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merge/deformable-infantry #102

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1 change: 1 addition & 0 deletions rmcs_ws/src/hikcamera
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Submodule hikcamera added at f0077f
11 changes: 6 additions & 5 deletions rmcs_ws/src/rmcs_bringup/config/auto_aim_test.yaml
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Original file line numberDiff line numberDiff line change
Expand Up@@ -2,14 +2,14 @@ rmcs_executor:
ros__parameters:
update_rate: 1000.0
components:
# - rmcs::AutoAimPlayerComponent -> auto_aim_player
- rmcs::AutoAimVideoPlayerComponent -> auto_aim_video_player
- rmcs::AutoAimPlayerComponent -> auto_aim_player
# - rmcs::AutoAimVideoPlayerComponent -> auto_aim_video_player
# - rmcs::AutoAimRecorderComponent -> auto_aim_recorder
- rmcs::AutoAimComponent -> auto_aim_component

auto_aim_player:
ros__parameters:
input_path: "/workspaces/data/autoaim/robot/blue_fast_track/"
input_path: "/workspaces/RMCS/develop_ws/record/26uc-train/2026-08-03_20-51-11"
Comment on lines 10 to +12

@coderabbitaicoderabbitaiBotAug 11, 2026

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🩺 Stability & Availability | 🟡 Minor | ⚡ Quick win

不要提交依赖开发机目录的默认录制路径。

auto_aim_player.input_path 固定为 /workspaces/RMCS/develop_ws/record/26uc-train/2026-08-03_20-51-11。该目录不在仓库中，其他开发机、CI 或机器人容器可能不存在。AutoAimPlayerComponent 因此可能无法加载录制。请使用可部署的配置路径，或通过 launch 参数注入本地路径；本地专用路径不应成为共享默认配置。

🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
In `@rmcs_ws/src/rmcs_bringup/config/auto_aim_test.yaml` around lines 10 - 12,
Remove the machine-specific absolute value from auto_aim_player.input_path in
the shared configuration. Replace it with a deployable
repository-relative/default path, or leave it configurable through launch
arguments so local recording paths are injected at runtime rather than
committed.

loop_play: true

auto_aim_video_player:
Expand All@@ -29,10 +29,10 @@ auto_aim_recorder:

auto_aim_component:
ros__parameters:
dangerous_fallback: "red"
dangerous_fallback: "blue"
manual_shoot: false
enable_rune: true
track_ids: [HERO, ENGINEER, INFANTRY_3, INFANTRY_4, SENTRY, OUTPOST]
track_ids: [HERO, ENGINEER, INFANTRY_3, INFANTRY_4, SENTRY, OUTPOST, RUNE]
camera_translation: [0., 0., 0.]

fire_control:
Expand All@@ -50,3 +50,4 @@ auto_aim_component:
pitch_tolerance: 0.04
rune_idle_duration: 0.4
rune_shoot_duration: 0.2
# is_lazy_gimbal: false
109 changes: 69 additions & 40 deletions rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml
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Original file line numberDiff line numberDiff line change
Expand Up@@ -30,10 +30,13 @@ rmcs_executor:
- rmcs_core::controller::chassis::DeformableJointController -> rb_joint_controller
- rmcs_core::controller::chassis::DeformableJointController -> rf_joint_controller

- rmcs::AutoAimRecorderComponent -> auto_aim_recorder
- rmcs::AutoAimComponent -> auto_aim_component
- rmcs::AutoAimCapturerComponent -> auto_aim_capturer
- rmcs_core::referee::app::ui::AutoAimUi -> auto_aim_ui

# - rmcs_core::debug::GimbalValueCollector -> gimbal_value_collector

# - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
# - rmcs_core::debug::ValueCollector -> value_collector

Expand All@@ -50,17 +53,32 @@ value_collector:
write_interval: 5
flush_interval: 1000

gimbal_value_collector:
ros__parameters:
csv_path: "/tmp/gimbal_ff_<timestamp>.csv"
write_interval: 1
flush_interval: 1000

value_broadcaster:
ros__parameters:
forward_list:
- /gimbal/pitch/angle
- /gimbal/pitch/velocity
- /gimbal/yaw/angle
- /gimbal/yaw/velocity

auto_aim_recorder:
ros__parameters:
output_path: "/autoaim/recoder"
queue_depth: 16
flush_every_n_frames: 64
max_duration_seconds: 0
max_videos_size_gb: 200.0
auto_record: false
Comment on lines +68 to +75

