[mechanical] 添加16DOF串联轮足机械设计

.gitignore

@@ -0,0 +1,37 @@
+# Local reference material
+/00_reference/
+
+# Python
+__pycache__/
+*.py[cod]
+.venv/
+venv/
+
+# Build outputs
+build/
+install/
+devel/
+log/
+*.o
+*.so
+*.a
+*.elf
+*.hex
+*.bin
+*.axf
+
+# Training outputs
+logs/
+checkpoints/
+wandb/
+
+# IDE and operating system files
+.idea/
+.vscode/
+.trae/
+.DS_Store
+Thumbs.db
+
+# Temporary and backup files
+*.Bak
+~$*

01_doc/README.md

@@ -0,0 +1,14 @@
+# 项目文档
+
+本目录用于保存 16DOF 轮足项目自身的技术文档和使用说明。
+
+后续建议按主题组织：
+
+```text
+01_doc/
+├─ architecture/   # 系统架构和数据流
+├─ control/        # 控制与强化学习原理
+├─ deployment/     # Sim2Sim 和 Sim2Real 部署
+├─ hardware/       # 接线、标定和硬件兼容性
+└─ user_guide/     # 安装、运行和调试说明
+```

02_mechanical/CAD/README.md

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+# SolidWorks 源文件
+
+`solidworks/` 保留原始装配层级和文件名。
+
+建议使用 `solidworks/WEEKDOG.SLDASM` 作为整机入口。`26版sw单件/` 包含组成整机的单件和子装配体，不应随意改名或拆散。

02_mechanical/README.md

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+# 16DOF 串联轮足机械
+
+本目录保存山东华宇工学院 16DOF 串联轮足机器人的机械设计资料。
+
+机器人由 12 个腿部关节和 4 个驱动轮组成，共 16 个执行器。源资料说明其使用 SolidWorks 26 版本完成设计、装配和 URDF 导出准备。
+
+## 目录结构
+
+```text
+02_mechanical/
+├─ CAD/
+│  └─ solidworks/
+│     ├─ WEEKDOG.SLDASM       # 整机装配体入口
+│     ├─ 轮子完整.SLDASM        # 轮组装配体
+│     ├─ 轮毂垫片.SLDPRT        # 独立零件
+│     └─ 26版sw单件/            # 单件与子装配体
+├─ STEP/
+│  ├─ WEEKDOG.STEP            # 整机通用交换文件
+│  └─ *.STEP                  # 身体、关节、腿部和轮组
+└─ source_notes.txt           # 原始资料说明
+```
+
+## 文件统计
+
+- SolidWorks 装配体：4 个 `*.SLDASM`
+- SolidWorks 零件：26 个 `*.SLDPRT`
+- STEP 文件：10 个
+
+## 使用方式
+
+- 需要继续编辑设计时，从 `CAD/solidworks/WEEKDOG.SLDASM` 打开整机。
+- 只需查看、测量或导入其他 CAD 软件时，使用 `STEP/WEEKDOG.STEP`。
+- 子部件调试可以使用身体、髋关节、大腿、轮小腿和轮组 STEP。
+- 为避免装配引用丢失，不要单独移动或重命名 `CAD/solidworks` 内部文件。
+
+## 当前缺项
+
+- 尚未提供关键零件二维 PDF 工程图。
+- 尚未形成 BOM、装配步骤和干涉检查报告。
+- 尚未核对 CAD 参数与训练使用的 URDF/MJCF 是否完全一致。

02_mechanical/STEP/README.md

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+# STEP 交换文件
+
+本目录提供不依赖 SolidWorks 的通用机械交换文件。
+
+- `WEEKDOG.STEP`：整机
+- `DOG身体.STEP`：机器人身体
+- `髋关节END.STEP`：髋关节
+- `大腿.STEP`：大腿组件
+- `轮小腿.STEP`：轮足小腿组件
+- `轮子完整.STEP`：完整轮组
+- 其余文件：轮子、轮毂垫片和连接零件

02_mechanical/STEP/轮毂垫片.STEP

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02_mechanical/source_notes.txt

@@ -0,0 +1 @@
+机械设计采用26版本sw设计，装配，以及urdf导出，为减少sw装配出现问题，采用单件装配小件各个关节装配体，转step关节文件，step各关节装配总装配体方案

03_hardware/README.md

@@ -0,0 +1,5 @@
+# 硬件
+
+本目录用于保存 16DOF 轮足机器人的自研电路、接线图、BOM、传感器与计算平台说明。
+
+第三方硬件资料不作为自研成果提交。

04_firmware/README.md

@@ -0,0 +1,5 @@
+# 嵌入式固件
+
+本目录用于保存运行在 MCU 或其他嵌入式控制器上的固件源码和构建工程。
+
+编译生成的 `.hex`、`.bin`、`.elf`、`.axf` 等文件不进入源码目录，可在需要时作为 Release 附件发布。

05_software/README.md

@@ -0,0 +1,13 @@
+# 软件
+
+本目录用于整理 16DOF 轮足机器人的上层软件。
+
+```text
+05_software/
+├─ train/      # 强化学习训练任务和配置
+├─ sim/        # Sim2Sim 和独立仿真
+├─ real/       # Sim2Real 与 ROS 2 真机部署
+└─ tools/      # 导航、地图、诊断和转换工具
+```
+
+历史版本通过 Git Tag 保存，同一模块不使用 `old`、`final`、`v2` 等目录复制完整代码。

06_assets/README.md

@@ -0,0 +1,5 @@
+# 媒体与测试结果
+
+本目录用于保存 16DOF 轮足机器人的原创图片、演示视频索引、测试图表和比赛结果。
+
+大体积视频和完整日志建议作为 Release 附件发布，仓库内保留压缩预览、图表和链接。

README.md

@@ -0,0 +1,44 @@
+# RC_WheelLeg
+
+RC_WheelLeg 是山东华宇工学院 16DOF 串联轮足机器人项目。
+
+当前 `16dof` 分支用于整理 16DOF 机械、强化学习训练、Sim2Sim、Sim2Real、ROS 2 部署和比赛版本。机械源文件与 STEP 交换文件已经完成首轮整理，其他模块将在确认权威来源后逐步导入。
+
+## 平台概览
+
+- 四条轮腿
+- 每条腿 3 个腿部关节
+- 4 个驱动轮
+- 总计 16 个执行器
+- 控制路线：强化学习训练、仿真验证和真机部署
+
+## 目录结构
+
+```text
+RC_WheelLeg/
+├─ 01_doc/          # 项目技术文档和使用说明
+├─ 02_mechanical/   # CAD、STEP、URDF 和 MJCF
+├─ 03_hardware/     # 自研电路、接线和硬件说明
+├─ 04_firmware/     # MCU 或嵌入式控制器固件
+├─ 05_software/     # 训练、仿真、部署和工具
+├─ 06_assets/       # 图片、视频和测试结果
+├─ .gitignore
+└─ README.md
+```
+
+## 当前状态
+
+- [x] 整理 SolidWorks 机械源文件
+- [x] 整理整机与关节 STEP 文件
+- [ ] 核对比赛机械与仿真模型参数
+- [ ] 整理 URDF/MJCF 机器人描述
+- [ ] 整理强化学习、Sim2Sim 和 Sim2Real
+
+机械资料入口见 [`02_mechanical/README.md`](02_mechanical/README.md)。
+
+## 版本管理
+
+- `8dof` 分支和 `v0.1.0` Tag 保存第一代 8DOF 实机版本。
+- `16dof` 分支承载第二代轮足平台的完整演进。
+- 线性演进阶段使用 Commit、Tag 和 Release 保存，不复制 `old`、`final` 或 `v2` 目录。
+- 只有需要长期并行维护的不兼容路线才建立独立分支。

