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 2 commits. (use "git push" to publish your local commits) Changes to be committed: modified: .gitignore modified: README.md new file: bashes/auto-wifi-connect.service new file: bashes/auto-wifi-connect.sh deleted: keyboard_control.py new file: my_model/image.png new file: path_follower_demo.py new file: scripts/PIDtracking.py new file: scripts/__pycache__/publish_sine_path.cpython-310.pyc new file: scripts/publish_sine_path.py modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml modified: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak new file: src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2 modified: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/ekf.yaml.bak modified: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/base_serial.launch.py.bak modified: src/origincar_base/launch/origincar_bringup.launch.py new file: src/past_control/CMakeLists.txt new file: src/past_control/config/past_control.yaml new file: src/past_control/include/past_control/tools.h new file: src/past_control/launch/past_control.launch.py new file: src/past_control/msg/Obstacle.msg new file: src/past_control/msg/ObstacleArray.msg new file: src/past_control/package.xml new file: src/past_control/src/lane_follower_node.cpp new file: src/past_control/src/obstacle_detector_node.cpp new file: src/past_control/src/racing_orchestrator.cpp new file: src/planner/CMakeLists.txt new file: src/planner/config/planner.yaml new file: src/planner/launch/planner.launch.py new file: src/planner/package.xml new file: src/planner/src/planner_version.cpp modified: src/qr_detection/src/qr_dete_depth.cpp new file: src/racing_control/CMakeLists.txt new file: src/racing_control/include/racing_control/racing_control.hpp new file: src/racing_control/package.xml new file: src/racing_control/src/racing_control.cpp modified: src/vlm_detect/setup.py new file: src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc new file: src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc new file: src/vlm_detect/vlm_detect/test_publisher.py new file: src/vlm_detect/vlm_detect/tts_node.py modified: src/vlm_detect/vlm_detect/vlm_node.py new file: tools/measure_turning_radius.py new file: tools/set_volume.py new file: tools/udp_to_cmdvel.py new file: tools/windows_keyboard_control.py new file: vlm_server.py new file: "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png" renamed: "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"
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调试记录.md
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2026/6/1
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16:12
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关闭了雷达的自启动服务。
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\TODO lsusb无法识别雷达usb设备，原本属于lslidar的 QinHeng Electronics USB Single Serial被赋予给了下位机的IMU设备。下面是lsusb的输出：
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Bus 002 Device 002: ID 05e3:0626 Genesys Logic, Inc. USB3.1 Hub
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Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
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Bus 001 Device 004: ID 2ce3:0010 Alcorlink Corp. USB 2.0 Camera
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Bus 001 Device 003: ID 1a86:55d4 QinHeng Electronics USB Single Serial
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Bus 001 Device 002: ID 05e3:0610 Genesys Logic, Inc. Hub
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Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
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拔插之后lslidar后无改变
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串口设备仅有ttyACM0，无ttyACM1.
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16:48
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雷达串口问题解决，原因是type-c转接线的芯片问题，换了一条转接线后雷达串口设备正常显示为ttyACM0和ttyACM1了。
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============================================================
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2026/6/11 — TF树修复 & base驱动稳定性修复
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============================================================
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## 问题1: SLAM Toolbox Message Filter 丢帧
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**现象**: `Message Filter dropping message: frame laser_link ... reason discarding message because the queue is full`
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**原因**: `slam_toolbox_mapping.yaml` 中 `scan_queue_size` 偏小，激光雷达 10Hz、minimum_time_interval 0.5s，队列缓冲不足
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**修复**: 将 `scan_queue_size` 适当调大即可（属配置调优项，未做硬编码修改）
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## 问题2: SLAM Toolbox Message Filter 时间戳过期
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**现象**: `Message Filter dropping message: frame laser_link ... reason the timestamp on the message is earlier than all the data in the transform cache`
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**原因**: 激光帧时间戳早于 TF 缓存最早数据，通常刚启动时 TF 尚未就绪或处理积压
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**修复**: 随问题3 TF树修复后缓解
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## 问题3: TF 树断连 — bt_navigator 找不到 map→base_footprint (核心问题)
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**现象**: `Could not find a connection between map and base_footprint because they are not part of the same tree. Tf has two or more unconnected trees.`
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**根因**: 两个节点同时发布 `odom→base_link` TF:
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- base 驱动 (origincar_base.cpp:228) — 原始轮式里程计
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- EKF (ekf.yaml: base_link_frame=base_link, publish_tf=true) — 融合 odom+IMU
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两节点争夺同一条 TF，导致树撕裂
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**修复** (4处改动):
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1. ekf.yaml: base_link_frame 从 base_link 改为 base_footprint
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→ EKF 发布 odom→base_footprint，不再与 base 驱动争抢
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2. origincar_base.cpp: 新增 publish_tf 参数，默认 false
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→ base 驱动默认不再广播 TF
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3. gc_nav2_with_slam_online_real.launch.py: 移除重复的 base_footprint→base_link static TF
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→ URDF 已定义该关节 (z=-0.09)，static TF 提供 identity (z=0) 造成冲突
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4. origincar_bringup.launch.py: 移除 base_to_link static TF（同上）
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**修复后 TF 树**:
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map → odom → base_footprint → base_link → chassis_link → borad_link → laser_link
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↑ ↑ ↑ ↑
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SLAM EKF融合 URDF URDF
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## 问题4: cmd_vel_to_ackermann_drive.py 找不到
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**现象**: `executable cmd_vel_to_ackermann_drive.py not found on the libexec directory`
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**原因**: 源文件缺执行权限 (644)，--symlink-install 时安装路径继承源文件权限
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**修复**: chmod +x scripts/cmd_vel_to_ackermann_drive.py
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## 问题5: base 驱动串口异常崩溃
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**现象**: `terminate called after throwing serial::SerialException: device reports readiness to read but returned no data`
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**原因**: Get_Sensor_Data() 中 Stm32_Serial.read() 抛异常未捕获
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**修复**: origincar_base.cpp 中 Stm32_Serial.read() 包裹 try-catch，捕获 SerialException 后 return false
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## 问题6: URDF 文件 git 冲突未解决
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**现象**: xacro 解析失败 — XML parsing error: not well-formed (invalid token)
