把去年的二维码检测、图生文客户端、锥桶检测v8给加了进来，二维码检测新增深度相机检测

2026-06-16 21:05:14 +08:00
parent 652c97646e
commit 5535dcab54
34 changed files with 1557 additions and 1 deletions
--- a/keyboard_control.py
+++ b/keyboard_control.py
@@ -0,0 +1,121 @@
+#!/usr/bin/env python3
+"""
+Keyboard control node for robot chassis.
+W/S: forward/backward
+A/D: turn left/right
+I/K: increase/decrease linear speed
+J/L: increase/decrease angular speed
+X: stop
+Q: quit
+"""
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import sys
+import select
+import termios
+import tty
+
+HELP = """
+========================================
+  Keyboard Control
+========================================
+  W/S    : forward / backward
+  A/D    : turn left / turn right
+  I/K    : linear  speed +/- (step 0.05)
+  J/L    : angular speed +/- (step 0.1)
+  X/Space: stop
+  Q      : quit
+========================================
+  Current: lin=%.2f  ang=%.2f
+"""
+
+
+class KeyboardControl(Node):
+    def __init__(self):
+        super().__init__("keyboard_control")
+        self.pub = self.create_publisher(Twist, "/cmd_vel", 10)
+
+        self.lin_speed = 0.2
+        self.ang_speed = 0.5
+        self.lin_step = 0.05
+        self.ang_step = 0.1
+
+        self.print_help()
+        self.create_timer(0.05, self.read_key)
+
+    def print_help(self):
+        print(HELP % (self.lin_speed, self.ang_speed))
+
+    def get_key(self):
+        fd = sys.stdin.fileno()
+        old = termios.tcgetattr(fd)
+        try:
+            tty.setraw(fd)
+            r, _, _ = select.select([sys.stdin], [], [], 0.05)
+            if r:
+                return sys.stdin.read(1)
+            return None
+        finally:
+            termios.tcsetattr(fd, termios.TCSADRAIN, old)
+
+    def read_key(self):
+        key = self.get_key()
+        if key is None:
+            return
+
+        twist = Twist()
+
+        if key == 'w':
+            twist.linear.x = self.lin_speed
+        elif key == 's':
+            twist.linear.x = -self.lin_speed
+        elif key == 'a':
+            twist.angular.z = self.ang_speed
+        elif key == 'd':
+            twist.angular.z = -self.ang_speed
+        elif key == 'i':
+            self.lin_speed = round(self.lin_speed + self.lin_step, 2)
+            self.print_help()
+            return
+        elif key == 'k':
+            self.lin_speed = round(max(0.0, self.lin_speed - self.lin_step), 2)
+            self.print_help()
+            return
+        elif key == 'j':
+            self.ang_speed = round(self.ang_speed + self.ang_step, 2)
+            self.print_help()
+            return
+        elif key == 'l':
+            self.ang_speed = round(max(0.0, self.ang_speed - self.ang_step), 2)
+            self.print_help()
+            return
+        elif key == 'x' or key == ' ':
+            twist.linear.x = 0.0
+            twist.angular.z = 0.0
+            print("*** STOP ***")
+        elif key == 'q' or ord(key) == 3:
+            twist.linear.x = 0.0
+            twist.angular.z = 0.0
+            self.pub.publish(twist)
+            self.get_logger().info("Quitting...")
+            raise SystemExit
+        else:
+            return
+
+        self.pub.publish(twist)
+
+
+def main():
+    rclpy.init()
+    try:
+        rclpy.spin(KeyboardControl())
+    except SystemExit:
+        pass
+    finally:
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
--- a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
+++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
@@ -147,7 +147,7 @@ controller_server_rclcpp_node:
 local_costmap:
  local_costmap:
    ros__parameters:
-      update_frequency: 5.0
+      update_frequency: 1.0
      publish_frequency: 2.0
      transform_tolerance: 0.5
      global_frame: odom
--- a/src/qr_detection/CMakeLists.txt
+++ b/src/qr_detection/CMakeLists.txt
@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 3.5)
+project(qr_detection)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(dnn_node REQUIRED)
+# find_package(hbm_img_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(ai_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(ZBar REQUIRED zbar)
+
+# rosidl_generate_interfaces(${PROJECT_NAME}
+#   "msg/SampleMessage.msg"
+# )
+
+# # Define executables
+# add_executable(talker src/publisher_hbmem.cpp)
+# ...
+
+# add_executable(qr_dete_node src/qr_dete.cpp)
+# ...
