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10 Commits

Author SHA1 Message Date
dev01 1d838aa684 docs: add log_level parameter usage to 使用指南 2026-06-07 14:45:46 +08:00
dev01 0d40e0fabf docs: 文档整理，与前端对接文档.md 替换为 API.md + front-end_ROS.md 
- 新增 docs/API.md（HTTP API 数据格式）
- 新增 docs/front-end_ROS.md（前端 ROS 话题格式）
- 新增 docs/底盘通信协议指南.md（底盘串口协议）
- 删除 docs/与前端对接文档.md
- 云台通信协议指南补充 0xA9 前馈帧说明
- 修正 README API 路径及 ROS 话题引用
- .gitignore 添加 workspace/data/
 2026-06-07 13:54:07 +08:00
dev01 3f956d5f29 docs: update usage guide for chassis_node, laser topic, and field names 
- Add chassis_node to pipeline table and startup instructions
- Fix laser topic from /gimbal/mode to /laser/command
- Add chassis mode switch and PID tuning sections
- Fix gimbal PID field names to match API.md (visual_*/angle_*)
- Fix gimbal baud rate to 921600 in troubleshooting
 2026-06-07 13:37:37 +08:00
dev01 fd3d6b7ab5 feat: add PnP laser solving and update 0xA5 frame to 4-float protocol 
- Integrate PnP rectangle pose estimation + laser world coordinate computation from scripts/calibrate/laser_pnp.py
- Publish normalized measurement (laser/RECT) and reference (rect center) via Float32MultiArray
- Update gimbal 0xA5 frame to 18-byte format: measure_x, ref_x, measure_y, ref_y
- Add camera calibration, laser line params, and RECT_L/W constants
- Add corner ordering (TL/BL/BR/TR), SOLVEPNP_IPPE, and pose/laser visualization overlay
- Remove standalone vision_example.py (superseded by ROS2 nodes)
- Add scripts/calibrate/ with calibration and PnP tools
 2026-06-03 22:38:51 +08:00
dev01 d81558d1be docs: update gimbal protocol and frontend integration specs 2026-06-02 19:54:56 +08:00
dev01 5159929c01 feat: add rosbridge_websocket and web_video_server to launch file 2026-06-01 22:07:13 +08:00
dev01 c4bdcd3dda refactor: remove HTTP image preview from web_node, keep API only 2026-06-01 21:11:55 +08:00
dev01 bb8724035f feat: separate laser API endpoint (POST /api/laser) 2026-06-01 20:50:54 +08:00
dev01 a281fd115e docs: add usage guide and README with architecture overview 2026-05-31 22:25:00 +08:00
dev01 d506e01188 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