Please enter the commit message for your changes. Lines starting
with '#' will be ignored, and an empty message aborts the commit. On branch master Your branch is ahead of 'origin/master' by 31 commits. (use "git push" to publish your local commits) Changes to be committed: new file: .gitignore new file: .vscode/c_cpp_properties.json new file: .vscode/launch.json new file: .vscode/settings.json new file: CLAUDE.md new file: README.md new file: bashes/README.md new file: bashes/radar-driver-switch.sh new file: bashes/radar-driver-switch.sh.bak new file: dependencies/dependencies.txt new file: src/LSLIDAR_X_ROS2-20240228/src/README.md new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc.bak new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/version.txt new file: src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh new file: "src/LSLIDAR_X_ROS2-20240228/src/\351\225\255\347\245\236Lsx\351\233\267\350\276\276\346\227\213\350\275\254\350\247\222\345\272\246.png" new file: src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py new file: "src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py\344\273\205\345\234\250WHEELTEC\351\225\234\345\203\217\344\270\255\344\275\277\347\224\250" new file: src/cyy_navigation2/CMakeLists.txt new file: src/cyy_navigation2/bt/follow_point.xml new file: src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_distance.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_speed.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_time.xml new file: src/cyy_navigation2/bt/odometry_calibration.xml new file: src/cyy_navigation2/config/nav2_params.yaml new file: src/cyy_navigation2/launch/car_bringup.launch.py new file: src/cyy_navigation2/launch/cyy_nav.launch.py new file: src/cyy_navigation2/launch/cyy_nav_box.launch.py new file: src/cyy_navigation2/maps/cyy_map.data new file: src/cyy_navigation2/maps/cyy_map.pgm new file: src/cyy_navigation2/maps/cyy_map.yaml new file: src/cyy_navigation2/maps/cyy_map1.pgm new file: src/cyy_navigation2/maps/cyy_map1.yaml new file: src/cyy_navigation2/package.xml new file: src/cyy_navigation2/param/nav2_params.yaml new file: src/cyy_navigation2/param/slam_toolbox_localization.yaml new file: src/cyy_slamtoolbox/CMakeLists.txt new file: src/cyy_slamtoolbox/config/angular_filter_example.yaml new file: src/cyy_slamtoolbox/config/box_filter_example.yaml new file: src/cyy_slamtoolbox/config/footprint_filter_example.yaml new file: src/cyy_slamtoolbox/config/intensity_filter_example.yaml new file: src/cyy_slamtoolbox/config/laser_filter_config.yaml new file: src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/cyy_slamtoolbox/config/mapper_params_localization.yaml new file: src/cyy_slamtoolbox/config/mapper_params_offline.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_async.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/cyy_slamtoolbox/config/mask_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml new file: src/cyy_slamtoolbox/config/multiple_filters_example.yaml new file: src/cyy_slamtoolbox/config/pass_through_example.yaml new file: src/cyy_slamtoolbox/config/polygon_filter_example.yaml new file: src/cyy_slamtoolbox/config/range_filter_example.yaml new file: src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml new file: src/cyy_slamtoolbox/config/sector_filter_example.yaml new file: src/cyy_slamtoolbox/config/shadow_filter_example.yaml new file: src/cyy_slamtoolbox/config/slam_toolbox_default.rviz new file: src/cyy_slamtoolbox/config/speckle_filter_example.yaml new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py new file: src/cyy_slamtoolbox/launch/filter.launch.py new file: src/cyy_slamtoolbox/package.xml new file: src/gc_navigation2_real/CMakeLists.txt new file: src/gc_navigation2_real/behavior_tree/nav_to_pose_ackermann.xml new file: src/gc_navigation2_real/config/slam_toolbox_async_real.yaml new file: src/gc_navigation2_real/config/slam_toolbox_localization_real.yaml new file: src/gc_navigation2_real/launch/real_bringup.launch.py new file: src/gc_navigation2_real/launch/real_nav2_slam.launch.py new file: src/gc_navigation2_real/launch/real_nav2_slam_online.launch.py new file: src/gc_navigation2_real/launch/real_slam_mapping.launch.py new file: src/gc_navigation2_real/maps/Readme.txt new file: src/gc_navigation2_real/package.xml new file: src/gc_navigation2_real/params/gc_navigation_slam_real.yaml new file: src/gc_navigation2_slamtoolbox/CMakeLists.txt new file: src/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml new file: src/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml new file: src/gc_navigation2_slamtoolbox/config/slam_toolbox_mapping.yaml new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slam_online_real.