+
+# install(DIRECTORY
+#   ${PROJECT_SOURCE_DIR}/launch/
+#   DESTINATION share/${PROJECT_NAME}/launch)
+
+# ---- qr_dete_depth_node (sensor_msgs::Image, no hbmem) ----
+add_executable(qr_dete_depth_node src/qr_dete_depth.cpp)
+ament_target_dependencies(qr_dete_depth_node
+  rclcpp
+  std_msgs
+  sensor_msgs
+  geometry_msgs
+)
+
+target_include_directories(qr_dete_depth_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${OpenCV_INCLUDE_DIRS} ${ZBar_INCLUDE_DIRS})
+
+target_link_libraries(qr_dete_depth_node
+  ${OpenCV_LIBS} ${ZBar_LIBRARIES}
+)
+
+install(TARGETS qr_dete_depth_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- a/src/qr_detection/launch/qr_detection.launch.py
+++ b/src/qr_detection/launch/qr_detection.launch.py
@@ -0,0 +1,37 @@
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python import get_package_share_directory
+
+def generate_launch_description():
+    nv12_codec_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('hobot_codec'),
+                'launch/hobot_codec_decode.launch.py')),
+        launch_arguments={
+            # 'codec_channel': '2',
+            'codec_in_mode': 'ros',
+            'codec_out_mode': 'shared_mem',
+            'codec_sub_topic': '/image',
+            'codec_pub_topic': '/hbmem_img'
+        }.items()
+    )
+
+    qr_detection_node = Node(
+        package='qr_detection',
+        executable='qr_dete_node',
+        name='qr_dete_node',
+        output='screen'
+    )
+
+    return LaunchDescription([
+        nv12_codec_node,
+        qr_detection_node
+    ])
--- a/src/qr_detection/msg/SampleMessage.msg
+++ b/src/qr_detection/msg/SampleMessage.msg
@@ -0,0 +1,5 @@
+int32 index
+uint64 time_stamp
+uint8[4194304] data
+
+uint32 MAX_SIZE=4194304
--- a/src/qr_detection/package.xml
+++ b/src/qr_detection/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>qr_detection</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/src/qr_detection/src/publisher_hbmem.cpp
+++ b/src/qr_detection/src/publisher_hbmem.cpp
@@ -0,0 +1,70 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "qr_detection/msg/sample_message.hpp"
+
+using namespace std::chrono_literals;
+
+class MinimalHbmemPublisher  : public rclcpp::Node {
+ public:
+  MinimalHbmemPublisher () : Node("minimal_hbmem_publisher"), count_(0) {
+    // 创建publisher_hbmem，topic为"topic"
+    publisher_ = this->create_publisher_hbmem<qr_detection::msg::SampleMessage>(
+        "topic", rclcpp::SensorDataQoS());
+
+    // 定时器，每隔40毫秒调用一次timer_callback进行消息发送
+    timer_ = this->create_wall_timer(
+        40ms, std::bind(&MinimalHbmemPublisher::timer_callback, this));
+  }
+
+ private:
+  // 定时器回调函数
+  void timer_callback() {
+    // 获取要发送的消息
+    auto loanedMsg = publisher_->borrow_loaned_message();
+    // 判断消息是否可用，可能出现获取消息失败导致消息不可用的情况
+    if (loanedMsg.is_valid()) {
+      // 引用方式获取实际的消息
+      auto& msg = loanedMsg.get();
+
+      // 获取当前时间，单位为us
+      auto time_now =
+          std::chrono::duration_cast<std::chrono::microseconds>(
+              std::chrono::steady_clock::now().time_since_epoch()).count();
+
+      // 对消息的index和time_stamp进行赋值
+      msg.index = count_;
+      msg.time_stamp = time_now;
+
+      // 打印发送消息
+      RCLCPP_INFO(this->get_logger(), "message: %d", msg.index);
+      publisher_->publish(std::move(loanedMsg));
+      // 注意，发送后，loanedMsg已不可用
+      // 计数器加一
+      count_++;
+    } else {
+      // 获取消息失败，丢弃该消息
+      RCLCPP_INFO(this->get_logger(), "Failed to get LoanMessage!");
+    }
+  }
+
+  // 定时器
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  // hbmem publisher
+  rclcpp::PublisherHbmem<qr_detection::msg::SampleMessage>::SharedPtr publisher_;
+
+  // 计数器
+  size_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}
--- a/src/qr_detection/src/qr_dete.cpp
+++ b/src/qr_detection/src/qr_dete.cpp
@@ -0,0 +1,290 @@
+#include <memory>
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <zbar.h>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+
+class MinimalHbmemSubscriber : public rclcpp::Node
+{
+public:
+  MinimalHbmemSubscriber()
+  : Node("qr_detection"), detect_qr_code_(true)  // 默认不检测二维码
+  {
+    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+    subscription_hbmem_ =
+      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+        "hbmem_img",
+        10,
+        std::bind(&MinimalHbmemSubscriber::hbmem_callback, this, std::placeholders::_1));
+
+    // 创建订阅器，订阅 'sign4return' 话题
+    subscription_sign_ =
+      this->create_subscription<std_msgs::msg::Int32>(
+        "sign4return",
+        10,
+        std::bind(&MinimalHbmemSubscriber::sign_callback, this, std::placeholders::_1));
+
+    // 创建 publisher，topic 为 "qr_results"
+    publisher_ =
