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[real] 整理 ROS 2 v2 里程计导航联调

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This commit is contained in:
eastzio
2026-07-27 17:38:59 +08:00
parent dc7a2c2a67
commit 765173676f
31 changed files with 520049 additions and 82 deletions
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05_software/real/sim2real_ros2_v2/map/A_min.pcd
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05_software/real/sim2real_ros2_v2/map/C.pcd
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05_software/real/sim2real_ros2_v2/map/README.md
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# `v0.11.1` 导航点云
# `v0.12.0` 里程计导航点云
原始 `map_b.pcd` 为 ASCII PCD，共 1,080,047 点、34,720,771 字节。为避免大文件进入 Git 历史，使用 `tools/nav_tools/downsample_ascii_pcd.py` 以步长 4 做确定性抽样。
本阶段使用三份 ASCII PCD 进行路线和里程计导航联调。原始文件均使用 `tools/nav_tools/downsample_ascii_pcd.py` 确定性等步长抽样，抽样文件仅用于可视化、路线编辑和软件回归，不等价于原始高密度地图。
- 抽样点数：270,012
- 抽样大小：8,680,283 字节
- 原始 SHA-256：`F17FC7E188C772D48E8D3FE20E3A934AFCDF59357C27BCCDCAC3C7E9AD1D1CB7`
- 抽样 SHA-256：`F3052431F217DE8FFFE87726F8E547A59C65048B0285F02AF4803C5F4E4C1B42`
抽样文件适合路线编辑和代码演示，不等价于原始高密度点云；需要复现实机导航精度时应恢复原始 PCD 并核对哈希。
| 文件 | 原始点数 | 步长 | 抽样点数 | 抽样大小 | 原始 SHA-256 | 抽样 SHA-256 |
| --- | ---: | ---: | ---: | ---: | --- | --- |
| `map_b.pcd` | 1,080,047 | 4 | 270,012 | 8,680,283 B | `F17FC7E188C772D48E8D3FE20E3A934AFCDF59357C27BCCDCAC3C7E9AD1D1CB7` | `F3052431F217DE8FFFE87726F8E547A59C65048B0285F02AF4803C5F4E4C1B42` |
| `A_min.pcd` | 683,908 | 3 | 227,969 | 7,300,173 B | `77C884B17D78C4D157F84093BFEA0729FA25382C70E706C4BA12913A3C90ED20` | `CC4556D472BE6E5B232B9BFEE43F5F337D710F88E88D9B90994368C580327DC1` |
| `C.pcd` | 3,186,653 | 11 | 289,696 | 9,040,786 B | `C5C7E60B06A0FFEA15E55C14B8CFAFBC8525371C8C3AC9C72821AB736AED8A6C` | `1FC4124642D934460811DBF62EBE9C5C9CF30668BC42E4782B18F3C002ED1A25` |
05_software/real/sim2real_ros2_v2/map/routes/A_min/A_min_route.json
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{
"name": "A_min_route",
"map": "A_min",
"frame_id": "map",
"createdAt": "2026-07-04T00:40:56",
"segments": [
{
"name": "segment_1",
"obstacle": "slalom",
"waypoints": [
{
"id": 1,
"x": 9.3549,
"y": 0.9079,
"yawDeg": 0.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 2,
"x": 11.1136,
"y": 0.8621,
"yawDeg": 0.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 3,
"x": 13.0,
"y": 0.75,
"yawDeg": 88.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 4,
"x": 12.9102,
"y": 2.611,
"yawDeg": 90.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 5,
"x": 12.9102,
"y": 4.88,
"yawDeg": 190.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 6,
"x": 11.94,
"y": 4.6203,
"yawDeg": 178.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 7,
"x": 10.65,
"y": 4.65,
"yawDeg": 178.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 8,
"x": 9.3997,
"y": 4.649,
"yawDeg": -95.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 9,
"x": 9.3092,
"y": 3.8864,
"yawDeg": 180.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 10,
"x": 7.9263,
"y": 4.0028,
"yawDeg": 150.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 11,
"x": 6.8148,
"y": 4.6619,
"yawDeg": 170.0,
"speed": 0.7,
"policy": "rough",
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},
{
"id": 12,
"x": 5.0054,
"y": 5.0,
"yawDeg": 180.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 13,
"x": 3.2994,
"y": 5.04,
"yawDeg": 185.0,
"speed": 0.7,
"policy": "crawl",
"tolerance": 0.15
},
{
"id": 14,
"x": 1.8838,
"y": 4.8455,
"yawDeg": 190.0,
"speed": 0.7,
"policy": "rough",
"tolerance": 0.15
},
{
"id": 15,
"x": 1.06,
"y": 4.45,
"yawDeg": 270.0,
"speed": 0.35,
"policy": "rough",
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},
{
"id": 16,
"x": 1.0561,
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},
{
"id": 17,
"x": 1.04,
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"speed": 0.7,
"policy": "rough",
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},
{
"id": 18,
"x": 1.552,
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"speed": 0.7,
"policy": "rough",
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},
{
"id": 19,
"x": 1.519,
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"yawDeg": 180.0,
"speed": 0.7,
"policy": "rough",
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},
{
"id": 20,
"x": 0.4708,
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"speed": 0.7,
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},
{
"id": 21,
"x": 0.4552,
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},
{
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},
{
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},
{
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},
{
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},
{
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"x": 3.12,
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},
{
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},
{
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},
{
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}
]
}
],
"yawToleranceDegDefault": 30.0
}