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**原因**: origincar.urdf 存在 8 处 git merge 冲突标记 (HEAD vs mo_new)，涉及轮距参数 (0.0841 vs 0.0715)
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**修复**: 清除所有冲突标记，采用 mo_new 分支轮距值
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## 问题7: joint_state_publisher 找不到 robot_description
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**现象**: `Waiting for robot_description to be published on the robot_description topic...`
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**原因**: robot_mode_description.launch.py 使用旧式命令行参数传 URDF，未发布到 topic
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**修复**: 改为参数方式传递 robot_description，同时传给 joint_state_publisher
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## 编译记录
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- 命令: colcon build --packages-select origincar_base --symlink-install
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- 结果: 通过
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================================================================================
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日期: 2026-06-13
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问题: LSLiDAR /scan 可视化中出现空扇形面
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================================================================================
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【现象】
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在 rviz/foxglove 中查看 /scan 话题时，显示中凭空出现一个约60°的扇形区域
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没有任何点（inf），物体轮廓在该边界处像是被"切断"一般。但实际雷达能够检测
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到360°所有方向的物体。
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【根因分析】
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驱动代码 lslidar_driver.cc 中，N10 雷达走的是 else 分支（Path 2）。
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第1137行被硬编码为:
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int scan_num = fixed_array_length; // 450
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而原始正确公式（被注释掉）为:
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//int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1;
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问题机制:
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- LiDAR 硬件每圈输出约374个数据点 (分辨率 ~0.96°/点)，完整覆盖360°
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- 但 fixed_array_length=450 强制分配了450个bin (分辨率 0.80°/点)
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- 索引映射 point_idx = round((360-degree) * count_num / 360) 最大只能到373
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- 所以 indices 374-449 (78个bin, ~60°) 永远是 inf
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- 所有真实数据被"压缩"到 0-299° 范围内显示
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同时 angle_increment 和 time_increment 也使用了 fixed_array_length
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导致与实际数据不匹配。
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【修复内容】
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文件: src/lslidar_driver/src/lslidar_driver.cc
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修改1 (line 1137):
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- 修复前: int scan_num = fixed_array_length;//cyy_addcyy_add
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+ 修复后: int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1;
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修改2 (line 1163):
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- 修复前: scan->angle_increment = 2 * M_PI / (double)(fixed_array_length - 1);
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+ 修复后: scan->angle_increment = 2 * M_PI / (double)(scan_num - 1);
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修改3 (line 1172):
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- 修复前: scan->time_increment = 0.1 / (double)(fixed_array_length - 1);
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+ 修复后: scan->time_increment = 0.1 / (double)(scan_num - 1);
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【验证】
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编译通过。需要重启 lslidar_driver_node 使修复生效:
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ros2 lifecycle set lslidar_driver_node shutdown
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然后重新启动 launch 文件。
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================================================================================
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日期: 2026-06-13
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问题: LSLiDAR /scan 可视化中出现空扇形面
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================================================================================
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【现象】
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在 rviz/foxglove 中查看 /scan 话题时，显示中凭空出现一个约60°的扇形区域
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没有任何点（inf），物体轮廓在该边界处像是被切断一般。但实际雷达能够检测
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到360°所有方向的物体。
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【根因分析】
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驱动代码 lslidar_driver.cc 中，N10 雷达走的是 else 分支（Path 2）。
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第1137行被硬编码为:
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int scan_num = fixed_array_length; // 450
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而原始正确公式（被注释掉）为:
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//int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1;
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问题机制:
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- LiDAR 硬件每圈输出约374个数据点 (分辨率 ~0.96°/点)，完整覆盖360°
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- 但 fixed_array_length=450 强制分配了450个bin (分辨率 0.80°/点)
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- 索引映射 point_idx = round((360-degree) * count_num / 360) 最大只能到373
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- 所以 indices 374-449 (78个bin, ~60°) 永远是 inf
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- 所有真实数据被压缩到 0-299° 范围内显示
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同时 angle_increment 和 time_increment 也使用了 fixed_array_length
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导致与实际数据不匹配。
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【修复内容】
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文件: src/lslidar_driver/src/lslidar_driver.cc
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修改1 (line 1137):
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- 修复前: int scan_num = fixed_array_length;
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+ 修复后: int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1;
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修改2 (line 1163):
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- 修复前: scan->angle_increment = 2 * M_PI / (double)(fixed_array_length - 1);
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+ 修复后: scan->angle_increment = 2 * M_PI / (double)(scan_num - 1);
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修改3 (line 1172):
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- 修复前: scan->time_increment = 0.1 / (double)(fixed_array_length - 1);
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+ 修复后: scan->time_increment = 0.1 / (double)(scan_num - 1);
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【验证】
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编译通过。需要重启 lslidar_driver_node 使修复生效。
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## 6/16 调试记录
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记录了深度相机的RGB图像最远能够识别的大小（目前A4）
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## 6/18 调试记录
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创建了电脑遥控的脚本，测试了不同速度下小车转弯半径的大小
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修改了雷达驱动脚本，从软件上修复了重复掉线重连的情况
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## 6/20 调试记录
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所有工具/辅助类脚本全部放在tools文件夹下
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