+      this->create_publisher<std_msgs::msg::String>("qr_results", 10);
+  }
+
+private:
+  // 消息回调函数，处理 hbmem_img 话题
+  void hbmem_callback(const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg)
+  {
+    if (!detect_qr_code_)
+    {
+      RCLCPP_INFO(this->get_logger(), "QR detection is disabled");
+      return; // 如果标志位为 false，则不进行二维码检测
+    }
+
+    // 创建 Clock 对象并获取当前时间
+    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+    auto now = clock->now();
+
+    // 转换消息时间戳为 ROS 时间
+    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+
+    // 计算延时（单位：微秒）
+    auto duration = now - msg_time;
+    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+
+    // 打印延迟
+    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+
+    // 获取图像数据并将其转换为 OpenCV 格式
+    cv::Mat image(msg->height, msg->width, CV_8UC1, const_cast<uint8_t*>(msg->data.data()));
+
+    // 初始化 ZBar 扫描器
+    zbar::ImageScanner scanner;
+    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+
+    // 将 OpenCV 图像数据包装成 ZBar 图像
+    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+
+    // 扫描图像中的条形码和二维码
+    std::string qr_results;
+    int n = scanner.scan(zbar_image);
+    if (n > 0) {
+      for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+        qr_results += symbol->get_data();
+        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"", symbol->get_type_name().c_str(), symbol->get_data().c_str());
+      }
+    } else {
+      qr_results = "QR Code not detected";
+      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+    }
+
+    // 发布 QR 结果
+    auto message = std_msgs::msg::String();
+    message.data = qr_results;
+    publisher_->publish(message);
+  }
+
+  // 消息回调函数，处理 sign4return 话题
+  void sign_callback(const std_msgs::msg::Int32::SharedPtr msg)
+  {
+    if (msg->data == 0)
+    {
+      detect_qr_code_ = true; // 启动二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection started");
+    }
+    else if (msg->data == 5)
+    {
+      detect_qr_code_ = false; // 停止二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection stopped");
+    }
+  }
+
+  // hbmem_img 订阅器
+  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_hbmem_;
+  // sign4return 订阅器
+  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_sign_;
+  // QR code results 发布器
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+
+  // 二维码检测标志位
+  bool detect_qr_code_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}
+
+/*
+实现接收和发布
+*/
+//#include <memory>
+//#include <iostream>
+//#include <opencv2/opencv.hpp>
+//#include <zbar.h>
+//#include "rclcpp/rclcpp.hpp"
+//#include "std_msgs/msg/string.hpp"
+//#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+//
+//class MinimalHbmemSubscriber : public rclcpp::Node
+//{
+//public:
+//  MinimalHbmemSubscriber()
+//  : Node("qr_detection")
+//  {
+//    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+//    // 消息回调函数为 topic_callback
+//    subscription_ =
+//      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+//        "hbmem_img",
+//        10,
+//        std::bind(&MinimalHbmemSubscriber::topic_callback, this, std::placeholders::_1));
+//
+//    // 创建 publisher，topic 为 "qr_results"
+//    publisher_ =
+//      this->create_publisher<std_msgs::msg::String>("qr_results", 10);
+//  }
+//
+//private:
+//  // 消息回调函数
+//  void topic_callback(const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg) const
+//  {
+//    // 创建 Clock 对象并获取当前时间
+//    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+//    auto now = clock->now();
+//
+//    // 转换消息时间戳为 ROS 时间
+//    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+//
+//    // 计算延时（单位：微秒）
+//    auto duration = now - msg_time;
+//    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+//
+//    // 打印延迟
+//    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+//
+//    // 获取图像数据并将其转换为 OpenCV 格式
+//    cv::Mat image(msg->height, msg->width, CV_8UC1, const_cast<uint8_t*>(msg->data.data()));
+//
+//    // 初始化 ZBar 扫描器
+//    zbar::ImageScanner scanner;
+//    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+//
+//    // 将 OpenCV 图像数据包装成 ZBar 图像
+//    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+//
+//    // 扫描图像中的条形码和二维码
+//    std::string qr_results;
+//    int n = scanner.scan(zbar_image);
+//    if (n > 0) {
+//      for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+//        qr_results += symbol->get_data() ;
+//        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"", symbol->get_type_name().c_str(), symbol->get_data().c_str());
+//      }
+//    } else {
+//      qr_results = "QR Code not detected";
+//      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+//    }
+//
+//    // 发布 QR 结果
+//    auto message = std_msgs::msg::String();