catkin_ws/README.md

@@ -1,143 +0,0 @@
-# catkin_ws
-
-## 简介说明
-16dof采用留形科技的odin1空间记忆模组作为视觉方案
-采用的odin1固件版本为0.12.0 
-本目录按 ROS 2 工作空间组织，工作空间根目录为当前目录，源码目录为 `src/`。
-固件下载链接：https://vvcazjv268.feishu.cn/file/AAsOba7nSoGj22xclcKcoadE
-Odin1驱动0.11.0获取链接：https://github.com/manifoldsdk/odin_ros_driver.git
-本目录仅仅附带
-```text
-catkin_ws/
-├── src/ 空
-├── runros.sh
-├── readme.md 本文档
-└── odin1的使用手册.md
-```
-所附带链接为留形科技官方下载链接
-并默认已配置 官方 ROS 2 功能包：
-
-- `src/odin_ros_driver`
-以及参照官方教程完成系统规则写入
-附带官方github链接：https://github.com/manifoldsdk/odin_ros_driver
-
-- 注意 odin1需配套对应 **odin1固件版本**， **驱动版本** 以及 **mindcloud软件版本**，详情请查阅官方说明
-
-## 目录结构
-
-```text
-catkin_ws/
-├── src/
-│   └── odin_ros_driver/
-├── build/
-├── install/
-├── runros.sh
-├── readme.md
-└── log/
-```
-
-说明：
-
-- `src/` 用于存放 ROS 2 功能包源码。
-- `build/`、`install/`、`log/` 为 `colcon build` 后生成的工作空间产物。
-
-## 扫图相关（需先完成control_command.yaml配置）
-
-fire：~/catkin_ws/src/odin_ros_driver/config/control_command.yaml
-```yaml
-#存颜色
-  recorddata: 1           # 0: off; 1: on
-#存地图
-  custom_map_mode: 1      # 0: Odometry mode 1: SLAM mode 2: Relocalization mode
-```
-
-### 运行odin
-```bash
-# 启动官方历程
-./runros.sh 
-#新建终端 保存地图
-cd ~/catkin_ws/src/odin_ros_driver/
-./set_param.sh save_map 1
-```
-将生成的文件导入留形官方后处理软件mindcloud
-下载地址：https://version.manifoldtech.cn/download/mcs
-
-
-
-## 使用方法
-
-1. 进入工作空间根目录：
-
-```bash
-cd ~/catkin_ws
-```
-## 提供一个一键构建脚本runros.sh
-```bash
-#请先赋予可执行权限，此脚本可代替ros2空间构建命令
-./runros.sh
-```
-2. 先加载 ROS 2 环境：
-
-```bash
-source /opt/ros/<你的发行版>/setup.bash
-```
-
-3. 构建工作空间：
-
-```bash
-colcon build
-```
-
-4. 加载工作空间环境：
-
-```bash
-source /home/lcf/catkin_ws/install/setup.bash
-```
-
-5. 查看工作空间中的包：
-
-```bash
-colcon list
-```
-
-6. 在当前终端加载环境：
-
-```bash
-source ~/catkin_ws/runros.sh
-```
-
-7. 一键启动默认 ROS 2 驱动：
-
-```bash
-~/catkin_ws/runros.sh
-```
-
-默认等价于：
-
-```bash
-source ~/catkin_ws/install/setup.bash
-ros2 launch odin_ros_driver odin1_ros2.launch.py
-```
-
-8. 如需只打开一个已加载环境的干净交互 bash：
-
-```bash
-~/catkin_ws/runros.sh --shell
-```
-
-9. 直接通过脚本执行 `ros2` 或 `rviz2` 命令：
-
-```bash
-~/catkin_ws/runros.sh ros2 topic list
-~/catkin_ws/runros.sh rviz2 -d /home/lcf/catkin_ws/src/odin_ros_driver/config/odin_ros2.rviz
-```
-
-## 说明
-
-- 当前根目录已经是 ROS 2 工作空间根目录，无需额外执行 `ros2 workspace create` 之类命令。
-- 若构建失败，请先确认系统已安装 ROS 2、`colcon` 以及包依赖。
-- `runros.sh` 会自动查找 `/opt/ros` 下可用的 ROS 2 发行版，并在存在 `install/setup.bash` 时自动叠加当前工作空间环境。
-- `runros.sh` 会将 ROS 2 运行日志写入工作空间下的 `log/ros2/`，避免依赖用户主目录中的默认 `~/.ros/log`。
-- 直接执行 `runros.sh` 且不带参数时，会默认执行 `ros2 launch odin_ros_driver odin1_ros2.launch.py`，用于一键启动驱动。
-- 如需只进入 shell，请显式使用 `runros.sh --shell`；该模式会进入一个不读取用户 `~/.bashrc`/`~/.profile` 的干净交互 bash，避免用户 shell 初始化脚本覆盖或污染当前 ROS 环境。
-- 直接执行 `runros.sh` 且带参数时，会在完成环境加载后直接执行该命令，适合一键启动 `ros2` 或 `rviz2`。

