src/rm_decision/src/decision_node.cpp

@@ -25,7 +25,7 @@ DecisionNode::DecisionNode(const rclcpp::NodeOptions &options)
     std::bind(&DecisionNode::data_ref_callback, this, std::placeholders::_1));
 
   data_aim_sub_ = this->create_subscription<rm_msgs::msg::DataAim>(
-    "/data_aim", 10,
+    "/vision/aim", 10,
     std::bind(&DecisionNode::data_aim_callback, this, std::placeholders::_1));
 
   nav_status_sub_ = this->create_subscription<rm_msgs::msg::NavStatus>(

src/rm_nav/README.md

@@ -6,9 +6,9 @@ RoboMaster比赛
 纯mid360激光雷达导航项目
 
 
-ros2 launch rm_nav_bringup bringup_real.launch.py \
-    world:=RUML \
-    mode:=nav \
+ros2 launch rm_nav_bringup bringup_sim.launch.py \
+    world:=RMUL2026 \
+    mode:=mapping \
     lio:=fastlio \
     lio_rviz:=True \
     nav_rviz:=True

src/rm_nav/rm_nav_bringup/config/reality/MID360_config.json

@@ -25,11 +25,11 @@
   },
   "lidar_configs" : [
     {
-      "ip" : "192.168.1.190",
+      "ip" : "192.168.1.119",
       "pcl_data_type" : 1,
       "pattern_mode" : 0,
       "extrinsic_parameter" : {
-        "roll": 180.0,
+        "roll": 0.0,
         "pitch": 0.0,
         "yaw": 0.0,
         "x": 0,

src/rm_nav/rm_nav_bringup/config/reality/segmentation_real.yaml

@@ -7,7 +7,7 @@ ground_segmentation:
     n_bins: 120                 # number of radial bins.
     n_segments: 360             # number of radial segments.
 
-    max_dist_to_line: 0.06       # maximum vertical distance of point to line to be considered ground.
+    max_dist_to_line: 0.1       # maximum vertical distance of point to line to be considered ground.
 
     sensor_height: 0.59         # REAL sensor height above ground.
     min_slope: -0.4             # minimum slope of a ground line.

src/rm_nav/rm_nav_bringup/launch/bringup_real.launch.py

@@ -337,6 +337,16 @@ def generate_launch_description():
         ]
     )
 
+    bringup_fake_vel_transform_node = Node(
+        package='fake_vel_transform',
+        executable='fake_vel_transform_node',
+        output='screen',
+        parameters=[{
+            'use_sim_time': use_sim_time,
+            'spin_speed': 0.0 # rad/s
+        }]
+    )
+
     start_mapping = Node(
         condition = LaunchConfigurationEquals('mode', 'mapping'),
         package='slam_toolbox',
@@ -375,6 +385,7 @@ def generate_launch_description():
     ld.add_action(bringup_pointcloud_to_laserscan_node)
     ld.add_action(bringup_LIO_group)
     ld.add_action(start_localization_group)
+    ld.add_action(bringup_fake_vel_transform_node)
     ld.add_action(start_mapping)
     ld.add_action(start_navigation2)
 

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h

@@ -54,7 +54,6 @@
 #include <std_msgs/msg/color_rgba.hpp>
 
 #include <rclcpp/rclcpp.hpp>
-#include <nav2_util/lifecycle_node.hpp>
 
 #include "teb_local_planner/planner_interface.h"
 #include "teb_local_planner/teb_config.h"

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h

@@ -41,7 +41,6 @@
 
 #include <math.h>
 
-#include <nav2_util/lifecycle_node.hpp>
 
 // teb stuff
 #include "teb_local_planner/teb_config.h"
@@ -131,12 +130,12 @@ public:
    */
   TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL,
                     TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL);
-
+  
   /**
    * @brief Destruct the optimal planner.
    */
   virtual ~TebOptimalPlanner();
-
+  
   /**
     * @brief Initializes the optimal planner
     * @param node Shared pointer for rclcpp::Node
@@ -711,7 +710,6 @@ protected:
   RotType prefer_rotdir_; //!< Store whether to prefer a specific initial rotation in optimization (might be activated in case the robot oscillates)
   