+//    message.data = qr_results;
+//    publisher_->publish(message);
+//  }
+//
+//  // hbmem subscription
+//  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_;
+//  // QR code results publisher
+//  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+//};
+//
+//int main(int argc, char * argv[])
+//{
+//  rclcpp::init(argc, argv);
+//  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+//  rclcpp::shutdown();
+//  return 0;
+//}
+
+
+/*
+只实现接收消息，不进行发布
+*/
+
+
+//#include <memory>
+//#include <iostream>
+//#include <opencv2/opencv.hpp>
+//#include <zbar.h>
+//#include "rclcpp/rclcpp.hpp"
+//#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+//
+//class MinimalHbmemSubscriber : public rclcpp::Node
+//{
+//public:
+//  MinimalHbmemSubscriber()
+//  : Node("qr_detection")
+//  {
+//    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+//    // 消息回调函数为 topic_callback
+//    subscription_ =
+//      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+//        "hbmem_img",
+//        10,
+//        std::bind(&MinimalHbmemSubscriber::topic_callback, this, std::placeholders::_1));
+//  }
+//private:
+//  // 消息回调函数
+//  void topic_callback(
+//    const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg) const
+//  {
+//    // 创建 Clock 对象并获取当前时间
+//    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+//    auto now = clock->now();
+//
+//    // 转换消息时间戳为 ROS 时间
+//    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+//
+//    // 计算延时（单位：微秒）
+//    auto duration = now - msg_time;
+//    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+//
+//    // 打印延迟
+//    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+//
+//    // 获取图像数据并将其转换为 OpenCV 格式
+//    cv::Mat image(msg->height, msg->width, CV_8UC1, const_cast<uint8_t*>(msg->data.data()));
+//
+//    // 初始化 ZBar 扫描器
+//    zbar::ImageScanner scanner;
+//    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+//
+//    // 将 OpenCV 图像数据包装成 ZBar 图像
+//    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+//
+//    // 扫描图像中的条形码和二维码
+//    int n = scanner.scan(zbar_image);
+//    if (n > 0) {
+//      for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+//        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"", symbol->get_type_name().c_str(), symbol->get_data().c_str());
+//      }
+//    } else {
+//      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+//    }
+//  }
+//
+//  // hbmem subscription
+//  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_;
+//};
+//
+//int main(int argc, char * argv[])
+//{
+//  rclcpp::init(argc, argv);
+//  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+//  rclcpp::shutdown();
+//  return 0;
+//}
--- a/src/qr_detection/src/qr_dete_depth.cpp
+++ b/src/qr_detection/src/qr_dete_depth.cpp
@@ -0,0 +1,131 @@
+#include <memory>
+#include <iostream>
+#include <opencv2/opencv.hpp>
+#include <zbar.h>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+#include "std_msgs/msg/string.hpp"
+#include "sensor_msgs/msg/image.hpp"
+
+class MinimalHbmemSubscriber : public rclcpp::Node
+{
+public:
+  MinimalHbmemSubscriber()
+  : Node("qr_detection"), detect_qr_code_(true)  // 默认检测二维码
+  {
+    // 订阅 /aurora/rgb/image_raw（sensor_msgs::msg::Image 格式）
+    subscription_image_ =
+      this->create_subscription<sensor_msgs::msg::Image>(
+        "/aurora/rgb/image_raw",
+        10,
+        std::bind(&MinimalHbmemSubscriber::image_callback, this, std::placeholders::_1));
+
+    // 创建订阅器，订阅 'sign4return' 话题
+    subscription_sign_ =
+      this->create_subscription<std_msgs::msg::Int32>(
+        "sign4return",
+        10,
+        std::bind(&MinimalHbmemSubscriber::sign_callback, this, std::placeholders::_1));
+
+    // 创建 publisher，topic 为 "qr_results"
+    publisher_ =
+      this->create_publisher<std_msgs::msg::String>("qr_results", 10);
+  }
+
+private:
+  // 图像回调函数，处理 /aurora/rgb/image_raw 话题
+  void image_callback(const sensor_msgs::msg::Image::SharedPtr msg)
+  {
+    if (!detect_qr_code_)
+    {
+      RCLCPP_INFO(this->get_logger(), "QR detection is disabled");
+      return;
+    }
+
+    // 创建 Clock 对象并获取当前时间
+    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+    auto now = clock->now();
+
+    // 转换消息时间戳为 ROS 时间
+    auto msg_time = rclcpp::Time(msg->header.stamp.sec, msg->header.stamp.nanosec);
+
+    // 计算延时（单位：微秒）
+    auto duration = now - msg_time;
+    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+
+    // 打印延迟
+    RCLCPP_INFO(this->get_logger(), "frame_id: %s, time cost %ldus",
+                msg->header.frame_id.c_str(), delay_us);
+
+    // 将 sensor_msgs::Image 转换为 OpenCV 格式（Aurora RGB 为 bgr8 编码，需转为灰度给 ZBar）
+    if (msg->encoding != "bgr8") {
+      RCLCPP_ERROR(this->get_logger(), "Expected bgr8 encoding, got %s", msg->encoding.c_str());
+      return;
+    }
+    cv::Mat rgb_image(msg->height, msg->width, CV_8UC3,
+                      const_cast<uint8_t*>(msg->data.data()));
+    cv::Mat gray_image;
+    cv::cvtColor(rgb_image, gray_image, cv::COLOR_BGR2GRAY);
+
+    // 初始化 ZBar 扫描器
+    zbar::ImageScanner scanner;
+    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+
+    // 将 OpenCV 图像数据包装成 ZBar 图像
+    zbar::Image zbar_image(gray_image.cols, gray_image.rows, "Y800",
+                           gray_image.data, gray_image.cols * gray_image.rows);
+
+    // 扫描图像中的条形码和二维码
+    std::string qr_results;
+    int n = scanner.scan(zbar_image);
+    if (n > 0) {
+      for (auto symbol = zbar_image.symbol_begin();
+           symbol != zbar_image.symbol_end(); ++symbol) {
+        qr_results += symbol->get_data();
+        RCLCPP_INFO(this->get_logger(), "Decoded %s symbol \"%s\"",
+                    symbol->get_type_name().c_str(), symbol->get_data().c_str());
+      }
+    } else {
+      qr_results = "QR Code not detected";
+      RCLCPP_INFO(this->get_logger(), "QR Code not detected");
+    }
+
+    // 发布 QR 结果
+    auto message = std_msgs::msg::String();
+    message.data = qr_results;
+    publisher_->publish(message);
+  }
+
+  // 消息回调函数，处理 sign4return 话题
+  void sign_callback(const std_msgs::msg::Int32::SharedPtr msg)
+  {
+    if (msg->data == 0)
+    {
+      detect_qr_code_ = true; // 启动二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection started");
+    }
+    else if (msg->data == 5)
+    {
+      detect_qr_code_ = false; // 停止二维码检测
+      RCLCPP_INFO(this->get_logger(), "QR detection stopped");
+    }
+  }
+
+  // /aurora/rgb/image_raw 订阅器
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_image_;
+  // sign4return 订阅器
+  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_sign_;
+  // QR code results 发布器
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+
+  // 二维码检测标志位
+  bool detect_qr_code_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}
--- a/src/qr_detection/src/qr_detection_node.cpp
+++ b/src/qr_detection/src/qr_detection_node.cpp
@@ -0,0 +1,50 @@
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "hbm_img_msgs/msg/hbm_msg1080_p.hpp"
+
+class MinimalHbmemSubscriber : public rclcpp::Node
+{
+public:
+  MinimalHbmemSubscriber()
+  : Node("qr_detection")
+  {
+    // 创建 subscription_hbmem，topic 为 "hbmem_img"
+    // 消息回调函数为 topic_callback
+    subscription_ =
+      this->create_subscription_hbmem<hbm_img_msgs::msg::HbmMsg1080P>(
+        "hbmem_img",
+        10,
+        std::bind(&MinimalHbmemSubscriber::topic_callback, this, std::placeholders::_1));
+  }
+
+private:
+  // 消息回调函数
+  void topic_callback(
+    const hbm_img_msgs::msg::HbmMsg1080P::SharedPtr msg) const
+  {
+    // 创建 Clock 对象并获取当前时间
+    auto clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+    auto now = clock->now();
+
+    // 转换消息时间戳为 ROS 时间
+    auto msg_time = rclcpp::Time(msg->time_stamp.sec, msg->time_stamp.nanosec);
+
+    // 计算延时（单位：微秒）
+    auto duration = now - msg_time;
+    auto delay_us = duration.nanoseconds() / 1000; // 转换为微秒
+
+    // 打印延迟
+    RCLCPP_INFO(this->get_logger(), "msg index: %d, time cost %dus", msg->index, delay_us);
+  }
+
+  // hbmem subscription
+  rclcpp::SubscriptionHbmem<hbm_img_msgs::msg::HbmMsg1080P>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}
--- a/src/qr_detection/src/sameple_zbar.cpp
+++ b/src/qr_detection/src/sameple_zbar.cpp
@@ -0,0 +1,36 @@
+#include <iostream>
+#include <zbar.h>
+#include <opencv2/opencv.hpp>
+
+int main(int argc, char* argv[]) {
+    if (argc != 2) {
+        std::cerr << "Usage: " << argv[0] << " <image_path>" << std::endl;
+        return -1;
+    }
+
+    std::string image_path = argv[1];
+    cv::Mat image = cv::imread(image_path, cv::IMREAD_GRAYSCALE);
+    if (image.empty()) {
+        std::cerr << "Could not open or find the image: " << image_path << std::endl;
+        return -1;
+    }
+
+    // Initialize ZBar scanner
+    zbar::ImageScanner scanner;
+    scanner.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
+
+    // Wrap OpenCV image data in a ZBar image
+    zbar::Image zbar_image(image.cols, image.rows, "Y800", image.data, image.cols * image.rows);
+
+    // Scan the image for barcodes and QR codes
+    int n = scanner.scan(zbar_image);
+    if (n > 0) {
+        for (auto symbol = zbar_image.symbol_begin(); symbol != zbar_image.symbol_end(); ++symbol) {
+            std::cout << "Decoded " << symbol->get_type_name() << " symbol \"" << symbol->get_data() << '"' << std::endl;
+        }
+    } else {
+        std::cout << "QR Code not detected" << std::endl;
+    }
+
+    return 0;
+}
--- a/src/qr_detection/src/subscriber_hbmem.cpp
