添加遥控器复位+控制

1.txt

@@ -0,0 +1,18 @@
+ros2 topic pub --rate 10 /LF/motor_cmds rc_msgs/msg/MotorCmds "motor_cmd_0:
+  tau: 0.0
+  vw: 0.0
+  pos: 0.0
+  kp: 0.0
+  kd: 0.0
+motor_cmd_1:
+  tau: 0.0
+  vw: 0.0
+  pos: 0.0
+  kp: 0.0
+  kd: 0.0
+motor_cmd_2:
+  tau: 0.0
+  vw: 0.0
+  pos: 0.0
+  kp: 0.0
+  kd: 0.0"

build.sh

@@ -0,0 +1,2 @@
+source install/setup.bash 
+colcon build

src/fdilink_ahrs_ROS2/CMakeLists.txt

@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 3.5)
+project(fdilink_ahrs)
+
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(Eigen3 REQUIRED)
+set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(serial REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+include_directories(
+  include
+  src
+  ${catkin_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS} 
+)
+
+
+add_executable(ahrs_driver_node src/ahrs_driver.cpp src/crc_table.cpp)
+ament_target_dependencies(ahrs_driver_node rclcpp rclpy  std_msgs  sensor_msgs  serial tf2_ros tf2 nav_msgs geometry_msgs)
+
+
+add_executable(imu_tf_node src/imu_tf.cpp)
+ament_target_dependencies(imu_tf_node rclcpp rclpy std_msgs sensor_msgs serial tf2_ros tf2 tf2_geometry_msgs)
+
+# find_package(Boost 1.55.0 REQUIRED COMPONENTS system filesystem)
+# include_directories(ahrs_driver_node ${Boost_INCLOUDE_DIRS})
+# link_directories(ahrs_driver_node ${Boost_LIBRARY_DIRS})
+# target_link_libraries(ahrs_driver_node ${Boost_LIBRSRIES})
+
+install(TARGETS
+  ahrs_driver_node
+  imu_tf_node
+
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY launch 
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/fdilink_ahrs_ROS2/include/ahrs_driver.h

@@ -0,0 +1,111 @@
+#ifndef BASE_DRIVER_H_
+#define BASE_DRIVER_H_
+
+
+#include <inttypes.h>
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <tf2_ros/transform_broadcaster.h>
+#include <iostream>
+#include <unistd.h>
+#include <serial/serial.h> //ROS的串口包 http://wjwwood.io/serial/doc/1.1.0/index.html
+#include <math.h>
+#include <fstream>
+#include <fdilink_data_struct.h>
+//#include <sensor_msgs/Imu.h>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
+#include <geometry_msgs/msg/pose2_d.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+
+#include <string>
+//#include <ros/package.h>
+#include <ament_index_cpp/get_package_prefix.hpp>
+#include <crc_table.h>
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
+#include <Eigen/Core>
+//#include <boost/thread.h>
+
+using namespace std;
+using namespace Eigen;
+namespace FDILink
+{
+#define FRAME_HEAD 0xfc
+#define FRAME_END 0xfd
+#define TYPE_IMU 0x40
+#define TYPE_AHRS 0x41
+#define TYPE_INSGPS 0x42
+#define TYPE_GEODETIC_POS 0x5c
+#define TYPE_GROUND 0xf0
+
+#define IMU_LEN  0x38   //56
+#define AHRS_LEN 0x30   //48
+#define INSGPS_LEN 0x48 //80
+#define GEODETIC_POS_LEN 0x20 //32
+#define PI 3.141592653589793
+#define DEG_TO_RAD 0.017453292519943295
+
+
+class ahrsBringup : public rclcpp::Node
+{
+public:
+  ahrsBringup();
+  ~ahrsBringup();
+  void processLoop();
+  bool checkCS8(int len);
+  bool checkCS16(int len);
+  void checkSN(int type);
+  void magCalculateYaw(double roll, double pitch, double &magyaw, double magx, double magy, double magz);
+
+private:
+  bool if_debug_;
+  //sum info
+  int sn_lost_ = 0;
+  int crc_error_ = 0;
+  uint8_t read_sn_ = 0;
+  bool frist_sn_;
+  int device_type_ = 1;
+
+  //serial
+  serial::Serial serial_; //声明串口对象
+  std::string serial_port_;
+  int serial_baud_;
+  int serial_timeout_;
+  //data
+  FDILink::imu_frame_read  imu_frame_;
+  FDILink::ahrs_frame_read ahrs_frame_;
+  FDILink::insgps_frame_read insgps_frame_;
+  //FDILink::lanlon_frame_read latlon_frame_;
+  FDILink::Geodetic_Position_frame_read Geodetic_Position_frame_;
+  //frame name
+  //std::string imu_frame_id="gyro_link";
+  std::string imu_frame_id_;
+  std::string insgps_frame_id_;
+  std::string latlon_frame_id_;
+  //topic
+  std::string imu_topic="/imu", mag_pose_2d_topic="/mag_pose_2d";
+  std::string latlon_topic="latlon";
+  std::string Euler_angles_topic="/Euler_angles", Magnetic_topic="/Magnetic";
+  std::string gps_topic="/gps/fix",twist_topic="/system_speed",NED_odom_topic="/NED_odometry";
+
+
+  //Publisher
+  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr  imu_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::Pose2D>::SharedPtr mag_pose_pub_;
+
+  rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr gps_pub_;
+  
+  rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr Euler_angles_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr Magnetic_pub_;
+
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr  twist_pub_;
+  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr NED_odom_pub_;
+
+
+
+}; //ahrsBringup
+} // namespace FDILink
+
+#endif

src/fdilink_ahrs_ROS2/include/crc_table.h

@@ -0,0 +1,10 @@
+#ifndef CRC_TABLE_H
+#define CRC_TABLE_H
+
+#include <stdint.h>
+
+uint8_t CRC8_Table(uint8_t* p, uint8_t counter);
+uint16_t CRC16_Table(uint8_t *p, uint8_t counter);
+uint32_t CRC32_Table(uint8_t *p, uint8_t counter);
+
+#endif // CRC_TABLE_H

src/fdilink_ahrs_ROS2/include/fdilink_data_struct.h

@@ -0,0 +1,189 @@
+#ifndef FDILINK_DATA_STRUCT_H_
+#define FDILINK_DATA_STRUCT_H_
+
+#include <iostream>
+namespace FDILink{
+#pragma pack(1)
+struct fdilink_header
+{
+	uint8_t  header_start;
+	uint8_t  data_type;
+	uint8_t  data_size;
+	uint8_t  serial_num;
+	uint8_t  header_crc8;
+    uint8_t  header_crc16_h;
+	uint8_t  header_crc16_l;
+};
+#pragma pack()
+
+#pragma pack(1)
+struct IMUData_Packet_t
+{
+	float gyroscope_x;          //unit: rad/s
+	float gyroscope_y;          //unit: rad/s
+	float gyroscope_z;          //unit: rad/s
+	float accelerometer_x;      //m/s^2
+	float accelerometer_y;      //m/s^2
+	float accelerometer_z;      //m/s^2
+	float magnetometer_x;       //mG
+	float magnetometer_y;       //mG
+	float magnetometer_z;       //mG
+	float imu_temperature;      //C
+	float Pressure;             //Pa
+	float pressure_temperature; //C
+	int64_t Timestamp;          //us
+};
+#pragma pack()
+
+struct AHRSData_Packet_t
+{
+	float RollSpeed;   //unit: rad/s
+	float PitchSpeed;  //unit: rad/s
+	float HeadingSpeed;//unit: rad/s
+	float Roll;        //unit: rad
+	float Pitch;       //unit: rad
+	float Heading;     //unit: rad
+	float Qw;//w          //Quaternion
+	float Qx;//x
+	float Qy;//y
+	float Qz;//z
+	int64_t Timestamp; //unit: us
+};
+#pragma pack(1)
+struct INSGPSData_Packet_t
+{
+	float BodyVelocity_X;       
+	float BodyVelocity_Y;       
+	float BodyVelocity_Z;       
+	float BodyAcceleration_X;   
+	float BodyAcceleration_Y;   
+	float BodyAcceleration_Z;   
+	float Location_North;      
+	float Location_East;       
+	float Location_Down;
+	float Velocity_North;
+	float Velocity_East;
+	float Velocity_Down;
+	float Acceleration_North;
+	float Acceleration_East;
+	float Acceleration_Down;
+	float Pressure_Altitude;
+	int64_t Timestamp;
+};
+#pragma pack()
+
+#pragma pack(1)
+struct Geodetic_Position_Packet_t
+{
+	double Latitude;       
+	double Longitude;       
+	double Height;
+	float hAcc;
+	float vAcc;      
+};
+#pragma pack()
+
+//for IMU=========================
+#pragma pack(1)
+struct read_imu_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	IMUData_Packet_t   data_pack; //56
+	uint8_t            data_buff[56]; //56
+  }data;
+  uint8_t            frame_end; //1                  
+};            
+
+struct read_imu_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[57];
+};                           
+
+union imu_frame_read{
+  struct read_imu_struct frame;
+  read_imu_tmp read_buf;
+  uint8_t read_tmp[64];
+};
+#pragma pack()
+//for IMU------------------------
+
+//for AHRS=========================
+#pragma pack(1)
+struct read_ahrs_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	AHRSData_Packet_t  data_pack; //48
+	uint8_t            data_buff[48]; //48
+  }data;
+  uint8_t            frame_end; //1                  
+};       
+
+ 
+struct read_ahrs_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[49];
+};                           
+
+union ahrs_frame_read{
+  struct read_ahrs_struct frame;
+  read_ahrs_tmp read_buf;
+  uint8_t read_tmp[56];
+};
+#pragma pack()
+//for AHRS------------------------
+
+//for INSGPS=========================
+#pragma pack(1)
+struct read_insgps_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	INSGPSData_Packet_t  data_pack; //72
+	uint8_t              data_buff[72]; //72
+  }data;
+  uint8_t            frame_end; //1                  
+};   
+
+                           
+struct read_insgps_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[73];
+};                          
+
+union insgps_frame_read{
+  struct read_insgps_struct frame;
+  read_insgps_tmp read_buf;
+  uint8_t read_tmp[80];
+};
+#pragma pack()
+//for INSGPS------------------------
+
+//for Geodetic_Position=========================
+#pragma pack(1)
+struct read_Geodetic_Position_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	Geodetic_Position_Packet_t  data_pack; //40
+	uint8_t                     data_buff[32]; //40
+  }data;
+  uint8_t            frame_end; //1                  
+};   
+                           
+struct read_Geodetic_Position_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[33];
+};                          
+
+union Geodetic_Position_frame_read{
+  struct read_Geodetic_Position_struct frame;
+  read_Geodetic_Position_tmp read_buf;
+  uint8_t read_tmp[40];
+};
+ 
+#pragma pack()
+
+}//namespace FDILink
+#endif//FDILINK_DATA_STRUCT_H_