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py new file: src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py new file: src/gc_navigation2_slamtoolbox/maps/my_map.data new file: src/gc_navigation2_slamtoolbox/maps/my_map.pgm new file: src/gc_navigation2_slamtoolbox/maps/my_map.posegraph new file: src/gc_navigation2_slamtoolbox/maps/my_map.yaml new file: src/gc_navigation2_slamtoolbox/maps/zhihui.data new file: src/gc_navigation2_slamtoolbox/maps/zhihui.pgm new file: src/gc_navigation2_slamtoolbox/maps/zhihui.posegraph new file: src/gc_navigation2_slamtoolbox/maps/zhihui.yaml new file: src/gc_navigation2_slamtoolbox/package.xml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_amcl.yaml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file: src/gc_navigation2_slamtoolbox/world/zhihui/model.config new file: src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf new file: src/gc_navigation_fish/CMakeLists.txt new file: src/gc_navigation_fish/launch/gc_navigation.launch.py new file: src/gc_navigation_fish/maps/test_map.pgm new file: src/gc_navigation_fish/maps/test_map.yaml new file: src/gc_navigation_fish/package.xml new file: src/gc_navigation_fish/param/gc_navigation.yaml new file: src/gc_navigation_fish/param/navigation_test.yaml new file: src/gc_slam_toolbox_fish/CMakeLists.txt new file: src/gc_slam_toolbox_fish/config/gc_2d.lua new file: src/gc_slam_toolbox_fish/launch/catograph.launch.py new file: src/gc_slam_toolbox_fish/package.xml new file: src/ground_slam/.gitignore new file: src/ground_slam/CMakeLists.txt new file: src/ground_slam/LICENSE.md new file: src/ground_slam/README.md new file: src/ground_slam/cmake/FindEigen3.cmake new file: src/ground_slam/cmake/FindFFTW3.cmake new file: src/ground_slam/configs/config_HD.yaml new file: src/ground_slam/configs/config_geekplus.yaml new file: src/ground_slam/configs/config_ntu.yaml new file: src/ground_slam/figures/data_association.jpg new file: src/ground_slam/figures/features_small.jpg new file: src/ground_slam/figures/fig1.jpg new file: src/ground_slam/figures/loop_error.jpg new file: src/ground_slam/figures/loop_trajectory.jpg new file: src/ground_slam/figures/pipeline.png new file: src/ground_slam/figures/rmse_curve.jpg new file: src/ground_slam/figures/sample_images.jpg new file: src/ground_slam/figures/trajectory.jpg new file: src/ground_slam/figures/video.png new file: src/ground_slam/include/camera.h new file: src/ground_slam/include/circ_shift.h new file: src/ground_slam/include/correlation_flow.h new file: src/ground_slam/include/dataset.h new file: src/ground_slam/include/edge.h new file: src/ground_slam/include/frame.h new file: src/ground_slam/include/loop_closure.h new file: src/ground_slam/include/map.h new file: src/ground_slam/include/map_builder.h new file: src/ground_slam/include/map_stitcher.h new file: src/ground_slam/include/optimization_2d/angle_local_parameterization.h new file: src/ground_slam/include/optimization_2d/normalize_angle.h new file: src/ground_slam/include/optimization_2d/pose_graph_2d.h new file: src/ground_slam/include/optimization_2d/pose_graph_2d_error_term.h new file: src/ground_slam/include/optimization_2d/types.h new file: src/ground_slam/include/read_configs.h new file: src/ground_slam/include/thread_publisher.h new file: src/ground_slam/include/timer.h new file: src/ground_slam/include/utils.h new file: src/ground_slam/include/visualization.h new file: src/ground_slam/main.cpp new file: src/ground_slam/package.xml new file: src/ground_slam/src/camera.cc new file: src/ground_slam/src/correlation_flow.cc new file: src/ground_slam/src/dataset.cc new file: src/ground_slam/src/edge.cc new file: src/ground_slam/src/frame.cc new file: src/ground_slam/src/loop_closure.cc new file: src/ground_slam/src/map.cc new file: src/ground_slam/src/map_builder.cc new file: src/ground_slam/src/map_stitcher.cc new file: src/ground_slam/src/optimization_2d/pose_graph_2d.cc new file: src/ground_slam/src/thread_publisher.cc new file: src/ground_slam/src/timer.cc new file: src/ground_slam/src/utils.cc new file: src/ground_slam/src/visualization.cc new file: src/ground_slam/supplementary/GroundSLAM_Supplement_Materia.pdf new file: src/origincar_base/CMakeLists.txt new file: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/imu.yaml new file: src/origincar_base/include/origincar_base/Quaternion_Solution.h