dev01
255 lines
6.0 KiB
Markdown
255 lines
6.0 KiB
Markdown
# 使用指南
|
||
|
||
## 开发环境
|
||
|
||
- ROS2 Humble + colcon
|
||
- Python 3.8+
|
||
- OpenCV、NumPy
|
||
- Hikrobot MvCamera SDK（`/opt/MVS/`）
|
||
- pyserial
|
||
|
||
## 1. 构建
|
||
|
||
```bash
|
||
cd workspace
|
||
colcon build --symlink-install
|
||
source install/setup.bash
|
||
```
|
||
|
||
`--symlink-install` 使 Python 修改无需重新构建即可生效。
|
||
|
||
## 2. 启动全流程
|
||
|
||
```bash
|
||
ros2 launch bringup_pkg vision_pipeline.launch.py
|
||
```
|
||
|
||
启动后包含五个节点：
|
||
|
||
| 节点 | 包 | 功能 |
|
||
|------|-----|------|
|
||
| camera_node | driver_pkg | 工业相机图像采集 |
|
||
| vision_node | algorithm_pkg | 图像处理 + 目标检测 |
|
||
| web_node | application_pkg | HTTP 服务、预览 + API |
|
||
| gimbal_node | gimbal_control_pkg | 云台串口通信 |
|
||
| chassis_node | chassis_control_pkg | 底盘串口通信 |
|
||
|
||
### 日志等级
|
||
|
||
支持 `log_level` 参数，取值：`debug` / `info` / `warn` / `error`。
|
||
|
||
```bash
|
||
# 默认 info，可显式指定
|
||
ros2 launch bringup_pkg vision_pipeline.launch.py log_level:=debug
|
||
```
|
||
|
||
## 3. 分别启动
|
||
|
||
```bash
|
||
# 相机驱动
|
||
ros2 run driver_pkg camera_node
|
||
|
||
# 视觉处理
|
||
ros2 run algorithm_pkg vision_node
|
||
|
||
# Web 服务
|
||
ros2 run application_pkg web_node
|
||
|
||
# 云台通信（默认串口 /dev/ttyTHS1）
|
||
ros2 run gimbal_control_pkg gimbal_node
|
||
|
||
# 底盘通信（默认串口 /dev/ttyCH341USB0）
|
||
ros2 run chassis_control_pkg chassis_node
|
||
```
|
||
|
||
gimbal_node 支持串口参数覆盖：
|
||
|
||
```bash
|
||
ros2 run gimbal_control_pkg gimbal_node --ros-args -p serial_port:=/dev/ttyUSB0
|
||
```
|
||
|
||
chassis_node 同样支持串口参数覆盖：
|
||
|
||
```bash
|
||
ros2 run chassis_control_pkg chassis_node --ros-args -p serial_port:=/dev/ttyUSB1
|
||
```
|
||
|
||
单独运行时开启 debug 日志：
|
||
|
||
```bash
|
||
ros2 run gimbal_control_pkg gimbal_node --ros-args --log-level debug
|
||
```
|
||
|
||
## 4. 接入前端（可选）
|
||
|
||
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：
|
||
|
||
```bash
|
||
sudo apt install ros-${ROS_DISTRO}-rosbridge-server
|
||
sudo apt install ros-${ROS_DISTRO}-web-video-server
|
||
```
|
||
|
||
### Nginx 部署
|
||
|
||
```bash
|
||
sudo cp config/nginx-aimbot.conf /etc/nginx/sites-available/aimbot
|
||
sudo ln -s /etc/nginx/sites-available/aimbot /etc/nginx/sites-enabled/
|
||
sudo nginx -t && sudo systemctl reload nginx
|
||
```
|
||
|
||
Nginx 负责三件事：
|
||
- 托管前端静态文件（`/var/www/aimbot/`）
|
||
- 反代 MJPEG 视频流（`/stream` → `web_video_server :8081`）
|
||
- 反代模式切换 API（`/api/` → `web_node :8080`）
|
||
|
||
### 启动顺序
|
||
|
||
1. 启动 launch 文件（已包含所有 ROS2 节点 + rosbridge + web_video_server）
|
||
2. 启动/重载 Nginx
|
||
|
||
## 5. 模式切换
|
||
|
||
通过 HTTP API 切换云台工作模式：
|
||
|
||
```bash
|
||
# 自动追踪模式
|
||
curl -X POST http://localhost:8080/api/gimbal/mode/switch \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"mode": "auto"}'
|
||
|
||
# 手动控制模式
|
||
curl -X POST http://localhost:8080/api/gimbal/mode/switch \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"mode": "manual"}'
|
||
|
||
# 调试模式
|
||
curl -X POST http://localhost:8080/api/gimbal/mode/switch \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"mode": "debug"}'
|
||
