清理了一些没有用到的vlm_detect文件

2026-08-04 14:31:45 +08:00
parent 78cf69493b
commit f5f3d53ec0
21 changed files with 701 additions and 111 deletions
--- a/bashes/radar-driver-switch.sh
+++ b/bashes/radar-driver-switch.sh
@@ -1,101 +1,172 @@
-#!/bin/bash
+#!/usr/bin/env bash
+set -euo pipefail

-# 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：雷达端口上未找到CH34x设备
-# 4 - 错误：未从cdc_acm找到雷达接口
-# 5 - 错误：解绑cdc_acm驱动失败
-# 6 - 错误：绑定usb_ch343驱动失败
+# Physical USB ports on the RDKx5 carrier.
+RADAR_PORT="1-1.4"
+IMU_PORT="1-1.1"

-# ── 配置 ────────────────────────────────────────────
-TTY_DEVICE="/dev/ttyACM*"
-CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
-USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
-RADAR_USB_PORT="1-1.4"          # 雷达 CH34x 的 USB 物理端口（固定不变）
-CHECK_INTERVAL=1
-MAX_WAIT_SECONDS=30
+# RADAR -> usb_ch343, IMU -> cdc_acm.
+RADAR_DRIVER="usb_ch343"
+IMU_DRIVER="cdc_acm"

-# ── 初始化 ──────────────────────────────────────────
-start_time=$(cut -d. -f1 /proc/uptime)
+DRIVER_ROOT="/sys/bus/usb/drivers"
+MAX_WAIT_SECONDS="${MAX_WAIT_SECONDS:-30}"
+WAIT_INTERVAL_SECONDS="${WAIT_INTERVAL_SECONDS:-1}"
+INTERFACES=()

-# ── 1. 等待 TTY 设备就绪 ────────────────────────────
-while true; do
-    for dev in /dev/ttyACM*; do
-        [ -e "$dev" ] || continue
-        if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
-            echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
-            TTY_DEVICE="$dev"
-            break 2
+log() {
+    local message="[radar-driver-switch] $*"
+    if [ -w /dev/kmsg ]; then
+        printf '%s\n' "$message" > /dev/kmsg
+    else
+        printf '%s\n' "$message"
+    fi
+}
+
+load_driver() {
+    local driver="$1"
+    case "$driver" in
+        cdc_acm)
+            modprobe cdc_acm 2>/dev/null || true
+            ;;
+        usb_ch343)
+            modprobe ch343 2>/dev/null || true
+            ;;
+    esac
+}
+
+driver_path() {
+    printf '%s/%s\n' "$DRIVER_ROOT" "$1"
+}
+
+require_driver() {
+    local driver="$1"
+    local path
+    path="$(driver_path "$driver")"
+    if [ ! -d "$path" ]; then
+        log "error: driver path missing: $path"
+        exit 2
+    fi
+}
+
+collect_interfaces() {
+    local port="$1"
+    shopt -s nullglob
+    INTERFACES=(/sys/bus/usb/devices/"${port}":*)
+    shopt -u nullglob
+    [ "${#INTERFACES[@]}" -gt 0 ]
+}
+
+wait_for_interfaces() {
+    local label="$1"
+    local port="$2"
+    local attempt=0
+    while [ "$attempt" -le "$MAX_WAIT_SECONDS" ]; do
+        if collect_interfaces "$port"; then
+            return 0
+        fi
+        log "waiting for $label port $port interfaces (${attempt}s)"
+        sleep "$WAIT_INTERVAL_SECONDS"
+        attempt=$((attempt + WAIT_INTERVAL_SECONDS))
+    done
+    log "error: timed out waiting for $label port $port interfaces"
+    exit 1
+}
+
+current_driver() {
+    local iface="$1"
+    local target
+    target="$(readlink -f "$iface/driver" 2>/dev/null || true)"
+    if [ -n "$target" ]; then
+        basename "$target"
+    fi
+}
+
+unbind_from_current_driver() {
+    local iface="$1"
+    local iface_name
+    local driver
+    iface_name="$(basename "$iface")"
+    driver="$(current_driver "$iface")"
+    if [ -z "$driver" ]; then
+        return 0
+    fi
+    if [ ! -w "$(driver_path "$driver")/unbind" ]; then
+        log "error: cannot unbind $iface_name from $driver"
+        exit 5
+    fi
+    printf '%s\n' "$iface_name" > "$(driver_path "$driver")/unbind"
+    log "unbound $iface_name from $driver"
+}
+
+bind_to_driver() {
+    local iface="$1"
+    local driver="$2"
+    local iface_name
+    local bind_path
+    iface_name="$(basename "$iface")"
+    bind_path="$(driver_path "$driver")/bind"
+    if [ ! -w "$bind_path" ]; then
+        log "error: cannot bind $iface_name to $driver"
+        exit 6
+    fi
+    if printf '%s\n' "$iface_name" > "$bind_path" 2>/dev/null; then
+        log "bound $iface_name to $driver"
+    else
+        log "warning: $iface_name did not bind to $driver"
+    fi
+}
+
+ensure_port_bound() {
+    local label="$1"
+    local port="$2"
+    local desired_driver="$3"
+    local iface
+    local iface_name
+    local driver
+    local bound_count=0
+
+    wait_for_interfaces "$label" "$port"
+
+    for iface in "${INTERFACES[@]}"; do
+        iface_name="$(basename "$iface")"
+        driver="$(current_driver "$iface")"
+        if [ "$driver" = "$desired_driver" ]; then
+            log "$label $iface_name already uses $desired_driver"
+            bound_count=$((bound_count + 1))
+            continue
+        fi
+
+        if [ -n "$driver" ]; then
+            unbind_from_current_driver "$iface"
+            sleep 0.2
+        fi
+
+        bind_to_driver "$iface" "$desired_driver"
+        sleep 0.2
+        driver="$(current_driver "$iface")"
+        if [ "$driver" = "$desired_driver" ]; then
+            bound_count=$((bound_count + 1))
        fi
    done

