添加了全套任务的包

2026-08-05 22:12:02 +08:00
parent b53f203f2d
commit 1219a40077
10 changed files with 1405 additions and 30 deletions
--- a/src/racing_control/config/racing_control.yaml
+++ b/src/racing_control/config/racing_control.yaml
@@ -0,0 +1,103 @@
+racing_control:
+  ros__parameters:
+    # Startup
+    auto_start: false
+    frame_id: odom
+
+    # Shared coordination topics
+    sign_topic: /sign4return
+    qr_result_topic: /qr_results
+    vlm_result_topic: /vlm_result
+    odom_topic: /odom_combined
+    trajectory_guard_input_topic: /trajectory_guard/input_path
+
+    # Nav2 actions and plugin IDs
+    navigate_action: /navigate_to_pose
+    compute_path_action: /compute_path_through_poses
+    follow_path_action: /follow_path
+    planner_id: GridBased
+    controller_id: FollowPath
+    goal_checker_id: ""
+    use_trajectory_guard: true
+
+    # Timeouts and settling waits, in seconds
+    navigation_timeout_sec: 120.0
+    path_planning_timeout_sec: 30.0
+    circle_timeout_sec: 120.0
+    qr_result_timeout_sec: 8.0
+    profile_switch_wait_sec: 1.0
+    post_qr_wait_sec: 1.0
+    vlm_capture_wait_sec: 0.5
+    circle_goal_tolerance: 0.30
+
+    # VLM capture:
+    #   stop         - stop at the VLM waypoint, trigger capture, then continue immediately.
+    #   pass_through - keep following the full route and trigger capture while passing nearby.
+    vlm_capture_mode: stop
+    pass_through_vlm_trigger_radius: 0.35
+
+    # /sign4return command values used by existing packages
+    sign_qr_enable: 0
+    sign_qr_disable: 5
+    sign_vlm_trigger: 9
+    sign_profile_normal: 10
+    sign_profile_task2: 11
+
+    # Pose parameters are flat x/y/yaw-radians triples in frame_id.
+    qr_pose: [4.5303713524852558, 1.226131216530598, 1.2983334871583534]
+    entry_pose: [2.4951887885861144, 2.2268832181534743, 1.5626000867375398]
+
+    # The route's Nth waypoint is used as the VLM capture point.
+    # With the saved JSON files, the 4th point is goal_011 for main_1
+    # and goal_004 for main_2.
+    vlm_waypoint_number: 4
+
+    # main_1.json: clockwise route, excluding home.
+    clockwise_waypoints:
+      - 1.542550031688728
+      - 3.1698990676859604
+      - 3.1415926535897918
+      - 0.71981664792046363
+      - 3.7665012349236271
+      - 1.5495230091246759
+      - 1.3164186536457545
+      - 4.3294241954584018
+      - -0.016392199787162172
+      - 3.659525047016253
+      - 4.324612741775951
+      - 4.6883147711881255e-16
+      - 4.2320702688664218
+      - 3.7761238192637752
+      - -1.5784882007253702
+      - 3.510374505206836
+      - 3.1650879370282627
+      - -3.0916338672023889
+      - 2.5288679952890067
+      - 2.4578258883665218
+      - -1.6718998381125814
+    clockwise_home_pose: [0.51774173072785878, 0.17726629320698351, -2.2032146659725105]
+
+    # main_2.json: counterclockwise route, excluding home.
+    counterclockwise_waypoints:
+      - 3.3612239633974195
+      - 3.1747105213684104
+      - 0.010869470292991894
+      - 4.2272591382087246
+      - 3.7280108975630366
+      - 1.5707963267948966
+      - 3.4237709231207547
+      - 4.3486693641386971
+      - 3.123412893984987
+      - 1.2731168626027138
+      - 4.334235487628475
+      - -3.1165979438417697
+      - 0.74868440094090649
+      - 3.7376334819031838
+      - -1.5593026199905524
+      - 1.3933994898793114
+      - 3.1795219750508603
+      - -0.01136349401017399
+      - 2.4663210355656715
+      - 2.4145240973234814
+      - -1.5556465256578393
+    counterclockwise_home_pose: [0.51774173072785878, 0.15802112452668779, -2.1396781415005068]