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  • bdddcc63cc good master Orange 2026-08-12 21:07:21 +08:00
  • c30a810b12 test for gc Orange 2026-08-11 19:38:10 +08:00
  • 94609d938d 改了下地图和部分规划参数 Orange 2026-08-10 19:46:09 +08:00
  • b3d06e1ba8 40~60s完赛 Orange 2026-08-10 15:48:25 +08:00
  • 07598f4b11 222 Orange 2026-08-09 21:02:42 +08:00
  • 173670e194 gc更改前的推送 Orange 2026-08-06 18:57:54 +08:00
  • 8991e5208e modified: CLAUDE.md 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" Orange 2026-08-06 16:34:53 +08:00
  • 71bae6c68c planner升级 Orange 2026-08-05 22:18:26 +08:00
  • ce49a0c5d3 vlm Orange 2026-08-05 22:18:14 +08:00
  • b0e52bdb6f 111 Orange 2026-08-05 22:17:53 +08:00
  • 3880d0265c 预选点数组的添加和发布节点 Orange 2026-08-05 22:17:05 +08:00
  • 66acea5e87 给轨迹+MPPI版导航加入了障碍物检测 Orange 2026-08-05 22:15:35 +08:00
  • b4689b940f 给导航添加了动态调参的节点 Orange 2026-08-05 22:13:57 +08:00
  • 1219a40077 添加了全套任务的包 Orange 2026-08-05 22:12:02 +08:00
  • b53f203f2d 一套相对稳定的任务二参数（yaml主文件） Orange 2026-08-04 16:28:03 +08:00
  • 0f3e539a60 删除无关项 Orange 2026-08-04 15:03:47 +08:00
  • 077170a23b 删除无关文件 Orange 2026-08-04 15:01:38 +08:00
  • f5f3d53ec0 清理了一些没有用到的vlm_detect文件 Orange 2026-08-04 14:31:45 +08:00
  • 78cf69493b Merge branch 'master' of https://gitee.com/hikos/smart-healthcare-2026 Orange 2026-07-31 16:56:33 +08:00
  • 1d2eeecd5b 修了一下障碍物相关 Orange 2026-07-31 16:54:19 +08:00
  • d03cefb07c fix: remove hardcoded ROS shell paths hikos on laptop 2026-07-30 19:48:35 +08:00
  • 8de4e20046 feat: add mtran ROS2 translation service hikos on laptop 2026-07-30 19:34:49 +08:00
  • 0c09a97e7f Please enter the commit message for your changes. Lines starting with '#' will be ignored, and an empty message aborts the commit. Orange 2026-07-24 17:13:05 +08:00
  • cf86e01984 新增俯瞰图变换包，类似车辆环视图 Orange 2026-07-24 17:12:38 +08:00
  • 609e1e51c1 障碍物nav2做了一些修改，使速度更快 Orange 2026-07-24 17:11:58 +08:00
  • 300febd48a 修改了二维码检测的一些小bug Orange 2026-07-24 17:11:19 +08:00
  • 929d8e2e5c docs: record DDS link recovery and live traffic proof Orange 2026-07-23 19:27:17 +08:00
  • 87f562d0ab fix: follow current WSL peer for DDS Orange 2026-07-23 19:25:58 +08:00
  • 5b69043cae docs: finalize Fast DDS 164 deployment record Orange 2026-07-23 18:33:50 +08:00
  • 985550a62f docs: record successful Nav2 DDS verification Orange 2026-07-23 18:27:04 +08:00
  • e365bce37d fix: widen Fast DDS initial peer scan Orange 2026-07-23 18:24:45 +08:00
  • f1513349ee docs: record Fast DDS peer-range finding Orange 2026-07-23 18:19:51 +08:00
  • 32a253ab80 fix: add local Fast DDS bootstrap peer Orange 2026-07-23 18:14:53 +08:00
  • 69db586835 docs: record local DDS bootstrap finding Orange 2026-07-23 18:08:45 +08:00