+++ b/src/qr_detection/src/subscriber_hbmem.cpp
@@ -0,0 +1,45 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "qr_detection/msg/sample_message.hpp"
+
+class MinimalHbmemSubscriber  : public rclcpp::Node {
+ public:
+  MinimalHbmemSubscriber () : Node("minimal_hbmem_subscriber") {
+    // 创建subscription_hbmem，topic为"sample"
+    // 消息回调函数为topic_callback
+    subscription_ =
+        this->create_subscription_hbmem<qr_detection::msg::SampleMessage>(
+            "topic", rclcpp::SensorDataQoS(),
+            std::bind(&MinimalHbmemSubscriber ::topic_callback, this,
+                      std::placeholders::_1));
+  }
+
+ private:
+  // 消息回调函数
+  void topic_callback(
+      const qr_detection::msg::SampleMessage::SharedPtr msg) const {
+    // 注意，msg只能在回调函数中使用，回调函数返回后，该消息就会被释放
+    // 获取当前时间
+    auto time_now =
+        std::chrono::duration_cast<std::chrono::microseconds>(
+            std::chrono::steady_clock::now().time_since_epoch())
+            .count();
+    // 计算延时并打印出来
+    RCLCPP_INFO(this->get_logger(), "msg %d, time cost %dus", msg->index,
+                time_now - msg->time_stamp);
+  }
+
+  // hbmem subscription
+  rclcpp::SubscriptionHbmem<qr_detection::msg::SampleMessage>::SharedPtr
+      subscription_;
+};
+
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalHbmemSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}
--- a/src/vlm_detect/package.xml
+++ b/src/vlm_detect/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>vlm_detect</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
--- a/src/vlm_detect/resource/vlm_detect
+++ b/src/vlm_detect/resource/vlm_detect
--- a/src/vlm_detect/setup.cfg
+++ b/src/vlm_detect/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/vlm_detect
+[install]
+install_scripts=$base/lib/vlm_detect
--- a/src/vlm_detect/setup.py
+++ b/src/vlm_detect/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'vlm_detect'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+      'console_scripts': [
+        'vlm_node = vlm_detect.vlm_node:main',
+      ],
+    },
+)
--- a/src/vlm_detect/test/test_copyright.py
+++ b/src/vlm_detect/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
--- a/src/vlm_detect/test/test_flake8.py
+++ b/src/vlm_detect/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
--- a/src/vlm_detect/test/test_pep257.py
+++ b/src/vlm_detect/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
--- a/src/vlm_detect/vlm_detect/init.py
+++ b/src/vlm_detect/vlm_detect/init.py
--- a/src/vlm_detect/vlm_detect/pycache/init.cpython-38.pyc
+++ b/src/vlm_detect/vlm_detect/pycache/init.cpython-38.pyc
--- a/src/vlm_detect/vlm_detect/pycache/vlm_node.cpython-38.pyc
+++ b/src/vlm_detect/vlm_detect/pycache/vlm_node.cpython-38.pyc
--- a/src/vlm_detect/vlm_detect/vlm_node.py
+++ b/src/vlm_detect/vlm_detect/vlm_node.py
@@ -0,0 +1,144 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int32, String
+from sensor_msgs.msg import CompressedImage
+from cv_bridge import CvBridge
+import cv2
+import base64
+import threading
+from openai import OpenAI
+import os
+import time
+import numpy as np
+
+class VLMProcessor(Node):
+    def __init__(self):
+        super().__init__('vlm_dtetct')
+        
+        # 初始化 OpenAI 客户端
+        self.client = OpenAI(
+            base_url="http://192.168.1.103:8000/v1",
+            api_key="EMPTY"
+        )
+        
+        # ROS2 组件
+        self.bridge = CvBridge()
+        self.latest_image = None
+        self.image_lock = threading.Lock()
+        
+        # 订阅图像话题
+        self.image_sub = self.create_subscription(
+            CompressedImage,
+            '/image',
+            self.image_callback,
+            10
+        )
+        
+        # 订阅触发信号
+        self.sign_sub = self.create_subscription(
+            Int32,
+            '/sign4return',
+            self.sign_callback,
+            10
+        )
+        
+        # 发布结果
+        self.result_pub = self.create_publisher(
+            String,
+            '/vlm_result',
+            10
+        )
+        
+        self.get_logger().info("VLM Processor...")
+
+    def image_callback(self, msg):
+        """保存最新的图像"""
+        with self.image_lock:
+            try:
+                np_arr = np.frombuffer(msg.data, np.uint8)
+                # 使用 OpenCV 解码图像
+                cv_image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
+                self.latest_image = cv_image
+                self.get_logger().debug("recive picture")
+            except Exception as e:
+                self.get_logger().error("err picture")
+
+    def sign_callback(self, msg):
+        """处理触发信号"""
+        if msg.data == 9:
+            self.get_logger().info("收到触发信号 (6)，开始处理图像...")