catkin_ws/odin1的使用手册.md

@@ -1,609 +0,0 @@
-# Odin1 的使用手册
-
-## 1. 文档来源与适用范围
-
-本文根据 Odin1 官方仓库内容整理，官方仓库克隆位置为：
-
-- `/home/lcf/catkin_ws/ziliao/odin_ros_driver`
-
-本手册重点面向你当前这台机器上的 **ROS2 使用方式**，并结合你当前工作空间实际路径整理为可直接操作的版本：
-
-- 工作空间根目录：`/home/lcf/catkin_ws`
-- 实际运行包目录：`/home/lcf/catkin_ws/src/odin_ros_driver`
-- 官方参考仓库目录：`/home/lcf/catkin_ws/ziliao/odin_ros_driver`
-
-## 2. Odin1 是什么
-
-Odin1 官方 ROS 驱动 `odin_ros_driver` 是一个同时支持 ROS1 和 ROS2 的驱动包，核心用途包括：
-
-- 连接 Odin1 设备并发布点云、IMU、RGB、里程计、TF 等数据
-- 提供里程计模式、SLAM 建图模式、重定位模式
-- 支持 RViz 可视化
-- 支持在线调节 AE/AWB
-- 支持地图保存与重定位
-
-官方说明里明确推荐：
-
-- ROS2 推荐使用 `Humble`
-- Ubuntu 推荐使用 `22.04`
-- 设备固件版本要求 `v0.11.11`
-
-## 3. 官方仓库里与 ROS2 最相关的文件
-
-- `README.md`
-  - 官方主说明，包含安装、运行、建图、常见问题
-- `RELOCALIZATION_GUIDE.md`
-  - 重定位专门说明
-- `config/control_command.yaml`
-  - 运行参数总配置，建图和重定位主要看这个文件
-- `launch_ROS2/odin1_ros2.launch.py`
-  - ROS2 启动入口
-- `script/build_ros2.sh`
-  - 官方 ROS2 构建脚本
-- `set_param.sh`
-  - 用于在运行时发送参数命令，保存地图时会用到
-
-## 4. ROS2 启动流程总结
-
-官方 README 的 ROS2 逻辑本质上是两步：
-
-```bash
-source /home/lcf/catkin_ws/install/setup.bash
-ros2 launch odin_ros_driver odin1_ros2.launch.py
-```
-
-你当前环境里已经额外有一个一键脚本：
-
-```bash
-/home/lcf/catkin_ws/runros.sh
-```
-
-这条命令现在默认就等价于上面两条命令，所以日常使用时建议优先用它。
-
-## 5. ROS2 启动时实际会拉起什么
-
-根据官方 `launch_ROS2/odin1_ros2.launch.py`，启动时会拉起以下节点：
-
-- `host_sdk_sample`
-  - 主驱动节点，负责设备连接、数据流和核心逻辑
-- `pcd2depth_ros2_node`
-  - 深度图相关节点
-- `cloud_reprojection_ros2_node`
-  - 点云投影相关节点
-- `image_overlay_node`
-  - 图像叠加相关节点
-- `rviz2`
-  - 默认会同时启动 RViz2，并加载 `config/odin_ros2.rviz`
-
-所以官方 ROS2 launch 不是只起一个驱动进程，而是“驱动 + 辅助处理节点 + RViz2”的完整演示链路。
-
-## 6. 先决条件
-
-### 6.1 系统与依赖
-
-官方建议：
-
-- Ubuntu 22.04
-- ROS2 Humble
-- OpenCV 只保留一个版本
-- 已安装 `yaml-cpp`、`libusb`、`Eigen3`、OpenSSL 等依赖
-
-### 6.2 Udev 规则
-
-官方要求添加 udev 规则，否则可能遇到 USB 访问权限问题：
-
-```bash
-sudo vim /etc/udev/rules.d/99-odin-usb.rules
-```
-
-写入：
-
-```bash
-SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev"
-```
-
-然后执行：
-
-```bash
-sudo udevadm control --reload
-sudo udevadm trigger
-```
-
-### 6.3 可能遇到的 USB 权限问题
-
-如果启动时报：
-
-- `LIBUSB_ERROR_ACCESS`
-- `LIBUSB_ERROR_BUSY`
-
-优先检查：
-
-1. 是否已经添加 udev 规则
-2. 当前用户是否在 `plugdev` 组
-3. 是否有旧的 `host_sdk_sample` 进程还在占用设备
-
-可用命令：
-
-```bash
-ps aux | grep host_sdk_sample
-killall host_sdk_sample
-```
-
-## 7. 你当前环境下的推荐使用方式
-
-### 7.1 一键启动
-
-```bash
-/home/lcf/catkin_ws/runros.sh
-```
-
-该命令会自动：
-
-1. 加载 `/opt/ros/humble/setup.bash`
-2. 加载 `/home/lcf/catkin_ws/install/setup.bash`
-3. 执行：
-
-```bash
-ros2 launch odin_ros_driver odin1_ros2.launch.py
-```
-
-### 7.2 只加载环境
-
-```bash
-source /home/lcf/catkin_ws/runros.sh
-```
-
-### 7.3 只开一个干净 shell
-
-```bash
-/home/lcf/catkin_ws/runros.sh --shell
-```
-
-## 8. Odin1 的三种工作模式
-
-官方通过 `config/control_command.yaml` 中的 `custom_map_mode` 控制工作模式：
-
-- `0`：里程计模式
-- `1`：SLAM 建图模式
-- `2`：重定位模式
-
-### 8.1 里程计模式
-
-```yaml
-custom_map_mode: 0
-```
-
-特点：
-
-- `map` 和 `odom` 视为同一位姿
-- 不进行回环建图
-- 适合只看实时位姿和点云
-
-如果里程计漂移，官方建议在运行过程中执行：
-
-```bash
-cd /home/lcf/catkin_ws/src/odin_ros_driver
-./set_param.sh algo_reset 1
-```
-
-### 8.2 SLAM 建图模式
-
-```yaml
-custom_map_mode: 1
-```
-
-特点：
-
-- 在里程计模式基础上增加回环检测和地图保存能力
-- 启动后自动开始建图并缓存地图数据
-- 地图不会自动保存，必须手动触发保存
-
-### 8.3 重定位模式
-
-```yaml
-custom_map_mode: 2
-```
-
-特点：
-
-- 基于已有地图重新定位
-- 必须指定地图文件路径
-- 成功后会发布 `map -> odom` 的 TF
-
-## 9. ROS2 下怎么建图
-
-这是你最关心的部分，按下面流程做。
-
-### 9.1 第一步：修改配置为建图模式
-
-编辑实际运行中的配置文件：
-
-- `/home/lcf/catkin_ws/src/odin_ros_driver/config/control_command.yaml`
-
-至少确认这些字段：
-
-```yaml
-register_keys:
-  custom_map_mode: 1
-  relocalization_map_abs_path: ""
-```
-
-建议同时关注：
-
-- `strict_usb3.0_check`
-  - 默认 `0`，允许非严格 USB3.0；但官方强调建图最好使用 USB3.0
-- `senddtof`
-  - 点云开关
-- `sendodom`
-  - 里程计开关
-- `sendcloudslam`
-  - SLAM 点云开关
-- `sendcloudrender`
-  - 渲染点云开关
-- `showpath`
-  - 是否显示路径
-
-如果你想更明显地看路径，可考虑：
-
-```yaml
-showpath: 1
-```
-
-### 9.2 第二步：启动驱动
-
-推荐直接执行：
-
-```bash
-/home/lcf/catkin_ws/runros.sh
-```
-
-或者手动执行：
-
-```bash
-source /home/lcf/catkin_ws/install/setup.bash
-ros2 launch odin_ros_driver odin1_ros2.launch.py
-```
-
-### 9.3 第三步：移动设备开始建图
-
-驱动启动后，Odin1 会自动开始建图并缓存地图数据。
-
-建议操作方式：
-
-- 使用 USB3.0 连接
-- 启动后缓慢移动设备
-- 尽量覆盖你希望建图的区域
-- 尽量回到已走过区域，帮助回环闭合
-- 场景中应有足够几何/纹理特征
-
-### 9.4 第四步：保存地图
-
-建图完成后，进入包目录：
-
-```bash
-cd /home/lcf/catkin_ws/src/odin_ros_driver
-```
-
-执行官方命令：
-
-```bash
-./set_param.sh save_map 1
-```
-
-`set_param.sh` 的本质是向 `/tmp/odin_command.txt` 写入：
-
-```bash
-set save_map 1
-```
-
-主驱动会读取这个命令并调用 SDK 保存地图。
-
-### 9.5 第五步：找到保存出来的地图文件
-
-配置文件里写明：
-
-```yaml
-mapping_result_dest_dir: ""
-mapping_result_file_name: ""
-```
-
-如果这两个都为空，则官方默认保存到：
-
-- `{ws}/src/odin_ros_driver/map/{driver_start_time}/`
-
-结合你当前工作空间，默认可按下面路径去找：
-
-- `/home/lcf/catkin_ws/src/odin_ros_driver/map/`
-
-实际生成的地图文件通常是 `.bin` 文件。
-
-### 9.6 第六步：重复保存
-
-官方说明允许重复执行：
-
-```bash
-./set_param.sh save_map 1
-```
-
-但两次保存之间建议至少间隔 **5 秒**。
-
-## 10. 重定位怎么用
-
-官方重定位文档单独给了更详细说明，这里按实用方式整理。
-
-### 10.1 自动重定位
-
-修改配置：
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/home/lcf/catkin_ws/src/odin_ros_driver/map/你的地图目录/xxx.bin"
-  custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
-```
-
-推荐条件：
-
-- 起始位置距离原始建图轨迹 1 米以内
-- 起始朝向与建图时偏差不超过 ±10°
-- 场景特征明显
-
-启动后行为：
-
-1. 尝试将当前观测和已有地图匹配
-2. 成功后发布 `map -> odom` TF
-3. 失败时进入后备模式并继续尝试
-
-### 10.2 指定初始位姿重定位
-
-如果你知道大概起点位置，可设置：
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/绝对路径/xxx.bin"
-  custom_init_pos: [x, y, z, qx, qy, qz, qw]
-```
-
-含义是：
-
-- `x y z`：地图坐标系中的位置
-- `qx qy qz qw`：四元数姿态
-
-例如绕 Z 轴 90°：
-
-```yaml
-custom_init_pos: [5.2, -3.1, 0.0, 0.0, 0.0, 0.707, 0.707]
-```
-
-### 10.3 与官方文档的一个小冲突
-
-官方主 README 的参数表里写过：
-
-- `custom_init_pos`：currently unused
-
-但官方单独的 `RELOCALIZATION_GUIDE.md` 已经把它作为重定位功能来详细说明，并给了示例，因此更应以重定位指南为准。
-
-如果你实际测试发现 `custom_init_pos` 不生效，优先检查：
-
-1. `custom_map_mode` 是否为 `2`
-2. `custom_init_pos` 是否正好 7 个值
-3. 四元数是否归一化
-4. 地图文件路径是否为绝对路径
-
-## 11. 建图与重定位的推荐操作套路
-
-### 11.1 首次建图
-
-1. 把 `custom_map_mode` 设为 `1`
-2. 启动：
-
-```bash
-/home/lcf/catkin_ws/runros.sh
-```
-
-3. 缓慢移动 Odin1，采完整个区域
-4. 返回包目录保存地图：
-
-```bash
-cd /home/lcf/catkin_ws/src/odin_ros_driver
-./set_param.sh save_map 1
-```
-
-5. 到 `map/` 目录下找到 `.bin` 地图文件
-
-### 11.2 下次基于已有地图定位
-
-1. 把 `custom_map_mode` 改为 `2`
-2. 把 `relocalization_map_abs_path` 指到上一步生成的 `.bin`
-3. 若知道起点，补 `custom_init_pos`
-4. 再执行：
-
-```bash
-/home/lcf/catkin_ws/runros.sh
-```
-
-## 12. 常用参数解释
-
-以下参数来自官方 `control_command.yaml`，是 ROS2 下最常用的一批。
-
-### 12.1 时间与同步
-
-- `use_host_ros_time`
-  - `0`：使用设备时间，官方推荐
-  - `1`：收到数据时用主机 ROS 时间
-  - `2`：对齐到主机时间轴
-
-建议：
-
-- 一般先保持 `0`
-
-### 12.2 传感器输出
-
-- `sendimu`
-  - 是否发布 IMU
-- `sendodom`
-  - 是否发布里程计
-- `senddtof`
-  - 是否发布原始点云
-- `sendcloudslam`
-  - 是否发布 SLAM 点云
-- `sendcloudrender`
-  - 是否发布渲染后的点云
-- `sendrgb`
-  - 是否发布 RGB 图像
-- `sendrgbcompressed`
-  - 是否发布压缩 RGB 图像
-
-### 12.3 点云质量相关
-
-- `cloud_raw_confidence_threshold`
-  - 原始点云置信度阈值，官方示例是 `35`
-- `dtof_fps`
-  - 官方注释给出 `100`、`145`、`290` 等档位
-
-### 12.4 其他
-
-- `recorddata`
-  - 是否录制官方私有格式数据，空间占用很大
-- `devstatuslog`
-  - 是否记录设备状态日志
-- `showpath`
-  - 是否显示路径
-- `showcamerapose`
-  - 是否显示相机位姿
-
-## 13. ROS2 下常用话题
-
-官方 README 给出的常用话题包括：
-
-- `/odin1/imu`
-- `/odin1/image`
-- `/odin1/image_undistort`
-- `/odin1/image/compressed`
-- `/odin1/cloud_raw`
-- `/odin1/cloud_render`
-- `/odin1/cloud_slam`
-- `/odin1/odometry`
-- `/odin1/odometry_high`
-- `/odin1/path`
-- `/tf`
-- `/odin1/reprojected_image`
-
-重定位成功后，`/tf` 中会出现 `map -> odom` 关系。
-
-## 14. 在线调参能力
-
-官方驱动提供四个 ROS2 服务，可在驱动运行时调整自动曝光和自动白平衡：
-
-- `/odin1/get_ae`
-- `/odin1/get_awb`
-- `/odin1/set_ae`
-- `/odin1/set_awb`
-
-示例：
-
-```bash
-source /home/lcf/catkin_ws/install/setup.bash
-ros2 service call /odin1/get_ae  odin_ros_driver/srv/GetAe
-ros2 service call /odin1/get_awb odin_ros_driver/srv/GetAwb
-ros2 service call /odin1/set_ae odin_ros_driver/srv/SetAe "{mode: 0}"
-ros2 service call /odin1/set_awb odin_ros_driver/srv/SetAwb "{mode: 0}"
-```
-
-## 15. 常见问题总结
-
-### 15.1 启动后设备很快断开
-
-官方认为 ROS2 在复杂网络环境下容易因为广播导致阻塞，从而出现设备断开。
-
-如果不需要跨设备通信，可先尝试：
-
-```bash
-export ROS_LOCALHOST_ONLY=1
-```
-
-### 15.2 RViz 卡死或长时间无响应
-
-官方建议先给 Odin1 重新上电。
-
-### 15.3 重启设备后 RViz 出现 `TF_OLD_DATA`
-
-官方说明这是时间戳冲突导致的，点击 RViz 底部 reset 按钮可清掉旧状态。
-
-### 15.4 图像相关节点一启动就崩
-
-官方提示这通常与系统里安装了多个 OpenCV 版本有关。
-
-### 15.5 `Missing camera node 'cam_0'`
-
-官方建议重新插拔 USB。
-
-### 15.6 录 bag 时 IMU 或高频里程计丢帧
-
-官方仓库提供了：
-
-- `script/rosbag2_qos.yaml`
-
-录制时建议：
-
-```bash
-ros2 bag record -a \
-  --qos-profile-overrides-path src/odin_ros_driver/script/rosbag2_qos.yaml \
-  -o my_bag
-```
-
-## 16. 你当前环境下的最简建图命令
-
-### 16.1 建图前
-
-编辑：
-
-- `/home/lcf/catkin_ws/src/odin_ros_driver/config/control_command.yaml`
-
-设置：
-
-```yaml
-custom_map_mode: 1
-```
-
-### 16.2 启动建图
-
-```bash
-/home/lcf/catkin_ws/runros.sh
-```
-
-### 16.3 保存地图
-
-```bash
-cd /home/lcf/catkin_ws/src/odin_ros_driver
-./set_param.sh save_map 1
-```
-
-### 16.4 做重定位
-
-编辑：
-
-- `/home/lcf/catkin_ws/src/odin_ros_driver/config/control_command.yaml`
-
-设置：
-
-```yaml
-custom_map_mode: 2
-relocalization_map_abs_path: "/home/lcf/catkin_ws/src/odin_ros_driver/map/你的目录/你的地图.bin"
-```
-
-然后再次启动：
-
-```bash
-/home/lcf/catkin_ws/runros.sh
-```
-
-## 17. 我对官方文档的实用化结论
-
-如果只用一句话总结官方仓库的 ROS2 使用方式：
-
-- **建图**：把 `custom_map_mode` 设为 `1`，启动驱动，移动设备采图，最后执行 `./set_param.sh save_map 1`
-- **重定位**：把 `custom_map_mode` 设为 `2`，设置 `relocalization_map_abs_path` 指向 `.bin` 地图，再重新启动驱动
-- **启动**：在你当前环境里，最省事的方式就是直接运行 `/home/lcf/catkin_ws/runros.sh`
-