-    if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
-        current_time=$(cut -d. -f1 /proc/uptime)
-        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
+    if [ "$bound_count" -eq 0 ]; then
+        log "error: no $label interface on $port is bound to $desired_driver"
+        exit 7
    fi
-    sleep ${CHECK_INTERVAL}
-done
+}

-# ── 2. 确认 CH343 驱动已加载 ────────────────────────
-if [ -d "${USB_CH343_PATH}" ]; then
-    echo "[雷达驱动自动切换程序] CH343驱动已加载，继续..." > /dev/kmsg
-else
-    echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
-    exit 2
-fi
+main() {
+    load_driver "$RADAR_DRIVER"
+    load_driver "$IMU_DRIVER"
+    require_driver "$RADAR_DRIVER"
+    require_driver "$IMU_DRIVER"

-# ── 3. 通过物理端口定位雷达 CH34x ───────────────────
-radar_sysfs="/sys/bus/usb/devices/${RADAR_USB_PORT}"
+    ensure_port_bound "RADAR" "$RADAR_PORT" "$RADAR_DRIVER"
+    ensure_port_bound "IMU" "$IMU_PORT" "$IMU_DRIVER"

-if [ ! -d "${radar_sysfs}" ]; then
-    echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上无设备！" > /dev/kmsg
-    exit 3
-fi
+    udevadm settle --timeout=5 2>/dev/null || true
+    log "done; serial devices: $(ls /dev/ttyACM* /dev/ttyCH343USB* 2>/dev/null | tr '\n' ' ')"
+}

-vendor_id=$(cat "${radar_sysfs}/idVendor" 2>/dev/null)
-product_id=$(cat "${radar_sysfs}/idProduct" 2>/dev/null)
-
-if [ "${vendor_id}" != "1a86" ] || [ "${product_id}" != "55d4" ]; then
-    echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上 VID:PID=${vendor_id}:${product_id}，非雷达CH34x！" > /dev/kmsg
-    exit 3
-fi
-
-echo "[雷达驱动自动切换程序] 雷达确认位于端口 ${RADAR_USB_PORT}，VID:PID=${vendor_id}:${product_id}" > /dev/kmsg
-
-# ── 4. 查找 cdc_acm 下雷达的接口 ────────────────────
-cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${RADAR_USB_PORT}:" | 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驱动中未找到端口 ${RADAR_USB_PORT} 的接口" > /dev/kmsg
-    exit 4
-fi
-
-echo "[雷达驱动自动切换程序] 雷达 cdc_acm 接口：${cdc_acm_sub_addr}" > /dev/kmsg
-
-# ── 5. 解绑 cdc_acm ─────────────────────────────────
-echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" > /dev/null 2>&1
-if [ $? -eq 0 ]; then
-    echo "[雷达驱动自动切换程序] 已解绑 cdc_acm：${cdc_acm_sub_addr}" > /dev/kmsg
-else
-    echo "[雷达驱动自动切换程序] 错误：解绑 cdc_acm 失败" > /dev/kmsg
-    exit 5
-fi
-
-# ── 6. 绑定 ch343 ───────────────────────────────────
-echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" > /dev/null 2>&1
-if [ $? -eq 0 ]; then
-    echo "[雷达驱动自动切换程序] 已绑定 usb_ch343：${cdc_acm_sub_addr}" > /dev/kmsg
-else
-    echo "[雷达驱动自动切换程序] 错误：绑定 usb_ch343 失败" > /dev/kmsg
-    exit 6
-fi
-
-echo "[雷达驱动自动切换程序] 雷达驱动切换完毕！" > /dev/kmsg
-exit 0
+main "$@"
--- a/src/car_usb_cam/image_web_bridge_README.md
+++ b/src/car_usb_cam/image_web_bridge_README.md
@@ -38,6 +38,24 @@ It supports the image publishing modes used by `car_usb_cam`:
 - `/image_mjpeg` or `/image_jpeg` (`sensor_msgs/msg/CompressedImage`) from `hobot_codec`
 - `/hbmem_img` (`hbm_img_msgs/msg/HbmMsg1080P`, `HbmMsg540P`, or `HbmMsg480P`) from zero-copy camera paths