src/fdilink_ahrs_ROS2/launch/ahrs_driver.launch.py

@@ -0,0 +1,37 @@
+import os
+from pathlib import Path
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, GroupAction,
+                            IncludeLaunchDescription, SetEnvironmentVariable)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+# bringup_dir = get_package_share_directory('fdilink_ahrs')
+# launch_dir = os.path.join(bringup_dir, 'launch')
+# imu_tf = IncludeLaunchDescription(
+#         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'imu_tf.launch.py')),
+# )
+def generate_launch_description():
+    ahrs_driver=Node(
+        package="fdilink_ahrs",
+        executable="ahrs_driver_node",
+        parameters=[{'if_debug_': False,
+            # 'serial_port_':'/dev/wheeltec_FDI_IMU_GNSS',
+            'serial_port_':'/dev/ttyUSB0',
+            'serial_baud_':921600,
+            'imu_topic':'/imu',
+            'imu_frame_id_':'gyro_link',
+            'mag_pose_2d_topic':'/mag_pose_2d',
+            'Magnetic_topic':'/magnetic',
+            'Euler_angles_topic':'/euler_angles',
+            'gps_topic':'/gps/fix',
+            'twist_topic':'/system_speed',
+            'NED_odom_topic':'/NED_odometry',
+            'device_type_':1}],
+        output="screen"
+    )
+
+    launch_description =LaunchDescription()
+    launch_description.add_action(ahrs_driver)
+#    launch_description.add_action(imu_tf)
+    return launch_description

src/fdilink_ahrs_ROS2/launch/imu_tf.launch.py

@@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    imu_tf=Node(
+        package="fdilink_ahrs",
+        #node_executable="imu_tf_node",
+        parameters=[{'imu_topic':'/imu',
+        'world_frame_id':'/world',
+        'imu_frame_id':'/gyro_link',
+        'position_x':1,
+        'position_y':1,
+        'position_z':1,
+        }],
+    )
+
+    launch_description =LaunchDescription([imu_tf])
+    return launch_description

src/fdilink_ahrs_ROS2/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>fdilink_ahrs</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="noah@todo.todo">noah</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>nav_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/fdilink_ahrs_ROS2/src/ahrs_driver.cpp

