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2026-08-12 21:07:21 +08:00
parent c30a810b12
commit bdddcc63cc
26 changed files with 1774 additions and 292 deletions
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15
src/racing_control/config/racing_control.yaml
View File

@@ -51,6 +51,14 @@ racing_control:
recovery_clear_wait_sec: 1.0
recovery_search_radius_m: 1.0
recovery_rear_clear_distance_m: 0.5
# 最终回家保护：普通 Nav2/恢复失败后，低速直控回 home，同时定时探测 Nav2 是否恢复。
enable_final_home_fallback: true
final_home_distance_tolerance: 0.2
final_home_yaw_tolerance: 0.3
final_home_forward_speed: 0.12
final_home_yaw_gain: 0.5
final_home_max_turn_speed: 0.7
final_home_nav_retry_interval_sec: 0.8
global_costmap_clear_service: global_costmap/clear_entirely_global_costmap
local_costmap_clear_service: local_costmap/clear_entirely_local_costmap
max_recovery_attempts: 2
@@ -76,9 +84,10 @@ racing_control:
candidate_waypoint_json_dir: /home/sunrise/yiliao_ws/src/racing_control/config/waypoints
qr_candidate_group_name: qr
entry_candidate_group_name: entry
vlm_candidate_group_name: goal_005
clockwise_candidate_source_file: main_1.json
counterclockwise_candidate_source_file: main_2.json
# Task-two route candidates are selected by point name only:
# clockwise waypoint N -> goal_NNN_1
# counterclockwise waypoint N -> goal_NNN_2
# The VLM capture point is still selected by vlm_waypoint_number.
# Pose parameters are flat x/y/yaw-radians triples in frame_id.
qr_pose: [4.333107888975101, 1.028867429995691, 1.1383894869544392]

6
src/racing_control/config/waypoints/main_1.json
View File

@@ -5,7 +5,7 @@
"count": 3,
"points": [
{
"name": "goal_004",
"name": "goal_001_1",
"captured_at": "2026-08-07T14:43:55.328Z",
"received_at": null,
"yaw_degrees": 89.33764149250207,
@@ -54,7 +54,7 @@
}
},
{
"name": "goal_005",
"name": "goal_002_1",
"captured_at": "2026-08-07T14:44:02.099Z",
"received_at": null,
"yaw_degrees": 2.2906028734862383,
@@ -103,7 +103,7 @@
}
},
{
"name": "goal_006",
"name": "goal_003_1",
"captured_at": "2026-08-07T14:44:09.250Z",
"received_at": null,
"yaw_degrees": -92.25458353863968,

6
src/racing_control/config/waypoints/main_2.json
View File

@@ -5,7 +5,7 @@
"count": 3,
"points": [
{
"name": "goal_001",
"name": "goal_001_2",
"captured_at": "2026-08-07T14:43:14.866Z",
"received_at": null,
"yaw_degrees": 88.52360610794565,
@@ -54,7 +54,7 @@
}
},
{
"name": "goal_002",
"name": "goal_002_2",
"captured_at": "2026-08-07T14:43:20.968Z",
"received_at": null,
"yaw_degrees": 178.26427158937722,
@@ -103,7 +103,7 @@
}
},
{
"name": "goal_003",
"name": "goal_003_2",
"captured_at": "2026-08-07T14:43:28.294Z",
"received_at": null,
"yaw_degrees": -88.21009502116203,

204
src/racing_control/config/waypoints/rest.json Normal file
View File

@@ -0,0 +1,204 @@
{
"topic": "/odom_combined",
"message_type": "nav_msgs/msg/Odometry",
"saved_at": "2026-08-12T07:47:27.220Z",
"count": 4,
"points": [
{
"name": "qr",
"captured_at": "2026-08-12T07:13:09.418Z",
"received_at": null,
"yaw_degrees": 74.93151184050782,
"odom": {
"header": {
"frame_id": "odom",
"stamp": {
"sec": 0,
"nanosec": 0
},
"stamp_iso": null
},
"child_frame_id": "base_link",
"pose": {
"pose": {
"position": {
"x": 4.507415254237288,
"y": 0.7213320974576272,
"z": 0
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.6082871552778868,
"w": 0.7937170381968224
}
},
"covariance": []
},
"twist": {
"twist": {
"linear": {
"x": 0,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 0
}
},
"covariance": []
},
"yaw_degrees": 74.93151184050782
}
},
{
"name": "qr",
"captured_at": "2026-08-12T07:13:22.097Z",
"received_at": null,
"yaw_degrees": 59.82647997035565,
"odom": {
"header": {
"frame_id": "odom",
"stamp": {
"sec": 0,
"nanosec": 0
},
"stamp_iso": null
},
"child_frame_id": "base_link",
"pose": {
"pose": {
"position": {
"x": 4.375,
"y": 1.2403998940677967,
"z": 0
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.4986880501001949,
"w": 0.8667815345790804
}
},
"covariance": []
},
"twist": {
"twist": {
"linear": {
"x": 0,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 0
}
},
"covariance": []
},
"yaw_degrees": 59.82647997035565
}
},
{
"name": "entry",
"captured_at": "2026-08-12T07:13:32.736Z",
"received_at": null,
"yaw_degrees": 87.99044618697887,
"odom": {
"header": {
"frame_id": "odom",
"stamp": {
"sec": 0,
"nanosec": 0
},
"stamp_iso": null
},
"child_frame_id": "base_link",
"pose": {
"pose": {
"position": {
"x": 2.791313559322034,
"y": 2.50099311440678,
"z": 0
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.6945983947098336,
"w": 0.7193977134148553
}
},
"covariance": []
},
"twist": {
"twist": {
"linear": {
"x": 0,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 0
}
},
"covariance": []
},
"yaw_degrees": 87.99044618697887
}
},
{
"name": "entry",
"captured_at": "2026-08-12T07:13:41.872Z",
"received_at": null,
"yaw_degrees": 87.79740183823421,
"odom": {
"header": {
"frame_id": "odom",
"stamp": {
"sec": 0,
"nanosec": 0
},
"stamp_iso": null
},
"child_frame_id": "base_link",
"pose": {
"pose": {
"position": {
"x": 2.3146186440677967,
"y": 2.8028998940677967,
"z": 0
},
"orientation": {
"x": 0,
"y": 0,
"z": 0.6933854908702647,
"w": 0.7205668331602574
}
},
"covariance": []
},
"twist": {
"twist": {
"linear": {
"x": 0,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 0
}
},
"covariance": []
},
"yaw_degrees": 87.79740183823421
}
}
]
}