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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"

tools/set_volume.py

@@ -0,0 +1,44 @@
+#!/usr/bin/env python3
+import subprocess, sys
+
+# ============================================
+#  修改下面这个数字即可调整音量，范围 0 ~ 100
+# ============================================
+VOLUME = 80  # 百分比
+
+SINK = "alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo"
+
+def run(cmd):
+    subprocess.run(cmd, capture_output=True, text=True)
+
+def get_volume():
+    r = subprocess.run(["pactl", "get-sink-volume", SINK],
+                       capture_output=True, text=True)
+    for line in r.stdout.splitlines():
+        if "front-left:" in line:
+            print(f"当前音量: {line.strip()}")
+            return
+    print(r.stdout.strip())
+
+if len(sys.argv) > 1:
+    try:
+        v = int(sys.argv[1])
+        if 0 <= v <= 100:
+            VOLUME = v
+        else:
+            print("音量需在 0~100 之间")
+            sys.exit(1)
+    except ValueError:
+        print(f"用法: python3 set_volume.py [0~100]")
+        sys.exit(1)
+
+print(f"设置音量为 {VOLUME}% ...")
+run(["pactl", "set-sink-volume", SINK, f"{VOLUME}%"])
+
+# 有硬件 PCM 则同步设置
+r = subprocess.run(["amixer", "-c", "1", "set", "PCM", f"{VOLUME}%", "unmute"],
+                   capture_output=True, text=True)
+if r.returncode == 0:
+    print("已同步硬件 PCM")
+
+get_volume()