catkin_ws/project.log

@@ -1,25 +0,0 @@
-2026-06-19 15:19:22 CST
-- 初始化 `/home/lcf/catkin_ws2` 为 ROS 2 工作空间根目录。
-- 确认根目录已存在 `src/`，其中包含 ROS 2 包 `src/odin_ros_driver`。
-- 新增工作空间根目录 `README.md`，补充目录结构、构建命令与环境加载说明。
-- 新增工作空间根目录 `.gitignore`，忽略 `build/`、`install/`、`log/` 目录。
-- 检查本机环境，确认已安装 `colcon`，且存在 ROS 2 发行版 `/opt/ros/humble`。
-- 使用 `source /opt/ros/humble/setup.bash && colcon list` 校验工作空间，已成功识别 `odin_ros_driver`。
-2026-06-19 15:19:22 CST
-- 新增工作空间根目录脚本 `runros.sh`，支持一键加载 ROS 2 基础环境与当前工作空间环境。
-- `runros.sh` 同时支持 `source ./runros.sh` 和直接执行 `./runros.sh` 两种使用方式。
-- 更新根目录 `README.md`，补充 `runros.sh` 的使用说明与行为说明。
-2026-06-19 15:35:12 CST
-- 为 `runros.sh` 增加调试日志落盘，记录脚本调用方式、ROS 环境加载结果、工作空间覆盖层加载结果与 shell 交接链路。
-- 修复 `runros.sh` 直接执行时拉起交互 shell 会读取用户 `~/.bashrc` 的问题，改为启动不读取用户 rc 文件的干净交互 bash。
-- 扩展 `runros.sh`，支持直接执行传入命令，例如 `ros2`、`rviz2`，以便一键在已加载环境中启动目标程序。
-- 修正用户 `~/.bashrc` 中会自我追加 `source` 语句的错误配置，并将重复加载工作空间环境的逻辑收敛为一次且带存在性判断。
-- 更新根目录 `README.md`，修正工作空间路径为 `/home/lcf/catkin_ws`，并补充直接执行 `ros2`/`rviz2` 的示例。
-2026-06-19 15:52:00 CST
-- 调整 `runros.sh` 默认行为：直接执行脚本时不再进入交互 shell，而是默认执行 `ros2 launch odin_ros_driver odin1_ros2.launch.py`，满足一键启动需求。
-- 为 `runros.sh` 新增 `--shell` 和 `--help` 入口，分别用于显式打开干净交互 shell 与查看脚本使用说明。
-- 更新根目录 `README.md`，补充 `runros.sh` 默认一键启动、`--shell` 模式及其与 `source install/setup.bash + ros2 launch` 的对应关系。
-- 为 `runros.sh` 新增工作空间内 `ROS_LOG_DIR` 设置，将 ROS 2 运行日志固定写入 `/home/lcf/catkin_ws/log/ros2`，避免依赖用户主目录默认日志目录导致的一键启动失败。
-2026-06-19 16:15:56 CST
-- 阅读 `/home/lcf/catkin_ws/ziliao/odin_ros_driver` 中的 Odin1 官方仓库资料，重点整理 ROS2 相关的 README、重定位指南、启动文件、配置文件和运行时命令接口。
-- 新增根目录说明文档 `/home/lcf/catkin_ws/odin1的使用手册.md`，总结 Odin1 在当前工作空间下的 ROS2 启动、建图、保存地图、重定位、常用参数、话题与常见问题。

