dev01
193 lines
4.4 KiB
Markdown
193 lines
4.4 KiB
Markdown
# 使用指南
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## 开发环境
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- ROS2 Humble + colcon
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- Python 3.8+
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- OpenCV、NumPy
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- Hikrobot MvCamera SDK（`/opt/MVS/`）
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- pyserial
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## 1. 构建
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```bash
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cd workspace
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colcon build --symlink-install
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source install/setup.bash
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```
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`--symlink-install` 使 Python 修改无需重新构建即可生效。
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## 2. 启动全流程
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```bash
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ros2 launch bringup_pkg vision_pipeline.launch.py
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```
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启动后包含四个节点：
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| 节点 | 包 | 功能 |
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|------|-----|------|
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| camera_node | driver_pkg | 工业相机图像采集 |
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| vision_node | algorithm_pkg | 图像处理 + 目标检测 |
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| web_node | application_pkg | HTTP 服务、预览 + API |
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| gimbal_node | gimbal_control_pkg | 云台串口通信 |
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## 3. 分别启动
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```bash
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# 相机驱动
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ros2 run driver_pkg camera_node
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# 视觉处理
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ros2 run algorithm_pkg vision_node
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# Web 服务
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ros2 run application_pkg web_node
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# 云台通信（默认串口 /dev/ttyTHS1）
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ros2 run gimbal_control_pkg gimbal_node
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```
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gimbal_node 支持串口参数覆盖：
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```bash
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ros2 run gimbal_control_pkg gimbal_node --ros-args -p serial_port:=/dev/ttyUSB0
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```
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## 4. 接入前端（可选）
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前端依赖已集成在 launch 文件中，一键启动即可。首次使用需安装依赖：
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```bash
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sudo apt install ros-${ROS_DISTRO}-rosbridge-server
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sudo apt install ros-${ROS_DISTRO}-web-video-server
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```
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### Nginx 部署
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```bash
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sudo cp config/nginx-aimbot.conf /etc/nginx/sites-available/aimbot
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sudo ln -s /etc/nginx/sites-available/aimbot /etc/nginx/sites-enabled/
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sudo nginx -t && sudo systemctl reload nginx
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```
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Nginx 负责三件事：
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- 托管前端静态文件（`/var/www/aimbot/`）
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- 反代 MJPEG 视频流（`/stream` → `web_video_server :8081`）
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- 反代模式切换 API（`/api/` → `web_node :8080`）
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### 启动顺序
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1. 启动 launch 文件（已包含所有 ROS2 节点 + rosbridge + web_video_server）
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2. 启动/重载 Nginx
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## 5. 模式切换
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通过 HTTP API 切换云台工作模式：
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```bash
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# 自动追踪模式
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curl -X POST http://localhost:8080/api/mode/switch \
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-H "Content-Type: application/json" \
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-d '{"mode": "auto"}'
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# 手动控制模式
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curl -X POST http://localhost:8080/api/mode/switch \
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-H "Content-Type: application/json" \
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-d '{"mode": "manual"}'
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# 调试模式
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curl -X POST http://localhost:8080/api/mode/switch \
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-H "Content-Type: application/json" \
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-d '{"mode": "debug"}'
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```
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也可直接通过 ROS2 话题发送：
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```bash
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ros2 topic pub /gimbal/mode std_msgs/String "data: 'auto'"
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```
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## 6. 激光控制
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```bash
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# 开激光
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curl -X POST http://localhost:8080/api/laser \
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-H "Content-Type: application/json" \
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-d '{"action": "on"}'
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# 关激光
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curl -X POST http://localhost:8080/api/laser \
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-H "Content-Type: application/json" \
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-d '{"action": "off"}'
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```
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也可直接通过 ROS2 话题发送：
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```bash
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ros2 topic pub /gimbal/mode std_msgs/String "data: 'laser_on'"
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ros2 topic pub /gimbal/mode std_msgs/String "data: 'laser_off'"
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```
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## 7. 手动控制云台
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```bash
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# angular.y = pitch 角速度, angular.z = yaw 角速度
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ros2 topic pub /cmd_gimbal geometry_msgs/Twist \
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"{angular: {y: 0.0, z: 0.0}}"
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```
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## 8. PID 调参（调试模式）
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先切换到 debug 模式，然后通过 `/pid_config` 话题发送参数：
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```bash
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ros2 topic pub /pid_config std_msgs/String \
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'{"vision_yaw": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
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"vision_pitch": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
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"motor_yaw": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
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"motor_pitch": {"kp": 1.0, "ki": 0.0, "kd": 0.0}}'
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```
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参数立即生效，调试完毕后切回 auto 或 manual 模式。
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## 9. 查看话题
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```bash
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# 列出所有活跃话题
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ros2 topic list
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# 查看话题频率
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ros2 topic hz /camera/image_raw
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ros2 topic hz /vision/target
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# 查看话题内容
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ros2 topic echo /vision/target
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```
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## 10. 测试
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```bash
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cd workspace
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# 测试全部包
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colcon test
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# 测试单个包
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colcon test --packages-select gimbal_control_pkg
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# 查看测试结果
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colcon test-result --all
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```
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## 11. 故障排查
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| 现象 | 检查项 |
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|------|--------|
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| 相机打不开 | SDK 是否安装、相机是否连接、`/opt/MVS/` 路径是否正确 |
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| 视觉画面无结果 | `/camera/image_raw` 是否有数据 |
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| 云台无反应 | 串口 `/dev/ttyTHS1` 是否存在、波特率 115200 是否匹配 |
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| 模式切换报错 | web_node 是否在 :8080 端口运行 |
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| MJPEG 不出画面 | web_video_server 是否运行、proxy_buffering 是否设为 off |
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