@@ -0,0 +1,675 @@
+#include <ahrs_driver.h>
+//#include <Eigen/Eigen>
+rclcpp::Node::SharedPtr nh_=nullptr;
+
+
+namespace FDILink
+{
+ahrsBringup::ahrsBringup()
+: rclcpp::Node ("ahrs_bringup")
+{
+  //topic_name & frame_id  加载参数服务器
+  this->declare_parameter("if_debug_",false);
+  this->get_parameter("if_debug_", if_debug_);
+
+  this->declare_parameter<std::int8_t>("device_type_",1);
+  this->get_parameter("device_type_",  device_type_);
+
+  this->declare_parameter<std::string>("imu_topic","/imu");
+  this->get_parameter("imu_topic",  imu_topic);
+
+  this->declare_parameter<std::string>("imu_frame_id_","gyro_link");
+  this->get_parameter("imu_frame_id_",   imu_frame_id_);
+
+  this->declare_parameter<std::string>("mag_pose_2d_topic","/mag_pose_2d");
+  this->get_parameter("mag_pose_2d_topic", mag_pose_2d_topic);
+
+  this->declare_parameter<std::string>("Euler_angles_topic","/euler_angles");
+  this->get_parameter("Euler_angles_topic", Euler_angles_topic);
+
+  this->declare_parameter<std::string>("gps_topic","/gps/fix");
+  this->get_parameter("gps_topic", gps_topic);
+
+
+  this->declare_parameter<std::string>("Magnetic_topic","/magnetic");
+  this->get_parameter("Magnetic_topic", Magnetic_topic);
+
+  this->declare_parameter<std::string>("twist_topic","/system_speed");
+  this->get_parameter("twist_topic", twist_topic);
+
+  this->declare_parameter<std::string>("NED_odom_topic","/NED_odometry");
+  this->get_parameter("NED_odom_topic", NED_odom_topic);
+
+  this->declare_parameter<std::string>("serial_port_","/dev/fdilink_ahrs");
+  this->get_parameter("serial_port_", serial_port_);
+
+  this->declare_parameter<std::int64_t>("serial_baud_",921600);
+  this->get_parameter("serial_baud_", serial_baud_);  
+
+  //pravite_nh.param("debug",     if_debug_,  false);
+  //pravite_nh.param("device_type", device_type_, 1); // default: single imu
+  // pravite_nh.param("imu_topic", imu_topic_, std::string("/imu"));
+  // pravite_nh.param("imu_frame", imu_frame_id_, std::string("imu"));
+  // pravite_nh.param("mag_pose_2d_topic", mag_pose_2d_topic_, std::string("/mag_pose_2d"));
+  // pravite_nh.param("Euler_angles_pub_", Euler_angles_topic_, std::string("/euler_angles"));
+  // pravite_nh.param("Magnetic_pub_", Magnetic_topic_, std::string("/magnetic"));
+ 
+  //serial                                                 
+  //pravite_nh.param("port", serial_port_, std::string("/dev/ttyTHS1")); 
+  //pravite_nh.param("baud", serial_baud_, 115200);
+  
+  //publisher
+  imu_pub_ = create_publisher<sensor_msgs::msg::Imu>(imu_topic.c_str(), 10);
+  gps_pub_ = create_publisher<sensor_msgs::msg::NavSatFix>(gps_topic.c_str(), 10);
+
+  mag_pose_pub_ = create_publisher<geometry_msgs::msg::Pose2D>(mag_pose_2d_topic.c_str(), 10);
+
+  Euler_angles_pub_ = create_publisher<geometry_msgs::msg::Vector3>(Euler_angles_topic.c_str(), 10);
+  Magnetic_pub_ = create_publisher<geometry_msgs::msg::Vector3>(Magnetic_topic.c_str(), 10);
+ 
+  twist_pub_ = create_publisher<geometry_msgs::msg::Twist>(twist_topic.c_str(), 10);
+  NED_odom_pub_ = create_publisher<nav_msgs::msg::Odometry>(NED_odom_topic.c_str(), 10);
+
+
+  //setp up serial  设置串口参数并打开串口
+  try
+  {
+    serial_.setPort(serial_port_);
+    serial_.setBaudrate(serial_baud_);
+    serial_.setFlowcontrol(serial::flowcontrol_none);
+    serial_.setParity(serial::parity_none); //default is parity_none
+    serial_.setStopbits(serial::stopbits_one);
+    serial_.setBytesize(serial::eightbits);
+    serial::Timeout time_out = serial::Timeout::simpleTimeout(serial_timeout_);
+    serial_.setTimeout(time_out);
+    serial_.open();
+  }
+  catch (serial::IOException &e)  // 抓取异常
+  {
+    RCLCPP_ERROR(this->get_logger(),"Unable to open port ");
+    exit(0);
+  }
+  if (serial_.isOpen())
+  {
+    RCLCPP_INFO(this->get_logger(),"Serial Port initialized");
+  }
+  else
+  {
+    RCLCPP_ERROR(this->get_logger(),"Unable to initial Serial port ");
+    exit(0);
+  }
+  processLoop();
+}
+
+ahrsBringup::~ahrsBringup()  // 析构函数关闭串口通道
+{
+  if (serial_.isOpen())
+    serial_.close();
+}
+
+void ahrsBringup::processLoop()  // 数据处理过程
+{
+  RCLCPP_INFO(this->get_logger(),"ahrsBringup::processLoop: start");
+  while (rclcpp::ok())
+  {
+    if (!serial_.isOpen())
+    {
+      RCLCPP_WARN(this->get_logger(),"serial unopen");
+    }
+    //check head start   检查起始 数据帧头
+    uint8_t check_head[1] = {0xff};  
+    size_t head_s = serial_.read(check_head, 1);
+    if (if_debug_){
+      if (head_s != 1)
+      {
+        RCLCPP_ERROR(this->get_logger(),"Read serial port time out! can't read pack head.");
+      }
+      std::cout << std::endl;
+      std::cout << "check_head: " << std::hex << (int)check_head[0] << std::dec << std::endl;
+    }
+    if (check_head[0] != FRAME_HEAD)
+    {
+      continue;
+    }
+    //check head type   检查数据类型
+    uint8_t head_type[1] = {0xff};
+    size_t type_s = serial_.read(head_type, 1);
+    if (if_debug_){
+      std::cout << "head_type:  " << std::hex << (int)head_type[0] << std::dec << std::endl;
+    }
+    if (head_type[0] != TYPE_IMU && head_type[0] != TYPE_AHRS && head_type[0] != TYPE_INSGPS && head_type[0] != TYPE_GEODETIC_POS && head_type[0] != 0x50 && head_type[0] != TYPE_GROUND&& head_type[0] != 0xff)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_type error: %02X",head_type[0]);
+      continue;
+    }
+    //check head length    检查对应数据类型的长度是否符合
+    uint8_t check_len[1] = {0xff};
+    size_t len_s = serial_.read(check_len, 1);
+    if (if_debug_){
+      std::cout << "check_len: "<< std::dec << (int)check_len[0]  << std::endl;
+    }
+    if (head_type[0] == TYPE_IMU && check_len[0] != IMU_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (imu)");
+      continue;
+    }else if (head_type[0] == TYPE_AHRS && check_len[0] != AHRS_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (ahrs)");
+      continue;
+    }else if (head_type[0] == TYPE_INSGPS && check_len[0] != INSGPS_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (insgps)");
+      continue;
+    }else if (head_type[0] == TYPE_GEODETIC_POS && check_len[0] != GEODETIC_POS_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (GEODETIC_POS)");
+      continue;
+    }
+    else if (head_type[0] == TYPE_GROUND || head_type[0] == 0x50) // 未知数据，防止记录失败
+    {
+      uint8_t ground_sn[1];
+      size_t ground_sn_s = serial_.read(ground_sn, 1);
+      if (++read_sn_ != ground_sn[0])
+      {
+        if ( ground_sn[0] < read_sn_)
+        {
+          if(if_debug_){
+            RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+          }
+          sn_lost_ += 256 - (int)(read_sn_ - ground_sn[0]);
+          read_sn_ = ground_sn[0];
+          // continue;
+        }
+        else
+        {
+          if(if_debug_){
+            RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+          }
+          sn_lost_ += (int)(ground_sn[0] - read_sn_);
+          read_sn_ = ground_sn[0];
+          // continue;
+        }
+      }
+      uint8_t ground_ignore[500];
+      size_t ground_ignore_s = serial_.read(ground_ignore, (check_len[0]+4));
+      continue;
+    }
+    //read head sn 
+    uint8_t check_sn[1] = {0xff};
+    size_t sn_s = serial_.read(check_sn, 1);
+    uint8_t head_crc8[1] = {0xff};
+    size_t crc8_s = serial_.read(head_crc8, 1);
+    uint8_t head_crc16_H[1] = {0xff};
+    uint8_t head_crc16_L[1] = {0xff};
+    size_t crc16_H_s = serial_.read(head_crc16_H, 1);
+    size_t crc16_L_s = serial_.read(head_crc16_L, 1);
+    if (if_debug_){
+      std::cout << "check_sn: "     << std::hex << (int)check_sn[0]     << std::dec << std::endl;
+      std::cout << "head_crc8: "    << std::hex << (int)head_crc8[0]    << std::dec << std::endl;
+      std::cout << "head_crc16_H: " << std::hex << (int)head_crc16_H[0] << std::dec << std::endl;
+      std::cout << "head_crc16_L: " << std::hex << (int)head_crc16_L[0] << std::dec << std::endl;
+    }
+    // put header & check crc8 & count sn lost
+    // check crc8 进行crc8数据校验
+    if (head_type[0] == TYPE_IMU)
+    {
+      imu_frame_.frame.header.header_start   = check_head[0];
+      imu_frame_.frame.header.data_type      = head_type[0];
+      imu_frame_.frame.header.data_size      = check_len[0];
+      imu_frame_.frame.header.serial_num     = check_sn[0];
+      imu_frame_.frame.header.header_crc8    = head_crc8[0];
+      imu_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      imu_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(imu_frame_.read_buf.frame_header, 4);
+      if (CRC8 != imu_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      if(!frist_sn_){
+        read_sn_  = imu_frame_.frame.header.serial_num - 1;
+        frist_sn_ = true;
+      }
+      //check sn 
+      ahrsBringup::checkSN(TYPE_IMU);
+    }
+    else if (head_type[0] == TYPE_AHRS)
+    {
+      ahrs_frame_.frame.header.header_start   = check_head[0];
+      ahrs_frame_.frame.header.data_type      = head_type[0];
+      ahrs_frame_.frame.header.data_size      = check_len[0];
+      ahrs_frame_.frame.header.serial_num     = check_sn[0];
+      ahrs_frame_.frame.header.header_crc8    = head_crc8[0];
+      ahrs_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      ahrs_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(ahrs_frame_.read_buf.frame_header, 4);
+      if (CRC8 != ahrs_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      if(!frist_sn_){
+        read_sn_  = ahrs_frame_.frame.header.serial_num - 1;
+        frist_sn_ = true;
+      }
+      //check sn 
+      ahrsBringup::checkSN(TYPE_AHRS);
+    }
+    else if (head_type[0] == TYPE_INSGPS)
+    {
+      insgps_frame_.frame.header.header_start   = check_head[0];
+      insgps_frame_.frame.header.data_type      = head_type[0];
+      insgps_frame_.frame.header.data_size      = check_len[0];
+      insgps_frame_.frame.header.serial_num     = check_sn[0];
+      insgps_frame_.frame.header.header_crc8    = head_crc8[0];
+      insgps_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      insgps_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(insgps_frame_.read_buf.frame_header, 4);
+      if (CRC8 != insgps_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      else if(if_debug_)
+      {
+        std::cout << "header_crc8 matched." << std::endl;
+      }
+      
+      ahrsBringup::checkSN(TYPE_INSGPS);
+    }
+    else if (head_type[0] == TYPE_GEODETIC_POS)
+    {
+      Geodetic_Position_frame_.frame.header.header_start   = check_head[0];
+      Geodetic_Position_frame_.frame.header.data_type      = head_type[0];
+      Geodetic_Position_frame_.frame.header.data_size      = check_len[0];
+      Geodetic_Position_frame_.frame.header.serial_num     = check_sn[0];
+      Geodetic_Position_frame_.frame.header.header_crc8    = head_crc8[0];
+      Geodetic_Position_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      Geodetic_Position_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(Geodetic_Position_frame_.read_buf.frame_header, 4);
+      if (CRC8 != Geodetic_Position_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      if(!frist_sn_){
+        read_sn_  = Geodetic_Position_frame_.frame.header.serial_num - 1;
+        frist_sn_ = true;
+      }
+      
+      ahrsBringup::checkSN(TYPE_GEODETIC_POS);
+    }
+    // check crc16 进行crc16数据校验
+    if (head_type[0] == TYPE_IMU)
+    {
+      uint16_t head_crc16_l = imu_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = imu_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(imu_frame_.read_buf.read_msg, (IMU_LEN + 1)); //48+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (IMU_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)imu_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(imu_frame_.frame.data.data_buff, IMU_LEN);
+      if (if_debug_)
+      {          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(imu).");
+        continue;
+      }
+      else if(imu_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      }
+      
+    }
+    else if (head_type[0] == TYPE_AHRS)
+    {
+      uint16_t head_crc16_l = ahrs_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = ahrs_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(ahrs_frame_.read_buf.read_msg, (AHRS_LEN + 1)); //48+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (AHRS_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)ahrs_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(ahrs_frame_.frame.data.data_buff, AHRS_LEN);
+      if (if_debug_){          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(ahrs).");
+        continue;
+      }
+      else if(ahrs_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      }
+    }
+    else if (head_type[0] == TYPE_INSGPS)
+    {
+      uint16_t head_crc16_l = insgps_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = insgps_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(insgps_frame_.read_buf.read_msg, (INSGPS_LEN + 1)); //48+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (AHRS_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)ahrs_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(insgps_frame_.frame.data.data_buff, INSGPS_LEN);
+      if (if_debug_){          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(ahrs).");
+        continue;
+      }
+      else if(insgps_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      } 
+    }
+    else if (head_type[0] == TYPE_GEODETIC_POS)
+    {
+      uint16_t head_crc16_l = Geodetic_Position_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = Geodetic_Position_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(Geodetic_Position_frame_.read_buf.read_msg, (GEODETIC_POS_LEN + 1)); //24+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (AHRS_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)ahrs_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(Geodetic_Position_frame_.frame.data.data_buff, GEODETIC_POS_LEN);
+      if (if_debug_){          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(gps).");
+        continue;
+      }
+      else if(Geodetic_Position_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      }
+    }
+    // publish magyaw topic
+    //读取IMU数据进行解析，并发布相关话题
+
+    if (head_type[0] == TYPE_IMU)
+    {
+      // publish imu topic
+      sensor_msgs::msg::Imu imu_data;
+      imu_data.header.stamp = rclcpp::Node::now();
+      imu_data.header.frame_id = imu_frame_id_.c_str();
+      Eigen::Quaterniond q_ahrs(ahrs_frame_.frame.data.data_pack.Qw,
+                                ahrs_frame_.frame.data.data_pack.Qx,
+                                ahrs_frame_.frame.data.data_pack.Qy,
+                                ahrs_frame_.frame.data.data_pack.Qz);
+      Eigen::Quaterniond q_r =                          
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitZ()) * 
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitY()) * 
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitX());
+      Eigen::Quaterniond q_rr =                          
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitZ()) * 
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitY()) * 
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitX());
+      Eigen::Quaterniond q_xiao_rr =
+          Eigen::AngleAxisd( PI/2, Eigen::Vector3d::UnitZ()) * 
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitY()) * 
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitX());
+      if (device_type_ == 0)         //未经变换的原始数据
+      {
+        imu_data.orientation.w = ahrs_frame_.frame.data.data_pack.Qw;
+        imu_data.orientation.x = ahrs_frame_.frame.data.data_pack.Qx;
+        imu_data.orientation.y = ahrs_frame_.frame.data.data_pack.Qy;
+        imu_data.orientation.z = ahrs_frame_.frame.data.data_pack.Qz;
+        imu_data.angular_velocity.x = imu_frame_.frame.data.data_pack.gyroscope_x;
+        imu_data.angular_velocity.y = imu_frame_.frame.data.data_pack.gyroscope_y;
+        imu_data.angular_velocity.z = imu_frame_.frame.data.data_pack.gyroscope_z;
+        imu_data.linear_acceleration.x = imu_frame_.frame.data.data_pack.accelerometer_x;
+        imu_data.linear_acceleration.y = imu_frame_.frame.data.data_pack.accelerometer_y;
+        imu_data.linear_acceleration.z = imu_frame_.frame.data.data_pack.accelerometer_z;
+      }
+      else if (device_type_ == 1)    //imu单品rclcpp标准下的坐标变换
+      {
+        
+        Eigen::Quaterniond q_out =  q_r * q_ahrs * q_rr;
+        imu_data.orientation.w = q_out.w();
+        imu_data.orientation.x = q_out.x();
+        imu_data.orientation.y = q_out.y();
+        imu_data.orientation.z = q_out.z();
+        imu_data.angular_velocity.x =  imu_frame_.frame.data.data_pack.gyroscope_x;
+        imu_data.angular_velocity.y = -imu_frame_.frame.data.data_pack.gyroscope_y;
+        imu_data.angular_velocity.z = -imu_frame_.frame.data.data_pack.gyroscope_z;
+        imu_data.linear_acceleration.x = imu_frame_.frame.data.data_pack.accelerometer_x;
+        imu_data.linear_acceleration.y = -imu_frame_.frame.data.data_pack.accelerometer_y;
+        imu_data.linear_acceleration.z = -imu_frame_.frame.data.data_pack.accelerometer_z;
+      }
+      imu_pub_->publish(imu_data);
+}
+    //读取AHRS数据进行解析，并发布相关话题
+    else if (head_type[0] == TYPE_AHRS)
+    {
+      geometry_msgs::msg::Pose2D pose_2d;
+      pose_2d.theta = ahrs_frame_.frame.data.data_pack.Heading;
+      mag_pose_pub_->publish(pose_2d);
+      //std::cout << "YAW: " << pose_2d.theta << std::endl;
+      geometry_msgs::msg::Vector3 Euler_angles_2d,Magnetic;  
+      Euler_angles_2d.x = ahrs_frame_.frame.data.data_pack.Roll;
+      Euler_angles_2d.y = ahrs_frame_.frame.data.data_pack.Pitch;
+      Euler_angles_2d.z = ahrs_frame_.frame.data.data_pack.Heading;
+      Magnetic.x = imu_frame_.frame.data.data_pack.magnetometer_x;
+      Magnetic.y = imu_frame_.frame.data.data_pack.magnetometer_y;
+      Magnetic.z = imu_frame_.frame.data.data_pack.magnetometer_z;
+
+      Euler_angles_pub_->publish(Euler_angles_2d);
+      Magnetic_pub_->publish(Magnetic);
+
+    }
+
+    //读取gps_pos数据进行解析，并发布相关话题
+    else if (head_type[0] == TYPE_GEODETIC_POS)
+    {
+      sensor_msgs::msg::NavSatFix gps_data;
+      gps_data.header.stamp = rclcpp::Node::now();
+      gps_data.header.frame_id = "navsat_link";
+      gps_data.latitude = Geodetic_Position_frame_.frame.data.data_pack.Latitude / DEG_TO_RAD;
+      gps_data.longitude = Geodetic_Position_frame_.frame.data.data_pack.Longitude / DEG_TO_RAD;
+      gps_data.altitude = Geodetic_Position_frame_.frame.data.data_pack.Height;
+
+      //std::cout << "lat: " << Geodetic_Position_frame_.frame.data.data_pack.Latitude << std::endl;
+      //std::cout << "lon: " << Geodetic_Position_frame_.frame.data.data_pack.Longitude << std::endl;
+      //std::cout << "h: " << Geodetic_Position_frame_.frame.data.data_pack.Height << std::endl;
+
+      gps_pub_->publish(gps_data);
+    } 
+    //读取INSGPS数据进行解析，并发布相关话题
+    else if (head_type[0] == TYPE_INSGPS)
+    {
+      nav_msgs::msg::Odometry odom_msg;
+      odom_msg.header.stamp = rclcpp::Node::now(); 
+      // odom_msg.header.frame_id = odom_frame_id; // Odometer TF parent coordinates //里程计TF父坐标
+      odom_msg.pose.pose.position.x = insgps_frame_.frame.data.data_pack.Location_North; //Position //位置
+      odom_msg.pose.pose.position.y = insgps_frame_.frame.data.data_pack.Location_East;
+      odom_msg.pose.pose.position.z = insgps_frame_.frame.data.data_pack.Location_Down;
+
+      // odom_msg.child_frame_id = robot_frame_id; // Odometer TF subcoordinates //里程计TF子坐标
+      odom_msg.twist.twist.linear.x =  insgps_frame_.frame.data.data_pack.Velocity_North; //Speed in the X direction //X方向速度
+      odom_msg.twist.twist.linear.y =  insgps_frame_.frame.data.data_pack.Velocity_East; //Speed in the Y direction //Y方向速度
+      odom_msg.twist.twist.linear.z =  insgps_frame_.frame.data.data_pack.Velocity_Down;
+      NED_odom_pub_->publish(odom_msg);
+
+      geometry_msgs::msg::Twist speed_msg;
+      speed_msg.linear.x =  insgps_frame_.frame.data.data_pack.BodyVelocity_X;
+      speed_msg.linear.y =  insgps_frame_.frame.data.data_pack.BodyVelocity_Y;
+      speed_msg.linear.z =  insgps_frame_.frame.data.data_pack.BodyVelocity_Z;   
+      twist_pub_->publish(speed_msg);
+		  
+    //  std::cout << "N: " << insgps_frame_.frame.data.data_pack.Location_North << std::endl;
+    //  std::cout << "E: " << insgps_frame_.frame.data.data_pack.Location_East << std::endl;
+    //  std::cout << "D: " << insgps_frame_.frame.data.data_pack.Location_Down << std::endl;
+
+    }   
+  }
+}
+
+void ahrsBringup::magCalculateYaw(double roll, double pitch, double &magyaw, double magx, double magy, double magz)
+{
+  double temp1 = magy * cos(roll) + magz * sin(roll);
+  double temp2 = magx * cos(pitch) + magy * sin(pitch) * sin(roll) - magz * sin(pitch) * cos(roll);
+  magyaw = atan2(-temp1, temp2);
+  if(magyaw < 0)
+  {
+    magyaw = magyaw + 2 * PI;
+  }
+  // return magyaw;
+}
+
+void ahrsBringup::checkSN(int type)
+{
+  switch (type)
+  {
+  case TYPE_IMU:
+    if (++read_sn_ != imu_frame_.frame.header.serial_num)
+    {
+      if ( imu_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - imu_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(imu_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = imu_frame_.frame.header.serial_num;
+    break;
+
+  case TYPE_AHRS:
+    if (++read_sn_ != ahrs_frame_.frame.header.serial_num)
+    {
+      if ( ahrs_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - ahrs_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(ahrs_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = ahrs_frame_.frame.header.serial_num;
+    break;
+
+  case TYPE_INSGPS:
+    if (++read_sn_ != insgps_frame_.frame.header.serial_num)
+    {
+      if ( insgps_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - insgps_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(insgps_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = insgps_frame_.frame.header.serial_num;
+    break;
+
+  case TYPE_GEODETIC_POS:
+    if (++read_sn_ != Geodetic_Position_frame_.frame.header.serial_num)
+    {
+      if ( Geodetic_Position_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - Geodetic_Position_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(Geodetic_Position_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = Geodetic_Position_frame_.frame.header.serial_num;
+    break;
+
+  default:
+    break;
+  }
+}
+
+} //namespace FDILink
+
+int main(int argc, char **argv)
+{
+  rclcpp::init(argc, argv);
+  FDILink::ahrsBringup bp;
+
+  return 0;
+}