catkin_ws/runros.sh

@@ -1,359 +0,0 @@
-#!/bin/bash
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-WORKSPACE_ROOT="${SCRIPT_DIR}"
-DEBUG_LOG_FILE="${WORKSPACE_ROOT}/trae-debug-log-runros-shell-loop.ndjson"
-ROS_LOG_ROOT="${WORKSPACE_ROOT}/log/ros2"
-DEFAULT_LAUNCH_PACKAGE="odin_ros_driver"
-DEFAULT_LAUNCH_FILE="odin1_ros2.launch.py"
-
-# Function: print_info
-# Input:
-#   - $1: message text.
-# Output:
-#   - Prints an informational message to stdout.
-# Description:
-#   - Standardizes normal runtime messages for this script.
-# References:
-#   - None.
-print_info() {
-    echo "[INFO] $1"
-}
-
-# Function: print_warn
-# Input:
-#   - $1: warning text.
-# Output:
-#   - Prints a warning message to stdout.
-# Description:
-#   - Standardizes warning messages for this script.
-# References:
-#   - None.
-print_warn() {
-    echo "[WARN] $1"
-}
-
-# Function: print_error
-# Input:
-#   - $1: error text.
-# Output:
-#   - Prints an error message to stderr.
-# Description:
-#   - Standardizes error messages for this script.
-# References:
-#   - None.
-print_error() {
-    echo "[ERROR] $1" >&2
-}
-
-# Function: write_debug_log
-# Input:
-#   - $1: event name.
-#   - $2: event detail text.
-# Output:
-#   - Appends one NDJSON debug record to the local debug log file.
-# Description:
-#   - Records runtime evidence for script invocation mode, environment loading,
-#     and interactive shell handoff without changing business behavior.
-# References:
-#   - Uses variables `DEBUG_LOG_FILE`, `WORKSPACE_ROOT`, and `ROS_DISTRO`
-#     defined in this file.
-#   - Called by `load_ros2_environment()`, `load_workspace_environment()`,
-#     `start_interactive_shell()`, and `main()` in this file.
-write_debug_log() {
-    local event_name="$1"
-    local event_detail="$2"
-    local invoke_mode="executed"
-
-    if is_script_sourced; then
-        invoke_mode="sourced"
-    fi
-
-    printf '{"ts":"%s","event":"%s","detail":"%s","pid":"%s","ppid":"%s","mode":"%s","shell":"%s","workspace":"%s","ros_distro":"%s"}\n' \
-        "$(date '+%Y-%m-%dT%H:%M:%S%z')" \
-        "${event_name}" \
-        "${event_detail}" \
-        "$$" \
-        "$PPID" \
-        "${invoke_mode}" \
-        "${SHELL:-/bin/bash}" \
-        "${WORKSPACE_ROOT}" \
-        "${ROS_DISTRO:-unset}" >> "${DEBUG_LOG_FILE}"
-}
-
-# Function: is_script_sourced
-# Input:
-#   - None.
-# Output:
-#   - Returns 0 when the script is sourced.
-#   - Returns 1 when the script is executed directly.
-# Description:
-#   - Detects whether the current script is loaded into the caller shell or
-#     started as a standalone process.
-# References:
-#   - Uses bash built-in variables `${BASH_SOURCE[0]}` and `${0}`.
-is_script_sourced() {
-    [[ "${BASH_SOURCE[0]}" != "${0}" ]]
-}
-
-# Function: find_ros2_setup
-# Input:
-#   - None.
-# Output:
-#   - Prints the absolute path of the detected ROS 2 `setup.bash`.
-#   - Returns 1 if no ROS 2 installation is found.
-# Description:
-#   - Prefers the current `ROS_DISTRO` when available, otherwise probes common
-#     ROS 2 distributions from newer to older.
-# References:
-#   - Uses environment variable `ROS_DISTRO`.
-#   - Searches under `/opt/ros/<distro>/setup.bash`.
-find_ros2_setup() {
-    local ros2_setup=""
-    local distros=("jazzy" "iron" "humble" "galactic" "foxy" "rolling")
-    local distro=""
-
-    if [ -n "${ROS_DISTRO}" ] && [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
-        echo "/opt/ros/${ROS_DISTRO}/setup.bash"
-        return 0
-    fi
-
-    for distro in "${distros[@]}"; do
-        if [ -f "/opt/ros/${distro}/setup.bash" ]; then
-            ros2_setup="/opt/ros/${distro}/setup.bash"
-            echo "${ros2_setup}"
-            return 0
-        fi
-    done
-
-    return 1
-}
-
-# Function: load_ros2_environment
-# Input:
-#   - None.
-# Output:
-#   - Returns 0 when the ROS 2 environment is sourced successfully.
-#   - Returns 1 when no valid ROS 2 environment is found.
-# Description:
-#   - Locates and loads the base ROS 2 environment required by the workspace.
-# References:
-#   - Calls `find_ros2_setup()` in this file.
-#   - Sources `/opt/ros/<distro>/setup.bash`.
-load_ros2_environment() {
-    local ros2_setup=""
-
-    ros2_setup="$(find_ros2_setup)" || {
-        write_debug_log "load_ros2_environment_failed" "no_ros2_setup_found"
-        print_error "No ROS 2 installation was found under /opt/ros."
-        return 1
-    }
-
-    # shellcheck disable=SC1090
-    source "${ros2_setup}"
-    write_debug_log "load_ros2_environment" "${ros2_setup}"
-    print_info "Loaded ROS 2 environment: ${ros2_setup}"
-    return 0
-}
-
-# Function: load_workspace_environment
-# Input:
-#   - None.
-# Output:
-#   - Returns 0 after attempting to load the workspace environment.
-# Description:
-#   - Loads the current workspace overlay when `install/setup.bash` exists.
-#     When the workspace has not been built yet, it keeps only the base ROS 2
-#     environment and prints the recommended next step.
-# References:
-#   - Uses variable `WORKSPACE_ROOT` defined in this file.
-#   - Sources `${WORKSPACE_ROOT}/install/setup.bash`.
-load_workspace_environment() {
-    local workspace_setup="${WORKSPACE_ROOT}/install/setup.bash"
-
-    cd "${WORKSPACE_ROOT}" || return 1
-
-    if [ -f "${workspace_setup}" ]; then
-        # shellcheck disable=SC1090
-        source "${workspace_setup}"
-        write_debug_log "load_workspace_environment" "${workspace_setup}"
-        print_info "Loaded workspace environment: ${workspace_setup}"
-    else
-        write_debug_log "load_workspace_environment_missing" "${workspace_setup}"
-        print_warn "Workspace overlay not found: ${workspace_setup}"
-        print_warn "Run 'colcon build' first if you need package overlays."
-    fi
-
-    export ROS_WORKSPACE="${WORKSPACE_ROOT}"
-    print_info "Workspace root: ${WORKSPACE_ROOT}"
-    return 0
-}
-
-# Function: ensure_ros_log_directory
-# Input:
-#   - None.
-# Output:
-#   - Returns 0 when the ROS 2 log directory is ready for use.
-#   - Returns 1 when the log directory cannot be created.
-# Description:
-#   - Ensures ROS 2 launch logs are written into the workspace-local log
-#     directory instead of relying on the user's home directory.
-# References:
-#   - Uses variables `ROS_LOG_ROOT` and `WORKSPACE_ROOT` defined in this file.
-#   - Called by `main()` in this file.
-ensure_ros_log_directory() {
-    mkdir -p "${ROS_LOG_ROOT}" || {
-        write_debug_log "ensure_ros_log_directory_failed" "${ROS_LOG_ROOT}"
-        print_error "Failed to create ROS log directory: ${ROS_LOG_ROOT}"
-        return 1
-    }
-
-    export ROS_LOG_DIR="${ROS_LOG_ROOT}"
-    write_debug_log "ensure_ros_log_directory" "${ROS_LOG_DIR}"
-    print_info "ROS log directory: ${ROS_LOG_DIR}"
-    return 0
-}
-
-# Function: run_command_with_environment
-# Input:
-#   - $@: command and arguments to execute.
-# Output:
-#   - Replaces the current process with the provided command.
-# Description:
-#   - Executes a user-specified command after the ROS 2 and workspace
-#     environment have been loaded successfully.
-# References:
-#   - Called by `main()` in this file.
-run_command_with_environment() {
-    write_debug_log "run_command_with_environment" "$*"
-    print_info "Running command with ROS 2 environment loaded: $*"
-    exec "$@"
-}
-
-# Function: launch_default_ros2_stack
-# Input:
-#   - None.
-# Output:
-#   - Replaces the current process with the default ROS 2 launch command.
-# Description:
-#   - Starts the default `odin_ros_driver` ROS 2 launch file after the
-#     workspace environment has been loaded successfully.
-# References:
-#   - Uses variables `DEFAULT_LAUNCH_PACKAGE` and `DEFAULT_LAUNCH_FILE`
-#     defined in this file.
-#   - Calls `run_command_with_environment()` in this file.
-launch_default_ros2_stack() {
-    write_debug_log "launch_default_ros2_stack" "${DEFAULT_LAUNCH_PACKAGE} ${DEFAULT_LAUNCH_FILE}"
-    print_info "Starting default ROS 2 launch: ${DEFAULT_LAUNCH_PACKAGE} ${DEFAULT_LAUNCH_FILE}"
-    run_command_with_environment ros2 launch "${DEFAULT_LAUNCH_PACKAGE}" "${DEFAULT_LAUNCH_FILE}"
-}
-
-# Function: start_interactive_shell
-# Input:
-#   - None.
-# Output:
-#   - Replaces the current process with a clean interactive bash shell.
-# Description:
-#   - Keeps the loaded ROS 2 and workspace environment in a new interactive
-#     shell when the script is executed directly, while avoiding user shell
-#     rc files that may recursively modify configuration.
-# References:
-#   - Uses `/bin/bash --noprofile --norc -i`.
-start_interactive_shell() {
-    write_debug_log "start_interactive_shell" "exec_clean_interactive_bash"
-    print_info "Starting a clean interactive bash shell with ROS 2 environment loaded."
-    exec /bin/bash --noprofile --norc -i
-}
-
-# Function: print_usage
-# Input:
-#   - None.
-# Output:
-#   - Prints the script usage text to stdout.
-# Description:
-#   - Documents the default one-click launch behavior, the custom command mode,
-#     and the explicit shell mode for this script.
-# References:
-#   - Uses variables `DEFAULT_LAUNCH_PACKAGE` and `DEFAULT_LAUNCH_FILE`
-#     defined in this file.
-print_usage() {
-    cat <<EOF
-Usage:
-  source ${WORKSPACE_ROOT}/runros.sh
-  ${WORKSPACE_ROOT}/runros.sh
-  ${WORKSPACE_ROOT}/runros.sh --shell
-  ${WORKSPACE_ROOT}/runros.sh <command> [args...]
-
-Behavior:
-  - source runros.sh
-      Load ROS 2 and workspace environment into the current shell.
-  - runros.sh
-      Launch: ros2 launch ${DEFAULT_LAUNCH_PACKAGE} ${DEFAULT_LAUNCH_FILE}
-  - runros.sh --shell
-      Open a clean interactive bash shell with the environment loaded.
-  - runros.sh <command> [args...]
-      Run the provided command with the environment loaded.
-EOF
-}
-
-# Function: main
-# Input:
-#   - None.
-# Output:
-#   - Returns 0 on success.
-#   - Returns 1 when required environment loading fails.
-# Description:
-#   - Coordinates ROS 2 base environment loading, workspace overlay loading,
-#     and chooses behavior for sourced vs executed usage.
-# References:
-#   - Calls `is_script_sourced()` in this file.
-#   - Calls `load_ros2_environment()` in this file.
-#   - Calls `load_workspace_environment()` in this file.
-#   - Calls `ensure_ros_log_directory()` in this file.
-#   - Calls `launch_default_ros2_stack()` in this file.
-#   - Calls `run_command_with_environment()` in this file.
-#   - Calls `start_interactive_shell()` in this file.
-#   - Calls `print_usage()` in this file.
-main() {
-    write_debug_log "main_enter" "argv:$*"
-
-    if ! is_script_sourced; then
-        case "$1" in
-            -h|--help)
-                print_usage
-                return 0
-                ;;
-        esac
-    fi
-
-    load_ros2_environment || return 1
-    load_workspace_environment || return 1
-    ensure_ros_log_directory || return 1
-
-    if is_script_sourced; then
-        if [ "$#" -gt 0 ]; then
-            write_debug_log "main_warn" "arguments_ignored_when_sourced"
-            print_warn "Arguments are ignored when the script is sourced."
-        fi
-        write_debug_log "main_exit" "current_shell_ready"
-        print_info "Environment is ready in the current shell."
-        return 0
-    fi
-
-    if [ "$#" -eq 0 ]; then
-        write_debug_log "main_handoff" "default_launch_requested"
-        launch_default_ros2_stack
-    fi
-
-    if [ "$1" = "--shell" ]; then
-        write_debug_log "main_handoff" "interactive_shell_requested"
-        start_interactive_shell
-    fi
-
-    if [ "$#" -gt 0 ]; then
-        write_debug_log "main_handoff" "command_execution_requested"
-        run_command_with_environment "$@"
-    fi
-}
-
-main "$@"

