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

Please enter the commit message for your changes. Lines starting

Browse Source 
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"
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
Download Patch File Download Diff File Expand all files Collapse all files

31
src/origincar_base/launch/base_serial.launch.py
View File

@@ -1,51 +1,24 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition, UnlessCondition
import launch_ros.actions
def generate_launch_description():
akmcar = LaunchConfiguration('akmcar', default='false')
robot_parameters = [
{'usart_port_name': '/dev/ttyACM0',
'serial_baud_rate': 115200,
'robot_frame_id': 'base_link',
'odom_frame_id': 'odom',
'cmd_vel': 'cmd_vel',
'akm_cmd_vel': 'none',
'product_number': 0,
# Odom covariance (higher = more uncertainty, EKF trusts odom less)
'odom_pose_cov_x': 0.01,
'odom_pose_cov_y': 0.01,
'odom_pose_cov_yaw': 0.0225}
]
return LaunchDescription([
DeclareLaunchArgument(
'akmcar',
default_value='false',
description='Use simulation (Gazebo) clock if true'
),
launch_ros.actions.Node(
condition=IfCondition(akmcar),
package='origincar_base',
executable='origincar_base_node',
parameters=robot_parameters + [{'akm_cmd_vel': 'ackermann_cmd'}],
remappings=[('/cmd_vel', 'cmd_vel')],
),
launch_ros.actions.Node(
condition=IfCondition(akmcar),
package='origincar_base',
executable='cmd_vel_to_ackermann_drive.py',
name='cmd_vel_to_ackermann_drive',
),
launch_ros.actions.Node(
condition=UnlessCondition(akmcar),
package='origincar_base',
executable='origincar_base_node',
parameters=robot_parameters + [{'akm_cmd_vel': 'none'}],
parameters=robot_parameters,
)
])