@coderabbitaicoderabbitaiBotAug 11, 2026

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🩺 Stability & Availability | 🟠 Major | ⚡ Quick win

两个配置的 auto_aim_recorder.output_path 都指向文件系统根目录，且目录名拼写错误。 同一个路径常量 /autoaim/recoder 被复制到两个配置文件。它是根目录下的绝对路径，非 root 进程无法在 / 下创建目录，录制会失败或静默丢弃数据；recoder 应为 recorder。请在两处统一改为用户可写路径。

  • rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml#L68-L75：把 output_path 改为可写路径，例如 /tmp/autoaim/recorder。
  • rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml#L60-L67：把 output_path 改为与上面一致的可写路径。
📍 Affects 2 files
  • rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml#L68-L75 (this comment)
  • rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml#L60-L67
🤖 Prompt for AI Agents
Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.
In `@rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml` around lines
68 - 75, Update auto_aim_recorder.output_path in
rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml#L68-L75 and
rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml#L60-L67 to the
same user-writable path, such as /tmp/autoaim/recorder, replacing the root-level
misspelled /autoaim/recoder value in both configurations.


auto_aim_capturer:
ros__parameters:
camera_name: ""
exposure_us: 4000.0
gain: 8.0
exposure_us: 2000.0
gain: 10.0
framerate: 120.0
invert_image: false
rls_tau_sec: 10.0
Expand All@@ -73,23 +91,23 @@ auto_aim_component:
# 将强行绑定为对应阵营哨兵，仅供调试，严禁比赛启用。
# 留空或填 unknow 表示禁用。
dangerous_fallback: ""
manual_shoot: true
manual_shoot: false
enable_rune: true
camera_translation: [0.058, -0.08, 0.0]
fire_control:
bullet_speed: 22.5
shoot_delay: 0.04
offset_yaw: +2.5
offset_pitch: +0.5
attack_window: 80.0
shoot_delay: 0.07
offset_yaw: +2.6
offset_pitch: -0.3
attack_window: 120.0
degraded_angle_speed: 12.0
window_redundancy: 0.8
window_redundancy: 0.6
window_hysteresis: 0.2
attack_preaim: false
require_stable_command: false
yaw_tolerance: 0.07
pitch_tolerance: 0.04
rune_idle_duration: 0.4
yaw_tolerance: 0.14
pitch_tolerance: 0.08
rune_idle_duration: 0.6
rune_shoot_duration: 0.2

auto_aim_ui:
Expand All@@ -106,26 +124,23 @@ deformable_infantry:
rod_length: 0.140
yaw_motor_zero_point: 57900
pitch_motor_zero_point: 56354
debug_log_supercap: false
debug_log_wheel_motor: false
debug_log_deformable_joint_motor: false

chassis_controller:
ros__parameters:
# Deploy geometry / chassis-owned joint intent
min_angle: 5.0
min_angle: 8.0
max_angle: 59.0
active_suspension_enable: true
spin_ratio: 1.0
wireless_charging_offset_deg: 225.0
wireless_charging_speed_limit: 0.6
wireless_charging_angular_velocity_limit: 10.0

deformable_suspension:
ros__parameters:
# IMU attitude correction at min-angle stance.
active_suspension_pitch_outer_kp: 12.0
active_suspension_pitch_outer_ki: 0.02
active_suspension_pitch_outer_kd: 0.0
active_suspension_pitch_outer_integral_min: -2.0
active_suspension_pitch_outer_integral_max: 2.0
active_suspension_pitch_outer_integral_min: -1.0
active_suspension_pitch_outer_integral_max: 1.0
active_suspension_pitch_outer_output_min: -3.0
active_suspension_pitch_outer_output_max: 3.0