catkin_ws/src/odin_ros_driver/.gitignore

@@ -1,4 +0,0 @@
-recorddata/
-/config/calib.yaml
-/log
-/map

catkin_ws/src/odin_ros_driver/RELOCALIZATION_GUIDE.md

@@ -1,642 +0,0 @@
-# Relocalization Guide / 重定位使用指南
-
-This guide explains how to use the relocalization feature in Odin ROS Driver, including automatic relocalization and init position relocalization modes.
-
-本指南介绍如何使用 Odin ROS Driver 的重定位功能，包括自动重定位和指定初始位置重定位两种模式。
-
----
-
-## Table of Contents / 目录
-
-1. [Overview / 概述](#overview--概述)
-2. [Prerequisites / 前提条件](#prerequisites--前提条件)
-3. [Mode 1: Auto Relocalization / 自动重定位](#mode-1-auto-relocalization--自动重定位)
-4. [Mode 2: Init Position Relocalization / 指定初始位置重定位](#mode-2-init-position-relocalization--指定初始位置重定位)
-5. [init_pos Format / init_pos 格式说明](#init_pos-format--init_pos-格式说明)
-6. [Configuration Examples / 配置示例](#configuration-examples--配置示例)
-7. [Programmatic API / 编程接口](#programmatic-api--编程接口)
-8. [Troubleshooting / 故障排除](#troubleshooting--故障排除)
-
----
-
-## Overview / 概述
-
-### English
-
-Relocalization mode (`custom_map_mode: 2`) allows Odin to localize itself within a pre-built map. There are two approaches:
-
-| Mode | Description | Use Case |
-|------|-------------|----------|
-| **Auto Relocalization** | Algorithm automatically searches for position in the map | Starting position is unknown or within recommended range |
-| **Init Position Relocalization** | User provides an initial pose estimate via `init_pos` | Starting position is known, faster convergence needed |
-
-### 中文
-
-重定位模式（`custom_map_mode: 2`）允许 Odin 在预先构建的地图中进行自我定位。有两种方式：
-
-| 模式 | 描述 | 适用场景 |
-|------|------|----------|
-| **自动重定位** | 算法自动在地图中搜索位置 | 起始位置未知，或在推荐范围内 |
-| **指定初始位置重定位** | 用户通过 `init_pos` 提供初始位姿估计 | 起始位置已知，需要更快收敛 |
-
----
-
-## Prerequisites / 前提条件
-
-### English
-
-1. **Pre-built map file**: A `.bin` map file created in SLAM mode (`custom_map_mode: 1`)
-2. **Map file path**: Know the absolute path to your map file
-3. **Starting position**: For init position mode, know the approximate starting pose in map coordinates
-
-### 中文
-
-1. **预构建的地图文件**：在 SLAM 模式（`custom_map_mode: 1`）下创建的 `.bin` 地图文件
-2. **地图文件路径**：知道地图文件的绝对路径
-3. **起始位置**：对于指定初始位置模式，需要知道在地图坐标系中的大致起始位姿
-
----
-
-## Mode 1: Auto Relocalization / 自动重定位
-
-### English
-
-In auto relocalization mode, the algorithm automatically searches for the device's position within the map based on current sensor observations.
-
-**Configuration** (`config/control_command.yaml`):
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/path/to/your/map.bin"
-  # custom_init_pos is NOT set or uses default [0,0,0,0,0,0,1]
-```
-
-**Recommended Starting Conditions**:
-- Within **1 meter** of a position on the original SLAM trajectory
-- Within **±10 degrees** of the original orientation
-- In a visually distinctive area of the map
-
-**Behavior**:
-1. On startup, Odin attempts to match current observations with the map
-2. If successful, TF between `map` and `odom` frames is published
-3. If unsuccessful, system operates in fallback SLAM mode (map saving disabled)
-4. Relocalization attempts continue in background until successful
-
-**Tips**:
-- Gently shaking or moving the device after startup can improve relocalization accuracy
-- Highly distinctive scenes may allow successful matching beyond the 1m/10° range
-
-### 中文
-
-在自动重定位模式下，算法根据当前传感器观测自动在地图中搜索设备位置。
-
-**配置** (`config/control_command.yaml`):
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/path/to/your/map.bin"
-  # custom_init_pos 不设置或使用默认值 [0,0,0,0,0,0,1]
-```
-
-**推荐起始条件**：
-- 距离原始 SLAM 轨迹上某点 **1 米**以内
-- 朝向与原始方向偏差在 **±10 度**以内
-- 位于地图中视觉特征明显的区域
-
-**行为**：
-1. 启动时，Odin 尝试将当前观测与地图匹配
-2. 如果成功，发布 `map` 和 `odom` 坐标系之间的 TF
-3. 如果失败，系统进入后备 SLAM 模式（地图保存功能禁用）
-4. 后台持续尝试重定位直到成功
-
-**提示**：
-- 启动后轻轻晃动或移动设备可以提高重定位精度
-- 在特征明显的场景中，可能在超出 1m/10° 范围时也能成功匹配
-
----
-
-## Mode 2: Init Position Relocalization / 指定初始位置重定位
-
-### English
-
-In init position relocalization mode, you provide an initial pose estimate to help the algorithm converge faster.
-
-**Configuration** (`config/control_command.yaml`):
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/path/to/your/map.bin"
-  custom_init_pos: [x, y, z, qx, qy, qz, qw]
-```
-
-**When to Use**:
-- You know the approximate starting position (e.g., from external localization system)
-- Starting position is far from the recommended 1m/10° range
-- You need faster relocalization convergence
-- Deploying in a fixed docking station with known pose
-
-**Behavior**:
-1. Algorithm uses provided `init_pos` as initial pose estimate
-2. Searches for matches in the vicinity of the provided position
-3. Faster convergence compared to auto mode when estimate is accurate
-
-### 中文
-
-在指定初始位置重定位模式下，您提供初始位姿估计以帮助算法更快收敛。
-
-**配置** (`config/control_command.yaml`):
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/path/to/your/map.bin"
-  custom_init_pos: [x, y, z, qx, qy, qz, qw]
-```
-
-**适用场景**：
-- 您知道大致的起始位置（例如，来自外部定位系统）
-- 起始位置远离推荐的 1m/10° 范围
-- 需要更快的重定位收敛速度
-- 部署在已知位姿的固定充电桩
-
-**行为**：
-1. 算法使用提供的 `init_pos` 作为初始位姿估计
-2. 在提供位置的附近搜索匹配
-3. 当估计准确时，比自动模式收敛更快
-
----
-
-## init_pos Format / init_pos 格式说明
-
-### English
-
-`init_pos` is an array of **7 float values** representing position and orientation:
-
-```yaml
-custom_init_pos: [x, y, z, qx, qy, qz, qw]
-```
-
-| Index | Parameter | Description | Unit |
-|-------|-----------|-------------|------|
-| 0 | x | X position in map frame | meters |
-| 1 | y | Y position in map frame | meters |
-| 2 | z | Z position in map frame | meters |
-| 3 | qx | Quaternion X component | - |
-| 4 | qy | Quaternion Y component | - |
-| 5 | qz | Quaternion Z component | - |
-| 6 | qw | Quaternion W component | - |
-
-**Important Notes**:
-- The quaternion must be normalized: `sqrt(qx² + qy² + qz² + qw²) ≈ 1.0`
-- Coordinates are relative to the **map frame** (world frame at SLAM start)
-- Default value `[0, 0, 0, 0, 0, 0, 1]` represents origin with no rotation
-
-**Common Quaternion Values**:
-
-| Orientation | qx | qy | qz | qw |
-|-------------|----|----|----|----|
-| No rotation (identity) | 0 | 0 | 0 | 1 |
-| 90° around Z-axis | 0 | 0 | 0.707 | 0.707 |
-| 180° around Z-axis | 0 | 0 | 1 | 0 |
-| -90° around Z-axis | 0 | 0 | -0.707 | 0.707 |
-
-### 中文
-
-`init_pos` 是一个包含 **7 个 float 值**的数组，表示位置和朝向：
-
-```yaml
-custom_init_pos: [x, y, z, qx, qy, qz, qw]
-```
-
-| 索引 | 参数 | 描述 | 单位 |
-|------|------|------|------|
-| 0 | x | 地图坐标系中的 X 位置 | 米 |
-| 1 | y | 地图坐标系中的 Y 位置 | 米 |
-| 2 | z | 地图坐标系中的 Z 位置 | 米 |
-| 3 | qx | 四元数 X 分量 | - |
-| 4 | qy | 四元数 Y 分量 | - |
-| 5 | qz | 四元数 Z 分量 | - |
-| 6 | qw | 四元数 W 分量 | - |
-
-**重要说明**：
-- 四元数必须归一化：`sqrt(qx² + qy² + qz² + qw²) ≈ 1.0`
-- 坐标相对于**地图坐标系**（SLAM 启动时的世界坐标系）
-- 默认值 `[0, 0, 0, 0, 0, 0, 1]` 表示原点且无旋转
-
-**常用四元数值**：
-
-| 朝向 | qx | qy | qz | qw |
-|------|----|----|----|----|
-| 无旋转（单位四元数） | 0 | 0 | 0 | 1 |
-| 绕 Z 轴旋转 90° | 0 | 0 | 0.707 | 0.707 |
-| 绕 Z 轴旋转 180° | 0 | 0 | 1 | 0 |
-| 绕 Z 轴旋转 -90° | 0 | 0 | -0.707 | 0.707 |
-
----
-
-## Configuration Examples / 配置示例
-
-### Example 1: Auto Relocalization / 自动重定位示例
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/home/user/maps/office_map.bin"
-```
-
-### Example 2: Init Position at Origin / 在原点指定初始位置
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/home/user/maps/office_map.bin"
-  custom_init_pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
-```
-
-### Example 3: Init Position with Offset / 带偏移的初始位置
-
-Position at (5.2, -3.1, 0) with 90° rotation around Z-axis:
-
-位置在 (5.2, -3.1, 0)，绕 Z 轴旋转 90°：
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/home/user/maps/warehouse_map.bin"
-  custom_init_pos: [5.2, -3.1, 0.0, 0.0, 0.0, 0.707, 0.707]
-```
-
-### Example 4: Docking Station Pose / 充电桩位置
-
-Known docking station at (10.5, 2.3, 0) facing -X direction (180° rotation):
-
-已知充电桩位置在 (10.5, 2.3, 0)，朝向 -X 方向（旋转 180°）：
-
-```yaml
-register_keys:
-  custom_map_mode: 2
-  relocalization_map_abs_path: "/home/user/maps/factory_map.bin"
-  custom_init_pos: [10.5, 2.3, 0.0, 0.0, 0.0, 1.0, 0.0]
-```
-
----
-
-## Programmatic API / 编程接口
-
-### English
-
-You can also set `init_pos` programmatically using the `lidar_set_custom_parameter` API. This is useful for:
-- Dynamic relocalization during runtime
-- Integration with external localization systems
-- Setting initial pose from robot's last known position
-
-#### API Function
-
-```cpp
-#include "lidar_api.h"
-
-/**
- * @brief Set a custom parameter on the device
- * @param device      Device handle obtained from lidar_open_device()
- * @param param_name  Parameter name (e.g., "init_pos")
- * @param value_data  Pointer to the parameter data
- * @param value_length Size of the data in bytes
- * @return 0 on success, -1 on error, -2 if file transfer in progress
- */
-int lidar_set_custom_parameter(device_handle device, 
-                                const char* param_name, 
-                                const void* value_data, 
-                                size_t value_length);
-```
-
-#### Complete Example
-
-```cpp
-#include "lidar_api.h"
-#include <cstdio>
-#include <cmath>
-
-// Helper function to create quaternion from yaw angle (rotation around Z-axis)
-void yaw_to_quaternion(float yaw_rad, float* qx, float* qy, float* qz, float* qw) {
-    *qx = 0.0f;
-    *qy = 0.0f;
-    *qz = sinf(yaw_rad / 2.0f);
-    *qw = cosf(yaw_rad / 2.0f);
-}
-