+`car_usb_cam` can switch camera output modes using launch parameters only:
+
+```bash
+# Native MJPEG output from the USB camera.
+ros2 launch car_usb_cam hobot_usb_cam.launch.py \
+  usb_zero_copy:=false \
+  usb_pixel_format:=mjpeg
+# Publishes /image as sensor_msgs/msg/CompressedImage.
+```
+
+```bash
+# Zero-copy hbmem output for consumers such as hobot_llamacpp shared-memory mode.
+ros2 launch car_usb_cam hobot_usb_cam.launch.py \
+  usb_zero_copy:=true \
+  usb_pixel_format:=mjpeg
+# Publishes /hbmem_img as hbm_img_msgs/msg/HbmMsg1080P.
+```
+
 Run on RDKx5:

 ```bash
--- a/src/car_usb_cam/launch/hobot_usb_cam.launch.py
+++ b/src/car_usb_cam/launch/hobot_usb_cam.launch.py
@@ -35,6 +35,46 @@ def generate_launch_description():
            default_value=camera_config,
            description="ROS parameter file for the USB camera",
        ),
+        DeclareLaunchArgument(
+            "usb_frame_id",
+            default_value="default_usb_cam",
+            description="Image message frame_id",
+        ),
+        DeclareLaunchArgument(
+            "usb_framerate",
+            default_value="30",
+            description="USB camera frame rate",
+        ),
+        DeclareLaunchArgument(
+            "usb_image_height",
+            default_value="720",
+            description="USB camera image height",
+        ),
+        DeclareLaunchArgument(
+            "usb_image_width",
+            default_value="1280",
+            description="USB camera image width",
+        ),
+        DeclareLaunchArgument(
+            "usb_io_method",
+            default_value="mmap",
+            description="USB camera io_method: mmap/read/userptr",
+        ),
+        DeclareLaunchArgument(
+            "usb_pixel_format",
+            default_value="mjpeg",
+            description="USB camera pixel format, such as mjpeg or yuyv2rgb",
+        ),
+        DeclareLaunchArgument(
+            "usb_video_device",
+            default_value="/dev/video0",
+            description="USB camera device",
+        ),
+        DeclareLaunchArgument(
+            "usb_zero_copy",
+            default_value="false",
+            description="Publish zero-copy hbmem image messages when true",
+        ),
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                os.path.join(
@@ -51,6 +91,14 @@ def generate_launch_description():
            parameters=[
                LaunchConfiguration("camera_config"),
                {"camera_calibration_file_path": calibration_file},
+                {"frame_id": LaunchConfiguration("usb_frame_id")},
+                {"framerate": LaunchConfiguration("usb_framerate")},
+                {"image_height": LaunchConfiguration("usb_image_height")},
+                {"image_width": LaunchConfiguration("usb_image_width")},
+                {"io_method": LaunchConfiguration("usb_io_method")},
+                {"pixel_format": LaunchConfiguration("usb_pixel_format")},
+                {"video_device": LaunchConfiguration("usb_video_device")},
+                {"zero_copy": LaunchConfiguration("usb_zero_copy")},
            ],
            arguments=["--ros-args", "--log-level", "warn"],
        ),
--- a/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
+++ b/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
@@ -16,8 +16,9 @@ import os

 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration


 def generate_launch_description():
@@ -28,7 +29,17 @@ def generate_launch_description():
                "launch",
                "hobot_usb_cam.launch.py",
            )
-        )
+        ),
+        launch_arguments={
+            "usb_frame_id": LaunchConfiguration("usb_frame_id"),
+            "usb_framerate": LaunchConfiguration("usb_framerate"),
+            "usb_image_height": LaunchConfiguration("usb_image_height"),
+            "usb_image_width": LaunchConfiguration("usb_image_width"),
+            "usb_io_method": LaunchConfiguration("usb_io_method"),
