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- rosnode kill /fusion_localization_node
- rosnode kill /rtk_imu_pub_node
- rosnode kill /read_config_node
- rosnode kill /exception_node
- rosnode kill /dispatch_job_analyze_node
- rosnode kill /local_path_plan_node
- rosnode kill /traj_track_node
- rosnode kill /save_traj_track_file_node
- rosnode cleanup
- 0. 启动故障码节点
- roslaunch exception_pkg exception.launch
- 1. 融合定位launch(开机已经自启,可以不启动)
- roslaunch fusion_localization_pkg fusion_localization.launch
- roslaunch ~/newdisk/zjw/workspace/SlagPotCarrier_ws/launch/main.launch
- 2. 路径规划模块(必须启动)
- roslaunch local_path_plan_pkg local_path_plan.launch
- 3. 运动控制模块(必须启动)
- cd newdisk/zjw/workspace/SlagPotCarrier_ws
- roslaunch trajectory_tack_pkg traj_track.launch
- 4. 常见关注的topic(选择性启动)
- (1) 防撞测距topic
- rostopic echo /obstacle_info
- 【32/毫米波/左单点/右单点/左超声/中超声/右超声/左后超声/右后超声】
- (2)路径规划关键点topic
- rostopic echo /path_keypoints_topic
- 【出现非0数据即代表成功,一般0代表取消】
- (3)铰链中心点坐标topic
- rostopic echo fusion_CenterPoint_topic
- rostopic echo rtk_pose_topic
- rostopic echo /ndt_pose_world
- 【x、y、z航向(弧度制)】
- (4)实时渣包罐坐标topic
- rostopic echo fusion_PotCenterPoint_topic
- 【x、y、z航向(弧度制),实时更新】
- (5)放包采集渣包罐坐标topic
- rostopic echo /fusion_PotPose_topic
- 【x、y、z航向(弧度制),锁钩状态由2->0,开始发布,持续一段时间就为0】
- (6)下发的速度topic
- rostopic echo /cmd/cmdvel
- 【linear.x=速度(单位:m/s,前进为正、后退为负),angular.z=角度(单位:弧度,左转为正、右转为负)】
- (7)反馈速度topic
- rostopic echo /hw/wheel_line_speed
- 【单位:m/s,前进为正、后退为负】
- (8)反馈角度topic
- rostopic echo /hw/encoder_debug
- rostopic echo /hw/encoder
- 【单位:弧度,左转为正、右转为负】
- (9)对中超声波topic
- rostopic echo /sys/fb_bag_center_offset
- 【单位:mm,左减右】
- (10)任务完成状态topic
- rostopic echo job_run_state
- 【sequence,site,state】,state:2=完成
- (11)防撞限速topic
- rostopic echo /sys/cmd_limit_speed
- (12)锁钩状态topic
- rostopic echo /sys/fb_lockpin_status
- 【0:未知;1:全部打开;2:全部关闭】
- (13) 控制模式
- rostopic echo /sys/fb_op_mode
- (14)支腿高度topic
- rostopic echo /sys/fb_left_outtrigger_height
- rostopic echo /sys/fb_right_outtrigger_height
- 【单位:mm,缓冷场一般在65mm左右】
- (15)对包状态
- rostopic echo /sys/fb_duibao_status
- (16)抬包状态
- rostopic echo /sys/fb_taibao_status
- (17)对包距离
- rostopic echo /aim_pot_offset_topic
- 【后轮、渣包、铰链、运动类型、剩余距离】
- rostopic pub -r 10 /fusion_CenterPoint_topic geometry_msgs/Point '{"x": 50.0, "y": 50.0, "z": -1.57}'
- rostopic echo /local_path_plan_topic
- rostopic echo /cmd/task_pause
- rostopic echo /cmd/task_continue
- rostopic echo /cmd/task_stop
- rostopic echo /fb_run_type
- 往path_keypoints_topic写指令强行让车直线运动
- 1.0, 13000.0, 1.0, 0.0, 2.5, 180.0, 228.5, 72.0, 228.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
- 0 = sequence 1 = site 2 = run_type 3 = radius 4 = spd_max 5 = start_point_x 6 = start_point_y 7 = end_point_x 8 = end_point_y 9 = intersect_point_x 10 = intersect_point_y 11 = spd_end 12=存放渣包x 13=存放渣包x渣包Y 14=存放渣包x渣包航向角 15备用 16备用 17备用 18备用 19 = ctrl_points_num 20 = ctrl_x_1 21 = ctrl_y_1 22 = ctrl_x_2 23 = ctrl_y_2 24 = ctrl_x_3 25 = ctrl_y_3 26 = ctrl_x_4 27 = ctrl_y_4 28 = ctrl_x_5 29 = ctrl_y_5 30 = ctrl_x_6 31 = ctrl_y_6
- 直线前进最大转向角度 ±6°
- 车道偏离车道线±3m,车尾宽5.65m
- 直线后退最大转向角度 ±6°
- stdbuf -oL roslaunch exception_pkg exception.launch 2>&1 | tee -a ~/newdisk/zjw/workspace/SlagPotCarrier_ws/log/script/20240615_1325_exception.txt
- stdbuf -oL roslaunch local_path_plan_pkg local_path_plan.launch 2>&1 | tee -a ~/newdisk/zjw/workspace/SlagPotCarrier_ws/log/script/20240615_1325_path.txt
- stdbuf -oL roslaunch trajectory_tack_pkg traj_track.launch 2>&1 | tee -a ~/newdisk/zjw/workspace/SlagPotCarrier_ws/log/script/20240615_1325_traj_track.txt
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