-int set_init_position(device_handle device, 
-                      float x, float y, float z, 
-                      float qx, float qy, float qz, float qw) {
-    // init_pos format: [x, y, z, qx, qy, qz, qw] - 7 floats
-    float init_pos[7] = {x, y, z, qx, qy, qz, qw};
-    
-    int result = lidar_set_custom_parameter(
-        device,
-        "init_pos",           // Parameter name
-        init_pos,             // Data pointer
-        sizeof(init_pos)      // 7 * sizeof(float) = 28 bytes
-    );
-    
-    if (result == 0) {
-        printf("Successfully set init_pos: [%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f]\n",
-               x, y, z, qx, qy, qz, qw);
-    } else {
-        printf("Failed to set init_pos, error code: %d\n", result);
-    }
-    
-    return result;
-}
-
-// Usage examples:
-
-// Example 1: Set position at origin with no rotation
-void example_origin(device_handle device) {
-    set_init_position(device, 
-                      0.0f, 0.0f, 0.0f,      // x, y, z
-                      0.0f, 0.0f, 0.0f, 1.0f // qx, qy, qz, qw (identity)
-    );
-}
-
-// Example 2: Set position with 90° yaw rotation
-void example_with_rotation(device_handle device) {
-    float qx, qy, qz, qw;
-    float yaw_degrees = 90.0f;
-    float yaw_rad = yaw_degrees * M_PI / 180.0f;
-    
-    yaw_to_quaternion(yaw_rad, &qx, &qy, &qz, &qw);
-    
-    set_init_position(device,
-                      5.2f, -3.1f, 0.0f,    // x, y, z
-                      qx, qy, qz, qw        // quaternion from yaw
-    );
-}
-
-// Example 3: Set position from external localization system
-void example_from_external_localization(device_handle device,
-                                         double ext_x, double ext_y, double ext_yaw) {
-    float qx, qy, qz, qw;
-    yaw_to_quaternion((float)ext_yaw, &qx, &qy, &qz, &qw);
-    
-    set_init_position(device,
-                      (float)ext_x, (float)ext_y, 0.0f,
-                      qx, qy, qz, qw
-    );
-}
-```
-
-#### ROS Integration Example
-
-```cpp
-#include "lidar_api.h"
-#include <geometry_msgs/PoseWithCovarianceStamped.h>  // ROS1
-// or
-#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>  // ROS2
-
-// Callback for /initialpose topic (from RViz "2D Pose Estimate" tool)
-void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg,
-                         device_handle device) {
-    float init_pos[7] = {
-        (float)msg->pose.pose.position.x,
-        (float)msg->pose.pose.position.y,
-        (float)msg->pose.pose.position.z,
-        (float)msg->pose.pose.orientation.x,
-        (float)msg->pose.pose.orientation.y,
-        (float)msg->pose.pose.orientation.z,
-        (float)msg->pose.pose.orientation.w
-    };
-    
-    int result = lidar_set_custom_parameter(device, "init_pos", init_pos, sizeof(init_pos));
-    
-    if (result == 0) {
-        ROS_INFO("Set init_pos from RViz: [%.2f, %.2f, %.2f]", 
-                 init_pos[0], init_pos[1], init_pos[2]);
-    } else {
-        ROS_ERROR("Failed to set init_pos: %d", result);
-    }
-}
-```
-
-#### Important Notes
-
-1. **Call timing**: Set `init_pos` **before** starting the stream with `lidar_start_stream()`
-2. **Map mode**: Ensure `custom_map_mode` is set to `2` (relocalization mode)
-3. **Map file**: The relocalization map must be set via `lidar_set_relocalization_map()` or YAML config
-4. **Thread safety**: `lidar_set_custom_parameter` is thread-safe but blocks until response received
-
-### 中文
-
-您也可以使用 `lidar_set_custom_parameter` API 以编程方式设置 `init_pos`。适用于：
-- 运行时动态重定位
-- 与外部定位系统集成
-- 从机器人上次已知位置设置初始位姿
-
-#### API 函数
-
-```cpp
-#include "lidar_api.h"
-
-/**
- * @brief 在设备上设置自定义参数
- * @param device      从 lidar_open_device() 获取的设备句柄
- * @param param_name  参数名称（如 "init_pos"）
- * @param value_data  指向参数数据的指针
- * @param value_length 数据大小（字节）
- * @return 成功返回 0，错误返回 -1，文件传输中返回 -2
- */
-int lidar_set_custom_parameter(device_handle device, 
-                                const char* param_name, 
-                                const void* value_data, 
-                                size_t value_length);
-```
-
-#### 完整示例
-
-```cpp
-#include "lidar_api.h"
-#include <cstdio>
-#include <cmath>
-
-// 辅助函数：从偏航角（绕 Z 轴旋转）创建四元数
-void yaw_to_quaternion(float yaw_rad, float* qx, float* qy, float* qz, float* qw) {
-    *qx = 0.0f;
-    *qy = 0.0f;
-    *qz = sinf(yaw_rad / 2.0f);
-    *qw = cosf(yaw_rad / 2.0f);
-}
-
-int set_init_position(device_handle device, 
-                      float x, float y, float z, 
-                      float qx, float qy, float qz, float qw) {
-    // init_pos 格式: [x, y, z, qx, qy, qz, qw] - 7 个 float
-    float init_pos[7] = {x, y, z, qx, qy, qz, qw};
-    
-    int result = lidar_set_custom_parameter(
-        device,
-        "init_pos",           // 参数名
-        init_pos,             // 数据指针
-        sizeof(init_pos)      // 7 * sizeof(float) = 28 字节
-    );
-    
-    if (result == 0) {
-        printf("成功设置 init_pos: [%.3f, %.3f, %.3f, %.3f, %.3f, %.3f, %.3f]\n",
-               x, y, z, qx, qy, qz, qw);
-    } else {
-        printf("设置 init_pos 失败，错误码: %d\n", result);
-    }
-    
-    return result;
-}
-
-// 使用示例：
-
-// 示例 1：在原点设置位置，无旋转
-void example_origin(device_handle device) {
-    set_init_position(device, 
-                      0.0f, 0.0f, 0.0f,      // x, y, z
-                      0.0f, 0.0f, 0.0f, 1.0f // qx, qy, qz, qw（单位四元数）
-    );
-}
-
-// 示例 2：设置带 90° 偏航旋转的位置
-void example_with_rotation(device_handle device) {
-    float qx, qy, qz, qw;
-    float yaw_degrees = 90.0f;
-    float yaw_rad = yaw_degrees * M_PI / 180.0f;
-    
-    yaw_to_quaternion(yaw_rad, &qx, &qy, &qz, &qw);
-    
-    set_init_position(device,
-                      5.2f, -3.1f, 0.0f,    // x, y, z
-                      qx, qy, qz, qw        // 从偏航角计算的四元数
-    );
-}
-
-// 示例 3：从外部定位系统设置位置
-void example_from_external_localization(device_handle device,
-                                         double ext_x, double ext_y, double ext_yaw) {
-    float qx, qy, qz, qw;
-    yaw_to_quaternion((float)ext_yaw, &qx, &qy, &qz, &qw);
-    
-    set_init_position(device,
-                      (float)ext_x, (float)ext_y, 0.0f,
-                      qx, qy, qz, qw
-    );
-}
-```
-
-#### ROS 集成示例
-
-```cpp
-#include "lidar_api.h"
-#include <geometry_msgs/PoseWithCovarianceStamped.h>  // ROS1
-// 或
-#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>  // ROS2
-
-// /initialpose 话题的回调函数（来自 RViz 的 "2D Pose Estimate" 工具）
-void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg,
-                         device_handle device) {
-    float init_pos[7] = {
-        (float)msg->pose.pose.position.x,
-        (float)msg->pose.pose.position.y,
-        (float)msg->pose.pose.position.z,
-        (float)msg->pose.pose.orientation.x,
-        (float)msg->pose.pose.orientation.y,
-        (float)msg->pose.pose.orientation.z,
-        (float)msg->pose.pose.orientation.w
-    };
-    
-    int result = lidar_set_custom_parameter(device, "init_pos", init_pos, sizeof(init_pos));
-    
-    if (result == 0) {
-        ROS_INFO("从 RViz 设置 init_pos: [%.2f, %.2f, %.2f]", 
-                 init_pos[0], init_pos[1], init_pos[2]);
-    } else {
-        ROS_ERROR("设置 init_pos 失败: %d", result);
-    }
-}
-```
-
-#### 重要说明
-
-1. **调用时机**：在调用 `lidar_start_stream()` 启动数据流**之前**设置 `init_pos`
-2. **地图模式**：确保 `custom_map_mode` 设置为 `2`（重定位模式）
-3. **地图文件**：必须通过 `lidar_set_relocalization_map()` 或 YAML 配置设置重定位地图
-4. **线程安全**：`lidar_set_custom_parameter` 是线程安全的，但会阻塞直到收到响应
-
----
-
-## Troubleshooting / 故障排除
-
-### Relocalization Fails / 重定位失败
-
-**English**:
-- Ensure starting position is within recommended range (1m/10°)
-- Check that the map file path is correct and file exists
-- Verify the environment hasn't changed significantly since mapping
-- Try gently moving the device to provide more observations
-
-**中文**：
-- 确保起始位置在推荐范围内（1m/10°）
-- 检查地图文件路径是否正确且文件存在
-- 验证环境自建图以来没有显著变化
-- 尝试轻轻移动设备以提供更多观测
-
-### init_pos Not Taking Effect / init_pos 未生效
-
-**English**:
-- Verify `custom_map_mode` is set to `2`
-- Check that `custom_init_pos` has exactly 7 values
-- Ensure quaternion is normalized (sum of squares ≈ 1)
-- Restart the driver after modifying configuration
-
-**中文**：
-- 验证 `custom_map_mode` 设置为 `2`
-- 检查 `custom_init_pos` 是否恰好有 7 个值
-- 确保四元数已归一化（平方和 ≈ 1）
-- 修改配置后重启驱动程序
-
-### TF Not Published / TF 未发布
-
-**English**:
-- Relocalization may still be in progress
-- Check ROS logs for relocalization status messages
-- System operates in fallback mode until relocalization succeeds
-
-**中文**：
-- 重定位可能仍在进行中
-- 检查 ROS 日志中的重定位状态消息
-- 系统在重定位成功前以后备模式运行
-
-### Map File Not Found / 地图文件未找到
-
-**English**:
-- Use absolute path (starting with `/`)
-- Check file permissions
-- Verify file extension is `.bin`
-
-**中文**：
-- 使用绝对路径（以 `/` 开头）
-- 检查文件权限
-- 验证文件扩展名为 `.bin`
-
----
-
-## Related Topics / 相关话题
-
-| Topic | Description |
-|-------|-------------|
-| `/odin1/odometry` | Odometry in odom frame |
-| `/odin1/odometry_highfreq` | High-frequency odometry |
-| `/odin1/cloud_slam` | SLAM point cloud in odom frame |
-| `/tf` | Transform tree (includes map→odom after successful relocalization) |
-
----
-
-## See Also / 参见
-
-- [README.md](README.md) - Main documentation
-- [config/control_command.yaml](config/control_command.yaml) - Configuration file
-