+            "usb_pixel_format": LaunchConfiguration("usb_pixel_format"),
+            "usb_video_device": LaunchConfiguration("usb_video_device"),
+            "usb_zero_copy": LaunchConfiguration("usb_zero_copy"),
+        }.items(),
    )

    websocket_launch = IncludeLaunchDescription(
@@ -47,4 +58,15 @@ def generate_launch_description():
        }.items(),
    )

-    return LaunchDescription([camera_launch, websocket_launch])
+    return LaunchDescription([
+        DeclareLaunchArgument("usb_frame_id", default_value="default_usb_cam"),
+        DeclareLaunchArgument("usb_framerate", default_value="30"),
+        DeclareLaunchArgument("usb_image_height", default_value="720"),
+        DeclareLaunchArgument("usb_image_width", default_value="1280"),
+        DeclareLaunchArgument("usb_io_method", default_value="mmap"),
+        DeclareLaunchArgument("usb_pixel_format", default_value="mjpeg"),
+        DeclareLaunchArgument("usb_video_device", default_value="/dev/video0"),
+        DeclareLaunchArgument("usb_zero_copy", default_value="false"),
+        camera_launch,
+        websocket_launch,
+    ])
--- a/src/car_usb_cam/test/pycache/test_unified_launch_config.cpython-310-pytest-6.2.5.pyc
+++ b/src/car_usb_cam/test/pycache/test_unified_launch_config.cpython-310-pytest-6.2.5.pyc
--- a/src/car_usb_cam/test/test_unified_launch_config.py
+++ b/src/car_usb_cam/test/test_unified_launch_config.py
@@ -82,6 +82,17 @@ class UnifiedLaunchConfigTest(unittest.TestCase):
        self.assertIn("usb_camera.yaml", constants)
        self.assertIn("usb_camera_calibration.yaml", constants)
        self.assertIn("hobot_usb_cam", constants)
+        for launch_arg in (
+            "usb_frame_id",
+            "usb_framerate",
+            "usb_image_height",
+            "usb_image_width",
+            "usb_io_method",
+            "usb_pixel_format",
+            "usb_video_device",
+            "usb_zero_copy",
+        ):
+            self.assertIn(launch_arg, constants)
        node_calls = calls_named(BASE_LAUNCH, "Node")
        self.assertEqual(len(node_calls), 1)
        parameters = next(
@@ -92,6 +103,17 @@ class UnifiedLaunchConfigTest(unittest.TestCase):
        parameters_tree = ast.dump(parameters)
        self.assertIn("camera_config", parameters_tree)
        self.assertIn("camera_calibration_file_path", parameters_tree)
+        for launch_arg in (
+            "usb_frame_id",
+            "usb_framerate",
+            "usb_image_height",
+            "usb_image_width",
+            "usb_io_method",
+            "usb_pixel_format",
+            "usb_video_device",
+            "usb_zero_copy",
+        ):
+            self.assertIn(launch_arg, parameters_tree)

    def test_web_launch_only_adds_websocket(self):
        constants = string_constants(WEB_LAUNCH)
@@ -100,14 +122,20 @@ class UnifiedLaunchConfigTest(unittest.TestCase):
        self.assertEqual(call_names(WEB_LAUNCH).count("Node"), 0)
        self.assertEqual(len(calls_named(WEB_LAUNCH, "IncludeLaunchDescription")), 2)
        camera_include = assigned_call(WEB_LAUNCH, "camera_launch")
-        self.assertNotIn("launch_arguments", {item.arg for item in camera_include.keywords})
+        self.assertIn("launch_arguments", {item.arg for item in camera_include.keywords})
+        camera_include_tree = ast.dump(camera_include)
+        for launch_arg in (
+            "usb_zero_copy",
+            "usb_image_width",
+            "usb_image_height",
+            "usb_pixel_format",
+            "usb_video_device",
+        ):
+            self.assertIn(launch_arg, camera_include_tree)
        for forbidden in (
            "hobot_codec",
            "/image_mjpeg",
            "yuyv2rgb",
-            "usb_image_width",
-            "usb_image_height",
-            "usb_pixel_format",
        ):
            self.assertNotIn(forbidden, constants)

--- a/src/mtran/README.md
+++ b/src/mtran/README.md
@@ -56,7 +56,7 @@ cd ~/smart-healthcare-2026/src/mtran/dependencies
 ./auto_install.sh
 ```

