update param

src/rm_bringup/config/node_params/armor_detector_params.yaml

@@ -5,7 +5,7 @@
     debug.enable_terminal_log: false
     debug.enable_markers: false
     debug.enable_lights_msg: false
-    debug.enable_armors_msg: false
+    debug.enable_armors_msg: true
     debug.enable_binary_img: true
     debug.enable_number_img: false
     debug.enable_result_img: true
@@ -14,7 +14,7 @@
     process_every_n_frames: 2
     target_frame: odom
     detect_color: 1
-    binary_thres: 170
+    binary_thres: 80
 
     use_pca: true # 使用PCA算法矫正灯条的角点
     use_ba: false # 使用BA优化算法求解装甲板的Yaw角 

src/rm_bringup/config/node_params/armor_solver_params.yaml

@@ -23,8 +23,8 @@
       r_yaw: 2e-3
 
     tracker:
-      max_match_distance: 0.3
-      max_match_yaw_diff: 0.3
+      max_match_distance: 0.8
+      max_match_yaw_diff: 0.8
 
       tracking_thres: 1
       lost_time_thres: 1.0
@@ -36,7 +36,7 @@
       shooting_range_height: 0.10  #射击范围
       prediction_delay: 0.02       # 预测装甲板位置的延时，单位秒，+飞行时间
       controller_delay: 0.01       
-      max_tracking_v_yaw: 60.1 #转速(rad/s)大于这个值时瞄准机器人中心 
+      max_tracking_v_yaw: 5.0 #转速(rad/s)大于这个值时瞄准机器人中心 
       side_angle: 15.0 
       compenstator_type: "resistance" 
       gravity: 9.792

src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml

@@ -7,13 +7,13 @@
     # YOLO params
     conf_threshold: 0.75
     nms_threshold: 0.50
-    detect_color: 1
+    detect_color: 0
 
     # ROI expansion (pixels)
-    roi_expand_pixel: 80
+    roi_expand_pixel: 160
 
     # Binary threshold for light detection
-    binary_thres: 100
+    binary_thres: 80
 
     # Binary threshold calibration mode
     # When enabled, automatically calibrates binary_thres to match traditional detection size with YOLO
@@ -47,5 +47,5 @@
     debug: true
     debug_log_interval_frames: 60
     debug.enable_terminal_log: true
-    debug.enable_markers: false
+    debug.enable_markers: true
     debug.enable_result_img: true