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cyy_mac
2026-03-25 12:37:08 +08:00
commit 5e1e355ffa
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20
src/rm_bringup/config/camera_info.yaml Normal file
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image_width: 1440
image_height: 1080
camera_name: hik
camera_matrix:
rows: 3
cols: 3
data: [1762.08104, 0.000000, 713.40561, 0.000000, 1770.76313, 555.02238, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.062731, 0.093291, -0.003401, 0.001370, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
projection_matrix:
rows: 3
cols: 4
data: [1747.58521, 0.000000, 714.12243, 0.000000, 0.000000, 1760.43799, 552.92865, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

48
src/rm_bringup/config/launch_params.yaml Normal file
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odom2camera:
xyz: "\"0.1536 -0.061325 0.0097\""
rpy: "\"0.0 0.0 0.0\"" #p越大越低，，，y越大偏左
#pitch_diff为负，偏上，yaw_diff为负，偏左
# 0.0148,,,0.003
# 枪管相对于pitch_link的偏移 [x=向前, y=向左, z=向上] 单位:米
barrel:
xyz: "\"0.18025 0.0 0.0\""
rpy: "\"0.0 0.0 0.0\""
#176
# 云台轴间距偏移 [x, y, z] (单位: 米)
# pitch轴相对于yaw轴的偏移
yaw_to_pitch_offset: [0.0, 0.0, 0.0]
# yaw->pitch 半径 (单位: 米)，用于角度驱动的 x/z 偏移
yaw_to_pitch_radius: 0.128
# 是否使用电控下发的 yaw->pitch 夹角
use_yaw_to_pitch_angle: true
# use_yaw_to_pitch_angle 为 true 时接收 20 字节；为 false 时接收 16 字节
# 是否启用枪管坐标系进行更精确的弹道解算
use_barrel_frame: true
# 设置启动参数
# 命名空间 所有节点、话题都会以这个命名空间开头，如 some_namespace/image_raw
namespace: ''
# true: 读取视频 false: 读取相机
video_play: false
# 相机类型: hik(海康) - 仅当video_play为false时生效
camera_type: hik
# true: 虚拟下位机 false: 实车
virtual_serial: false
# true: 英雄解算 false: 传统解算
hero_solver: false
# 装甲板识别方法切换（仅改这里）
# detect: 传统cv装甲板
# yolo_detect: YOLO装甲板
armor_detector_method: yolo_detect
# 兼容保留项（由 bringup.launch.py 读取）。
# 当前重新拉取版 armor_yolo_detect 节点本身不使用该参数，保留 false 即可。
yolo_require_tf: false
# true: 开启打符 false: 关闭打符
rune: false
# true: 启动导航tf false: 不启动导航tf
navigation: false

36
src/rm_bringup/config/node_params/armor_detector_params.yaml Normal file
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/**:
ros__parameters:
debug: true
debug_log_interval_frames: 60
debug.enable_terminal_log: false
debug.enable_markers: false
debug.enable_lights_msg: false
debug.enable_armors_msg: false
debug.enable_binary_img: true
debug.enable_number_img: false
debug.enable_result_img: true
tf_error_log_interval_ms: 1000
max_queue_size: 1
process_every_n_frames: 2
target_frame: odom
detect_color: 1
binary_thres: 170
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
light.use_fit_line: true # 使用最小二乘直线拟合(cv::fitLine)矫正灯条上下端点
light.min_ratio: 0.0001
light.max_ratio: 1.0
light.max_angle: 40.0
light.color_diff_thresh: 20
armor.min_light_ratio: 0.8
armor.min_small_center_distance: 0.8
armor.max_small_center_distance: 3.5
armor.min_large_center_distance: 3.5
armor.max_large_center_distance: 8.0
armor.max_angle: 35.0
classifier_threshold: 0.7
ignore_classes: ["negative"]