-脚本会请求 `sudo` 安装非 ROS apt 包，在 `dependencies/tools` 安装固定版本 Bun，
+不要使用 `sudo` 权限执行脚本，脚本会请求 `sudo` 安装非 ROS apt 包，在 `dependencies/tools` 安装固定版本 Bun，
 从 `vendor/mtranserver` 构建当前 CPU 可运行的 sidecar，并只准备
 `en -> zh-Hans` 模型。成功结尾类似：

--- a/src/navigation/obstacle_nav2/config/nav2_params.yaml
+++ b/src/navigation/obstacle_nav2/config/nav2_params.yaml
@@ -78,8 +78,8 @@ controller_server:
      batch_size: 1000
      vx_std: 0.22
      vy_std: 0.0
-      wz_std: 0.4
-      vx_max: 0.75
+      wz_std: 0.5
+      vx_max: 0.40
      vx_min: -0.75
      vy_max: 0.0
      wz_max: 2.0
@@ -92,7 +92,7 @@ controller_server:
        trajectory_step: 5
        time_step: 3
      AckermannConstraints:
-        min_turning_r: 0.4
+        min_turning_r: 0.6
      critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
      ConstraintCritic: 
        enabled: true
@@ -101,7 +101,7 @@ controller_server:
      GoalCritic:
        enabled: true
        cost_power: 1
-        cost_weight: 5.0
+        cost_weight: 3.0
        threshold_to_consider: 1.4
      GoalAngleCritic:
        enabled: true
@@ -111,7 +111,7 @@ controller_server:
      PreferForwardCritic:
        enabled: true
        cost_power: 1
-        cost_weight: 3.0
+        cost_weight: 6.0
        threshold_to_consider: 0.5
      CostCritic:
        enabled: true
@@ -140,7 +140,7 @@ controller_server:
      PathAngleCritic:
        enabled: true
        cost_power: 1
-        cost_weight: 2.0
+        cost_weight: 6.0
        offset_from_furthest: 4
        threshold_to_consider: 0.5
        max_angle_to_furthest: 1.0
@@ -175,12 +175,12 @@ local_costmap:
        transform_tolerance: 0.2
        default_obstacle_radius: 0.05
        minimum_obstacle_radius: 0.02
-        maximum_obstacle_radius: 0.50
+        maximum_obstacle_radius: 0.06
        extra_inflation: 0.02
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.2
      always_send_full_costmap: True
  local_costmap_client:
    ros__parameters:
@@ -245,7 +245,7 @@ planner_server:
      angle_quantization_bins: 72
      analytic_expansion_ratio: 3.5
      analytic_expansion_max_length: 3.0
-      minimum_turning_radius: 0.40
+      minimum_turning_radius: 0.60
      reverse_penalty: 1.9
      change_penalty: 1.0
      non_straight_penalty: 1.2
@@ -324,7 +324,7 @@ velocity_smoother:
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
-    max_velocity: [0.75, 0.0, 2.5]
+    max_velocity: [0.40, 0.0, 2.5]
    min_velocity: [-0.75, 0.0, -2.5]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-0.5, 0.0, -0.5]
--- a/src/navigation/obstacle_nav2/launch/obstacle_nav2.launch.py
+++ b/src/navigation/obstacle_nav2/launch/obstacle_nav2.launch.py
@@ -123,7 +123,7 @@ def generate_launch_description():
            description='Reserved: path to map YAML file'),
        DeclareLaunchArgument(
            'enable_motion',
-            default_value='false',
+            default_value='true',
            description='Route Nav2 cmd_vel to the real base topic'),
        DeclareLaunchArgument(
            'start_base',
--- a/src/origincar_base/launch/wall_localization.launch.py
+++ b/src/origincar_base/launch/wall_localization.launch.py
@@ -15,7 +15,7 @@ def generate_launch_description():
        DeclareLaunchArgument('combined_odom_topic', default_value='/odom_combined'),
        DeclareLaunchArgument(
            'wall_config',
-            default_value='/home/sunrise/yiliao_ws/src/origincar_base/config/wall_fit.json'),
+            default_value='/home/sunrise/yiliao_ws/src/origincar_base/config/wall_map_calibration (2).json'),
        DeclareLaunchArgument('port', default_value='8772'),

        Node(
--- a/src/origincar_base/src/origincar_base.cpp
+++ b/src/origincar_base/src/origincar_base.cpp
@@ -126,7 +126,7 @@ void origincar_base::Akm_Cmd_Vel_Callback(const ackermann_msgs::msg::AckermannDr