Expand All@@ -140,8 +155,8 @@ deformable_suspension:
active_suspension_roll_outer_kp: 12.0
active_suspension_roll_outer_ki: 0.02
active_suspension_roll_outer_kd: 0.0
active_suspension_roll_outer_integral_min: -2.0
active_suspension_roll_outer_integral_max: 2.0
active_suspension_roll_outer_integral_min: -1.0
active_suspension_roll_outer_integral_max: 1.0
active_suspension_roll_outer_output_min: -3.0
active_suspension_roll_outer_output_max: 3.0

Expand All@@ -153,42 +168,53 @@ deformable_suspension:
active_suspension_roll_inner_output_min: -0.785
active_suspension_roll_inner_output_max: 0.785

# Chassis-owned joint intent trajectory limits while attitude correction is active.
active_suspension_target_velocity_limit_deg: 80.0
active_suspension_target_acceleration_limit_deg: 360.0
active_suspension_target_velocity_limit_deg: 150.0
active_suspension_target_acceleration_limit_deg: 600.0
active_suspension_correction_velocity_limit_deg: 720.0
active_suspension_correction_acceleration_limit_deg: 3600.0
active_suspension_rate_lpf_cutoff_hz: 10.0

# Automatic IMU mounting-error calibration.
# When all four requested joint targets stay equal for 2s, average pitch/roll from 2s to 5s.
active_suspension_target_pitch_deg: 0.0

chassis_imu_calibration_wait_s: 2.0
chassis_imu_calibration_sample_s: 3.0

gimbal_controller:
ros__parameters:
upper_limit: -0.47123 # -27 deg
lower_limit: 0.10 # 8 deg
upper_limit: -0.60
lower_limit: 0.10
ctrl_hold_pitch_target_angle: 0.0

yaw_angle_kp: 15.0
yaw_angle_kp: 10.0
yaw_angle_ki: 0.0
yaw_angle_kd: 0.0

yaw_velocity_kp: 15.0
yaw_velocity_ki: 0.0
yaw_velocity_kp: 13.0
yaw_velocity_ki: 0.02
yaw_velocity_kd: 0.0
yaw_velocity_integral_min: -5.0
yaw_velocity_integral_max: 5.0

pitch_angle_kp: 35.0
pitch_angle_ki: 0.02
pitch_angle_kd: 0.3
pitch_angle_kd: 0.0
pitch_angle_integral_min: -0.5
pitch_angle_integral_max: 0.5

pitch_velocity_kp: 2.0
pitch_velocity_kp: 1.8
pitch_velocity_ki: 0.0
pitch_velocity_kd: 0.0

pitch_gravity_ff_gain: 4.302
pitch_gravity_ff_phase: 0.589
yaw_ref_velocity_gain: 1.0
pitch_ref_velocity_gain: 1.0

yaw_velocity_ff_gain: 0.13
yaw_acceleration_ff_gain: 0.18
pitch_velocity_ff_gain: 0.378
pitch_acceleration_ff_gain: 0.0396

pitch_gravity_ff_gain: 2.438
pitch_gravity_ff_phase: 1.7254

pitch_torque_control: true

Expand All@@ -200,6 +226,9 @@ friction_wheel_controller:
friction_velocities:
- 580.0
- 580.0
friction_velocities_low_mode:
- 530.0
- 530.0
friction_soft_start_stop_time: 1.0

heat_controller:
Expand All@@ -210,7 +239,7 @@ heat_controller:
bullet_feeder_controller:
ros__parameters:
bullets_per_feeder_turn: 8.0
shot_frequency: 30.0
shot_frequency: 15.0
safe_shot_frequency: 10.0
eject_frequency: 10.0
eject_time: 0.05
Expand DownExpand Up@@ -241,7 +270,7 @@ bullet_feeder_velocity_pid_controller:
measurement: /gimbal/bullet_feeder/velocity
setpoint: /gimbal/bullet_feeder/control_velocity
control: /gimbal/bullet_feeder/control_torque
kp: 1.5
kp: 0.9
ki: 0.0
kd: 0.0

Expand Down
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