zbw/yiliao2026
1
0
Fork 1
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

改了一下ekf的源码，让odom不再完全相信轮式里程计；手贱删了个.git里的文件导致文件全部重新存，看不了diff了

Browse Source
This commit is contained in:
Orange
2026-06-13 19:54:44 +08:00
parent 51ea5bd52e
commit 5efbc1e68e
278 changed files with 0 additions and 23991 deletions
Download Patch File Download Diff File Expand all files Collapse all files

99
src/origincar_base/launch/origincar_bringup.launch.py
View File

@@ -1,99 +0,0 @@
import os
from pathlib import Path
import launch
from launch.actions import SetEnvironmentVariable
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
IncludeLaunchDescription, SetEnvironmentVariable)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import PushRosNamespace
import launch_ros.actions
from launch.conditions import UnlessCondition
def generate_launch_description():
# Get the launch directory
bringup_dir = get_package_share_directory('origincar_base')
launch_dir = os.path.join(bringup_dir, 'launch')
ekf_config = Path(get_package_share_directory('origincar_base'), 'config', 'ekf.yaml')
imu_config = Path(get_package_share_directory('origincar_base'), 'config', 'imu.yaml')
carto_slam = LaunchConfiguration('carto_slam', default='false')
carto_slam_dec = DeclareLaunchArgument('carto_slam',default_value='false')
akmcar = LaunchConfiguration('akmcar', default='true')
akmcar_dec = DeclareLaunchArgument('akmcar', default_value='true',
description='阿克曼底盘模式 (true=阿克曼, false=差速)')
origincar_base = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'base_serial.launch.py')),
launch_arguments={'akmcar': akmcar}.items(),
)
choose_car = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description.launch.py')),
)
base_to_gyro = launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
name='base_to_gyro',
arguments=['0', '0', '0','0', '0','0','base_footprint','gyro_link'],
)
link_to_laser = launch_ros.actions.Node(
package='tf2_ros',
executable='static_transform_publisher',
name='link_to_laser',
arguments=['0', '0', '0','0', '0','0','base_link','laser'],
)
imu_filter_node = launch_ros.actions.Node(
package='imu_filter_madgwick',
executable='imu_filter_madgwick_node',
parameters=[imu_config]
)
robot_ekf = launch_ros.actions.Node(
condition=UnlessCondition(carto_slam),
package='robot_localization',
executable='ekf_node',
parameters=[ekf_config],
remappings=[("odometry/filtered", "odom_combined")]
)
# 从 URDF 生成 robot_description，供 joint_state_publisher 和 robot_state_publisher 共用
from launch_ros.parameter_descriptions import ParameterValue
from launch.substitutions import Command
robot_description = ParameterValue(
Command(['xacro ', os.path.join(
get_package_share_directory('origincar_description'),
'urdf', 'origincar.urdf')]),
value_type=str)
joint_state_publisher_node = launch_ros.actions.Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
parameters=[{'robot_description': robot_description}],
)
ld = LaunchDescription()
ld.add_action(carto_slam_dec)
ld.add_action(akmcar_dec)
ld.add_action(origincar_base)
ld.add_action(base_to_gyro)
ld.add_action(joint_state_publisher_node)
ld.add_action(choose_car)
ld.add_action(imu_filter_node)
ld.add_action(robot_ekf)
return ld