+            
+            # 检查是否有可用图像
+            with self.image_lock:
+                if self.latest_image is None:
+                    self.get_logger().warning("没有可用图像")
+                    return
+                
+                # 保存临时图像文件
+                temp_path = "/tmp/vlm_temp_image.jpg"
+                cv2.imwrite(temp_path, self.latest_image)
+                self.get_logger().info("已保存临时图像}")
+            
+            # 处理图像
+            try:
+                description = self.process_image(temp_path)
+                self.get_logger().info(f"图像描述结果:")
+                
+                # 发布结果
+                result_msg = String()
+                result_msg.data = description
+                self.result_pub.publish(result_msg)
+                
+                # 清理临时文件
+                os.remove(temp_path)
+            except Exception as e:
+                self.get_logger().error(f"处理图像时出错:{e}")
+
+    def process_image(self, image_path):
+        """使用 VLM 模型处理图像"""
+        # 读取并编码图像
+        with open(image_path, "rb") as image_file:
+            base64_image = base64.b64encode(image_file.read()).decode('utf-8')
+        
+        # 发送请求到 VLM 模型
+        start_time = time.time()
+        
+        response = self.client.chat.completions.create(
+            model="/home/yyh/vllm_test/model/InternVL3-1B",
+            messages=[
+                {
+                    "role": "user",
+                    "content": [
+                        {"type": "text", "text": "描述图片中的动漫病人"},
+                        {
+                            "type": "image_url",
+                            "image_url": {
+                                "url": f"data:image/jpeg;base64,{base64_image}"
+                            }
+                        }
+                    ]
+                }
+            ],
+            max_tokens=100
+        )
+        
+        processing_time = time.time() - start_time
+        self.get_logger().info("VLM 处理耗时秒")
+        
+        return response.choices[0].message.content
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = VLMProcessor()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
--- a/src/yolov8_launch/class_list/cone.list
+++ b/src/yolov8_launch/class_list/cone.list
@@ -0,0 +1 @@
+cone
--- a/src/yolov8_launch/launch/dnn_node_example.launch.py
+++ b/src/yolov8_launch/launch/dnn_node_example.launch.py
@@ -0,0 +1,239 @@
+# Copyright (c) 2024，D-Robotics.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python import get_package_share_directory
+from ament_index_python.packages import get_package_prefix
+
+
+def generate_launch_description():
+
+    # args that can be set from the command line or a default will be used
+    config_file_launch_arg = DeclareLaunchArgument(
+        "dnn_example_config_file", default_value=TextSubstitution(text="/root/yolov8workconfig.json")
+    )
+    dump_render_launch_arg = DeclareLaunchArgument(
+        "dnn_example_dump_render_img", default_value=TextSubstitution(text="0")
+    )
+    image_width_launch_arg = DeclareLaunchArgument(
+        "dnn_example_image_width", default_value=TextSubstitution(text="640")
+    )
+    image_height_launch_arg = DeclareLaunchArgument(
+        "dnn_example_image_height", default_value=TextSubstitution(text="480")
+    )
+    msg_pub_topic_name_launch_arg = DeclareLaunchArgument(
+        "dnn_example_msg_pub_topic_name", default_value=TextSubstitution(text="hobot_dnn_detection")
+    )
+
+    camera_type = os.getenv('CAM_TYPE')
+    camera_type = 'usb'
+    print("camera_type is ", camera_type)
+    
+    cam_node = None
+    camera_type_mipi = None
+    camera_device_arg = None
+
+    if camera_type == "usb":
+        # usb cam图片发布pkg
+        usb_cam_device_arg = DeclareLaunchArgument(
+            'device',
+            default_value='/dev/video8',
+            description='usb camera device')
+
+        usb_node = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('hobot_usb_cam'),
+                    'launch/hobot_usb_cam.launch.py')),
+            launch_arguments={
+                'usb_image_width': LaunchConfiguration('dnn_example_image_width'),
+                'usb_image_height': LaunchConfiguration('dnn_example_image_height'),
+                'usb_video_device': LaunchConfiguration('device')
+            }.items()
+        )
+        print("using usb cam")
+        cam_node = usb_node
+        camera_type_mipi = False
+        camera_device_arg = usb_cam_device_arg
+
+    elif camera_type == "fb":
+        # 本地图片发布
+        feedback_picture_arg = DeclareLaunchArgument(
+            'publish_image_source',
+            default_value='./config/target.jpg',
+            description='feedback picture')
+
+        publish_image_fps = DeclareLaunchArgument(
+            'publish_image_fps',
+            default_value='5',
+            description='publish_image_fps picture')
+
+        fb_node = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('hobot_image_publisher'),
+                    'launch/hobot_image_publisher.launch.py')),
+            launch_arguments={
+                'publish_image_source': LaunchConfiguration('publish_image_source'),
+                'publish_image_format': LaunchConfiguration('publish_image_format'),
+                'publish_message_topic_name': '/hbmem_img',
+                'publish_fps': LaunchConfiguration('publish_image_fps')
+            }.items()
+        )
+
+        print("using feedback")
+        cam_node = fb_node
+        camera_type_mipi = True
+        camera_device_arg = feedback_picture_arg
+
+    else:
+        if camera_type == "mipi":
+            print("using mipi cam")
