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[docs] 全面校准项目说明与跨平台资源边界

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This commit is contained in:
eastzio
2026-07-27 19:17:19 +08:00
parent 117b02bec7
commit fbb396708c
37 changed files with 131 additions and 103 deletions
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05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README.md
+6 -12
View File
@@ -9,7 +9,7 @@ This is not the Nano runtime Web UI. Use it before a run to inspect the map and
From the repository root:
```powershell
python .\tools\pcd_map_viewer\server.py --http-port 8090
python .\05_software\real\sim2real_ros2_v2\tools\pcd_map_viewer\server.py --http-port 8090
```
Open:
@@ -84,21 +84,15 @@ waypoints:
obstacle_name: wall_1
```
Default runtime route:
The current `v0.12.0` runtime route is configured separately in `src/sim2real_bringup/config/runtime.yaml`:
```text
map/routes/map1/test_route.yaml
map/routes/A_min/A_min_route.json
```
## Runtime Test
```bash
ros2 topic pub --once /route_runner/cmd std_msgs/msg/String "{data: reload}"
ros2 topic pub --once /route_runner/cmd std_msgs/msg/String "{data: start}"
ros2 topic pub --once /route_runner/cmd std_msgs/msg/String "{data: stop}"
```
The editor can also save YAML, but the archived runtime does not provide the `/route_runner/cmd` interface described by an earlier draft. Use the current JSON task file and Web/navigation controls documented by this snapshot.
See also:
- [Maps And Routes](../../docs/ROUTES_AND_MAPS.md)
- [Common Commands](../../docs/COMMANDS.md)
- [Archived map data](../../map/README.md)
- [ROS 2 v2 snapshot](../../README.md)
05_software/real/sim2real_ros2_v2/tools/pcd_map_viewer/README_zh.md
+5 -1
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@@ -7,7 +7,7 @@
在仓库根目录：
```powershell
python .\tools\pcd_map_viewer\server.py --http-port 8090
python .\05_software\real\sim2real_ros2_v2\tools\pcd_map_viewer\server.py --http-port 8090
```
打开：
@@ -26,3 +26,7 @@ http://127.0.0.1:8090
- `tolerance`
不保存 `z` 和 `action`。
当前 `v0.12.0` 运行配置使用 `map/routes/A_min/A_min_route.json`。编辑器也能保存 YAML，但本快照没有旧文档曾描述的 `/route_runner/cmd` 控制接口。
地图抽样边界见 [`../../map/README.md`](../../map/README.md)，版本说明见 [`../../README.md`](../../README.md)。
05_software/real/sim2real_ros2_v2/tools/win_web_debug/README.md
+3 -3
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@@ -15,7 +15,7 @@ Use this tool only when you want the browser and HTTP server to run on Windows w
From the repository root:
```powershell
python .\tools\win_web_debug\server.py --nano-host <nano-ip> --http-port 8088
python .\05_software\real\sim2real_ros2_v2\tools\win_web_debug\server.py --nano-host <nano-ip> --http-port 8088
```
Or from this folder:
@@ -40,5 +40,5 @@ src/sim2real_runtime/src/web_udp_bridge_node.py
See:
- [Runtime Web](../../docs/RUNTIME_WEB.md)
- [Common Commands](../../docs/COMMANDS.md)
- [Runtime Web and UDP bridge](../../docs/WEB_DEBUG_USAGE.md)
- [ROS 2 v2 snapshot](../../README.md)
05_software/real/sim2real_ros2_v2/tools/win_web_debug/README_zh.md
+3 -1
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@@ -13,7 +13,7 @@ http://<nano-ip>:18080
在仓库根目录：
```powershell
python .\tools\win_web_debug\server.py --nano-host <nano-ip> --http-port 8088
python .\05_software\real\sim2real_ros2_v2\tools\win_web_debug\server.py --nano-host <nano-ip> --http-port 8088
```
打开：
@@ -21,3 +21,5 @@ python .\tools\win_web_debug\server.py --nano-host <nano-ip> --http-port 8088
```text
http://127.0.0.1:8088
```
运行时 Web 与 UDP 配置见 [`../../docs/WEB_DEBUG_USAGE.md`](../../docs/WEB_DEBUG_USAGE.md)。