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On branch master Initial commit Changes to be committed: new file: bashes/README.md new file: bashes/radar-driver-switch.sh new file: dependencies/dependencies.txt new file: src/LSLIDAR_X_ROS2-20240228/src/README.md new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/input.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lsiosr.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/lslidar_driver/lslidar_driver.h new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lslidar_double_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsm10p_uart_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/lsn10p_net_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/launch/viewer_scan_launch.py new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsm10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_net_ros2/lsn10p_net.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsm10_p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/params/lidar_uart_ros2/lsn10p.yaml new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/rviz/lslidar.rviz new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/input.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lsiosr.cpp new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver_node.cc new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/CMakeLists.txt new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarDifop.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPacket.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarPoint.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarScan.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/msg/LslidarSweep.msg new file: src/LSLIDAR_X_ROS2-20240228/src/lslidar_msgs/package.xml new file: src/LSLIDAR_X_ROS2-20240228/src/version.txt new file: src/LSLIDAR_X_ROS2-20240228/src/wheeltec_udev.sh new file: "src/LSLIDAR_X_ROS2-20240228/src/\351\225\255\347\245\236Lsx\351\233\267\350\276\276\346\227\213\350\275\254\350\247\222\345\272\246.png" new file: src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py new file: "src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py\344\273\205\345\234\250WHEELTEC\351\225\234\345\203\217\344\270\255\344\275\277\347\224\250" new file: src/cyy_navigation2/CMakeLists.txt new file: src/cyy_navigation2/bt/follow_point.xml new file: src/cyy_navigation2/bt/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_through_poses_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml new file: src/cyy_navigation2/bt/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_distance.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_goal_is_updated.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_only_if_path_becomes_invalid.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_speed.xml new file: src/cyy_navigation2/bt/navigate_w_replanning_time.xml new file: src/cyy_navigation2/bt/odometry_calibration.xml new file: src/cyy_navigation2/config/nav2_params.yaml new file: src/cyy_navigation2/launch/car_bringup.launch.py new file: src/cyy_navigation2/launch/cyy_nav.launch.py new file: src/cyy_navigation2/launch/cyy_nav_box.launch.py new file: src/cyy_navigation2/maps/cyy_map.data new file: src/cyy_navigation2/maps/cyy_map.pgm new file: src/cyy_navigation2/maps/cyy_map.yaml new file: src/cyy_navigation2/maps/cyy_map1.pgm new file: src/cyy_navigation2/maps/cyy_map1.yaml new file: src/cyy_navigation2/package.xml new file: src/cyy_navigation2/param/nav2_params.yaml new file: src/cyy_navigation2/param/slam_toolbox_localization.yaml new file: src/cyy_slamtoolbox/CMakeLists.txt new file: src/cyy_slamtoolbox/config/angular_filter_example.yaml new file: src/cyy_slamtoolbox/config/box_filter_example.yaml new file: src/cyy_slamtoolbox/config/footprint_filter_example.yaml new file: src/cyy_slamtoolbox/config/intensity_filter_example.yaml new file: src/cyy_slamtoolbox/config/laser_filter_config.yaml new file: src/cyy_slamtoolbox/config/mapper_params_lifelong.yaml new file: src/cyy_slamtoolbox/config/mapper_params_localization.yaml new file: src/cyy_slamtoolbox/config/mapper_params_offline.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_async.yaml new file: src/cyy_slamtoolbox/config/mapper_params_online_sync.yaml new file: src/cyy_slamtoolbox/config/mask_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_filter_example.yaml new file: src/cyy_slamtoolbox/config/median_spatial_filter_example.yaml new file: src/cyy_slamtoolbox/config/multiple_filters_example.yaml new file: src/cyy_slamtoolbox/config/pass_through_example.yaml new file: src/cyy_slamtoolbox/config/polygon_filter_example.yaml new file: src/cyy_slamtoolbox/config/range_filter_example.yaml new file: src/cyy_slamtoolbox/config/scan_blob_filter_example.yaml new file: src/cyy_slamtoolbox/config/sector_filter_example.yaml new file: src/cyy_slamtoolbox/config/shadow_filter_example.yaml new file: src/cyy_slamtoolbox/config/slam_toolbox_default.rviz new file: src/cyy_slamtoolbox/config/speckle_filter_example.yaml new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_launch.launch.py new file: src/cyy_slamtoolbox/launch/cyy_slam_toolbox_location.launch.py new file: src/cyy_slamtoolbox/launch/filter.launch.py new file: src/cyy_slamtoolbox/package.xml new file: src/gc_navigation_fish/CMakeLists.txt new file: src/gc_navigation_fish/launch/gc_navigation.launch.py new file: src/gc_navigation_fish/maps/test_map.pgm new file: src/gc_navigation_fish/maps/test_map.yaml new file: src/gc_navigation_fish/package.xml new file: src/gc_navigation_fish/param/gc_navigation.yaml new file: src/gc_navigation_fish/param/navigation_test.yaml new file: src/gc_slam_toolbox_fish/CMakeLists.txt new file: src/gc_slam_toolbox_fish/config/gc_2d.lua new file: src/gc_slam_toolbox_fish/launch/catograph.launch.py new file: src/gc_slam_toolbox_fish/package.xml new file: src/origincar_base/CMakeLists.txt new file: src/origincar_base/config/ekf.yaml new file: src/origincar_base/config/imu.yaml new file: src/origincar_base/include/origincar_base/Quaternion_Solution.h new file: src/origincar_base/include/origincar_base/origincar_base.h new file: src/origincar_base/launch/__pycache__/testtwo.launch.cpython-38.pyc new file: src/origincar_base/launch/base_serial.launch.py new file: src/origincar_base/launch/ekf.launch.py new file: src/origincar_base/launch/origincar_bringup.launch.py new file: src/origincar_base/launch/robot_mode_description.launch.py new file: src/origincar_base/msg/Position.msg new file: src/origincar_base/package.xml new file: src/origincar_base/scripts/cmd_vel_to_ackermann_drive.py new file: src/origincar_base/src/Quaternion_Solution.cpp new file: src/origincar_base/src/origincar_base.cpp new file: src/origincar_description/CMakeLists.txt new file: src/origincar_description/CMakeLists.txt.save new file: src/origincar_description/config/joint_names_origincar_description.yaml new file: "src/origincar_description/config/joint_names_origincar_description.yaml\357\200\272Zone.Identifier" new file: src/origincar_description/launch/display.launch new file: src/origincar_description/launch/display.launch.py new file: src/origincar_description/launch/gazebo.launch new file: src/origincar_description/launch/gazebo.launch.py new file: src/origincar_description/meshes/base_link.STL new file: "src/origincar_description/meshes/base_link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_left_Link.STL new file: "src/origincar_description/meshes/down_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/down_right_Link.STL new file: "src/origincar_description/meshes/down_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_left_Link.STL new file: "src/origincar_description/meshes/up_left_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/meshes/up_right_Link.STL new file: "src/origincar_description/meshes/up_right_Link.STL\357\200\272Zone.Identifier" new file: src/origincar_description/package.xml new file: src/origincar_description/rviz/README new file: src/origincar_description/rviz/display.rviz new file: src/origincar_description/urdf/origincar.urdf new file: src/origincar_description/urdf/origincar.xacro new file: src/origincar_description/world/fishbot.world new file: src/origincar_description/world/gc_world.world new file: src/origincar_description/world/test.world new file: src/origincar_msg/CMakeLists.txt new file: src/origincar_msg/msg/Data.msg new file: src/origincar_msg/msg/Sign.msg new file: src/origincar_msg/package.xml new file: src/zbw_slamtoolbox/CMakeLists.txt new file: src/zbw_slamtoolbox/config/mapper_params_online_async.yaml new file: src/zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml new file: src/zbw_slamtoolbox/config/navigation.yaml new file: src/zbw_slamtoolbox/launch/navigation.launch.py new file: src/zbw_slamtoolbox/launch/slamtoolbox.launch.py new file: src/zbw_slamtoolbox/package.xml new file: zbw_slamtoolbox/CMakeLists.txt new file: zbw_slamtoolbox/config/mapper_params_online_async.yaml new file: zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml new file: zbw_slamtoolbox/config/navigation.yaml new file: zbw_slamtoolbox/launch/navigation.launch.py new file: zbw_slamtoolbox/launch/slamtoolbox.launch.py new file: zbw_slamtoolbox/package.xml Changes not staged for commit: deleted: zbw_slamtoolbox/CMakeLists.txt deleted: zbw_slamtoolbox/config/mapper_params_online_async.yaml deleted: zbw_slamtoolbox/config/mapper_params_online_sync copy.yaml deleted: zbw_slamtoolbox/config/navigation.yaml deleted: zbw_slamtoolbox/launch/navigation.launch.py deleted: zbw_slamtoolbox/launch/slamtoolbox.launch.py deleted: zbw_slamtoolbox/package.xml Untracked files: .gitignore
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--- a/bashes/README.md
+++ b/bashes/README.md
@@ -0,0 +1,52 @@
+## 关于雷达驱动自动配置脚本的说明
+### 在设备上配置开机自启动
