f5f3d53ec0
清理了一些没有用到的vlm_detect文件
2026-08-04 14:31:45 +08:00
78cf69493b
Merge branch 'master' of https://gitee.com/hikos/smart-healthcare-2026
2026-07-31 16:56:33 +08:00
1d2eeecd5b
修了一下障碍物相关
2026-07-31 16:54:19 +08:00
d03cefb07c
fix: remove hardcoded ROS shell paths
2026-07-30 19:48:35 +08:00
8de4e20046
feat: add mtran ROS2 translation service
2026-07-30 19:34:49 +08:00
0c09a97e7f
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Changes to be committed:
modified: src/my_robot_bringup/launch/master_launch.py
deleted: src/obs.zip
modified: src/vlm_detect/launch/vlm_detect.launch.py
2026-07-24 17:13:05 +08:00
cf86e01984
新增俯瞰图变换包，类似车辆环视图
2026-07-24 17:12:38 +08:00
609e1e51c1
障碍物nav2做了一些修改，使速度更快
2026-07-24 17:11:58 +08:00
300febd48a
修改了二维码检测的一些小bug
2026-07-24 17:11:19 +08:00
929d8e2e5c
docs: record DDS link recovery and live traffic proof
2026-07-23 19:27:17 +08:00
87f562d0ab
fix: follow current WSL peer for DDS
2026-07-23 19:25:58 +08:00
5b69043cae
docs: finalize Fast DDS 164 deployment record
2026-07-23 18:33:50 +08:00
985550a62f
docs: record successful Nav2 DDS verification
2026-07-23 18:27:04 +08:00
e365bce37d
fix: widen Fast DDS initial peer scan
2026-07-23 18:24:45 +08:00
f1513349ee
docs: record Fast DDS peer-range finding
2026-07-23 18:19:51 +08:00
32a253ab80
fix: add local Fast DDS bootstrap peer
2026-07-23 18:14:53 +08:00
69db586835
docs: record local DDS bootstrap finding
2026-07-23 18:08:45 +08:00
7663c16eed
docs: record dedicated DDS link verification
2026-07-23 18:05:40 +08:00
169c531559
docs: record Fast DDS validation findings
2026-07-23 18:02:09 +08:00
e7c3fe91b2
fix: disable Fast DDS discovery multicast
2026-07-23 16:47:15 +08:00
5e79b7ca0b
docs: record Domain 22 multicast finding
2026-07-23 16:41:31 +08:00
2540738a14
docs: record WSL interface-name deviation
2026-07-23 16:36:57 +08:00
d684ce64e2
docs: record WSL Fast DDS deployment
2026-07-23 15:55:16 +08:00
edbe450b66
feat: add dedicated Fast DDS 164 profile
2026-07-23 15:52:35 +08:00
c70f4921b7
docs: record Fast DDS network baseline
2026-07-23 15:48:39 +08:00
381d186b66
docs: add Fast DDS 164 implementation plan
2026-07-23 15:43:42 +08:00
64d8ac6c44
refactor: unify usb camera launch configuration
2026-07-23 15:36:21 +08:00
51a3b3ff0b
docs: design dedicated Fast DDS 164 link
2026-07-23 15:31:55 +08:00
70e7360ba2
docs: add unified usb camera launch plan
2026-07-23 15:15:59 +08:00
05f9d7b243
docs: design unified usb camera launch config
2026-07-23 15:09:24 +08:00
a5cee5e142
vlm和tts
2026-07-23 14:51:51 +08:00
90761b40b2
目前实现较快速从原点到达某个点，但是然后回到原点时有较大问题
2026-07-22 17:37:07 +08:00
9b06d149d5
迁移了原来的nav2包；新增基于obstacle_scanner构建costmap的nav2，暂未实际测试
2026-07-22 17:35:01 +08:00
c7260bd021
编写了一些脚本和工具-zbw
2026-07-22 17:32:57 +08:00
691e9c80bd
二维码检测：添加了判断顺逆时针的规则和发布内容；临时修改发布话题到了vlm中
2026-07-22 17:32:00 +08:00
fc6e796c28
障碍物检测v3，改成了卡尔曼滤波完整版
2026-07-22 17:30:03 +08:00
07c2ad6baf
docs: plan lightweight Kalman tracker implementation
2026-07-20 17:42:20 +08:00
646a3871e8
docs: design lightweight Kalman obstacle tracker
2026-07-20 17:32:25 +08:00
6c66789c78
docs: add obstacle nav2 implementation handoff
2026-07-20 16:51:11 +08:00
a5ddfeb451
docs: design odometry-only obstacle nav2 package
2026-07-20 16:41:40 +08:00
f4f0e16f1f
障碍物检测v2。在之前的基础上加上了卡尔曼滤波的跟踪，防止障碍物过远时只检测到两个点，无法识别为障碍物。
2026-07-12 22:22:43 +08:00
c8cd3c29f5
添加了新的planner，未实际实现过，需进行测试
2026-07-12 19:44:23 +08:00
79f0a4d586
添加了第一版雷达数据->障碍物坐标的功能包
2026-07-12 15:25:11 +08:00
f05c427efe
标定+USB摄像头启动
2026-07-12 13:52:32 +08:00
b044f6f294
修改了odom_conbied完全信任odom，odomyaw完全信任陀螺仪积分，不考虑四元数
2000-01-01 09:29:04 +08:00
48452d8d93
目前采用只使用陀螺仪z轴数据
2000-01-01 08:58:21 +08:00
2f51de27e5
零漂数据采集拟合
2000-01-01 08:38:51 +08:00
b14befd1cf
此更改更改了imu数据处理方式，使得静止状态yaw不会发生偏移，后续应优化陀螺仪数据处理：低通滤波会导致相位延迟、滑动窗口会导致数据有微量误差。
...
无法避免运动过程中的yaw偏移。
后续应在运动时也加上零漂偏移
2026-06-23 22:34:15 +08:00
630cb18277
hbmem usb摄像头的二维码检测
2026-06-22 21:54:12 +08:00
3afee818e8
修改了bttree和规划逻辑，每秒执行一次规划
2026-06-22 18:06:53 +08:00