 void origincar_base::Cmd_Vel_Callback(const geometry_msgs::msg::Twist::SharedPtr twist_aux)
 {
-  RCLCPP_INFO(this->get_logger(), "linarx: %.2f, angularz: %.2f ", twist_aux->linear.x, twist_aux->angular.z);
+//   RCLCPP_INFO(this->get_logger(), "linarx: %.2f, angularz: %.2f ", twist_aux->linear.x, twist_aux->angular.z);
  std::cout << "linerx" << twist_aux->linear.x << std::endl;
  std::cout << "angular" << twist_aux->angular.z << std::endl;
  short transition;
--- a/src/vlm_detect/launch/local_vlm_adapter.launch.py
+++ b/src/vlm_detect/launch/local_vlm_adapter.launch.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Launch local VLM adapter backed by hobot_llamacpp.
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, LogInfo
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    use_tts = LaunchConfiguration("use_tts")
+    use_hobot_llamacpp = LaunchConfiguration("use_hobot_llamacpp")
+    config_file = LaunchConfiguration("config_file")
+
+    image_topic = LaunchConfiguration("image_topic")
+    trigger_topic = LaunchConfiguration("trigger_topic")
+    trigger_sign = LaunchConfiguration("trigger_sign")
+    prompt_text = LaunchConfiguration("prompt_text")
+    result_topic = LaunchConfiguration("result_topic")
+
+    llamacpp_prompt_topic = LaunchConfiguration("llamacpp_prompt_topic")
+    llamacpp_image_topic = LaunchConfiguration("llamacpp_image_topic")
+    llamacpp_result_topic = LaunchConfiguration("llamacpp_result_topic")
+    llamacpp_text_topic = LaunchConfiguration("llamacpp_text_topic")
+    llamacpp_vit_model_file_name = LaunchConfiguration("llamacpp_vit_model_file_name")
+    llamacpp_gguf_model_file_name = LaunchConfiguration("llamacpp_gguf_model_file_name")
+    llamacpp_model_type = LaunchConfiguration("llamacpp_model_type")
+    llamacpp_threads = LaunchConfiguration("llamacpp_threads")
+
+    audio_sink = LaunchConfiguration("audio_sink")
+    tts_speed = LaunchConfiguration("tts_speed")
+
+    local_adapter = Node(
+        package="vlm_detect",
+        executable="local_vlm_adapter",
+        name="local_vlm_adapter",
+        output="screen",
+        parameters=[
+            config_file,
+            {
+                "image_topic": image_topic,
+                "trigger_topic": trigger_topic,
+                "trigger_sign": trigger_sign,
+                "prompt_text": prompt_text,
+                "result_topic": result_topic,
+                "llamacpp_prompt_topic": llamacpp_prompt_topic,
+                "llamacpp_image_topic": llamacpp_image_topic,
+                "llamacpp_result_topic": llamacpp_result_topic,
+            },
+        ],
+    )
+
+    hobot_llamacpp = Node(
+        package="hobot_llamacpp",
+        executable="hobot_llamacpp",
+        name="hobot_llamacpp",
+        output="screen",
+        condition=IfCondition(use_hobot_llamacpp),
+        parameters=[
+            {
+                "feed_type": 1,
+                "is_shared_mem_sub": 0,
+                "pre_infer": 0,
+                "llm_threads": llamacpp_threads,
+                "model_type": llamacpp_model_type,
+                "user_prompt": "",
+                "system_prompt": "You are a helpful assistant.",
+                "ros_img_sub_topic_name": llamacpp_image_topic,
+                "ros_string_sub_topic_name": llamacpp_prompt_topic,
+                "ai_msg_pub_topic_name": llamacpp_result_topic,
+                "text_msg_pub_topic_name": llamacpp_text_topic,
+                "model_file_name": llamacpp_vit_model_file_name,
+                "llm_model_name": llamacpp_gguf_model_file_name,
+            }
+        ],
+        arguments=["--ros-args", "--log-level", "warn"],
+    )
+
+    tts_server = Node(
+        package="vlm_detect",
+        executable="tts_server",
+        name="tts_server",
+        output="screen",
+        condition=IfCondition(use_tts),
+        parameters=[
+            config_file,
+            {
+                "audio_sink": audio_sink,
+                "tts_speed": tts_speed,
+            },
+        ],
+    )
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument("use_tts", default_value="true"),
+            DeclareLaunchArgument("use_hobot_llamacpp", default_value="true"),
+            DeclareLaunchArgument(
+                "config_file",
+                default_value=PathJoinSubstitution(
+                    [
+                        get_package_share_directory("vlm_detect"),
+                        "config",
+                        "vlm_detect.yaml",
+                    ]
+                ),
+            ),
+            DeclareLaunchArgument("image_topic", default_value="/image_mjpeg"),
+            DeclareLaunchArgument("trigger_topic", default_value="/sign4return"),
+            DeclareLaunchArgument("trigger_sign", default_value="9"),
+            DeclareLaunchArgument(
+                "prompt_text",
+                default_value="描述图片中有一个病人的特征，字数控制在20字以内。",
+            ),
+            DeclareLaunchArgument("result_topic", default_value="/vlm_result"),
+            DeclareLaunchArgument("llamacpp_prompt_topic", default_value="/prompt_text"),
+            DeclareLaunchArgument("llamacpp_image_topic", default_value="/llamacpp/image"),
+            DeclareLaunchArgument("llamacpp_result_topic", default_value="/llama_cpp_node"),
+            DeclareLaunchArgument("llamacpp_text_topic", default_value="/tts_text"),
+            DeclareLaunchArgument(
+                "llamacpp_vit_model_file_name",
+                default_value="/home/sunrise/hobot_llamacpp/src/models/vit_model_int16_v2.bin",
+            ),
+            DeclareLaunchArgument(
+                "llamacpp_gguf_model_file_name",
+                default_value="/home/sunrise/hobot_llamacpp/src/models/Qwen2.5-0.5B-Instruct-Q4_0.gguf",
+            ),
+            DeclareLaunchArgument("llamacpp_model_type", default_value="0"),
+            DeclareLaunchArgument("llamacpp_threads", default_value="6"),
+            DeclareLaunchArgument(
+                "audio_sink",
+                default_value="alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo",
+            ),
+            DeclareLaunchArgument("tts_speed", default_value="1.5"),
+            LogInfo(msg=["Local VLM backend: hobot_llamacpp"]),
+            local_adapter,
+            hobot_llamacpp,
+            tts_server,
+        ]
+    )
--- a/src/vlm_detect/package.xml
+++ b/src/vlm_detect/package.xml
@@ -7,6 +7,13 @@
  <maintainer email="root@todo.todo">root</maintainer>
  <license>TODO: License declaration</license>

