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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"
智慧医疗2026年代码仓库
一、文件夹说明
dependencies
dependencies.txt存储依赖名称
src
存放源代码
bashes
自动脚本的存放路径
二、关于雷达驱动自动配置脚本的说明
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)
- 放到固定位置并授权
sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh sudo chmod +x /usr/local/bin/radar-driver-switch.sh sudo chown root:root /usr/local/bin/radar-driver-switch.sh - 创建 systemd 服务文件
编辑内容：
sudo vim /etc/systemd/system/radar-driver-switch.service[Unit] Description=雷达驱动自动切换程序 After=sysfs.target udev.target systemd-udevd.service Before=multi-user.target [Service] Type=oneshot ExecStart=/usr/local/bin/radar-driver-switch.sh User=root Group=root StandardOutput=journal+console StandardError=journal+console [Install] WantedBy=multi-user.target - 应用开机自启
sudo systemctl daemon-reload sudo systemctl enable radar-driver-switch.service - 测试与debug
- 测试一次
sudo systemctl start radar-driver-switch.service - 查看状态 / 日志（排查必用）
sudo systemctl status radar-driver-switch.service - 看 dmesg 日志
dmesg | grep 雷达驱动自动切换程序
- 测试一次
特别说明
- 关于退出码对应的情况，详见sh文件开头
- 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
2. 使用说明：
-
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
-
查看雷达是否物理连接
lsusb返回的数据中，如果有
ID 1a86:55d4 QinHeng Electronics USB Single Serial，则物理连接成功。 -
查看是否成功驱动雷达
ls /dev/tty*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；如果出现
ttyCH340，则说明雷达设备驱动成功
三、指令
启动雷达：
ros2 launch lslidar_driver lsn10_launch.py
open new terminal
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 1\ # (open radar)
ros2 topic pub -1 /lslidar_order std_msgs/msg/Int8 data:\ 0\ # (close radar)
四、其它说明
我设置了一些自定义指令，方便终端调试：
rosbuild <package_name> # 编译指定包
build_debug <package_name> # 以调试模式编译指定包
foxglove # 启动foxbridge
启动键盘控制：
ros2 run teleop_twist_keyboard teleop_twist_keyboard
运行二维码检测（无缓存版）：
ros2 run qr_detection qr_dete_depth_node --ros-args -p use_buffer:=false
五、tools 工具使用
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
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）
windows_keyboard_control.py：用于Windows端发送Twist控制命令（键盘遥控）
udp_to_cmdvel.py：用于板端接收键盘遥控命令（与上一个文件联动）