  • 7663c16eed docs: record dedicated DDS link verification Orange 2026-07-23 18:05:40 +08:00
  • 169c531559 docs: record Fast DDS validation findings Orange 2026-07-23 18:02:09 +08:00
  • e7c3fe91b2 fix: disable Fast DDS discovery multicast Orange 2026-07-23 16:47:15 +08:00
  • 5e79b7ca0b docs: record Domain 22 multicast finding Orange 2026-07-23 16:41:31 +08:00
  • 2540738a14 docs: record WSL interface-name deviation Orange 2026-07-23 16:36:57 +08:00
  • d684ce64e2 docs: record WSL Fast DDS deployment Orange 2026-07-23 15:55:16 +08:00
  • edbe450b66 feat: add dedicated Fast DDS 164 profile Orange 2026-07-23 15:52:35 +08:00
  • c70f4921b7 docs: record Fast DDS network baseline Orange 2026-07-23 15:48:39 +08:00
  • 381d186b66 docs: add Fast DDS 164 implementation plan Orange 2026-07-23 15:43:42 +08:00
  • 64d8ac6c44 refactor: unify usb camera launch configuration Orange 2026-07-23 15:36:21 +08:00
  • 51a3b3ff0b docs: design dedicated Fast DDS 164 link Orange 2026-07-23 15:31:55 +08:00
  • 70e7360ba2 docs: add unified usb camera launch plan Orange 2026-07-23 15:15:59 +08:00
  • 05f9d7b243 docs: design unified usb camera launch config Orange 2026-07-23 15:09:24 +08:00
  • a5cee5e142 vlm和tts Orange 2026-07-23 14:51:51 +08:00
  • 90761b40b2 目前实现较快速从原点到达某个点，但是然后回到原点时有较大问题 Orange 2026-07-22 17:37:07 +08:00
  • 9b06d149d5 迁移了原来的nav2包；新增基于obstacle_scanner构建costmap的nav2，暂未实际测试 Orange 2026-07-22 17:35:01 +08:00
  • c7260bd021 编写了一些脚本和工具-zbw Orange 2026-07-22 17:32:57 +08:00
  • 691e9c80bd 二维码检测：添加了判断顺逆时针的规则和发布内容；临时修改发布话题到了vlm中 Orange 2026-07-22 17:32:00 +08:00
  • fc6e796c28 障碍物检测v3，改成了卡尔曼滤波完整版 Orange 2026-07-22 17:30:03 +08:00
  • 07c2ad6baf docs: plan lightweight Kalman tracker implementation Orange 2026-07-20 17:42:20 +08:00
  • 646a3871e8 docs: design lightweight Kalman obstacle tracker Orange 2026-07-20 17:32:25 +08:00
  • 6c66789c78 docs: add obstacle nav2 implementation handoff Orange 2026-07-20 16:51:11 +08:00
  • a5ddfeb451 docs: design odometry-only obstacle nav2 package Orange 2026-07-20 16:41:40 +08:00
  • f4f0e16f1f 障碍物检测v2。在之前的基础上加上了卡尔曼滤波的跟踪，防止障碍物过远时只检测到两个点，无法识别为障碍物。 Orange 2026-07-12 22:22:43 +08:00
  • c8cd3c29f5 添加了新的planner，未实际实现过，需进行测试 Orange 2026-07-12 19:44:23 +08:00
  • 79f0a4d586 添加了第一版雷达数据->障碍物坐标的功能包 Orange 2026-07-12 15:25:11 +08:00
  • f05c427efe 标定+USB摄像头启动 Orange 2026-07-12 13:52:32 +08:00
  • b044f6f294 修改了odom_conbied完全信任odom，odomyaw完全信任陀螺仪积分，不考虑四元数 Orange 2000-01-01 09:29:04 +08:00
  • 48452d8d93 目前采用只使用陀螺仪z轴数据 Orange 2000-01-01 08:58:21 +08:00
  • 2f51de27e5 零漂数据采集拟合 Orange 2000-01-01 08:38:51 +08:00
  • b14befd1cf 此更改更改了imu数据处理方式，使得静止状态yaw不会发生偏移，后续应优化陀螺仪数据处理：低通滤波会导致相位延迟、滑动窗口会导致数据有微量误差。 无法避免运动过程中的yaw偏移。 后续应在运动时也加上零漂偏移 Orange 2026-06-23 22:34:15 +08:00