+  <exec_depend>ai_msgs</exec_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>origincar_msg</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
--- a/src/vlm_detect/setup.py
+++ b/src/vlm_detect/setup.py
@@ -25,6 +25,7 @@ setup(
    entry_points={
        'console_scripts': [
            'vlm_node = vlm_detect.vlm_node:main',
+            'local_vlm_adapter = vlm_detect.local_vlm_adapter_node:main',
            'test_publisher = vlm_detect.test_publisher:main',
            'tts_node = vlm_detect.tts_node:main',
            'tts_server = vlm_detect.tts_server:main',
--- a/src/vlm_detect/test/pycache/test_local_adapter_utils.cpython-310-pytest-6.2.5.pyc
+++ b/src/vlm_detect/test/pycache/test_local_adapter_utils.cpython-310-pytest-6.2.5.pyc
--- a/src/vlm_detect/test/test_local_adapter_utils.py
+++ b/src/vlm_detect/test/test_local_adapter_utils.py
@@ -0,0 +1,25 @@
+from types import SimpleNamespace
+
+from vlm_detect.local_adapter_utils import extract_perception_text, is_trigger_match
+
+
+def test_extracts_first_non_empty_target_type():
+    msg = SimpleNamespace(
+        targets=[
+            SimpleNamespace(type=""),
+            SimpleNamespace(type="病人坐在床边"),
+        ]
+    )
+
+    assert extract_perception_text(msg) == "病人坐在床边"
+
+
+def test_returns_empty_string_when_no_target_text():
+    msg = SimpleNamespace(targets=[SimpleNamespace(type="")])
+
+    assert extract_perception_text(msg) == ""
+
+
+def test_trigger_match_casts_values_to_int():
+    assert is_trigger_match("9", 9)
+    assert not is_trigger_match(8, 9)
--- a/src/vlm_detect/vlm_backup/local_adapter_utils.py
+++ b/src/vlm_detect/vlm_backup/local_adapter_utils.py
@@ -0,0 +1,13 @@
+def extract_perception_text(msg):
+    for target in getattr(msg, "targets", []):
+        text = getattr(target, "type", "")
+        if text:
+            return text
+    return ""
+
+
+def is_trigger_match(value, expected):
+    try:
+        return int(value) == int(expected)
+    except (TypeError, ValueError):
+        return False
--- a/src/vlm_detect/vlm_backup/local_vlm_adapter_node.py
+++ b/src/vlm_detect/vlm_backup/local_vlm_adapter_node.py
@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Local VLM adapter for hobot_llamacpp.
+
+This node keeps the vlm_detect external contract while delegating inference to
+hobot_llamacpp over ROS topics.
+"""
+
+import threading
+import time
+
+import cv2
+import numpy as np
+import rclpy
+from ai_msgs.msg import PerceptionTargets
+from cv_bridge import CvBridge
+from origincar_msg.srv import Speak
+from rclpy.node import Node
+from sensor_msgs.msg import CompressedImage, Image
+from std_msgs.msg import Int32, String
+
+from .local_adapter_utils import extract_perception_text, is_trigger_match
+
+
+class LocalVLMAdapter(Node):
+    def __init__(self):
+        super().__init__("local_vlm_adapter")
+
+        self.declare_parameter("image_topic", "/image_mjpeg")
+        self.declare_parameter("trigger_topic", "/sign4return")
+        self.declare_parameter("trigger_sign", 9)
+        self.declare_parameter(
+            "prompt_text", "请描述这张图片的内容，用一句简短的话概括，不超过20个字。"
+        )
+        self.declare_parameter("result_topic", "/vlm_result")
+        self.declare_parameter("llamacpp_prompt_topic", "/prompt_text")
+        self.declare_parameter("llamacpp_image_topic", "/llamacpp/image")
+        self.declare_parameter("llamacpp_result_topic", "/llama_cpp_node")
+        self.declare_parameter("tts_service", "/tts/speak")
+        self.declare_parameter("enable_tts", True)
+        self.declare_parameter("inference_timeout_sec", 90.0)
+        self.declare_parameter("publish_delay_sec", 0.05)
+
+        image_topic = self.get_parameter("image_topic").value
+        trigger_topic = self.get_parameter("trigger_topic").value
+        self.trigger_sign = self.get_parameter("trigger_sign").value
+        self.prompt_text = self.get_parameter("prompt_text").value
+        result_topic = self.get_parameter("result_topic").value
+        self.inference_timeout_sec = float(
+            self.get_parameter("inference_timeout_sec").value
+        )
+        self.publish_delay_sec = float(self.get_parameter("publish_delay_sec").value)
+        self.enable_tts = bool(self.get_parameter("enable_tts").value)
+
+        llamacpp_prompt_topic = self.get_parameter("llamacpp_prompt_topic").value
+        llamacpp_image_topic = self.get_parameter("llamacpp_image_topic").value
+        llamacpp_result_topic = self.get_parameter("llamacpp_result_topic").value
+        tts_service = self.get_parameter("tts_service").value
+
+        self.bridge = CvBridge()
+        self.latest_image_msg = None
+        self.image_lock = threading.Lock()
+        self.inference_lock = threading.Lock()
+        self.waiting_for_result = False
+        self.pending_result = ""
+        self.result_event = threading.Event()
+
+        self.image_sub = self.create_subscription(
+            CompressedImage, image_topic, self.image_callback, 10
+        )
+        self.trigger_sub = self.create_subscription(