src/fdilink_ahrs_ROS2/src/crc_table.cpp

@@ -0,0 +1,159 @@
+#include <stdint.h>
+#include <crc_table.h>
+
+static const uint8_t CRC8Table[] = {
+    0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
+    157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
+    35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
+    190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
+    70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
+    219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
+    101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
+    248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
+    140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
+    17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
+    175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
+    50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
+    202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
+    87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
+    233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
+    116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53};
+
+static const uint16_t CRC16Table[256] =
+{
+    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
+    0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+    0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
+    0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+    0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
+    0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+    0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
+    0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+    0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+    0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+    0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
+    0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+    0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
+    0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+    0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
+    0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+    0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
+    0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+    0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
+    0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+    0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
+    0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+    0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
+    0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+    0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
+    0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+    0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+    0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+    0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
+    0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+    0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
+    0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
+};
+
+static const uint32_t CRC32Table[] = {
+ 0x00000000L, 0x77073096L, 0xee0e612cL, 0x990951baL,
+ 0x076dc419L, 0x706af48fL, 0xe963a535L, 0x9e6495a3L,
+ 0x0edb8832L, 0x79dcb8a4L, 0xe0d5e91eL, 0x97d2d988L,
+ 0x09b64c2bL, 0x7eb17cbdL, 0xe7b82d07L, 0x90bf1d91L,
+ 0x1db71064L, 0x6ab020f2L, 0xf3b97148L, 0x84be41deL,
+ 0x1adad47dL, 0x6ddde4ebL, 0xf4d4b551L, 0x83d385c7L,
+ 0x136c9856L, 0x646ba8c0L, 0xfd62f97aL, 0x8a65c9ecL,
+ 0x14015c4fL, 0x63066cd9L, 0xfa0f3d63L, 0x8d080df5L,
+ 0x3b6e20c8L, 0x4c69105eL, 0xd56041e4L, 0xa2677172L,
+ 0x3c03e4d1L, 0x4b04d447L, 0xd20d85fdL, 0xa50ab56bL,
+ 0x35b5a8faL, 0x42b2986cL, 0xdbbbc9d6L, 0xacbcf940L,
+ 0x32d86ce3L, 0x45df5c75L, 0xdcd60dcfL, 0xabd13d59L,
+ 0x26d930acL, 0x51de003aL, 0xc8d75180L, 0xbfd06116L,
+ 0x21b4f4b5L, 0x56b3c423L, 0xcfba9599L, 0xb8bda50fL,
+ 0x2802b89eL, 0x5f058808L, 0xc60cd9b2L, 0xb10be924L,
+ 0x2f6f7c87L, 0x58684c11L, 0xc1611dabL, 0xb6662d3dL,
+ 0x76dc4190L, 0x01db7106L, 0x98d220bcL, 0xefd5102aL,
+ 0x71b18589L, 0x06b6b51fL, 0x9fbfe4a5L, 0xe8b8d433L,
+ 0x7807c9a2L, 0x0f00f934L, 0x9609a88eL, 0xe10e9818L,
+ 0x7f6a0dbbL, 0x086d3d2dL, 0x91646c97L, 0xe6635c01L,
+ 0x6b6b51f4L, 0x1c6c6162L, 0x856530d8L, 0xf262004eL,
+ 0x6c0695edL, 0x1b01a57bL, 0x8208f4c1L, 0xf50fc457L,
+ 0x65b0d9c6L, 0x12b7e950L, 0x8bbeb8eaL, 0xfcb9887cL,
+ 0x62dd1ddfL, 0x15da2d49L, 0x8cd37cf3L, 0xfbd44c65L,
+ 0x4db26158L, 0x3ab551ceL, 0xa3bc0074L, 0xd4bb30e2L,
+ 0x4adfa541L, 0x3dd895d7L, 0xa4d1c46dL, 0xd3d6f4fbL,
+ 0x4369e96aL, 0x346ed9fcL, 0xad678846L, 0xda60b8d0L,
+ 0x44042d73L, 0x33031de5L, 0xaa0a4c5fL, 0xdd0d7cc9L,
+ 0x5005713cL, 0x270241aaL, 0xbe0b1010L, 0xc90c2086L,
+ 0x5768b525L, 0x206f85b3L, 0xb966d409L, 0xce61e49fL,
+ 0x5edef90eL, 0x29d9c998L, 0xb0d09822L, 0xc7d7a8b4L,
+ 0x59b33d17L, 0x2eb40d81L, 0xb7bd5c3bL, 0xc0ba6cadL,
+ 0xedb88320L, 0x9abfb3b6L, 0x03b6e20cL, 0x74b1d29aL,
+ 0xead54739L, 0x9dd277afL, 0x04db2615L, 0x73dc1683L,
+ 0xe3630b12L, 0x94643b84L, 0x0d6d6a3eL, 0x7a6a5aa8L,
+ 0xe40ecf0bL, 0x9309ff9dL, 0x0a00ae27L, 0x7d079eb1L,
+ 0xf00f9344L, 0x8708a3d2L, 0x1e01f268L, 0x6906c2feL,
+ 0xf762575dL, 0x806567cbL, 0x196c3671L, 0x6e6b06e7L,
+ 0xfed41b76L, 0x89d32be0L, 0x10da7a5aL, 0x67dd4accL,
+ 0xf9b9df6fL, 0x8ebeeff9L, 0x17b7be43L, 0x60b08ed5L,
+ 0xd6d6a3e8L, 0xa1d1937eL, 0x38d8c2c4L, 0x4fdff252L,
+ 0xd1bb67f1L, 0xa6bc5767L, 0x3fb506ddL, 0x48b2364bL,
+ 0xd80d2bdaL, 0xaf0a1b4cL, 0x36034af6L, 0x41047a60L,
+ 0xdf60efc3L, 0xa867df55L, 0x316e8eefL, 0x4669be79L,
+ 0xcb61b38cL, 0xbc66831aL, 0x256fd2a0L, 0x5268e236L,
+ 0xcc0c7795L, 0xbb0b4703L, 0x220216b9L, 0x5505262fL,
+ 0xc5ba3bbeL, 0xb2bd0b28L, 0x2bb45a92L, 0x5cb36a04L,
+ 0xc2d7ffa7L, 0xb5d0cf31L, 0x2cd99e8bL, 0x5bdeae1dL,
+ 0x9b64c2b0L, 0xec63f226L, 0x756aa39cL, 0x026d930aL,
+ 0x9c0906a9L, 0xeb0e363fL, 0x72076785L, 0x05005713L,
+ 0x95bf4a82L, 0xe2b87a14L, 0x7bb12baeL, 0x0cb61b38L,
+ 0x92d28e9bL, 0xe5d5be0dL, 0x7cdcefb7L, 0x0bdbdf21L,
+ 0x86d3d2d4L, 0xf1d4e242L, 0x68ddb3f8L, 0x1fda836eL,
+ 0x81be16cdL, 0xf6b9265bL, 0x6fb077e1L, 0x18b74777L,
+ 0x88085ae6L, 0xff0f6a70L, 0x66063bcaL, 0x11010b5cL,
+ 0x8f659effL, 0xf862ae69L, 0x616bffd3L, 0x166ccf45L,
+ 0xa00ae278L, 0xd70dd2eeL, 0x4e048354L, 0x3903b3c2L,
+ 0xa7672661L, 0xd06016f7L, 0x4969474dL, 0x3e6e77dbL,
+ 0xaed16a4aL, 0xd9d65adcL, 0x40df0b66L, 0x37d83bf0L,
+ 0xa9bcae53L, 0xdebb9ec5L, 0x47b2cf7fL, 0x30b5ffe9L,
+ 0xbdbdf21cL, 0xcabac28aL, 0x53b39330L, 0x24b4a3a6L,
+ 0xbad03605L, 0xcdd70693L, 0x54de5729L, 0x23d967bfL,
+ 0xb3667a2eL, 0xc4614ab8L, 0x5d681b02L, 0x2a6f2b94L,
+ 0xb40bbe37L, 0xc30c8ea1L, 0x5a05df1bL, 0x2d02ef8dL 
+};
+
+
+uint8_t CRC8_Table(uint8_t* p, uint8_t counter)
+{
+    uint8_t crc8 = 0;
+    for (int i = 0; i < counter; i++)
+    {
+        uint8_t value = p[i];
+        uint8_t new_index = crc8 ^ value;
+        crc8 = CRC8Table[new_index];
+    }
+    return (crc8);
+}
+
+
+uint16_t CRC16_Table(uint8_t *p, uint8_t counter)
+{
+    uint16_t crc16 = 0;
+    for (int i = 0; i < counter; i++)
+    {
+        uint8_t value = p[i];
+        crc16 = CRC16Table[((crc16 >> 8) ^ value) & 0xff] ^ (crc16 << 8);
+    }
+    return (crc16);
+}
+
+uint32_t CRC32_Table(uint8_t *p, uint8_t counter)
+{
+    uint16_t crc32 = 0;
+    for (int i = 0; i < counter; i++)
+    {
+        uint8_t value = p[i];
+        crc32 = CRC16Table[((crc32 >> 8) ^ value) & 0xff] ^ (crc32 << 8);
+    }
+    return (crc32);
+}

src/fdilink_ahrs_ROS2/src/imu_tf.cpp

@@ -0,0 +1,107 @@
+#include <memory>
+#include <inttypes.h>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2/LinearMath/Transform.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <string>
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <rclcpp/time.hpp>
+using std::placeholders::_1;
+using namespace std;
+
+/* 参考ROS wiki
+ * http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29
+ * */
+
+int position_x ;
+int position_y ;
+int position_z ;
+std::string imu_topic;
+std::string imu_frame_id, world_frame_id;
+
+static  std::shared_ptr<tf2_ros::TransformBroadcaster>  br;
+rclcpp::Node::SharedPtr nh_=nullptr;
+class imu_data_to_tf : public rclcpp::Node
+{
+    public:
+        imu_data_to_tf():Node("imu_data_to_tf")
+        {
+
+            // node.param("/imu_tf/imu_topic", imu_topic, std::string("/imu"));
+            // node.param("/imu_tf/position_x", position_x, 0);
+            // node.param("/imu_tf/position_y", position_y, 0);
+            // node.param("/imu_tf/position_z", position_z, 0);
+            
+            this->declare_parameter<std::string>("world_frame_id","/world");
+            this->get_parameter("world_frame_id",  world_frame_id);
+
+            this->declare_parameter<std::string>("imu_frame_id","/imu");
+            this->get_parameter("imu_frame_id",  imu_frame_id);
+            
+            this->declare_parameter<std::string>("imu_topic","/imu");
+            this->get_parameter("imu_topic",  imu_topic);
+
+            this->declare_parameter<std::int16_t>("position_x",1);
+            this->get_parameter("position_x",   position_x);
+
+            this->declare_parameter<std::int16_t>("position_y",1);
+            this->get_parameter("position_y", position_y);
+
+            this->declare_parameter<std::int16_t>("position_z",1);
+            this->get_parameter("position_z", position_z);
+            br =std::make_shared<tf2_ros::TransformBroadcaster>(this);
+            sub_ = this->create_subscription<sensor_msgs::msg::Imu>(imu_topic.c_str(), 10, std::bind(&imu_data_to_tf::ImuCallback,this,_1));
+
+        }
+    private:
+        rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr sub_;
+
+        //rclcpp::Subscriber sub = node.subscribe(imu_topic.c_str(), 10, &ImuCallback);
+
+
+        void ImuCallback(const sensor_msgs::msg::Imu::SharedPtr imu_data) {
+
+            //static tf2_ros::TransformBroadcaster br;//广播器
+
+            // tf2::Transform transform;
+            // transform.setOrigin(tf2::Vector3(position_x, position_y, position_z));//设置平移部分
+
+            // 从IMU消息包中获取四元数数据
+            tf2::Quaternion q;
+            q.setX(imu_data->orientation.x);
+            q.setY(imu_data->orientation.y);
+            q.setZ(imu_data->orientation.z);
+            q.setW(imu_data->orientation.w);
+            q.normalized();//归一化
+
+            // transform.setRotation(q);//设置旋转部分
+            //广播出去
+            //br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "imu"));
+            geometry_msgs::msg::TransformStamped tfs;
+            tfs.header.stamp=rclcpp::Node::now();
+            tfs.header.frame_id ="world";
+            tfs.child_frame_id="imu";
+            tfs.transform.translation.x=position_x;
+            tfs.transform.translation.y=position_y;
+            tfs.transform.translation.z=position_z;
+            tfs.transform.rotation.x=q.getX();
+            tfs.transform.rotation.y=q.getY();
+            tfs.transform.rotation.z=q.getZ();
+            tfs.transform.rotation.w=q.getW();
+            br->sendTransform(tfs);
+            //tf2::(transform, rclcpp::Node::now(), "world", "imu")
+        }
+};
+
+int main (int argc, char ** argv) {
+    rclcpp::init(argc, argv);
+    
+    //ros::NodeHandle node;, "imu_data_to_tf"
+    //auto node =std::make_shared<imu_data_to_tf>();
+    rclcpp::spin(std::make_shared<imu_data_to_tf>());
+    rclcpp::shutdown();
+    return 0;
+}

src/fdilink_ahrs_ROS2/wheeltec_udev.sh

@@ -0,0 +1,14 @@
+#CP2102 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
+echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss.rules
+#CH9102，同时系统安装了对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
+echo  'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss2.rules
+#CH9102，同时系统没有安装对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
+echo  'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss3.rules
+#CH340，直接设置别名为wheeltec_FDI_IMU_GNSS
+echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdcontroller_340.rules
+
+service udev reload
+sleep 2
+service udev restart
+
+

src/ps2_controller/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.5)
+project(ps2_controller)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rc_msgs REQUIRED)  # 添加对 rc_msgs 的依赖
+
+add_executable(ps2_reader src/ps2_reader.cpp)
+
+ament_target_dependencies(ps2_reader rclcpp rc_msgs)  # 添加 rc_msgs 依赖
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(TARGETS
+  ps2_reader
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

src/ps2_controller/launch/ps2_controller.launch.py

@@ -0,0 +1,15 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='ps2_controller',
+            executable='ps2_reader',
+            name='ps2_controller_node',
+            output='screen',
+            parameters=[
+                {'device': '/dev/input/js0'}  # 可根据需要修改设备路径
+            ]
+        )
+    ])

src/ps2_controller/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ps2_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="1683502971@qq.com">robofish</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rc_msgs</depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/ps2_controller/src/ps2_reader.cpp

@@ -0,0 +1,123 @@
+#include <rclcpp/rclcpp.hpp>
+#include <linux/joystick.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <iostream>
+#include <string>
+#include "rc_msgs/msg/ps2_data.hpp"  // 引入 Ps2Data 消息类型
+
+class PS2ControllerNode : public rclcpp::Node
+{
+public:
+    PS2ControllerNode() : Node("ps2_controller_node")
+    {
+        this->declare_parameter<std::string>("device", "/dev/input/js0");
+        device_path_ = this->get_parameter("device").as_string();
+
+        joystick_fd_ = open(device_path_.c_str(), O_RDONLY | O_NONBLOCK);
+        if (joystick_fd_ < 0)
+        {
+            RCLCPP_ERROR(this->get_logger(), "Failed to open device: %s", device_path_.c_str());
+            return;
+        }
+
+        RCLCPP_INFO(this->get_logger(), "Connected to device: %s", device_path_.c_str());
+
+        ps2_data_ = std::make_shared<rc_msgs::msg::Ps2Data>();
+        publisher_ = this->create_publisher<rc_msgs::msg::Ps2Data>("ps2_data", 10);
+
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(10),  // 100Hz
+            std::bind(&PS2ControllerNode::publishData, this));
+    }
+
+    ~PS2ControllerNode()
+    {
+        if (joystick_fd_ >= 0)
+        {
+            close(joystick_fd_);
+        }
+    }
+
+private:
+    void publishData()
+    {
+        readJoystick();
+        publisher_->publish(*ps2_data_);
+    }
+
+    void readJoystick()
+    {
+        struct js_event event;
+        while (read(joystick_fd_, &event, sizeof(event)) > 0)
+        {
+            switch (event.type & ~JS_EVENT_INIT)
+            {
+            case JS_EVENT_BUTTON:
+                handleButtonEvent(event);
+                break;
+            case JS_EVENT_AXIS:
+                handleAxisEvent(event);
+                break;
+            default:
+                break;
+            }
+        }
+    }
+
+    void handleButtonEvent(const js_event &event)
+    {
+        switch (event.number)
+        {
+        case 10: ps2_data_->select = event.value; break;
+        case 11: ps2_data_->start = event.value; break;
+        case 6: ps2_data_->l1 = event.value; break;
+        case 8: ps2_data_->l2 = event.value; break;
+        case 7: ps2_data_->r1 = event.value; break;
+        case 9: ps2_data_->r2 = event.value; break;
+        case 3: ps2_data_->x = event.value; break;
+        case 4: ps2_data_->y = event.value; break;
+        case 0: ps2_data_->a = event.value; break;
+        case 1: ps2_data_->b = event.value; break;
+        default:
+            break;
+        }
+    }
+
+    void handleAxisEvent(const js_event &event)
+    {
+        constexpr float MAX_AXIS_VALUE = 32767.0f;  // 最大轴值
+        constexpr float MIN_AXIS_VALUE = -32768.0f; // 最小轴值
+
+        auto normalize = [](int value) -> float {
+            return static_cast<float>(value) / MAX_AXIS_VALUE;
+        };
+
+        switch (event.number)
+        {
+        case 0: ps2_data_->lx = normalize(event.value); break;
+        case 1: ps2_data_->ly = normalize(event.value); break;
+        case 2: ps2_data_->rx = normalize(event.value); break;
+        case 3: ps2_data_->ry = normalize(event.value); break;
+        case 6: ps2_data_->left_right = normalize(event.value); break;
+        case 7: ps2_data_->up_down = normalize(event.value); break;
+        default:
+            break;
+        }
+    }
+
+    std::string device_path_;
+    int joystick_fd_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Publisher<rc_msgs::msg::Ps2Data>::SharedPtr publisher_;
+    std::shared_ptr<rc_msgs::msg::Ps2Data> ps2_data_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<PS2ControllerNode>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

src/rc_msgs/CMakeLists.txt

@@ -6,6 +6,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
         "msg/Ps2Data.msg"
         "msg/DataControl.msg"
         "msg/DataMotor.msg"
+        "msg/DataLeg.msg"
+        "msg/DataMotors.msg"
+        "msg/MotorCmd.msg"
+        "msg/MotorCmds.msg"
 )
 
 ament_package()

src/rc_msgs/msg/DataControl.msg

@@ -1,5 +1,5 @@
-int16 tau
+float32 tau
-int16 vw
+float32 vw
-int32 pos
+float32 pos
-uint16 kp
+float32 kp
-uint16 kd
+float32 kd

src/rc_msgs/msg/DataLeg.msg

@@ -0,0 +1,7 @@
+DataControl data_control_0
+DataControl data_control_1
+DataControl data_control_2
+
+DataMotor data_motor_0
+DataMotor data_motor_1
+DataMotor data_motor_2

src/rc_msgs/msg/DataMotor.msg

@@ -1,3 +1,3 @@
-int16 tau
+float32 tau
-int16 vw
+float32 vw
-int32 pos
+float32 pos

src/rc_msgs/msg/DataMotors.msg

@@ -0,0 +1,3 @@
+DataMotor data_motor_0
+DataMotor data_motor_1
+DataMotor data_motor_2

src/rc_msgs/msg/MotorCmd.msg

@@ -0,0 +1,5 @@
+float32 tau
+float32 vw
+float32 pos
+float32 kp
+float32 kd

src/rc_msgs/msg/MotorCmds.msg

@@ -0,0 +1,3 @@
+MotorCmd motor_cmd_0
+MotorCmd motor_cmd_1
+MotorCmd motor_cmd_2

src/rc_msgs/msg/Ps2Data.msg

@@ -15,6 +15,11 @@ bool r2
 # 四种模式
 uint8 mode # 0:手柄控制 1:键盘控制 2:自瞄 3:手动瞄准
 
+bool x
+bool y
+bool a
+bool b
+
 bool select
 bool start
 

src/robot_bringup/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/robot_bringup/launch/robot_bringup.launch.py

@@ -0,0 +1,128 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    # 定义 leg_ctrl 的四个容器节点
+    lf_container = ComposableNodeContainer(
+        name='lf_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_lf',
+                parameters=[{'serial_port': '/dev/ttyACM0'}],
+                remappings=[
+                    ('motor_cmds', 'LF/motor_cmds'),
+                    ('data_motors', 'LF/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    rf_container = ComposableNodeContainer(
+        name='rf_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_rf',
+                parameters=[{'serial_port': '/dev/ttyACM1'}],
+                remappings=[
+                    ('motor_cmds', 'RF/motor_cmds'),
+                    ('data_motors', 'RF/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    lr_container = ComposableNodeContainer(
+        name='lr_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_lr',
+                parameters=[{'serial_port': '/dev/ttyACM2'}],
+                remappings=[
+                    ('motor_cmds', 'LR/motor_cmds'),
+                    ('data_motors', 'LR/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    rr_container = ComposableNodeContainer(
+        name='rr_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_rr',
+                parameters=[{'serial_port': '/dev/ttyACM3'}],
+                remappings=[
+                    ('motor_cmds', 'RR/motor_cmds'),
+                    ('data_motors', 'RR/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    # 定义 ahrs_driver 节点
+    ahrs_driver = Node(
+        package="fdilink_ahrs",
+        executable="ahrs_driver_node",
+        parameters=[{
+            'if_debug_': False,
+            'serial_port_': '/dev/ttyUSB0',
+            'serial_baud_': 921600,
+            'imu_topic': '/imu',
+            'imu_frame_id_': 'gyro_link',
+            'mag_pose_2d_topic': '/mag_pose_2d',
+            'Magnetic_topic': '/magnetic',
+            'Euler_angles_topic': '/euler_angles',
+            'gps_topic': '/gps/fix',
+            'twist_topic': '/system_speed',
+            'NED_odom_topic': '/NED_odometry',
+            'device_type_': 1
+        }],
+        output="screen"
+    )
+
+    # 定义 ps2_controller 节点
+    ps2_controller_node = Node(
+        package='ps2_controller',
+        executable='ps2_reader',
+        name='ps2_controller_node',
+        output='screen',
+        parameters=[
+            {'device': '/dev/input/js0'}  # 可根据需要修改设备路径
+        ]
+    )
+
+    # 返回主启动文件的描述
+    return LaunchDescription([
+        lf_container,
+        rf_container,
+        lr_container,
+        rr_container,
+        ahrs_driver,
+        ps2_controller_node  # 添加 ps2_controller 节点
+    ])

src/robot_bringup/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robot_bringup</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="1683502971@qq.com">robofish</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>launch</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/simple_quadruped_control/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.8)
+project(simple_quadruped_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rc_msgs REQUIRED)
+
+# 添加头文件目录
+include_directories(include)
+
+add_executable(simple_control src/simple_control.cpp)
+ament_target_dependencies(simple_control rclcpp rc_msgs)
+
+install(TARGETS
+  simple_control
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/simple_quadruped_control/include/simple_quadruped_control/simple_control.hpp

@@ -0,0 +1,100 @@
+#ifndef SIMPLE_QUADRUPED_CONTROL_HPP
+#define SIMPLE_QUADRUPED_CONTROL_HPP
+
+#include "rclcpp/rclcpp.hpp"
+#include "rc_msgs/msg/ps2_data.hpp"
+#include "rc_msgs/msg/motor_cmds.hpp"
+#include "rc_msgs/msg/data_motors.hpp"
+
+struct ps2_t
+{
+    float lx;
+    float ly;
+    float rx;
+    float ry;
+
+    float up_down;
+    float left_right;
+
+    bool l1;
+    bool l2;
+    bool r1;
+    bool r2;
+
+    bool x;
+    bool y;
+    bool a;
+    bool b;
+
+    bool select;
+    bool start;
+};
+
+struct motor_cmd_t
+{
+    float pos;
+    float vw;
+    float tau;
+    float kp;
+    float kd;
+};
+
+struct motor_cmds_t
+{
+    motor_cmd_t motors[3]; // 使用数组替代单独的字段
+};
+
+struct data_motor_t
+{
+    float pos;
+    float vw;
+    float tau;
+};
+
+struct data_motors_t
+{
+    data_motor_t motors[3]; // 使用数组替代单独的字段
+};
+
+struct mech_zero_t
+{
+    float motors[3]; // 使用数组替代单独的字段
+};
+
+struct cmd_t
+{
+    float pos;
+    float vw;
+    float tau;
+    float kp;
+    float kd;
+};
+
+struct cmds_t
+{
+    cmd_t motors[3]; // 使用数组替代单独的字段
+};
+
+ps2_t ps2;
+motor_cmds_t motor_cmds;
+data_motors_t data_motors;
+mech_zero_t mech_zero;
+cmds_t cmds;
+
+class QuadrupedSubscriber : public rclcpp::Node
+{
+public:
+    QuadrupedSubscriber();
+
+private:
+    void ps2_data_callback(const rc_msgs::msg::Ps2Data::SharedPtr msg);
+    void data_motors_callback(const rc_msgs::msg::DataMotors::SharedPtr msg);
+    float limit_torque(const motor_cmd_t &motor_cmd, const data_motor_t &data_motor, float limit);
+    void publish_motor_cmds();
+
+    rclcpp::Subscription<rc_msgs::msg::Ps2Data>::SharedPtr ps2_data_subscriber_;
+    rclcpp::Publisher<rc_msgs::msg::MotorCmds>::SharedPtr motor_cmds_publisher_;
+    rclcpp::Subscription<rc_msgs::msg::DataMotors>::SharedPtr data_motors_subscriber_;
+};
+
+#endif // SIMPLE_QUADRUPED_CONTROL_HPP

src/simple_quadruped_control/launch/simple_control.launch.py

@@ -0,0 +1,12 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='simple_quadruped_control',
+            executable='simple_control',
+            name='simple_control_node',
+            output='screen'
+        )
+    ])

src/simple_quadruped_control/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>simple_quadruped_control</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="1683502971@qq.com">robofish</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rc_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/simple_quadruped_control/src/simple_control.cpp

@@ -0,0 +1,208 @@
+#include "simple_quadruped_control/simple_control.hpp"
+
+// tau = tff + kp(q - q0) + kd(dq - dq0)
+// tau :输出力矩
+// tff :前馈力矩
+// q：期望角度位置
+// q0：当前角度位置
+// dq 期望角速度
+// dq0 当前角速度
+// kp：位置刚度
+// kd：速度阻尼
+
+QuadrupedSubscriber::QuadrupedSubscriber() : Node("simple_control")
+{
+    // 订阅 Ps2Data 话题
+    ps2_data_subscriber_ = this->create_subscription<rc_msgs::msg::Ps2Data>(
+        "ps2_data", 10,
+        std::bind(&QuadrupedSubscriber::ps2_data_callback, this, std::placeholders::_1));
+
+    // 发布 MotorCmds 话题
+    motor_cmds_publisher_ = this->create_publisher<rc_msgs::msg::MotorCmds>(
+        "/LF/motor_cmds", 10);
+
+    // 订阅 DataMotors 话题
+    data_motors_subscriber_ = this->create_subscription<rc_msgs::msg::DataMotors>(
+        "/LF/data_motors", 10,
+        std::bind(&QuadrupedSubscriber::data_motors_callback, this, std::placeholders::_1));
+
+    // 初始化机械零点
+    mech_zero.motors[0] = 0.7438;
+    mech_zero.motors[1] = 0.5693;
+    mech_zero.motors[2] = 0.6547;
+}
+
+void QuadrupedSubscriber::ps2_data_callback(const rc_msgs::msg::Ps2Data::SharedPtr msg)
+{
+    ps2.lx = msg->lx;
+    ps2.ly = msg->ly;
+    ps2.rx = msg->rx;
+    ps2.ry = msg->ry;
+
+    ps2.up_down = msg->up_down;
+    ps2.left_right = msg->left_right;
+
+    ps2.l1 = msg->l1;
+    ps2.l2 = msg->l2;
+    ps2.r1 = msg->r1;
+    ps2.r2 = msg->r2;
+
+    ps2.x = msg->x;
+    ps2.y = msg->y;
+    ps2.a = msg->a;
+    ps2.b = msg->b;
+
+    ps2.select = msg->select;
+    ps2.start = msg->start;
+
+    // 回零
+    if (ps2.l1)
+    {
+        for (int i = 0; i < 3; ++i)
+        {   // 重置commonds
+            cmds.motors[i].pos = mech_zero.motors[i];
+            cmds.motors[i].vw = 0.0;
+            cmds.motors[i].tau = 0.0;
+            cmds.motors[i].kp = 1.2;
+            cmds.motors[i].kd = 0.05;
+            // 限制力矩输出
+            motor_cmds.motors[i].pos = cmds.motors[i].pos;
+            motor_cmds.motors[i].vw = cmds.motors[i].vw;
+            motor_cmds.motors[i].tau = cmds.motors[i].tau;
+            motor_cmds.motors[i].kp = cmds.motors[i].kp;
+            motor_cmds.motors[i].kd = cmds.motors[i].kd;
+            motor_cmds.motors[i].tau = limit_torque(motor_cmds.motors[i], data_motors.motors[i], 0.5);
+        }
+        publish_motor_cmds();
+        RCLCPP_INFO(this->get_logger(), "Zeroing motors");
+        return;
+    }
+    if (ps2.l2)
+    {
+        
+            cmds.motors[0].pos = cmds.motors[0].pos + ps2.lx * 0.01;
+            cmds.motors[0].vw = 0.0;
+            cmds.motors[0].tau = 0.0;
+            cmds.motors[0].kp = 1.2;
+            cmds.motors[0].kd = 0.05;
+
+            cmds.motors[1].pos = cmds.motors[1].pos + ps2.ly * 0.01;
+            cmds.motors[1].vw = 0.0;
+            cmds.motors[1].tau = 0.0;
+            cmds.motors[1].kp = 1.2;
+            cmds.motors[1].kd = 0.05;
+
+            cmds.motors[2].pos = cmds.motors[2].pos + ps2.ly * 0.01;
+            cmds.motors[2].vw = 0.0;
+            cmds.motors[2].tau = 0.0;
+            cmds.motors[2].kp = 1.2;
+            cmds.motors[2].kd = 0.05;
+            // 限制力矩输出
+        for (int i = 0; i < 3; ++i)
+        {
+            motor_cmds.motors[i].pos = cmds.motors[i].pos;
+            motor_cmds.motors[i].vw = cmds.motors[i].vw;
+            motor_cmds.motors[i].tau = cmds.motors[i].tau;
+            motor_cmds.motors[i].kp = cmds.motors[i].kp;
+            motor_cmds.motors[i].kd = cmds.motors[i].kd;
+            motor_cmds.motors[i].tau = limit_torque(motor_cmds.motors[i], data_motors.motors[i], 0.5);
+        }
+        publish_motor_cmds();
+        // RCLCPP_INFO(this->get_logger(), "Zeroing motors");
+        return;
+    }
+}
+
+void QuadrupedSubscriber::data_motors_callback(const rc_msgs::msg::DataMotors::SharedPtr msg)
+{
+    data_motors.motors[0].pos = msg->data_motor_0.pos;
+    data_motors.motors[0].vw = msg->data_motor_0.vw;
+    data_motors.motors[0].tau = msg->data_motor_0.tau;
+
+    data_motors.motors[1].pos = msg->data_motor_1.pos;
+    data_motors.motors[1].vw = msg->data_motor_1.vw;
+    data_motors.motors[1].tau = msg->data_motor_1.tau;
+
+    data_motors.motors[2].pos = msg->data_motor_2.pos;
+    data_motors.motors[2].vw = msg->data_motor_2.vw;
+    data_motors.motors[2].tau = msg->data_motor_2.tau;
+
+    // RCLCPP_INFO(this->get_logger(), "Updated DataMotors for motors 0, 1, 2");
+}
+
+void QuadrupedSubscriber::publish_motor_cmds()
+{
+    auto motor_cmds_msg = rc_msgs::msg::MotorCmds();
+
+    // // 设置每个电机的命令
+    // for (int i = 0; i < 3; ++i)
+    // {
+    //     motor_cmds_msg.motor_cmds[i].tau = motor_cmds.motors[i].tau;
+    //     motor_cmds_msg.motor_cmds[i].vw = motor_cmds.motors[i].vw;
+    //     motor_cmds_msg.motor_cmds[i].pos = motor_cmds.motors[i].pos;
+    //     motor_cmds_msg.motor_cmds[i].kp = motor_cmds.motors[i].kp;
+    //     motor_cmds_msg.motor_cmds[i].kd = motor_cmds.motors[i].kd;
+    // }
+        // 设置每个电机的命令
+        motor_cmds_msg.motor_cmd_0.tau = motor_cmds.motors[0].tau;
+        motor_cmds_msg.motor_cmd_0.vw = motor_cmds.motors[0].vw;
+        motor_cmds_msg.motor_cmd_0.pos = motor_cmds.motors[0].pos;
+        motor_cmds_msg.motor_cmd_0.kp = motor_cmds.motors[0].kp;
+        motor_cmds_msg.motor_cmd_0.kd = motor_cmds.motors[0].kd;
+    
+        motor_cmds_msg.motor_cmd_1.tau = motor_cmds.motors[1].tau;
+        motor_cmds_msg.motor_cmd_1.vw = motor_cmds.motors[1].vw;
+        motor_cmds_msg.motor_cmd_1.pos = motor_cmds.motors[1].pos;
+        motor_cmds_msg.motor_cmd_1.kp = motor_cmds.motors[1].kp;
+        motor_cmds_msg.motor_cmd_1.kd = motor_cmds.motors[1].kd;
+    
+        motor_cmds_msg.motor_cmd_2.tau = motor_cmds.motors[2].tau;
+        motor_cmds_msg.motor_cmd_2.vw = motor_cmds.motors[2].vw;
+        motor_cmds_msg.motor_cmd_2.pos = motor_cmds.motors[2].pos;
+        motor_cmds_msg.motor_cmd_2.kp = motor_cmds.motors[2].kp;
+        motor_cmds_msg.motor_cmd_2.kd = motor_cmds.motors[2].kd;
+    
+
+    // 发布 MotorCmds 消息
+    motor_cmds_publisher_->publish(motor_cmds_msg);
+}
+
+// 限制输出力矩的函数
+float QuadrupedSubscriber::limit_torque(const motor_cmd_t &motor_cmd, const data_motor_t &data_motor, float limit)
+{
+    // 读取结构体中的参数
+    float tff = motor_cmd.tau;  // 前馈力矩
+    float kp = motor_cmd.kp;    // 位置刚度
+    float kd = motor_cmd.kd;    // 速度阻尼
+    float q = motor_cmd.pos*6.33;    // 期望角度位置
+    float q0 = data_motor.pos*6.33;  // 当前角度位置
+    float dq = motor_cmd.vw*6.33;    // 期望角速度
+    float dq0 = data_motor.vw*6.33;  // 当前角速度
+
+    // 计算输出力矩
+    float tau = tff + kp * (q - q0) + kd * (dq - dq0);
+
+    // 如果力矩超过限制值，调整前馈力矩
+    if (tau > limit)
+    {
+        tff -= (tau - limit) / 2;
+        tau = limit;
+        tff = tau - kp * (q - q0) - kd * (dq - dq0);
+        return tff;
+    }else if (tau < -limit)
+    {
+        tff += (tau + limit) / 2;
+        tau = -limit;
+        tff = tau - kp * (q - q0) - kd * (dq - dq0);
+        return tff;
+    }
+    return tff;
+}
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<QuadrupedSubscriber>());
+    rclcpp::shutdown();
+    return 0;
+}

src/unitree_motor_serial_driver/CMakeLists.txt

@@ -8,7 +8,9 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 # 包含 ROS 2 依赖
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(rc_msgs REQUIRED)
 
 # 包含目录和库路径
 include_directories(include)
@@ -25,20 +27,38 @@ else()
     set(EXTRA_LIBS libUnitreeMotorSDK_Linux64.so)
 endif()
 
-# 添加可执行文件和链接库
+# 创建组件库
-add_executable(goM8010_6_motor src/goM8010_6_motor.cpp)
+add_library(unitree_motor_components SHARED
-ament_target_dependencies(goM8010_6_motor rclcpp)
+  src/unitree_motor_serial_driver.cpp
-target_link_libraries(goM8010_6_motor ${EXTRA_LIBS})
+)
+ament_target_dependencies(unitree_motor_components
+  rclcpp
+  rclcpp_components
+  rc_msgs
+)
+target_link_libraries(unitree_motor_components ${EXTRA_LIBS})
+rclcpp_components_register_nodes(unitree_motor_components
+  "unitree_motor_serial_driver::MotorControlNode"
+)
 
-add_executable(unitree_motor_serial_driver src/unitree_motor_serial_driver.cpp)
+# # 创建独立可执行文件
-ament_target_dependencies(unitree_motor_serial_driver rclcpp)
+# add_executable(goM8010_6_motor src/goM8010_6_motor.cpp)
-target_link_libraries(unitree_motor_serial_driver ${EXTRA_LIBS})
+# ament_target_dependencies(goM8010_6_motor rclcpp rc_msgs)
+# target_link_libraries(goM8010_6_motor ${EXTRA_LIBS})
+
+# 创建节点可执行文件（非组件方式）
+# add_executable(unitree_motor_serial_driver_node src/unitree_motor_serial_driver_node.cpp)
+# target_link_libraries(unitree_motor_serial_driver_node unitree_motor_components)
+# ament_target_dependencies(unitree_motor_serial_driver_node rclcpp)
 
 # 安装目标
 install(TARGETS
-  goM8010_6_motor
+  # goM8010_6_motor
-  unitree_motor_serial_driver
+  # unitree_motor_serial_driver_node
-  DESTINATION lib/${PROJECT_NAME}
+  unitree_motor_components
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
 )
 
 install(DIRECTORY launch/

src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp

@@ -6,7 +6,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "serialPort/SerialPort.h"
 #include "unitreeMotor/unitreeMotor.h"
-
+#include "rc_msgs/msg/motor_cmds.hpp"
+#include "rc_msgs/msg/data_motors.hpp"
 
 namespace unitree_motor_serial_driver
 {
@@ -17,23 +18,22 @@ struct Motor_t
     MotorData data;
 };
 
-// struct Leg_Motor_t
+Motor_t motor[3]; // 修改为数组以支持多个电机
-// {
-//     Motor_t foot;
-//     Motor_t small;
-//     Motor_t big;
-// };
 
 class MotorControlNode : public rclcpp::Node
 {
 public:
-    MotorControlNode();
+    explicit MotorControlNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
-
+    
 private:
     void control_motor();
-
+    void motor_cmd_callback(const rc_msgs::msg::MotorCmds::SharedPtr msg);
+    void Motor_Ctrl_Offline(Motor_t *motor_s);
     SerialPort serial_;
     rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Subscription<rc_msgs::msg::MotorCmds>::SharedPtr motor_cmd_sub_;
+    rclcpp::Publisher<rc_msgs::msg::DataMotors>::SharedPtr data_motor_pub_;
+    int timer_count_ = 0;
 };
 
 }

src/unitree_motor_serial_driver/launch/leg_ctrl.launch.py

@@ -0,0 +1,103 @@
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    # 左前腿容器 - LF (Left Front)
+    lf_container = ComposableNodeContainer(
+        name='lf_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_lf',
+                parameters=[
+                    {'serial_port': '/dev/ttyACM0'}
+                ],
+                remappings=[
+                    ('motor_cmds', 'LF/motor_cmds'),
+                    ('data_motors', 'LF/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+    
+    # 右前腿容器 - RF (Right Front)
+    rf_container = ComposableNodeContainer(
+        name='rf_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_rf',
+                parameters=[
+                    {'serial_port': '/dev/ttyACM1'}
+                ],
+                remappings=[
+                    ('motor_cmds', 'RF/motor_cmds'),
+                    ('data_motors', 'RF/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+    
+    # 左后腿容器 - LR (Left Rear)
+    lr_container = ComposableNodeContainer(
+        name='lr_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_lr',
+                parameters=[
+                    {'serial_port': '/dev/ttyACM2'}
+                ],
+                remappings=[
+                    ('motor_cmds', 'LR/motor_cmds'),
+                    ('data_motors', 'LR/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+    
+    # 右后腿容器 - RR (Right Rear)
+    rr_container = ComposableNodeContainer(
+        name='rr_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_rr',
+                parameters=[
+                    {'serial_port': '/dev/ttyACM3'}
+                ],
+                remappings=[
+                    ('motor_cmds', 'RR/motor_cmds'),
+                    ('data_motors', 'RR/data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    return LaunchDescription([
+        lf_container,
+        rf_container,
+        lr_container,
+        rr_container
+    ])

src/unitree_motor_serial_driver/launch/unitree_motor_serial_driver.launch.py

@@ -1,15 +1,30 @@
 from launch import LaunchDescription
-from launch_ros.actions import Node
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
 
 def generate_launch_description():
-    return LaunchDescription([
+    container = ComposableNodeContainer(
-        Node(
+        name='motor_container',
-            package='unitree_motor_serial_driver',
+        namespace='',
-            executable='unitree_motor_serial_driver',
+        package='rclcpp_components',
-            name='unitree_motor_serial_driver',
+        executable='component_container',
-            output='screen',
+        composable_node_descriptions=[
-            parameters=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver',
+                parameters=[
+                    {'serial_port': '/dev/ttyACM0'},  # 修改默认串口路径
+                    {'serial_retry_count': 5},
+                    {'serial_retry_delay_ms': 1000}
+                ],
+                remappings=[
+                    ('motor_cmds', 'motor_cmds'),
+                    ('data_motors', 'data_motors')
+                ]
+            )
+        ],
+        output='screen',
+    )
 
-            ]
+    return LaunchDescription([container])
-        )
-    ])

src/unitree_motor_serial_driver/package.xml

@@ -10,8 +10,10 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-
+  <depend>rc_msgs</depend>
+  
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp

@@ -1,42 +1,145 @@
 #include "unitree_motor_serial_driver/unitree_motor_serial_driver.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 
 namespace unitree_motor_serial_driver
 {
 
-MotorControlNode::MotorControlNode()
+MotorControlNode::MotorControlNode(const rclcpp::NodeOptions & options)
-    : Node("unitree_motor_serial_driver"), serial_("/dev/ttyACM0")
+    : Node("unitree_motor_serial_driver", options),
+      serial_(this->declare_parameter<std::string>("serial_port", "/dev/ttyACM0")) // 从参数中获取初始值
 {
+    // 声明其他参数
+    auto retry_count = this->declare_parameter("serial_retry_count", 5);  // 默认重试5次
+    auto retry_delay_ms = this->declare_parameter("serial_retry_delay_ms", 1000);  // 默认延迟1秒
+
+    bool connection_success = false;
+    int attempts = 0;
+    timer_count_ = 0;
+
+    // 定时器
     timer_ = this->create_wall_timer(
-        std::chrono::milliseconds(1), std::bind(&MotorControlNode::control_motor, this));
+        std::chrono::microseconds(1000), std::bind(&MotorControlNode::control_motor, this));
+
+    // 订阅 MotorCmds 消息
+    motor_cmd_sub_ = this->create_subscription<rc_msgs::msg::MotorCmds>(
+        "motor_cmds", 10, std::bind(&MotorControlNode::motor_cmd_callback, this, std::placeholders::_1));
+
+    // 发布 DataMotors 消息
+    data_motor_pub_ = this->create_publisher<rc_msgs::msg::DataMotors>("data_motors", 10);
+}
+
+void MotorControlNode::motor_cmd_callback(const rc_msgs::msg::MotorCmds::SharedPtr msg)
+{
+    // 将接收到的 MotorCmds 消息分别赋值给 motor_t 数组
+    motor[0].cmd.tau = msg->motor_cmd_0.tau;
+    motor[0].cmd.dq = msg->motor_cmd_0.vw;
+    motor[0].cmd.q = msg->motor_cmd_0.pos;
+    motor[0].cmd.kp = msg->motor_cmd_0.kp;
+    motor[0].cmd.kd = msg->motor_cmd_0.kd;
+
+    motor[1].cmd.tau = msg->motor_cmd_1.tau;
+    motor[1].cmd.dq = msg->motor_cmd_1.vw;
+    motor[1].cmd.q = msg->motor_cmd_1.pos;
+    motor[1].cmd.kp = msg->motor_cmd_1.kp;
+    motor[1].cmd.kd = msg->motor_cmd_1.kd;
+
+    motor[2].cmd.tau = msg->motor_cmd_2.tau;
+    motor[2].cmd.dq = msg->motor_cmd_2.vw;
+    motor[2].cmd.q = msg->motor_cmd_2.pos;
+    motor[2].cmd.kp = msg->motor_cmd_2.kp;
+    motor[2].cmd.kd = msg->motor_cmd_2.kd;
+
+    timer_count_ = 0;
 }
 
 void MotorControlNode::control_motor()
 {
-    MotorCmd cmd;
+    rc_msgs::msg::DataMotors motor_msg;
-    MotorData data;
 
-    cmd.motorType = MotorType::GO_M8010_6;
+    timer_count_++;
-    data.motorType = MotorType::GO_M8010_6;
-    cmd.mode = queryMotorMode(MotorType::GO_M8010_6, MotorMode::FOC);
-    cmd.id = 0;
-    cmd.q = 0.0*queryGearRatio(MotorType::GO_M8010_6);; 
-    cmd.dq = 0.0*queryGearRatio(MotorType::GO_M8010_6);;
-    cmd.kp = 0.0;
-    cmd.kd = 0.0;
-    cmd.tau = 0.0;
 
-    serial_.sendRecv(&cmd, &data);
+    for (int i = 0; i < 3; ++i)
+    {
+        MotorCmd cmd;
+        MotorData data;
+        cmd.motorType = MotorType::GO_M8010_6;
+        data.motorType = MotorType::GO_M8010_6;
+        cmd.mode = queryMotorMode(MotorType::GO_M8010_6, MotorMode::FOC);
+        cmd.id = i;
+        cmd.kp = motor[i].cmd.kp;
+        cmd.kd = motor[i].cmd.kd;
+        cmd.q = motor[i].cmd.q * queryGearRatio(MotorType::GO_M8010_6);
+        cmd.dq = motor[i].cmd.dq * queryGearRatio(MotorType::GO_M8010_6);
+        cmd.tau = motor[i].cmd.tau;
 
-    RCLCPP_INFO(this->get_logger(), "\nMotor.q: %f\nMotor.temp: %d\nMotor.W: %f\nMotor.tau: %f\n",
+        if (timer_count_ > 50)
-                data.q, data.temp, data.dq, data.tau);
+        {
+            Motor_Ctrl_Offline(&motor[i]);
+            timer_count_ = 200;
+        }
+
+        // 添加异常处理以防止程序崩溃
+        try {
+            // 优化串口通信，减少阻塞
+            if (!serial_.sendRecv(&cmd, &data))
+            {
+                RCLCPP_WARN(this->get_logger(), "Failed to communicate with motor %d", i);
+                continue;
+            }
+
+            // 填充 DataMotors 消息
+            if (i == 0)
+            {
+                motor_msg.data_motor_0.tau = data.tau;
+                motor_msg.data_motor_0.vw = data.dq / queryGearRatio(MotorType::GO_M8010_6);
+                motor_msg.data_motor_0.pos = data.q / queryGearRatio(MotorType::GO_M8010_6);
+            }
+            else if (i == 1)
+            {
+                motor_msg.data_motor_1.tau = data.tau;
+                motor_msg.data_motor_1.vw = data.dq / queryGearRatio(MotorType::GO_M8010_6);
+                motor_msg.data_motor_1.pos = data.q / queryGearRatio(MotorType::GO_M8010_6);
+            }
+            else if (i == 2)
+            {
+                motor_msg.data_motor_2.tau = data.tau;
+                motor_msg.data_motor_2.vw = data.dq / queryGearRatio(MotorType::GO_M8010_6);
+                motor_msg.data_motor_2.pos = data.q / queryGearRatio(MotorType::GO_M8010_6);
+            }
+        } catch (const std::exception &e) {
+            RCLCPP_ERROR(this->get_logger(), 
+                "Exception during communication with motor %d: %s", i, e.what());
+            
+            // 尝试重新初始化串口连接
+            try {
+                auto serial_port = this->get_parameter("serial_port").as_string();
+                RCLCPP_INFO(this->get_logger(), "Attempting to reopen serial port: %s", serial_port.c_str());
+                serial_ = SerialPort(serial_port);
+                RCLCPP_INFO(this->get_logger(), "Successfully reopened serial port: %s", serial_port.c_str());
+            } catch (const std::exception &e2) {
+                RCLCPP_ERROR(this->get_logger(), 
+                    "Failed to reopen serial port: %s", e2.what());
+            }
+            
+            // 将电机设置为安全状态
+            Motor_Ctrl_Offline(&motor[i]);
+        }
+    }
+
+    // 发布 DataMotors 消息
+    data_motor_pub_->publish(motor_msg);
+}
+
+void MotorControlNode::Motor_Ctrl_Offline(Motor_t *motor_s)
+{
+    motor_s->cmd.kp = 0.0;
+    motor_s->cmd.kd = 0.01;
+    motor_s->cmd.q = 0.0;
+    motor_s->cmd.dq = 0.0;
+    motor_s->cmd.tau = 0.0;
 }
 
 } // namespace unitree_motor_serial_driver
 
-int main(int argc, char **argv)
+// 注册组件
-{
+RCLCPP_COMPONENTS_REGISTER_NODE(unitree_motor_serial_driver::MotorControlNode)
-    rclcpp::init(argc, argv);
-    rclcpp::spin(std::make_shared<unitree_motor_serial_driver::MotorControlNode>());
-    rclcpp::shutdown();
-    return 0;
-}