哨兵学习 • ZeroHour's Site

1119 调试#

启动雷达驱动,发布点云

ros2 launch livox_ros_driver2 msg_MID360_launch.py

bash

启动里程计和定位

迁移到ros2之后,point_lio的延迟变得大且不稳定,原因未知,暂时不建议在线跑。

ros2 launch rm_bringup SLAM_and_localize.py backend:=point_lio rviz:=true SLAM_mapping_only.py # 仅建图
ros2 launch rm_bringup SLAM_odom_only.py backend:=faster_lio rviz:=true # 仅里程计
ros2 launch rm_bringup SLAM_and_localize.py backend:=faster_lio rviz:=true # 启动重定位和里程计

bash

(实验性内容)启动地形分析,输出/traversability/obstacles和/traversability/ground

ros2 launch rm_ta bag_livox_ta.launch.py

bash

启动nav_stack

ros2 launch nav2_client_cpp nav2_stack_with_gvc.launch.py # 还需要改进

bash

或者使用仿真模式,可以用来测试决策

ros2 launch nav2_client_cpp nav2_stack_with_gvc_sim.launch.py

bash

启动决策(还没测):

ros2 launch rm_bt_decision bt.launch.py

bash

启动通信节点

ros2 launch rm_comm_ros2 rm_comm_bringup.launch.py

bash

ROS 服务器配置，YAML 中不写坐标#

ros2 param set /rm_bt_decision_node supply.heal_x -2.0 ros2 param set /rm_bt_decision_node supply.heal_y -2.0 ros2 param set /rm_bt_decision_node supply.reload_x -2.0 ros2 param set /rm_bt_decision_node supply.reload_y -2.0

状态传递到决策树：rm_comm_ros2/src/handler_node.cpp#

99 行handleNavCommand，去掉注释

状态转换和参数发布：

紧着到 104 行

关于 rm_comm_bringup.launch.cpp#

第11行传入参数应为实数，传入 int 会出错

关于 global_velocity_controller_node.cpp#

注释掉硬编码的测试代码，使用PID控制器计算的速度

// 290行左右
vx_map_cmd = 1.0;
vy_map_cmd = 0.0;
predicted_yaw = current_yaw + 0.1 + 0.0 * std::hypot(vx_map_cmd, vy_map_cmd);

cpp

通信协议 protocol.h#

#pragma pack(1)
typedef struct {           // 都使用朴素机器人坐标系,前x,左y,上z
  uint8_t  frame_header;   // 帧头 0x72
  uint8_t  color;          // 机器人颜色（0=RED, 1=BLUE）
  uint8_t  sentry_command; // 命令
  uint8_t  eSentryState;   // 当前状态
  uint8_t  eSentryEvent;   // 事件
  uint16_t hp_remain;      // 剩余生命值
  uint16_t bullet_remain;  // 剩余子弹量
  float    time_remain;    // 剩余时间，单位秒
  float    time_test;
  uint32_t reserve_2 : 16;
  uint32_t reserve_3 : 32;
  uint32_t reserve_4 : 32;
  uint32_t reserve_5 : 32;
  uint32_t reserve_6 : 32;
  uint32_t reserve_7 : 32;
  uint32_t reserve_8 : 32;
  uint32_t reserve_9 : 32;
  uint32_t reserve_10 : 32;
  uint32_t reserve_11 : 32;
  uint32_t reserve_12 : 32;
  uint32_t reserve_13 : 32;
  uint8_t  frame_tail; // 帧尾 0x21
} navCommand_t;
#pragma pack()

#pragma pack(1)
typedef struct {         // 都使用朴素机器人坐标系,前x,左y,上z
  uint8_t  frame_header; // 帧头 0x72
  float    x_speed;      // x 方向速度
  float    y_speed;      // y 方向速度
  float    x_current;    // 当前 x 坐标
  float    y_current;    // 当前 y 坐标
  float    x_target;     // 当前 x 坐标
  float    y_target;     // 当前 y 坐标
  float    yaw_current;  // 当前云台偏航角
  float    yaw_desired;  // 期望云台偏航角
  uint8_t  sentry_region;
  float    time_test;
  uint32_t reserve_2 : 8;
  uint32_t reserve_3 : 32;
  uint32_t reserve_4 : 32;
  uint32_t reserve_5 : 32;
  uint32_t reserve_6 : 32;
  uint32_t reserve_7 : 32;
  uint32_t reserve_8 : 32; // 填充到64字节，保持帧尾为最后一字节
  uint8_t  frame_tail;     // 帧尾 0x4D
} navInfo_t;