+            Int32, trigger_topic, self.trigger_callback, 10
+        )
+        self.llamacpp_result_sub = self.create_subscription(
+            PerceptionTargets, llamacpp_result_topic, self.llamacpp_result_callback, 10
+        )
+
+        self.prompt_pub = self.create_publisher(String, llamacpp_prompt_topic, 10)
+        self.image_pub = self.create_publisher(Image, llamacpp_image_topic, 10)
+        self.result_pub = self.create_publisher(String, result_topic, 10)
+
+        self.tts_client = self.create_client(Speak, tts_service)
+
+        self.get_logger().info(
+            "Local VLM adapter ready | image=%s | trigger=%s(sign=%s) | "
+            "prompt=%s | image_out=%s | result_in=%s | result_out=%s"
+            % (
+                image_topic,
+                trigger_topic,
+                self.trigger_sign,
+                llamacpp_prompt_topic,
+                llamacpp_image_topic,
+                llamacpp_result_topic,
+                result_topic,
+            )
+        )
+
+    def image_callback(self, msg):
+        with self.image_lock:
+            self.latest_image_msg = msg
+
+    def trigger_callback(self, msg):
+        if not is_trigger_match(msg.data, self.trigger_sign):
+            return
+
+        with self.inference_lock:
+            if self.waiting_for_result:
+                self.get_logger().warning("Local VLM inference already running")
+                return
+            self.waiting_for_result = True
+            self.pending_result = ""
+            self.result_event.clear()
+
+        thread = threading.Thread(target=self._run_inference_once, daemon=True)
+        thread.start()
+
+    def llamacpp_result_callback(self, msg):
+        text = extract_perception_text(msg)
+        if not text:
+            return
+        with self.inference_lock:
+            if not self.waiting_for_result:
+                return
+            self.pending_result = text
+            self.result_event.set()
+
+    def _run_inference_once(self):
+        try:
+            image_msg = self._build_image_msg_from_latest()
+            if image_msg is None:
+                self.get_logger().warning("No cached image available for local VLM")
+                return
+
+            prompt_msg = String()
+            prompt_msg.data = self.prompt_text
+            self.prompt_pub.publish(prompt_msg)
+            time.sleep(self.publish_delay_sec)
+            self.image_pub.publish(image_msg)
+
+            self.get_logger().info("Local VLM request sent to hobot_llamacpp")
+            if not self.result_event.wait(timeout=self.inference_timeout_sec):
+                self.get_logger().error(
+                    "Timed out waiting for hobot_llamacpp result after %.1fs"
+                    % self.inference_timeout_sec
+                )
+                return
+
+            with self.inference_lock:
+                result = self.pending_result
+
+            result_msg = String()
+            result_msg.data = result
+            self.result_pub.publish(result_msg)
+            self._speak_async(result)
+            self.get_logger().info("Local VLM result: %s" % result)
+        finally:
+            with self.inference_lock:
+                self.waiting_for_result = False
+                self.pending_result = ""
+                self.result_event.clear()
+
+    def _build_image_msg_from_latest(self):
+        with self.image_lock:
+            compressed = self.latest_image_msg
+        if compressed is None:
+            return None
+
+        np_arr = np.frombuffer(compressed.data, np.uint8)
+        cv_image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
+        if cv_image is None:
+            self.get_logger().error("Failed to decode cached compressed image")
+            return None
+
+        image_msg = self.bridge.cv2_to_imgmsg(cv_image, encoding="bgr8")
+        image_msg.header = compressed.header
+        return image_msg
+
+    def _speak_async(self, text):
+        if not self.enable_tts:
+            return
+        if not self.tts_client.service_is_ready():
+            self.get_logger().warning("TTS service not available")
+            return
+        req = Speak.Request()
+        req.text = text
+        future = self.tts_client.call_async(req)
+        future.add_done_callback(self._tts_done_callback)
+
+    def _tts_done_callback(self, future):
+        try:
+            resp = future.result()
+            if not resp.success:
+                self.get_logger().warning("TTS failed: %s" % resp.message)
+        except Exception as exc:
+            self.get_logger().error("TTS call error: %s" % exc)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = LocalVLMAdapter()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
--- a/src/vlm_detect/vlm_backup/qr_tts_bridge.py
+++ b/src/vlm_detect/vlm_backup/qr_tts_bridge.py
--- a/src/vlm_detect/vlm_backup/tts_node.py
+++ b/src/vlm_detect/vlm_backup/tts_node.py
--- a/src/vlm_detect/vlm_detect/pycache/local_adapter_utils.cpython-310.pyc
+++ b/src/vlm_detect/vlm_detect/pycache/local_adapter_utils.cpython-310.pyc