readme.md

@@ -1,33 +0,0 @@
-# RC_WheelLeg / Odin1 ROS 工作区说明
-
-本目录是一个 ROS 工作区归档，当前根目录为 `D:\桌面\catkin_ws`，主要内容位于子目录 `catkin_ws`。
-
-## 目录内容
-
-```text
-D:\桌面\catkin_ws
-└── catkin_ws
-    ├── README.md
-    ├── odin1的使用手册.md
-    ├── project.log
-    ├── runros.sh
-    └── src
-        └── odin_ros_driver
-            ├── .gitignore
-            └── RELOCALIZATION_GUIDE.md
-```
-
-## 文件说明
-
-- `catkin_ws/README.md`：原工作区说明文档，描述 Odin1 与 ROS 工作区的基本使用方式。
-- `catkin_ws/odin1的使用手册.md`：Odin1 使用手册。
-- `catkin_ws/project.log`：项目日志文件。
-- `catkin_ws/runros.sh`：ROS 环境构建/运行相关脚本。
-- `catkin_ws/src/odin_ros_driver/`：Odin ROS 驱动目录。该目录内部当前保留了独立 Git 仓库元数据，外层仓库仅记录其中当前可见的普通文件。
-- `catkin_ws/src/odin_ros_driver/RELOCALIZATION_GUIDE.md`：重定位相关说明文档。
-
-## 注意事项
-
-- `catkin_ws/src/odin_ros_driver` 本身是一个独立 Git 仓库；在外层仓库提交时，应避免把其内部 `.git` 目录作为外层仓库内容提交。
-- 当前归档按磁盘现有内容整理，未包含 ROS 构建产物目录，例如 `build/`、`install/`、`log/`。
-- 如需完整恢复 `odin_ros_driver` 的驱动源码，应以其内部 Git 仓库或官方远程仓库状态为准。