From 6d6183620a5f53d8b9c7c8ad0238a6ea4c7abee2 Mon Sep 17 00:00:00 2001 From: fengsh <3243563259@qq.com> Date: Fri, 27 Mar 2026 05:59:44 +0800 Subject: [PATCH] bf --- screen.output | 9 +++++++++ .../config/node_params/armor_detector_params.yaml | 2 +- .../config/node_params/armor_solver_params.yaml | 2 +- src/rm_upstart/rm_clean_up.sh | 2 +- src/rm_upstart/rm_watch_dog.sh | 2 +- 5 files changed, 13 insertions(+), 4 deletions(-) create mode 100644 screen.output diff --git a/screen.output b/screen.output new file mode 100644 index 0000000..e65f61f --- /dev/null +++ b/screen.output @@ -0,0 +1,9 @@ +[INFO] [launch]: All log files can be found below /tmp/2026-03-27-05-57-44-344050-nx-02-6816 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [robot_state_publisher-1]: process started with pid [6819] +[robot_state_publisher-1] [INFO] [1774562264.638361870] [robot_state_publisher]: got segment barrel_link +[robot_state_publisher-1] [INFO] [1774562264.638541185] [robot_state_publisher]: got segment camera_link +[robot_state_publisher-1] [INFO] [1774562264.638561827] [robot_state_publisher]: got segment camera_optical_frame +[robot_state_publisher-1] [INFO] [1774562264.638570916] [robot_state_publisher]: got segment odom +[robot_state_publisher-1] [INFO] [1774562264.638577925] [robot_state_publisher]: got segment pitch_link +[robot_state_publisher-1] [INFO] [1774562264.638584709] [robot_state_publisher]: got segment yaw_link diff --git a/src/rm_bringup/config/node_params/armor_detector_params.yaml b/src/rm_bringup/config/node_params/armor_detector_params.yaml index 5d2f7fd..5216c75 100644 --- a/src/rm_bringup/config/node_params/armor_detector_params.yaml +++ b/src/rm_bringup/config/node_params/armor_detector_params.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - debug: true + debug: false debug_log_interval_frames: 60 debug.enable_terminal_log: false debug.enable_markers: false diff --git a/src/rm_bringup/config/node_params/armor_solver_params.yaml b/src/rm_bringup/config/node_params/armor_solver_params.yaml index b1218f5..ec82f49 100644 --- a/src/rm_bringup/config/node_params/armor_solver_params.yaml +++ b/src/rm_bringup/config/node_params/armor_solver_params.yaml @@ -52,7 +52,7 @@ iteration_times: 20 # 补偿的迭代次数 # Trajectory planner type: "linear" / "seg" / "mpc" - trajectory_type: "linear" + trajectory_type: "mpc" # ===== SEG/MPC 通用参数 ===== sample_total_time: 2.0 # 预测时间窗口 (s) diff --git a/src/rm_upstart/rm_clean_up.sh b/src/rm_upstart/rm_clean_up.sh index 6da7251..1994cfc 100755 --- a/src/rm_upstart/rm_clean_up.sh +++ b/src/rm_upstart/rm_clean_up.sh @@ -6,7 +6,7 @@ export ROS_LOG_DIR="/tmp" source /opt/ros/humble/setup.bash pkill rm_watch_dog.sh # 杀掉看门狗 -PID_FILE="$HOME/yq_2026/.rm_bringup.pid" +PID_FILE="$HOME/yq_2026_duo/.rm_bringup.pid" kill_process_tree() { local pid="$1" diff --git a/src/rm_upstart/rm_watch_dog.sh b/src/rm_upstart/rm_watch_dog.sh index a7c5e85..41ab66a 100755 --- a/src/rm_upstart/rm_watch_dog.sh +++ b/src/rm_upstart/rm_watch_dog.sh @@ -8,7 +8,7 @@ CAMERA_NODE_NAME="hik_camera" # 相机节点默认名（视频模式会改为 v NODE_NAMES=() USER="$(whoami)" #用户名 HOME_DIR=$(eval echo ~$USER) -WORKING_DIR="$HOME_DIR/yq_2026" # 代码目录 +WORKING_DIR="$HOME_DIR/yq_2026_duo" # 代码目录 LAUNCH_FILE="rm_bringup bringup.launch.py" # launch 文件 OUTPUT_FILE="$WORKING_DIR/screen.output" # 终端输出记录文件 PID_FILE="$WORKING_DIR/.rm_bringup.pid" # 记录由看门狗启动的 bringup 主进程 PID