits) Changes to be committed: modified: .gitignore modified: README.md new file: bashes/auto-wifi-connect.service new file: bashes/auto-wifi-connect.sh deleted: keyboard_control.py new file: my_model/image.png new file: path_follower_demo.py new file: scripts/PIDtracking.py new file: scripts/__pycache__/publish_sine_path.cpython-310.pyc new file: scripts/publish_sine_path.py modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2 modified: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/ekf.yaml.bak modified: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/base_serial.launch.py.bak modified: src/origincar_base/launch/origincar_bringup.launch.py new file: src/past_control/CMakeLists.txt new file: src/past_control/config/past_control.yaml new file: src/past_control/include/past_control/tools.h new file: src/past_control/launch/past_control.launch.py new file: src/past_control/msg/Obstacle.msg new file: src/past_control/msg/ObstacleArray.msg new file: src/past_control/package.xml new file: src/past_control/src/lane_follower_node.cpp new file: src/past_control/src/obstacle_detector_node.cpp new file: src/past_control/src/racing_orchestrator.cpp new file: src/planner/CMakeLists.txt new file: src/planner/config/planner.yaml new file: src/planner/launch/planner.launch.py new file: src/planner/package.xml new file: src/planner/src/planner_version.cpp modified: src/qr_detection/src/qr_dete_depth.cpp new file: src/racing_control/CMakeLists.txt new file: src/racing_control/include/racing_control/racing_control.hpp new file: src/racing_control/package.xml new file: src/racing_control/src/racing_control.cpp modified: src/vlm_detect/setup.py new file: src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc new file: src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc new file: src/vlm_detect/vlm_detect/test_publisher.py new file: src/vlm_detect/vlm_detect/tts_node.py modified: src/vlm_detect/vlm_detect/vlm_node.py new file: tools/measure_turning_radius.py new file: tools/set_volume.py new file: tools/udp_to_cmdvel.py new file: tools/windows_keyboard_control.py new file: vlm_server.py new file: "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png" renamed: "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"
This commit is contained in:
@@ -1,51 +1,24 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
import launch_ros.actions
|
||||
|
||||
def generate_launch_description():
|
||||
akmcar = LaunchConfiguration('akmcar', default='false')
|
||||
|
||||
robot_parameters = [
|
||||
{'usart_port_name': '/dev/ttyACM0',
|
||||
'serial_baud_rate': 115200,
|
||||
'robot_frame_id': 'base_link',
|
||||
'odom_frame_id': 'odom',
|
||||
'cmd_vel': 'cmd_vel',
|
||||
'akm_cmd_vel': 'none',
|
||||
'product_number': 0,
|
||||
# Odom covariance (higher = more uncertainty, EKF trusts odom less)
|
||||
'odom_pose_cov_x': 0.01,
|
||||
'odom_pose_cov_y': 0.01,
|
||||
'odom_pose_cov_yaw': 0.0225}
|
||||
]
|
||||
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument(
|
||||
'akmcar',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true'
|
||||
),
|
||||
|
||||
launch_ros.actions.Node(
|
||||
condition=IfCondition(akmcar),
|
||||
package='origincar_base',
|
||||
executable='origincar_base_node',
|
||||
parameters=robot_parameters + [{'akm_cmd_vel': 'ackermann_cmd'}],
|
||||
remappings=[('/cmd_vel', 'cmd_vel')],
|
||||
),
|
||||
|
||||
launch_ros.actions.Node(
|
||||
condition=IfCondition(akmcar),
|
||||
package='origincar_base',
|
||||
executable='cmd_vel_to_ackermann_drive.py',
|
||||
name='cmd_vel_to_ackermann_drive',
|
||||
),
|
||||
|
||||
launch_ros.actions.Node(
|
||||
condition=UnlessCondition(akmcar),
|
||||
package='origincar_base',
|
||||
executable='origincar_base_node',
|
||||
parameters=robot_parameters + [{'akm_cmd_vel': 'none'}],
|
||||
parameters=robot_parameters,
|
||||
)
|
||||
])
|
||||
|
||||
51
src/origincar_base/launch/base_serial.launch.py.bak
Normal file
51
src/origincar_base/launch/base_serial.launch.py.bak
Normal file
@@ -0,0 +1,51 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
import launch_ros.actions
|
||||
|
||||
def generate_launch_description():
|
||||
akmcar = LaunchConfiguration('akmcar', default='false')
|
||||
|
||||
robot_parameters = [
|
||||
{'usart_port_name': '/dev/ttyACM0',
|
||||
'serial_baud_rate': 115200,
|
||||
'robot_frame_id': 'base_link',
|
||||
'odom_frame_id': 'odom',
|
||||
'cmd_vel': 'cmd_vel',
|
||||
'product_number': 0,
|
||||
# Odom covariance (higher = more uncertainty, EKF trusts odom less)
|
||||
'odom_pose_cov_x': 0.01,
|
||||
'odom_pose_cov_y': 0.01,
|
||||
'odom_pose_cov_yaw': 0.0225}
|
||||
]
|
||||
|
||||
return LaunchDescription([
|
||||
DeclareLaunchArgument(
|
||||
'akmcar',
|
||||
default_value='false',
|
||||
description='Use simulation (Gazebo) clock if true'
|
||||
),
|
||||
|
||||
launch_ros.actions.Node(
|
||||
condition=IfCondition(akmcar),
|
||||
package='origincar_base',
|
||||
executable='origincar_base_node',
|
||||
parameters=robot_parameters + [{'akm_cmd_vel': 'ackermann_cmd'}],
|
||||
remappings=[('/cmd_vel', 'cmd_vel')],
|
||||
),
|
||||
|
||||
launch_ros.actions.Node(
|
||||
condition=IfCondition(akmcar),
|
||||
package='origincar_base',
|
||||
executable='cmd_vel_to_ackermann_drive.py',
|
||||
name='cmd_vel_to_ackermann_drive',
|
||||
),
|
||||
|
||||
launch_ros.actions.Node(
|
||||
condition=UnlessCondition(akmcar),
|
||||
package='origincar_base',
|
||||
executable='origincar_base_node',
|
||||
parameters=robot_parameters + [{'akm_cmd_vel': 'none'}],
|
||||
)
|
||||
])
|
||||
@@ -23,7 +23,7 @@ def generate_launch_description():
|
||||
carto_slam = LaunchConfiguration('carto_slam', default='false')
|
||||
carto_slam_dec = DeclareLaunchArgument('carto_slam',default_value='false')
|
||||
|
||||
akmcar = LaunchConfiguration('akmcar', default='true')
|
||||
akmcar = LaunchConfiguration('akmcar', default='false')
|
||||
akmcar_dec = DeclareLaunchArgument('akmcar', default_value='true',
|
||||
description='阿克曼底盘模式 (true=阿克曼, false=差速)')
|
||||
|
||||
|
||||
Reference in New Issue
Block a user