```
|
||
|
||
也可直接通过 ROS2 话题发送：
|
||
|
||
```bash
|
||
ros2 topic pub /gimbal/mode std_msgs/String "data: 'auto'"
|
||
```
|
||
|
||
### 底盘模式切换
|
||
|
||
```bash
|
||
# 自动模式
|
||
curl -X POST http://localhost:8080/api/chassis/mode/switch \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"mode": "auto"}'
|
||
|
||
# 手动模式
|
||
curl -X POST http://localhost:8080/api/chassis/mode/switch \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"mode": "manual"}'
|
||
|
||
# 调试模式
|
||
curl -X POST http://localhost:8080/api/chassis/mode/switch \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"mode": "debug"}'
|
||
```
|
||
|
||
也可直接通过 ROS2 话题发送：
|
||
|
||
```bash
|
||
ros2 topic pub /chassis/mode std_msgs/String "data: 'auto'"
|
||
```
|
||
|
||
## 6. 激光控制
|
||
|
||
```bash
|
||
# 开激光
|
||
curl -X POST http://localhost:8080/api/laser \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"action": "on"}'
|
||
|
||
# 关激光
|
||
curl -X POST http://localhost:8080/api/laser \
|
||
-H "Content-Type: application/json" \
|
||
-d '{"action": "off"}'
|
||
```
|
||
|
||
也可直接通过 ROS2 话题发送：
|
||
|
||
```bash
|
||
ros2 topic pub /laser/command std_msgs/String "data: 'on'"
|
||
ros2 topic pub /laser/command std_msgs/String "data: 'off'"
|
||
```
|
||
|
||
## 7. 手动控制云台
|
||
|
||
```bash
|
||
# angular.y = pitch 角速度, angular.z = yaw 角速度
|
||
ros2 topic pub /cmd_gimbal geometry_msgs/Twist \
|
||
"{angular: {y: 0.0, z: 0.0}}"
|
||
```
|
||
|
||
## 8. PID 调参（调试模式）
|
||
|
||
先切换到 debug 模式，然后通过 `/web/gimbal_pid_config` 话题发送参数：
|
||
|
||
```bash
|
||
ros2 topic pub /web/gimbal_pid_config std_msgs/String \
|
||
'{"visual_yaw": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
|
||
"visual_pitch": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
|
||
"angle_yaw": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
|
||
"angle_pitch": {"kp": 1.0, "ki": 0.0, "kd": 0.0}}'
|
||
```
|
||
|
||
参数立即生效，调试完毕后切回 auto 或 manual 模式。
|
||
|
||
### 底盘 PID 调参
|
||
|
||
先切换底盘到 debug 模式，然后通过 `/web/chassis_pid_config` 话题发送参数：
|
||
|
||
```bash
|
||
ros2 topic pub /web/chassis_pid_config std_msgs/String \
|
||
'{"speed": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
|
||
"angle": {"kp": 1.0, "ki": 0.0, "kd": 0.0},
|
||
"position": {"kp": 1.0, "ki": 0.0, "kd": 0.0}}'
|
||
```
|
||
|
||
## 9. 查看话题
|
||
|
||
```bash
|
||
# 列出所有活跃话题
|
||
ros2 topic list
|
||
|
||
# 查看话题频率
|
||
ros2 topic hz /camera/image_raw
|
||
ros2 topic hz /vision/target
|
||
|
||
# 查看话题内容
|
||
ros2 topic echo /vision/target
|
||
```
|
||
|
||
## 10. 测试
|
||
|
||
```bash
|
||
cd workspace
|
||
|
||
# 测试全部包
|
||
colcon test
|
||
|
||
# 测试单个包
|
||
colcon test --packages-select gimbal_control_pkg
|
||
|
||
# 查看测试结果
|
||
colcon test-result --all
|
||
```
|
||
|
||
## 11. 故障排查
|
||
|
||
| 现象 | 检查项 |
|
||
|------|--------|
|
||
| 相机打不开 | SDK 是否安装、相机是否连接、`/opt/MVS/` 路径是否正确 |
|
||
| 视觉画面无结果 | `/camera/image_raw` 是否有数据 |
|
||
| 云台无反应 | 串口 `/dev/ttyTHS1` 是否存在、波特率 921600 是否匹配 |
|
||
| 底盘无反应 | 串口 `/dev/ttyCH341USB0` 是否存在、波特率 115200 是否匹配 |
|
||
| 模式切换报错 | web_node 是否在 :8080 端口运行 |
|
||
| MJPEG 不出画面 | web_video_server 是否运行、proxy_buffering 是否设为 off |
|