   // internal objects (memory management owned)
-  nav2_util::LifecycleNode::SharedPtr node_; //!< ROS2 lifecycle node pointer
   TebVisualizationPtr visualization_; //!< Instance of the visualization class
   TimedElasticBand teb_; //!< Actual trajectory object
   RobotFootprintModelPtr robot_model_; //!< Robot model

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/visualization.h

@@ -86,7 +86,7 @@ public:
    * @param nh local rclcpp::Node::SharedPtr
    * @param cfg const reference to the TebConfig class for parameters
    */
-  TebVisualization(const nav2_util::LifecycleNode::SharedPtr & nh, const TebConfig& cfg);
+  TebVisualization(const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh, const TebConfig& cfg);
   
   /** @name Publish to topics */
   //@{

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/optimal_planner.cpp

@@ -64,11 +64,11 @@ namespace teb_local_planner
 
 TebOptimalPlanner::TebOptimalPlanner() : cfg_(nullptr), obstacles_(NULL), via_points_(NULL), cost_(HUGE_VAL), prefer_rotdir_(RotType::none),
                                          initialized_(false), optimized_(false)
-{
+{    
 }
-
+  
 TebOptimalPlanner::TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, TebVisualizationPtr visual, const ViaPointContainer* via_points)
-{
+{    
   initialize(node, cfg, obstacles, visual, via_points);
 }
 
@@ -76,7 +76,7 @@ TebOptimalPlanner::~TebOptimalPlanner()
 {
   clearGraph();
   // free dynamically allocated memory
-  //if (optimizer_)
+  //if (optimizer_) 
   //  g2o::Factory::destroy();
   //g2o::OptimizationAlgorithmFactory::destroy();
   //g2o::HyperGraphActionLibrary::destroy();

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp

@@ -198,11 +198,7 @@ void TebLocalPlannerROS::configure(
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) {
   nh_ = parent;
 
-  auto node = std::dynamic_pointer_cast<nav2_util::LifecycleNode>(nh_.lock());
-  if (!node) {
-    throw nav2_core::PlannerException(
-      "Failed to cast controller parent node to nav2_util::LifecycleNode");
-  }
+  auto node = nh_.lock();
   logger_ = node->get_logger();
   clock_ = node->get_clock();
 

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/visualization.cpp

@@ -61,7 +61,7 @@ void publishPlan(const std::vector<geometry_msgs::msg::PoseStamped>& path,
     pub->publish(gui_path);
 }
 
-TebVisualization::TebVisualization(const nav2_util::LifecycleNode::SharedPtr & nh, const TebConfig& cfg) : nh_(nh), cfg_(&cfg), initialized_(false)
+TebVisualization::TebVisualization(const rclcpp_lifecycle::LifecycleNode::SharedPtr & nh, const TebConfig& cfg) : nh_(nh), cfg_(&cfg), initialized_(false)
 {
 }
 

src/rm_serial_driver/src/rm_serial_driver.cpp

@@ -41,7 +41,7 @@ namespace rm_serial_driver
 
     // 订阅视觉控制指令
     data_ai_sub_ = this->create_subscription<rm_msgs::msg::DataAI>(
-        "/data_ai", 10,
+        "/gimbal/vision", 10,
         std::bind(&RMSerialDriver::data_ai_callback, this, std::placeholders::_1));
 
     // 同时订阅导航控制指令（用于底盘控制）
@@ -52,7 +52,7 @@ namespace rm_serial_driver
     RCLCPP_INFO(get_logger(), "话题配置:");
     RCLCPP_INFO(get_logger(), "  发布: /data_mcu (MCU状态)");
     RCLCPP_INFO(get_logger(), "  发布: /data_ref (裁判系统)");
-    RCLCPP_INFO(get_logger(), "  订阅: /data_aim (视觉控制)");
+    RCLCPP_INFO(get_logger(), "  订阅: /gimbal/vision (视觉控制)");
     RCLCPP_INFO(get_logger(), "  订阅: /cmd_vel_move (导航控制)");
 
     // 打开串口