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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
	modified:   src/origincar_base/src/origincar_base.cpp.bak
	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
	modified:   "src/planner/\346\223\215\344\275\234\346\211\213\345\206\214.md"
	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"
This commit is contained in:
Orange
2026-08-06 16:34:53 +08:00
parent 71bae6c68c
commit 8991e5208e
29 changed files with 1722 additions and 29 deletions
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21
src/racing_control/launch/racing_control.launch.py
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@@ -16,6 +16,9 @@ def generate_launch_description():
params_file = LaunchConfiguration("params_file")
auto_start = LaunchConfiguration("auto_start")
enable_vlm_image_relay = LaunchConfiguration("enable_vlm_image_relay")
vlm_image_input_topic = LaunchConfiguration("vlm_image_input_topic")
vlm_image_output_topic = LaunchConfiguration("vlm_image_output_topic")
racing_control = Node(
package="racing_control",
@@ -26,6 +29,9 @@ def generate_launch_description():
params_file,
{
"auto_start": auto_start,
"enable_vlm_image_relay": enable_vlm_image_relay,
"vlm_image_input_topic": vlm_image_input_topic,
"vlm_image_output_topic": vlm_image_output_topic,
},
],
)
@@ -42,6 +48,21 @@ def generate_launch_description():
default_value="false",
description="Start the race immediately instead of waiting for SPACE",
),
DeclareLaunchArgument(
"enable_vlm_image_relay",
default_value="false",
description="Publish one cached image frame to /vlm_image before VLM trigger",
),
DeclareLaunchArgument(
"vlm_image_input_topic",
default_value="/image",
description="CompressedImage input topic used for one-frame VLM relay",
),
DeclareLaunchArgument(
"vlm_image_output_topic",
default_value="/vlm_image",
description="CompressedImage output topic for one-frame VLM relay",
),
racing_control,
]
)