  • 630cb18277 hbmem usb摄像头的二维码检测 Orange 2026-06-22 21:54:12 +08:00
  • 3afee818e8 修改了bttree和规划逻辑，每秒执行一次规划 Orange 2026-06-22 18:06:53 +08:00
  • 779b32362a Please enter the commit message for your changes. Lines starting with '#' will be ignored, and an empty message aborts the commit. Orange 2026-06-22 17:16:45 +08:00
  • a9bfeef59b 添加二维码检测的缓存机制以及它的启动参数（默认使用） Orange 2026-06-16 22:08:53 +08:00
  • 5535dcab54 把去年的二维码检测、图生文客户端、锥桶检测v8给加了进来，二维码检测新增深度相机检测 Orange 2026-06-16 21:05:14 +08:00
  • 652c97646e 新增变更说明 Orange 2026-06-13 21:57:01 +08:00
  • a7b02deaa5 现在总体进程基本流畅，还差导航不够顺利。 Orange 2026-06-13 20:54:15 +08:00
  • 05511008d2 删除了.vscode的内容 Orange 2026-06-13 20:05:43 +08:00
  • 261f533e1e Please enter the commit message for your changes. Lines starting with '#' will be ignored, and an empty message aborts the commit. Orange 2026-06-13 19:55:01 +08:00
  • 5efbc1e68e 改了一下ekf的源码，让odom不再完全相信轮式里程计；手贱删了个.git里的文件导致文件全部重新存，看不了diff了 Orange 2026-06-13 19:54:44 +08:00
  • 51ea5bd52e 修复了雷达扫描范围的bug，修复了里程计数据的发布者冲突的问题。目前存在问题：odom坐标系在运动过程中还是会飘 Orange 2026-06-13 17:03:06 +08:00
  • 4e576888f5 Merge branch 'mo_new' Orange 2026-06-11 14:55:45 +08:00
  • 4b3ca15584 能够正常建图。下一步：修改里程计数据发布者，由odom（base）改为odom_combined（ekf） Orange 2026-06-11 14:51:15 +08:00
  • 436e8a2f5c Merge remote-tracking branch 'origin/mo' into mo_new Orange 2026-06-08 16:51:58 +08:00
  • 8afecfda8f 添加了雷达驱动 Orange 2026-06-08 16:47:49 +08:00
  • e386adf6d7 提高速度，还需要重新建图 陌欢醉 2026-06-08 16:46:51 +08:00
  • aa7444c659 a Orange 2026-06-08 16:39:48 +08:00
  • 8b775db45f git update Orange 2026-06-08 16:35:07 +08:00
  • 8e87f4327a test Orange 2026-06-08 16:29:03 +08:00
  • 0a9f663484 modified: .gitignore modified: .vscode/browse.vc.db-shm Orange 2026-06-08 16:27:50 +08:00
  • e047c10277 log Orange 2026-06-08 16:23:08 +08:00
  • db6686fccb 更新claude文件 陌欢醉 2026-06-06 20:35:53 +08:00
  • b44f0c1909 add：添加了实车模式，未验证 陌欢醉 2026-06-06 20:32:07 +08:00
  • 30a9b2bd2d a 陌欢醉 2026-06-06 20:09:25 +08:00
  • 674cca1037 生成了一份claude.md文档 陌欢醉 2026-06-06 14:31:17 +08:00
  • f4944aa29c 修改小车尺寸适配正常比赛 陌欢醉 2026-06-06 14:28:49 +08:00
  • 4e49f7f981 成功实现智慧医疗地图嵌入 陌欢醉 2026-06-06 14:20:37 +08:00
  • 5da3d07656 目前完成了比赛地图的建图，但是还没有实现定位导航 陌欢醉 2026-06-05 22:35:07 +08:00
  • fab5f811cb 此为更快速的slam+自定义bt 陌欢醉 2026-06-05 19:34:33 +08:00
  • f95b087143 add：在基础地图上实现了实时避障以及实现了比较灵活的后撤，从而实现掉头 陌欢醉 2026-06-04 22:42:10 +08:00
  • 5c746829db 目前正在尝试仿真中实现基础地图上实时更新地图 陌欢醉 2026-06-04 22:07:35 +08:00
  • 82a1d44c5f 实现了slam负责定位，map_server实现全局地图发布，从而实现全局地图定位和导航 但是无法实现在线更新地图 陌欢醉 2026-06-04 15:56:14 +08:00
  • f566ac2ab7 可使用的slam定位（无法超出基本图范围） 陌欢醉 2026-06-04 15:39:31 +08:00
  • 4b21197f36 add：添加slam.yaml的决策文件 陌欢醉 2026-06-04 15:19:23 +08:00
  • a20280150a add&fix：修改了文件名称以及添加了slam定位的卵巢文件 陌欢醉 2026-06-04 15:15:04 +08:00