cyy/yq_2026_duo
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fengsh
2026-03-27 05:59:44 +08:00
parent 649063d6b7
commit 6d6183620a
5 changed files with 13 additions and 4 deletions
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9
screen.output Normal file
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@@ -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

2
src/rm_bringup/config/node_params/armor_detector_params.yaml
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@@ -1,6 +1,6 @@
/**: /**:
ros__parameters: ros__parameters:
debug: true debug: false
debug_log_interval_frames: 60 debug_log_interval_frames: 60
debug.enable_terminal_log: false debug.enable_terminal_log: false
debug.enable_markers: false debug.enable_markers: false

2
src/rm_bringup/config/node_params/armor_solver_params.yaml
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@@ -52,7 +52,7 @@
iteration_times: 20 # 补偿的迭代次数 iteration_times: 20 # 补偿的迭代次数
# Trajectory planner type: "linear" / "seg" / "mpc" # Trajectory planner type: "linear" / "seg" / "mpc"
trajectory_type: "linear" trajectory_type: "mpc"
# ===== SEG/MPC 通用参数 ===== # ===== SEG/MPC 通用参数 =====
sample_total_time: 2.0 # 预测时间窗口 (s) sample_total_time: 2.0 # 预测时间窗口 (s)

2
src/rm_upstart/rm_clean_up.sh
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@@ -6,7 +6,7 @@ export ROS_LOG_DIR="/tmp"
source /opt/ros/humble/setup.bash source /opt/ros/humble/setup.bash
pkill rm_watch_dog.sh # 杀掉看门狗 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() { kill_process_tree() {
local pid="$1" local pid="$1"

2
src/rm_upstart/rm_watch_dog.sh
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@@ -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=() NODE_NAMES=()
USER="$(whoami)" #用户名 USER="$(whoami)" #用户名
HOME_DIR=$(eval echo ~$USER) 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 LAUNCH_FILE="rm_bringup bringup.launch.py" # launch 文件
OUTPUT_FILE="$WORKING_DIR/screen.output" # 终端输出记录文件 OUTPUT_FILE="$WORKING_DIR/screen.output" # 终端输出记录文件
PID_FILE="$WORKING_DIR/.rm_bringup.pid" # 记录由看门狗启动的 bringup 主进程 PID PID_FILE="$WORKING_DIR/.rm_bringup.pid" # 记录由看门狗启动的 bringup 主进程 PID