From 432c839c6e7b2fcadbb4796cbcfeda94890db030 Mon Sep 17 00:00:00 2001 From: robofish <1683502971@qq.com> Date: Mon, 7 Jul 2025 02:48:47 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E5=96=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 69 +++++++++++++++++++++++++++++++++ doc/img/07b3c725_11812035.png | Bin 0 -> 42205 bytes doc/img/5032aa1d_11812035.png | Bin 0 -> 7954 bytes doc/img/bea7dae2_11812035.jpeg | Bin 0 -> 89287 bytes mapping.sh | 16 ++++++++ 5 files changed, 85 insertions(+) create mode 100644 doc/img/07b3c725_11812035.png create mode 100644 doc/img/5032aa1d_11812035.png create mode 100644 doc/img/bea7dae2_11812035.jpeg create mode 100644 mapping.sh diff --git a/README.md b/README.md index e69de29..3a8c907 100644 --- a/README.md +++ b/README.md @@ -0,0 +1,69 @@ +# RC2025 自动定位瞄准代码 + +基于ROS2的机器人自动定位与瞄准系统,支持激光雷达建图和导航功能。 + +## 系统要求 + +- Ubuntu 22.04 +- ROS2 Humble +- 激光雷达:MID360 + +## 快速开始 + +### 1. 编译项目 + +```bash +./build.sh +``` + +### 2. 建图模式 + +用于创建环境地图和点云数据: + +```bash +./mapping.sh +``` + +**建图前配置:** +1. 修改 `mapping.sh` 中的地图保存文件名(将 `RC2025` 改为您的项目名) +2. 同步修改 `src/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml` 中的 pcd 文件名 + +**建图操作:** +- 保存点云文件:`ros2 service call /map_save std_srvs/srv/Trigger` +- 保存地图:确保地图名称保持一致 + +### 3. 导航模式 + +使用已建立的地图进行导航: + +```bash +./nav.sh +``` + + +## 重要参数配置 + +### 激光雷达安装位置 + +**位置参数配置:** +- 文件:`src/rm_nav_bringup/config/reality/measurement_params_real.yaml` +- 修改:`x`, `y`, `z` 坐标 +- 注意:不要修改 `rpy` 参数 + +**姿态参数配置:** +- 文件:`src/rm_nav_bringup/config/reality/MID360_config.json` +- 修改:`yaw`, `pitch`, `roll` 角度 +- 注意:不要修改 `xyz` 参数 + +### 地面点云分割 + +- 文件:`src/rm_nav_bringup/config/reality/segmentation_real.yaml` +- 参数:`sensor_height`(激光雷达距离地面的高度) +- 参数:`max_dist_to_line`(地面点云分割的最低高度) +- 说明:此参数影响地面点云的正确分割 + +### 目标点设定 + +- 文件:`nav.sh` +- 参数:篮筐目标点的 `x` 和 `y` 坐标 +- 用途:设定机器人瞄准的目标点 diff --git a/doc/img/07b3c725_11812035.png b/doc/img/07b3c725_11812035.png new file 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