+        else:
+            print("invalid camera_type ", camera_type,
+                ", which is set with export CAM_TYPE=usb/mipi/fb, using default mipi cam")
+        # mipi cam图片发布pkg
+        mipi_cam_device_arg = DeclareLaunchArgument(
+            'device',
+            default_value='F37',
+            description='mipi camera device')
+        mipi_node = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('mipi_cam'),
+                    'launch/mipi_cam.launch.py')),
+            launch_arguments={
+                'mipi_image_width': LaunchConfiguration('dnn_example_image_width'),
+                'mipi_image_height': LaunchConfiguration('dnn_example_image_height'),
+                'mipi_io_method': 'shared_mem',
+                'mipi_frame_ts_type': 'realtime',
+                'mipi_video_device': LaunchConfiguration('device')
+            }.items()
+        )
+
+        cam_node = mipi_node
+        camera_type_mipi = True
+        camera_device_arg = mipi_cam_device_arg
+
+    # jpeg图片编码&发布pkg
+    jpeg_codec_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('hobot_codec'),
+                'launch/hobot_codec_encode.launch.py')),
+        launch_arguments={
+            'codec_in_mode': 'shared_mem',
+            'codec_out_mode': 'ros',
+            'codec_sub_topic': '/hbmem_img',
+            'codec_pub_topic': '/image'
+        }.items()
+    )
+
+    # nv12图片解码&发布pkg
+    nv12_codec_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('hobot_codec'),
+                'launch/hobot_codec_decode.launch.py')),
+        launch_arguments={
+            'codec_in_mode': 'ros',
+            'codec_out_mode': 'shared_mem',
+            'codec_sub_topic': '/image',
+            'codec_pub_topic': '/hbmem_img'
+        }.items()
+    )
+
+    # web展示pkg
+    web_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('websocket'),
+                'launch/websocket.launch.py')),
+        launch_arguments={
+            'websocket_image_topic': '/image',
+            'websocket_image_type': 'mjpeg',
+            'websocket_smart_topic': LaunchConfiguration("dnn_example_msg_pub_topic_name")
+        }.items()
+    )
+
+    # 算法pkg
+    dnn_node_example_node = Node(
+        package='dnn_node_example',
+        executable='example',
+        output='screen',
+        parameters=[
+            {"config_file": LaunchConfiguration('dnn_example_config_file')},
+            {"dump_render_img": LaunchConfiguration(
+                'dnn_example_dump_render_img')},
+            {"feed_type": 1},
+            {"is_shared_mem_sub": 1},
+            {"msg_pub_topic_name": LaunchConfiguration(
+                "dnn_example_msg_pub_topic_name")}
+        ],
+        arguments=['--ros-args', '--log-level', 'warn']
+    )
+
+    shared_mem_node = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(
+                        get_package_share_directory('hobot_shm'),
+                        'launch/hobot_shm.launch.py'))
+            )
+
+    if camera_type_mipi:
+        return LaunchDescription([
+            camera_device_arg,
+            config_file_launch_arg,
+            dump_render_launch_arg,
+            image_width_launch_arg,
+            image_height_launch_arg,
+            msg_pub_topic_name_launch_arg,
+            # 启动零拷贝环境配置node
+            # shared_mem_node,
+            # 图片发布pkg
+            cam_node,
+            # 图片编解码&发布pkg
+            nv12_codec_node,
+            # 启动example pkg
+            dnn_node_example_node,
+            # 启动web展示pkg
+            web_node
+        ])
+    else:
+        return LaunchDescription([
+            camera_device_arg,
+            config_file_launch_arg,
+            dump_render_launch_arg,
+            image_width_launch_arg,
+            image_height_launch_arg,
+            msg_pub_topic_name_launch_arg,
+            # 启动零拷贝环境配置node
+            # shared_mem_node,
+            # 图片发布pkg
+            cam_node,
+            # 图片编解码&发布pkg
+            nv12_codec_node,
+            # 启动example pkg
+            dnn_node_example_node,
+            # 启动web展示pkg
+            web_node
+        ])
--- a/src/yolov8_launch/package.xml
+++ b/src/yolov8_launch/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>yolov8_launch</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
--- a/src/yolov8_launch/resource/yolov8_launch
+++ b/src/yolov8_launch/resource/yolov8_launch
--- a/src/yolov8_launch/setup.cfg
+++ b/src/yolov8_launch/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/yolov8_launch
+[install]
+install_scripts=$base/lib/yolov8_launch
--- a/src/yolov8_launch/setup.py
+++ b/src/yolov8_launch/setup.py
@@ -0,0 +1,27 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+package_name = 'yolov8_launch'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', glob('launch/*.launch.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)
--- a/src/yolov8_launch/test/test_copyright.py
+++ b/src/yolov8_launch/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
--- a/src/yolov8_launch/test/test_flake8.py
+++ b/src/yolov8_launch/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
--- a/src/yolov8_launch/test/test_pep257.py
+++ b/src/yolov8_launch/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
--- a/src/yolov8_launch/yolov8_launch/init.py
+++ b/src/yolov8_launch/yolov8_launch/init.py
--- a/47
+++ b/47
@@ -0,0 +1,47 @@
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+Retrying.
+
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+Retrying.
+
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+Retrying.
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+Retrying.
+
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