// 商场赛使用1239
enum sentry_state_e {
  standby = 0,         // 待命状态
  attack,              // 进攻状态，该状态需视野中出现敌人
  patrol,              // 巡逻状态，固定几个点的巡逻状态
  stationary_defense,  // 原地不动防守状态
  constrained_defense, // 约束防守状态，适用于第一次死亡前，前哨站被击毁后
  error,               // 错误状态，即进入了不该进入的状态转移表
  logic,               // 逻辑状态，在这里面做逻辑处理和强制状态转换
  pursuit,             // 追击状态，此时追击坐标为敌人消失的坐标
  supply, // 补给状态，弹丸打完或血量低下会进入此状态，attack、patrol、free_defense的补给状态
  go_attack_outpost, // 只推前哨站状态
};

cpp

项目 Launch 文件：#

传感器驱动模块（rm_driver）

# Livox激光雷达驱动 (ROS1版本)
ros2 launch livox_ros_driver2 msg_MID360_launch.py
ros2 launch livox_ros_driver2 msg_HAP_launch.py
ros2 launch livox_ros_driver2 msg_mixed_launch.py

# 点云仿真 (我们添加的)
ros2 launch pointcloud_simulator pointcloud_sim.launch.py

bash

定位模块（rm_localization）

# 统一定位启动 (推荐)
ros2 launch rm_localization_bringup localization_bringup.launch.py backend:=fast_lio
ros2 launch rm_localization_bringup localization_bringup.launch.py backend:=faster_lio
ros2 launch rm_localization_bringup localization_bringup.launch.py backend:=point_lio

# 单独启动各算法
ros2 launch fast_lio mapping.launch.py
ros2 launch faster_lio_ros2 mapping.launch.py
ros2 launch fast_lio_localization_ros2 localize.launch.py

bash

感知模块（rm_perception）

# 地面分割
ros2 launch linefit_ground_segmentation_ros segmentation.launch.py
ros2 launch linefit_ground_segmentation_ros test.launch.py

# 地形分析
ros2 launch rm_ta traversability_costmap.launch.py
ros2 launch rm_ta bag_livox_ta.launch.py

# IMU滤波
ros2 launch imu_complementary_filter complementary_filter.launch.py

bash

导航模块（rm_nav）

# 完整Nav2栈 (推荐)
ros2 launch nav2_client_cpp nav2_stack_with_gvc_sim.launch.py
ros2 launch nav2_client_cpp nav2_stack_with_gvc.launch.py

# 全局速度控制器
ros2 launch global_velocity_controller global_velocity_controller.launch.py
ros2 launch global_velocity_controller global_velocity_controller_no_sim.launch.py

bash

行为树模块（rm_bt_decision）

# 行为树决策
ros2 launch rm_bt_decision bt.launch.py

bash

通信模块（rm_comm_ros2）

# 通信框架
ros2 launch rm_comm_ros2 rm_comm_bringup.launch.py

bash

启动#

完整系统启动#

# 1. 启动雷达
ros2 launch livox_ros_driver2 msg_MID360_launch.py

# 2. 启动定位
ros2 launch rm_localization_bringup SLAM_and_localization.launch.py backend:=point_lio rviz:=true
ros2 launch rm_localization_bringup SLAM_and_odom.launch.py backend:=point_lio rviz:=false

# 3. 启动导航
ros2 launch nav2_client_cpp nav2_stack_with_gvc.launch.py

# 4. 启动决策
ros2 launch rm_bt_decision bt.launch.py

bash

测试和开发#

# 单独测试定位
ros2 launch fast_lio mapping.launch.py

# 仿真测试导航，测决策
ros2 launch nav2_client_cpp nav2_stack_with_gvc_sim.launch.py

bash

Launch文件参数说明#

定位模块参数

# 选择算法后端
backend:=fast_lio | faster_lio | point_lio

# 启用RViz
rviz:=true | false

# 使用仿真时间
use_sim_time:=true | false

# 参数文件
fast_lio_params:=/path/to/config.yaml

bash

导航模块参数

# 地图文件
map_yaml:=/path/to/map.yaml

# Nav2参数
params_file:=/path/to/nav2_params.yaml

# 行为树文件
default_bt_xml:=/path/to/bt.xml

bash

决策模块参数

# 行为树文件
tree:=/path/to/bt.xml

# 行为树频率
tick_hz:=10.0

# 是否启用web可视化
use_web_viewer:=true | false

bash