+1. 放到固定位置并授权
+    ```bash
+    sudo cp 你的脚本路径 /usr/local/bin/radar-driver-switch.sh
+    sudo chmod +x /usr/local/bin/radar-driver-switch.sh
+    sudo chown root:root /usr/local/bin/radar-driver-switch.sh
+    ```
+2. 创建 systemd 服务文件
+    ```bash
+    sudo vim /etc/systemd/system/radar-driver-switch.service
+    ```
+    编辑内容：
+    ```ini
+    [Unit]
+    Description=雷达驱动自动切换程序
+    After=sysfs.target udev.target systemd-udevd.service
+    Before=multi-user.target
+
+    [Service]
+    Type=oneshot
+    ExecStart=/usr/local/bin/radar-driver-switch.sh
+    User=root
+    Group=root
+    StandardOutput=journal+console
+    StandardError=journal+console
+
+    [Install]
+    WantedBy=multi-user.target
+    ```
+3. 应用开机自启
+    ```bash
+    sudo systemctl daemon-reload
+    sudo systemctl enable radar-driver-switch.service
+    ```
+4. 测试与debug
+    - 测试一次
+        ```bash
+        sudo systemctl start radar-driver-switch.service
+        ```
+    - 查看状态 / 日志（排查必用）
+        ```bash
+        sudo systemctl status radar-driver-switch.service
+        ```
+    - 看 dmesg 日志
+        ```bash
+        dmesg | grep 雷达驱动自动切换程序
+        ```
+---
+### 特别说明
+1. 关于退出码对应的情况，详见sh文件开头
+2. 日志输出在`/dev/kmsg`文件中，使用`dmesg | grep 雷达驱动自动切换程序`命令即可查看
--- a/bashes/radar-driver-switch.sh
+++ b/bashes/radar-driver-switch.sh
@@ -0,0 +1,125 @@
+#!/bin/bash
+
+# 退出码说明
+# 0 - 成功
+# 1 - 错误：等待TTY设备就绪超时
+# 2 - 错误：未找到CH343驱动
+# 3 - 错误：未找到含Qingheng的USB设备
+# 4 - 错误：未找到对应USB地址
+# 5 - 错误：未找到cdc_acm绑定的对应USB设备
+# 6 - 错误：解绑cdc_acm驱动失败
+# 7 - 错误：绑定usb_ch343驱动失败
+
+# 变量设置
+TTY_DEVICE="/dev/ttyACM1" # 替换为你要等待的tty设备路径
+CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
+USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
+CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒）
+MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待
+
+# 初始化变量
+start_time=$(date +%s)
+current_time=0
+qinheng_id=""
+usb_address=""
+vendor_id=""
+product_id=""
+cdc_acm_sub_addr=""
+
+
+# ----------------- 1. 等待TTY设备就绪 -----------------
+# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写）
+while true; do
+    if [ -c "${TTY_DEVICE}" ] && [ -r "${TTY_DEVICE}" ] && [ -w "${TTY_DEVICE}" ]; then
+        echo "[雷达驱动自动切换程序] 设备 ${TTY_DEVICE} 已就绪！" > /dev/kmsg
+        break
+    fi
+
+    if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
+        current_time=$(date +%s)
+        elapsed_seconds=$((current_time - start_time))
+        if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then
+            echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg
+            exit 1
+        fi
+        echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
+    fi
+
+    sleep ${CHECK_INTERVAL}
+done
+
+# ------ 2. 查看CH343是否存在 ------
+if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then
+    echo "[雷达驱动自动切换程序] 检测到CH343驱动存在，继续执行..." > /dev/kmsg
+else
+    echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
+    exit 2
+fi
+
+
+# ------------- 3. 查找Qingheng对应的usb接口 -------------
+echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg
+
+# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑）
+qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1)
+
+# 检查是否提取到ID
+if [ -z "${qinheng_id}" ]; then
+    echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg
+    exit 3 
+else
+    echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg
+    # 将ID拆分为vendor_id和product_id
+    vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1)
+    product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2)
+fi
+
+# -------------------- 4. 提取USB地址 --------------------
+echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg
+# 核心命令：过滤dmesg日志，提取USB地址
+usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1)
+
+# 检查是否提取到USB地址
+if [ -z "${usb_address}" ]; then
+    echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg
+    exit 4
+else
+    echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg
+fi
+
+# ---- 5. 找到cdc_acm驱动对应的usb设备 ----
+echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg
+
+cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1)
+    
+if [ -z "${cdc_acm_sub_addr}" ]; then
+    echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg
+    exit 5
+else
+    echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg
+fi
+
+# 6. 切换驱动
+echo "[雷达驱动自动切换程序] 开始切换cdc_acm驱动到USB地址${usb_address}..." > /dev/kmsg
+
+echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" 2>/dev/null
+if [ $? -eq 0 ]; then
+    echo "[雷达驱动自动切换程序] 成功解绑cdc_acm驱动：${cdc_acm_sub_addr}" > /dev/kmsg
+else
+    echo "[雷达驱动自动切换程序] 错误：解绑cdc_acm驱动失败" > /dev/kmsg
+    exit 6
+fi
+
+echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" 2>/dev/null
+if [ $? -eq 0 ]; then
+    echo "[雷达驱动自动切换程序] 成功绑定usb_ch343驱动：${cdc_acm_sub_addr}" > /dev/kmsg
+else
+    echo "[雷达驱动自动切换程序] 错误：绑定usb_ch343驱动失败（检查驱动是否加载）" > /dev/kmsg
+    exit 7
+fi
+
+
+# 执行完成
+echo "[雷达驱动自动切换程序] 雷达驱动自动切换完毕！" > /dev/kmsg
+
+exit 0