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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"
This commit is contained in:
Orange
2026-06-22 17:16:45 +08:00
parent a9bfeef59b
commit 779b32362a
51 changed files with 3974 additions and 398 deletions
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62
src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak
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@@ -1,17 +1,17 @@
slam_toolbox:
ros__parameters:
use_sim_time: True
use_sim_time: False
bt_navigator:
ros__parameters:
use_sim_time: True
use_sim_time: False
global_frame: map
robot_base_frame: base_footprint
odom_topic: /odom
bt_loop_duration: 50
default_server_timeout: 20
# 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待
default_nav_to_pose_bt_xml: /home/guoch/test_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
default_nav_to_pose_bt_xml: /home/sunrise/yiliao_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
- nav2_compute_path_through_poses_action_bt_node
@@ -59,17 +59,17 @@ bt_navigator:
bt_navigator_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: False
controller_server:
ros__parameters:
use_sim_time: True
use_sim_time: False
controller_frequency: 20.0
FollowPath:
plugin: "nav2_mppi_controller::MPPIController"
time_steps: 36
time_steps: 20
model_dt: 0.05
batch_size: 1000
batch_size: 200
vx_std: 0.2
vy_std: 0.0
wz_std: 0.4
@@ -105,7 +105,7 @@ controller_server:
PreferForwardCritic:
enabled: true
cost_power: 1
cost_weight: 5.0
cost_weight: 2.0
threshold_to_consider: 0.5
CostCritic:
enabled: true
@@ -119,7 +119,7 @@ controller_server:
PathAlignCritic:
enabled: true
cost_power: 1
cost_weight: 14.0
cost_weight: 7.0 # PathAlignCritic
max_path_occupancy_ratio: 0.05
trajectory_point_step: 4
threshold_to_consider: 0.5
@@ -142,17 +142,17 @@ controller_server:
controller_server_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: False
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
robot_base_frame: base_link
use_sim_time: True
use_sim_time: False
rolling_window: true
width: 3
height: 3
@@ -166,7 +166,7 @@ local_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
inflation_radius: 0.2
voxel_layer:
plugin: "nav2_costmap_2d::VoxelLayer"
enabled: True
@@ -192,21 +192,21 @@ local_costmap:
always_send_full_costmap: True
local_costmap_client:
ros__parameters:
use_sim_time: True
use_sim_time: False
local_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: False
global_costmap:
global_costmap:
ros__parameters:
use_sim_time: True
use_sim_time: False
transform_tolerance: 0.5
update_frequency: 1.0
publish_frequency: 1.0
global_frame: map
robot_base_frame: base_link
use_sim_time: True
use_sim_time: False
footprint: "[[0.14, 0.085],
[0.14, -0.085],
[-0.14, -0.085],
@@ -235,18 +235,18 @@ global_costmap:
inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
cost_scaling_factor: 3.0
inflation_radius: 0.55
inflation_radius: 0.2
always_send_full_costmap: True
global_costmap_client:
ros__parameters:
use_sim_time: True
use_sim_time: False
global_costmap_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: False
map_saver:
ros__parameters:
use_sim_time: True
use_sim_time: False
save_map_timeout: 5.0
free_thresh_default: 0.25
occupied_thresh_default: 0.65
@@ -255,7 +255,7 @@ map_saver:
planner_server:
ros__parameters:
planner_plugins: ["GridBased"]
use_sim_time: True
use_sim_time: False
GridBased:
plugin: "nav2_smac_planner/SmacPlannerHybrid"
@@ -263,7 +263,7 @@ planner_server:
downsampling_factor: 1
tolerance: 0.25
allow_unknown: true
max_iterations: 1000000
max_iterations: 100000
max_on_approach_iterations: 1000
max_planning_time: 5.0
motion_model_for_search: "REEDS_SHEPP"
@@ -273,10 +273,10 @@ planner_server:
minimum_turning_radius: 0.40
reverse_penalty: 1.3 # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车）
change_penalty: 0.0
non_straight_penalty: 1.2
cost_penalty: 2.0
non_straight_penalty: 0.5
cost_penalty: 5.0
retrospective_penalty: 0.015
lookup_table_size: 20.0
lookup_table_size: 5.0
cache_obstacle_heuristic: false
viz_expansions: false
smooth_path: True
@@ -291,11 +291,11 @@ planner_server:
planner_server_rclcpp_node:
ros__parameters:
use_sim_time: True
use_sim_time: False
smoother_server:
ros__parameters:
use_sim_time: True
use_sim_time: False
smoother_plugins: ["simple_smoother"]
simple_smoother:
plugin: "nav2_smoother::SimpleSmoother"
@@ -321,7 +321,7 @@ behavior_server:
global_frame: odom
robot_base_frame: base_link
transform_tolerance: 0.5
use_sim_time: True
use_sim_time: False
simulate_ahead_time: 2.0
max_rotational_vel: 1.0
min_rotational_vel: 0.4
@@ -329,12 +329,12 @@ behavior_server:
robot_state_publisher:
ros__parameters:
use_sim_time: True
use_sim_time: False
waypoint_follower:
ros__parameters:
loop_rate: 20
use_sim_time: True
use_sim_time: False
stop_on_failure: false
waypoint_task_executor_plugin: "wait_at_waypoint"
wait_at_waypoint: