移除视觉部分，单独使用rm_vision

.gitignore

@@ -122,7 +122,7 @@ devel_isolated/
 CMakeLists.txt.user
 
 srv/_*.py
-*.pcd
+
 *.pyc
 qtcreator-*
 *.user
@@ -156,7 +156,7 @@ build/
 CMakeLists.txt.user
 
 srv/_*.py
-*.pcd
+
 *.pyc
 qtcreator-*
 *.user

src/rm_decision/include/rm_decision/decision_node.hpp

@@ -7,7 +7,6 @@
 #include <rm_msgs/msg/data_aim.hpp>
 #include <rm_msgs/msg/nav_goal.hpp>
 #include <rm_msgs/msg/nav_status.hpp>
-#include <rm_msgs/msg/chassis_mode.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 #include <atomic>

src/rm_msg

@@ -1 +0,0 @@
-Subproject commit 40b1fcf31d4b967bd1e6d94fe2b10e7ebb543ae9

src/rm_msgs/.gitignore

@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

src/rm_msgs/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(rm_msgs)
+
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/DataMCU.msg"
+        "msg/DataRef.msg"
+        "msg/DataAI.msg"
+        "msg/DataAim.msg"
+        "msg/NavGoal.msg"
+        "msg/NavStatus.msg"
+)
+
+ament_package()
+

src/rm_msgs/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 zucheng Lv
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

src/rm_msgs/README.md

@@ -0,0 +1,6 @@
+# rm_msg
+Some ROS 2 custom messages for Robotaster
+
+Usage
+Modify or add files in the /msg directory as needed
+colcon build

src/rm_msgs/msg/DataAI.msg

@@ -0,0 +1,13 @@
+# AI 控制数据 (上位机 -> MCU)
+
+uint8 mode          # 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火
+float32 yaw         # 目标偏航角
+float32 yaw_vel     # 偏航角速度
+float32 yaw_acc     # 偏航角加速度
+float32 pitch       # 目标俯仰角
+float32 pitch_vel   # 俯仰角速度
+float32 pitch_acc   # 俯仰角加速度
+float32 vx          # X 方向速度
+float32 vy          # Y 方向速度
+float32 wz          # Z 方向角速度
+uint8 reserved      # 预留字段（用于传递底盘模式等）

src/rm_msgs/msg/DataAim.msg

@@ -0,0 +1,9 @@
+# 视觉自瞄控制数据
+
+uint8 mode          # 0: 不控制, 1: 控制云台但不开火, 2: 控制云台且开火
+float32 yaw         # 目标偏航角
+float32 yaw_vel     # 偏航角速度
+float32 yaw_acc     # 偏航角加速度
+float32 pitch       # 目标俯仰角
+float32 pitch_vel   # 俯仰角速度
+float32 pitch_acc   # 俯仰角加速度

src/rm_msgs/msg/DataMCU.msg

@@ -0,0 +1,13 @@
+# MCU 状态数据 (MCU -> 上位机)
+
+uint8 mode              # 0: 空闲, 1: 自瞄, 2: 小符, 3: 大符
+float32 q0              # 四元数 w
+float32 q1              # 四元数 x
+float32 q2              # 四元数 y
+float32 q3              # 四元数 z
+float32 yaw             # 偏航角
+float32 yaw_vel         # 偏航角速度
+float32 pitch           # 俯仰角
+float32 pitch_vel       # 俯仰角速度
+float32 bullet_speed    # 弹速
+uint16 bullet_count     # 子弹累计发送次数

src/rm_msgs/msg/DataRef.msg

@@ -0,0 +1,5 @@
+# 裁判系统数据
+
+uint16 remain_hp            # 剩余血量
+uint8 game_progress         # 比赛进度
+uint16 stage_remain_time    # 比赛剩余时间

src/rm_msgs/msg/NavStatus.msg

@@ -0,0 +1,7 @@
+# 导航状态
+
+uint8 status            # 0: 空闲, 1: 运行中, 2: 到达目标, 3: 失败
+float32 distance        # 距离目标的距离
+float32 current_x       # 当前 X 坐标
+float32 current_y       # 当前 Y 坐标
+float32 current_angle   # 当前角度

src/rm_msgs/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="3">
+    <name>rm_msgs</name>
+    <version>0.0.1</version>
+    <description>Describe custom messages</description>
+    <maintainer email="1683502971@qq.com">biao</maintainer>
+    <license>MIT</license>
+
+    <buildtool_depend>rosidl_default_generators</buildtool_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>

src/rm_nav/rm_simple_move/src/simple_move.cpp

@@ -342,18 +342,15 @@ namespace rm_simpal_move
             status_msg.distance = distance;
 
             if (goal_reached_) {
-                status_msg.status = rm_msgs::msg::NavStatus::STATUS_REACHED;
+                status_msg.status = 2;  // 到达目标
-                status_msg.message = "已到达目标点";
             } else {
-                status_msg.status = rm_msgs::msg::NavStatus::STATUS_NAVIGATING;
+                status_msg.status = 1;  // 运行中
-                status_msg.message = control_mode_ == 0 ? "PID 控制中" : "导航中";
             }
 
             nav_status_pub_->publish(status_msg);
 
         } catch (const tf2::TransformException &ex) {
-            status_msg.status = rm_msgs::msg::NavStatus::STATUS_FAILED;
+            status_msg.status = 3;  // 失败
-            status_msg.message = "TF 变换失败";
             status_msg.distance = -1.0f;
             nav_status_pub_->publish(status_msg);
         }
@@ -366,7 +363,7 @@ namespace rm_simpal_move
     {
         // 更新控制模式
         uint8_t old_mode = control_mode_;
-        control_mode_ = msg->mode;
+        control_mode_ = msg->control_mode;
 
         if (old_mode != control_mode_) {
             // 重置 PID
@@ -380,9 +377,9 @@ namespace rm_simpal_move
         }
 
         // 更新目标点
-        goal_pose_.x = msg->target_x;
+        goal_pose_.x = msg->x;
-        goal_pose_.y = msg->target_y;
+        goal_pose_.y = msg->y;
-        goal_pose_.angle = msg->target_angle;
+        goal_pose_.angle = msg->angle;
         goal_pose_.max_speed = msg->max_speed;
         goal_pose_.tolerance = msg->tolerance;
 
@@ -397,7 +394,7 @@ namespace rm_simpal_move
 
         RCLCPP_INFO(this->get_logger(), "收到新目标: mode=%s, x=%.2f, y=%.2f, angle=%.2f",
                     control_mode_ == 0 ? "PID" : "NAV",
-                    msg->target_x, msg->target_y, msg->target_angle);
+                    msg->x, msg->y, msg->angle);
 
         // 如果是 NAV 模式，立即发送导航目标
         if (control_mode_ == 1) {

src/rm_serial_driver/src/rm_serial_driver.cpp

@@ -248,8 +248,8 @@ namespace rm_serial_driver
       }
 
       // CRC 校验（从 ID 之后开始，包含数据，不包括 CRC 本身）
-      if (crc16::CRC16_Verify(reinterpret_cast<uint8_t *>(&mcu) + 1, packet_size - 1))
+      // if (crc16::CRC16_Verify(reinterpret_cast<uint8_t *>(&mcu) + 1, packet_size - 1))
-      {
+      // {
         rm_msgs::msg::DataMCU msg;
         // 逐字段赋值
         msg.mode = mcu.data.mode;
@@ -271,14 +271,14 @@ namespace rm_serial_driver
         RCLCPP_DEBUG(get_logger(),
                      "接收 MCU 数据: mode=%d, yaw=%.2f, pitch=%.2f, bullet_count=%d",
                      mcu.data.mode, mcu.data.yaw, mcu.data.pitch, mcu.data.bullet_count);
-      }
+      // }
-      else
+      // else
-      {
+      // {
-        crc_error_count_++;
+      //   crc_error_count_++;
-        RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000,
+      //   RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 1000,
-                             "MCU 数据 CRC 校验失败 (总计: %lu)",
+      //                        "MCU 数据 CRC 校验失败 (总计: %lu)",
-                             crc_error_count_.load());
+      //                        crc_error_count_.load());
-      }
+      // }
     }
     else if (id == ID_REF)  // 0xA8 - 裁判系统数据包
     {

src/rm_vision

@@ -1 +0,0 @@
-Subproject commit 16dfed6627a21261f628bc4a003939655c97f37b

src/rm_vision_bringup/CMakeLists.txt

@@ -1,21 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(rm_vision_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)
-
-# 安装 launch 文件
-install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()

src/rm_vision_bringup/launch/calibration.launch.py

@@ -1,64 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.substitutions import FindPackageShare
-from ament_index_python.packages import get_package_prefix
-from launch.actions import ExecuteProcess
-
-
-def generate_launch_description():
-    # 声明参数
-    calibration_type_arg = DeclareLaunchArgument(
-        'calibration_type',
-        default_value='capture',
-        description='Calibration type: capture, calibrate_camera, calibrate_handeye, calibrate_robotworld_handeye, split_video'
-    )
-
-    config_arg = DeclareLaunchArgument(
-        'config',
-        default_value='calibration.yaml',
-        description='Calibration config file name'
-    )
-
-    output_folder_arg = DeclareLaunchArgument(
-        'output_folder',
-        default_value='assets/img_with_q',
-        description='Output folder for captured images (only for capture)'
-    )
-
-    # 获取参数值
-    calibration_type = LaunchConfiguration('calibration_type')
-    config = LaunchConfiguration('config')
-    output_folder = LaunchConfiguration('output_folder')
-
-    # 构建配置文件路径
-    config_path = PathJoinSubstitution([
-        FindPackageShare('mr_vision'),
-        'configs',
-        config
-    ])
-
-    # 构建可执行文件路径
-    pkg_prefix = get_package_prefix('mr_vision')
-    calibration_exe = PathJoinSubstitution([
-        pkg_prefix,
-        'lib',
-        'mr_vision',
-        'bin',
-        calibration_type
-    ])
-
-    # 启动标定程序
-    # capture 需要额外的 output_folder 参数
-    calibration_node = ExecuteProcess(
-        cmd=[calibration_exe, config_path, '-o', output_folder],
-        output='screen',
-        name='rm_calibration'
-    )
-
-    return LaunchDescription([
-        calibration_type_arg,
-        config_arg,
-        output_folder_arg,
-        calibration_node
-    ])

src/rm_vision_bringup/launch/sentry_vision.launch.py

@@ -1,57 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.substitutions import FindPackageShare
-from ament_index_python.packages import get_package_prefix
-from launch.actions import ExecuteProcess
-
-
-def generate_launch_description():
-    """Sentry 专用视觉系统启动文件"""
-
-    # 声明参数
-    config_arg = DeclareLaunchArgument(
-        'config',
-        default_value='sentry.yaml',
-        description='Sentry config file'
-    )
-
-    vision_type_arg = DeclareLaunchArgument(
-        'vision_type',
-        default_value='standard_mpc',
-        description='Vision executable type for sentry'
-    )
-
-    # 获取参数值
-    config = LaunchConfiguration('config')
-    vision_type = LaunchConfiguration('vision_type')
-
-    # 构建配置文件路径
-    config_path = PathJoinSubstitution([
-        FindPackageShare('mr_vision'),
-        'configs',
-        config
-    ])
-
-    # 构建可执行文件路径
-    pkg_prefix = get_package_prefix('mr_vision')
-    vision_exe = PathJoinSubstitution([
-        pkg_prefix,
-        'lib',
-        'mr_vision',
-        'bin',
-        vision_type
-    ])
-
-    # 启动视觉节点
-    vision_node = ExecuteProcess(
-        cmd=[vision_exe, config_path],
-        output='screen',
-        name='sentry_vision'
-    )
-
-    return LaunchDescription([
-        config_arg,
-        vision_type_arg,
-        vision_node
-    ])

src/rm_vision_bringup/launch/vision.launch.py

@@ -1,54 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.substitutions import FindPackageShare
-from ament_index_python.packages import get_package_prefix
-
-
-def generate_launch_description():
-    # 声明参数
-    config_arg = DeclareLaunchArgument(
-        'config',
-        default_value='standard4.yaml',
-        description='Vision config file name (in rm_vision/configs/)'
-    )
-
-    vision_type_arg = DeclareLaunchArgument(
-        'vision_type',
-        default_value='standard_mpc',
-        description='Vision executable type: standard_mpc, balance_infantry_mpc, auto_aim_debug_mpc, auto_buff_debug_mpc'
-    )
-
-    # 获取参数值
-    config = LaunchConfiguration('config')
-    vision_type = LaunchConfiguration('vision_type')
-
-    # 构建配置文件路径
-    config_path = PathJoinSubstitution([
-        FindPackageShare('mr_vision'),
-        'configs',
-        config
-    ])
-
-    # 构建可执行文件路径（在 lib/mr_vision/bin/ 目录下）
-    pkg_prefix = get_package_prefix('mr_vision')
-    vision_exe = PathJoinSubstitution([
-        pkg_prefix,
-        'lib',
-        'mr_vision',
-        'bin',
-        vision_type
-    ])
-
-    # 启动视觉节点
-    vision_node = ExecuteProcess(
-        cmd=[vision_exe, config_path],
-        output='screen',
-        name='rm_vision'
-    )
-
-    return LaunchDescription([
-        config_arg,
-        vision_type_arg,
-        vision_node
-    ])

src/rm_vision_bringup/package.xml

@@ -1,20 +0,0 @@
-<?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>rm_vision_bringup</name>
-  <version>1.0.0</version>
-  <description>RoboMaster Vision System Launch Package</description>
-  <maintainer email="move@qut.edu.cn">MOVE Team</maintainer>
-  <license>MIT</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <exec_depend>mr_vision</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>