feat: initial ROS2 vision pipeline with gimbal control and nginx config

- camera_node (driver_pkg): Hikrobot MvCamera SDK image capture - vision_node (algorithm_pkg): Otsu threshold + contour detection + target tracking - web_node (application_pkg): HTTP server with MJPEG preview and mode switch API - gimbal_node (gimbal_control_pkg): UART serial communication per gimbal protocol - bringup_pkg: launch file for full pipeline - config: nginx reverse-proxy for MJPEG streaming and API routing
2026-05-31 22:10:12 +08:00
commit d506e01188
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+# Nginx configuration for Aimbot vision pipeline
+# Deploy to: /etc/nginx/sites-available/aimbot
+# Enable:    ln -s /etc/nginx/sites-available/aimbot /etc/nginx/sites-enabled/
+
+server {
+    listen 80;
+    server_name _;
+
+    # 前端静态文件 (Vue3 构建产物)
+    root /var/www/aimbot;
+    index index.html;
+
+    # SPA 路由回退 — 所有非文件请求回 index.html
+    location / {
+        try_files $uri $uri/ /index.html;
+    }
+
+    # MJPEG 视频流反代 (web_video_server)
+    location /stream {
+        proxy_pass http://127.0.0.1:8081/stream;
+        proxy_http_version 1.1;
+        proxy_buffering off;
+
+        # MJPEG multipart 边界必须保持完整
+        proxy_set_header Host $host;
+        proxy_set_header X-Real-IP $remote_addr;
+
+        # 长连接支持
+        proxy_set_header Connection "";
+        chunked_transfer_encoding off;
+
+        # 超时配置 — 视频流需要长连接
+        proxy_read_timeout 86400s;
+        proxy_send_timeout 86400s;
+    }
+
+    # 模式切换 API (HTTP → ROS2 web_node)
+    location /api/ {
+        proxy_pass http://127.0.0.1:8080/api/;
+        proxy_set_header Host $host;
+        proxy_set_header Content-Type application/json;
+    }
+}