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modified: CLAUDE.md

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modified:   src/navigation/obstacle_nav2/include/obstacle_nav2/trajectory_guard.hpp
	modified:   src/navigation/obstacle_nav2/launch/obstacle_nav2.launch.py
	modified:   src/navigation/obstacle_nav2/src/trajectory_guard.cpp
	modified:   src/navigation/obstacle_nav2/src/trajectory_guard_node.cpp
	modified:   src/navigation/obstacle_nav2/test/test_trajectory_guard.cpp
	modified:   src/origincar_base/CMakeLists.txt
	modified:   src/origincar_base/config/ekf.yaml
	new file:   src/origincar_base/include/origincar_base/log.hpp
	modified:   src/origincar_base/include/origincar_base/origincar_base.h
	modified:   src/origincar_base/launch/base_serial.launch.py
	modified:   src/origincar_base/launch/base_serial.launch.py.bak
	new file:   src/origincar_base/src/log.cpp
	modified:   src/origincar_base/src/origincar_base.cpp
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	new file:   src/origincar_base/test/scan_odom_timing_logger_test.cpp
	modified:   src/planner/REAL_ROBOT_RUNBOOK.md
	modified:   src/planner/launch/odom_hybrid_astar.launch.py
	modified:   src/planner/launch/real_hybrid_astar.launch.py
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	modified:   src/racing_control/CMakeLists.txt
	modified:   src/racing_control/config/racing_control.yaml
	modified:   src/racing_control/include/racing_control/racing_control.hpp
	modified:   src/racing_control/launch/racing_control.launch.py
	modified:   src/racing_control/package.xml
	new file:   src/racing_control/src/racing_control copy.cpp
	modified:   src/racing_control/src/racing_control.cpp
	modified:   src/racing_control/test/test_racing_control_helpers.cpp
	modified:   "src/racing_control/\347\202\271\344\275\215\346\240\274\345\274\217\350\275\254\346\215\242.md"
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2026-08-06 16:34:53 +08:00
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@@ -151,7 +151,7 @@ World 文件在 `src/origincar_description/world/`:
## 实车底盘驱动包 (origincar_base)
- `origincar_base_node`（C++）: 串口读写（/dev/ttyACM0, 115200bps）、航迹推算、四元数姿态解算（Mahony AHRS）
- `origincar_base_node`（C++）: 串口读写（/dev/ttyACM0, 921600bps）、航迹推算、四元数姿态解算（Mahony AHRS）
- `cmd_vel_to_ackermann_drive.py`（Python）: Twist → AckermannDriveStamped 转换，wheelbase=0.143
- 帧协议: 24 字节收（帧头0x7B/帧尾0x7D）/ 11 字节发
- EKF 融合: `/odom` + IMU → `/odom_combined`，`two_d_mode=true`