new file: src/origincar_base/include/origincar_base/origincar_base.h new file: src/origincar_base/launch/__pycache__/testtwo.launch.cpython-38.pyc new file: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/ekf.launch.py new file: src/origincar_base/launch/origincar_bringup.launch.py new file: src/origincar_base/launch/robot_mode_description.launch.py new file: src/origincar_base/msg/Position.msg new file: src/origincar_base/package.xml new file: src/origincar_base/scripts/__pycache__/cmd_vel_to_ackermann_drive.cpython-310.pyc new file: src/origincar_base/scripts/cmd_vel_to_ackermann_drive.py new file: src/origincar_base/src/Quaternion_Solution.cpp new file: src/origincar_base/src/origincar_base.cpp new file: src/origincar_base/src/origincar_base.cpp.bak new file: src/origincar_description/CMakeLists.txt new file: src/origincar_description/CMakeLists.txt.save new file: src/origincar_description/config/joint_names_origincar_description.yaml new file: src/origincar_description/config/joint_names_origincar_description.yaml:Zone.Identifier new file: "src/origincar_description/config/joint_names_origincar_description.yaml\357\200\272Zone.Identifier" new file: src/origincar_description/launch/display.launch new file: src/origincar_description/launch/display.launch.py new file: src/origincar_description/launch/gazebo.launch new file: src/origincar_description/launch/gazebo.launch.py new file: src/origincar_description/meshes/base_link.STL new file: src/origincar_description/meshes/base_link.STL:Zone.Identifier new file: "src/origincar_description/meshes/base_link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_left_Link.STL new file: src/origincar_description/meshes/down_left_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/down_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_right_Link.STL new file: src/origincar_description/meshes/down_right_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/down_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_left_Link.STL new file: src/origincar_description/meshes/up_left_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/up_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_right_Link.STL new file: src/origincar_description/meshes/up_right_Link.STL:Zone.Identifier new file: "src/origincar_description/meshes/up_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/package.xml new file: src/origincar_description/rviz/README new file: src/origincar_description/rviz/display.rviz new file: src/origincar_description/urdf/origincar.urdf new file: src/origincar_description/urdf/origincar.xacro new file: src/origincar_description/world/fishbot.world new file: src/origincar_description/world/gc_world.world new file: src/origincar_description/world/test.world new file: src/origincar_description/world/zhihui.world new file: src/origincar_msg/CMakeLists.txt new file: src/origincar_msg/msg/Data.msg new file: src/origincar_msg/msg/Sign.msg new file: src/origincar_msg/package.xml new file: src/zbw_slamtoolbox/CMakeLists.txt new file: src/zbw_slamtoolbox/config/mapper_params_online_async.yaml new file: src/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml new file: src/zbw_slamtoolbox/config/navigation.yaml new file: src/zbw_slamtoolbox/launch/navigation.launch.py new file: src/zbw_slamtoolbox/launch/slamtoolbox.launch.py new file: src/zbw_slamtoolbox/package.xml new file: "\347\253\236\350\265\233\346\226\271\346\241\210_\347\254\25421\345\261\212\346\231\272\350\203\275\346\261\275\350\275\246\347\253\236\350\265\233\345\234\260\347\223\234\346\234\272\345\231\250\344\272\272\350\265\233\351\241\271.md" new file: "\350\260\203\350\257\225\350\256\260\345\275\225.log"
This commit is contained in:
108
src/cyy_navigation2/launch/car_bringup.launch.py
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src/cyy_navigation2/launch/car_bringup.launch.py
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#!/usr/bin/env python3
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"""
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小车导航系统启动文件
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启动所有必要的硬件和导航节点
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction, LogInfo
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from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch.conditions import IfCondition, UnlessCondition
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def generate_launch_description():
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# 获取包路径
