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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"
113 lines
3.5 KiB
Markdown
113 lines
3.5 KiB
Markdown
# 智慧医疗2026年代码仓库
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# 一、文件夹说明
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## `dependencies`
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`dependencies.txt`存储依赖名称
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## `src`
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存放源代码
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## `bashes`
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自动脚本的存放路径
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---
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<br></br>
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# 二、关于雷达驱动自动配置脚本的说明
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## 1. 配置说明：在设备上配置开机自启动(仅使用雷达的情况直接看第二点)
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1. 放到固定位置并授权
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```bash
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sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh
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sudo chmod +x /usr/local/bin/radar-driver-switch.sh
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sudo chown root:root /usr/local/bin/radar-driver-switch.sh
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```
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2. 创建 systemd 服务文件
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```bash
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sudo vim /etc/systemd/system/radar-driver-switch.service
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```
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编辑内容：
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```ini
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[Unit]
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Description=雷达驱动自动切换程序
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After=sysfs.target udev.target systemd-udevd.service
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Before=multi-user.target
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[Service]
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Type=oneshot
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ExecStart=/usr/local/bin/radar-driver-switch.sh
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User=root
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Group=root
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StandardOutput=journal+console
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StandardError=journal+console
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[Install]
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WantedBy=multi-user.target
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```
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3. 应用开机自启
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```bash
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sudo systemctl daemon-reload
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sudo systemctl enable radar-driver-switch.service
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```
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4. 测试与debug
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- 测试一次
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```bash
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sudo systemctl start radar-driver-switch.service
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```
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- 查看状态 / 日志（排查必用）
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```bash
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sudo systemctl status radar-driver-switch.service
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```
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- 看 dmesg 日志
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```bash
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dmesg | grep 雷达驱动自动切换程序
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```
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---
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### 特别说明
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1. 关于退出码对应的情况，详见sh文件开头
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2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看
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## 2. 使用说明：
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1. 设备开机自动启动脚本连接雷达。若开机时雷达与设备没有物理连接，则需要手动启动脚本连接雷达
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2. 查看雷达是否物理连接
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```bash
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lsusb
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```
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返回的数据中，如果有` ID 1a86:55d4 QinHeng Electronics USB Single Serial`，则物理连接成功。
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3. 查看是否成功驱动雷达
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```bash
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ls /dev/tty*
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```
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看返回数据，默认串口连接设备为`ttyACM*`，名为`ttyACM0`的设备是IMU，如果存在`ttyACM1`，则雷达连接失败；
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如果出现`ttyCH340`，则说明雷达设备驱动成功
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---
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<br></br>
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# 三、指令
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启动雷达：
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`ros2 launch lslidar_driver lsn10_launch.py `
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open new terminal
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```bash
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ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ # (open radar)
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ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ # (close radar)
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```
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# 四、其它说明
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我设置了一些自定义指令，方便终端调试：
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```bash
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rosbuild <package_name> # 编译指定包
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build_debug <package_name> # 以调试模式编译指定包
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foxglove # 启动foxbridge
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```
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启动键盘控制：
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`ros2 run teleop_twist_keyboard teleop_twist_keyboard `
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运行二维码检测（无缓存版）：
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`ros2 run qr_detection qr_dete_depth_node --ros-args -p use_buffer:=false`
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# 五、tools 工具使用
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`measure_turning_radius.py`：功能为测试实际转向角度与输入的关系。启动后，会在/turning_radius_data文件夹下生成测试数据
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`set_volume.py`：功能为设置USB声卡的音量，修改第七行或直接`python3 set_volume.py 80`即可更改为80（或任何你想要的数字）
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`windows_keyboard_control.py`：用于Windows端发送Twist控制命令（键盘遥控）
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`udp_to_cmdvel.py`：用于板端接收键盘遥控命令（与上一个文件联动）
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