58
src/rm_bringup/config/node_params/armor_solver_params.yaml Normal file
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/**:
ros__parameters:
debug: true
bullet_speed_debug: true #测试弹速
target_frame: odom
max_armor_distance: 10.0
ekf:
# Adaptive Q matrix parameters
# Q noise varies based on velocity: high angular vel -> lower position noise, high linear vel -> lower yaw noise
# Formula: s2q = exp(-vel) * (max - min) + min
sigma2_q_xyz_max: 0.50 # Position noise upper bound (when target moves slowly)
sigma2_q_xyz_min: 0.01 # Position noise lower bound (when target spins fast)
sigma2_q_yaw_max: 0.50 # Yaw noise upper bound (when target moves slowly)
sigma2_q_yaw_min: 0.01 # Yaw noise lower bound (when target moves fast)
sigma2_q_r: 4.0 # Radius noise (fixed)
sigma2_q_d_zc: 8.0 # Height offset noise (fixed)
# R matrix parameters (measurement noise, scaled by distance)
r_x: 2e-3
r_y: 2e-3
r_z: 50e-3
r_yaw: 2e-3
tracker:
max_match_distance: 0.3
max_match_yaw_diff: 0.3
tracking_thres: 1
lost_time_thres: 1.0
solver:
shoot_rate: 3
bullet_speed: 20.5
shooting_range_width: 0.10 #射击范围
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
side_angle: 15.0
compenstator_type: "resistance"
gravity: 9.792
resistance: 0.038
iteration_times: 20 # 补偿的迭代次数
# ["距离下限, 距离上限, 高度下限, 高度下限, pitch轴补偿值"]
# [dist_low, dist_high, height_low, height_high, pitch_offset_deg, yaw_offset_deg]
angle_offset: [
"2.5 3.5 -1.0 0.4 0.0 0.0",
"5.0 6.0 0.4 0.8 0.0 0.0",
"5.0 6.0 0.8 1.2 0.0 0.0",
"6.0 7.0 -1.0 0.4 0.0 0.0",
"6.0 7.0 0.4 0.8 0.0 0.0",
"6.0 7.0 0.8 1.2 0.0 0.0",
"7.0 8.0 -1.0 0.4 0.0 0.0",
"7.0 8.0 0.4 0.8 0.0 0.0",
"7.0 8.0 0.8 1.2 0.0 0.0",
]

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src/rm_bringup/config/node_params/armor_yolo_detect_params.yaml Normal file
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/**:
ros__parameters:
# Detection mode: 0=HYBRID_SYNC every picture, 1=HYBRID_ROI_CACHE
detector_mode: 1
roi_update_interval: 3
# YOLO params
conf_threshold: 0.75
nms_threshold: 0.50
detect_color: 1
# ROI expansion (pixels)
roi_expand_pixel: 80
# Binary threshold for light detection
binary_thres: 100
# Light detection params
light.use_fit_line: true
light.min_ratio: 0.08
light.max_ratio: 0.4
light.max_angle: 40.0
light.color_diff_thresh: 25
# Armor matching params
armor.min_light_ratio: 0.6
armor.min_small_center_distance: 0.8
armor.max_small_center_distance: 3.2
armor.min_large_center_distance: 3.2
armor.max_large_center_distance: 5.0
armor.max_angle: 35.0
# Queue and processing
max_queue_size: 1
process_every_n_frames: 2
use_ba: false
target_frame: odom
# Debug
debug: true
debug_log_interval_frames: 60
debug.enable_terminal_log: true
debug.enable_markers: false
debug.enable_result_img: true

11
src/rm_bringup/config/node_params/camera_driver_params.yaml Normal file
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/**:
ros__parameters:
camera_info_url: package://rm_bringup/config/camera_info.yaml
exposure_time: 1000
gain: 18.3
resolution_width: 1440
resolution_height: 1080
offsetX: 0
offsetY: 0
camera_name: "hik"
recording: false #是否录制

10
src/rm_bringup/config/node_params/rune_detector_params.yaml Normal file
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/**:
ros__parameters:
debug: true
requests_limit: 5
detect_r_tag: true # 是否使用传统方法识别R标
min_lightness: 100 # 二值化亮度阈值 (R标识别)
detector:
model: "package://rune_detector/model/yolox_rune_3.6m.onnx" # GPU模式下请用xml文件
device_type: "CPU"

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src/rm_bringup/config/node_params/rune_solver_params.yaml Normal file
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/**:
ros__parameters:
debug: true
auto_type_determined: true
predict_time: 0.0
compensator_type: resistance
gravity: 9.8
bullet_speet: 28.0
lost_time_thres: 0.5
ekf:
q: [4e-4, 1e-4, 1e-4, 1e-4]
r: [4e-2, 1e-2, 1e-2, 1e-2]

8
src/rm_bringup/config/node_params/serial_driver_params.yaml Normal file
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/**:
ros__parameters:
target_frame: odom
timestamp_offset: 0.001
port_name: "/dev/ttyACM0"
protocol: "air"
enable_data_print: false # Print parsed receive data when true
enable_send_print: false # Print parsed send data when true

8
src/rm_bringup/config/node_params/video_player_params.yaml Normal file
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/**:
ros__parameters:
camera_info_url: package://rm_bringup/config/camera_info.yaml
path: "/home/zcf/csurm/csurm-RMUC2022/red.avi"
frame_rate: 10
start_frame: 0
frame_id: "camera_optical_frame"
keep_looping: true #是否循环播放

7
src/rm_bringup/config/node_params/virtual_serial_params.yaml Normal file
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/**:
ros__parameters:
roll: 0.0
pitch: 0.0
yaw: 180.0
vision_mode: 1
bullet_speed: 25.0