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cyy_navigation2_dir = get_package_share_directory('cyy_navigation2')
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# 声明启动参数
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use_base = LaunchConfiguration('use_base', default='true')
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use_lidar = LaunchConfiguration('use_lidar', default='true')
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use_description = LaunchConfiguration('use_description', default='true')
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use_bridge = LaunchConfiguration('use_bridge', default='true')
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# 启动参数列表
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launch_arguments = [
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DeclareLaunchArgument(
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'use_base',
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default_value='true',
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description='启动底盘控制'
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),
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DeclareLaunchArgument(
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'use_lidar',
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default_value='true',
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description='启动激光雷达'
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),
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DeclareLaunchArgument(
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'use_description',
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default_value='true',
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description='启动URDF显示'
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),
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DeclareLaunchArgument(
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'use_bridge',
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default_value='true',
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description='启动ROS Bridge'
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),
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]
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# 创建启动描述
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ld = LaunchDescription(launch_arguments)
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# 1. 启动底盘控制
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base_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('origincar_base'), '/launch/base_serial.launch.py'
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]),
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condition=IfCondition(use_base)
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)
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# 添加延迟，确保底盘先启动
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ld.add_action(TimerAction(
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period=1.0,
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actions=[LogInfo(msg='启动底盘控制...'), base_launch]
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))
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# 2. 启动激光雷达
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lidar_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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FindPackageShare('lslidar_driver'), '/launch/lsn10_launch.py'
|
||||
]),
|
||||
condition=IfCondition(use_lidar)
|
||||
)
|
||||
|
||||
ld.add_action(TimerAction(
|
||||
period=2.0,
|
||||
actions=[LogInfo(msg='启动激光雷达...'), lidar_launch]
|
||||
))
|
||||
|
||||
# 3. 启动URDF显示
|
||||
description_launch = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([
|
||||
FindPackageShare('origincar_description'), '/launch/display.launch.py'
|
||||
]),
|
||||
condition=IfCondition(use_description)
|
||||
)
|
||||
|
||||
ld.add_action(TimerAction(
|
||||
period=3.0,
|
||||
actions=[LogInfo(msg='启动URDF显示...'), description_launch]
|
||||
))
|
||||
|
||||
# 4. 启动ROS Bridge
|
||||
bridge_launch = IncludeLaunchDescription(
|
||||
FrontendLaunchDescriptionSource([
|
||||
FindPackageShare('rosbridge_server'), '/launch/rosbridge_websocket_launch.xml'
|
||||
]),
|
||||
condition=IfCondition(use_bridge)
|
||||
)
|
||||
|
||||
ld.add_action(TimerAction(
|
||||
period=4.0,
|
||||
actions=[LogInfo(msg='启动ROS Bridge...'), bridge_launch]
|
||||
))
|
||||
|
||||
|
||||
return ld
|
||||
Reference in New Issue
Block a user