Merge downstream gimbal control for flight

.script/complete/_play-autoaim

@@ -0,0 +1,7 @@
+#compdef play-autoaim
+
+_arguments \
+ '--user[指定远程用户名]:用户名:' \
+ '--remote[从设备拉取 SDP 到容器]' \
+ '--no-copy[跳过容器到宿主机的拷贝]'\
+ '--ip[监视端的 IP 地址]'

.script/complete/_set-remote

@@ -0,0 +1,22 @@
+#compdef set-remote
+
+_remote_hosts() {
+ local hosts=(
+ "169.254.233.233"
+ "alliance-sentry.local"
+ "alliance-infantry.local"
+ "alliance-hero.local"
+ )
+
+ # 从 ~/.ssh/config 提取最近使用的 HostName
+ if [[ -f ~/.ssh/config ]]; then
+ local extracted
+ extracted=(${(f)"$(grep -A1 'Host remote' ~/.ssh/config | grep HostName | awk '{print $2}')"})
+ hosts+=(${extracted})
+ fi
+
+ compadd -- $hosts
+}
+
+_arguments \
+ '1:远程主机地址:_remote_hosts'

.script/foxglove

@@ -0,0 +1,5 @@
+#! /bin/bash
+
+source ~/env_setup.bash
+
+ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765

.script/play-autoaim

@@ -1,38 +1,74 @@
 #!/bin/sh
 
-if [ "$#" -ne 1 ]; then
- echo "用法: $0 <用户名>"
- echo "示例: $0 user"
- exit 1
-fi
+set -e
 
-REMOTE_PLAYER="vlc"
+MONITOR_USER=""
+MONITOR_PLAYER="vlc"
+MONITOR_HOST="localhost"
 
-REMOTE_USER="$1"
-REMOTE_HOST="localhost"
+SDP_PATH="/tmp/auto_aim.sdp"
 
-REMOTE_PATH="/tmp/auto_aim.sdp"
-LOCAL_PATH="/tmp/auto_aim.sdp"
+USE_REMOTE=false
+SKIP_COPY=false
+
+# 参数解析
+while [ "$#" -gt 0 ]; do
+ case "$1" in
+ --user)
+ shift
+ [ -z "$1" ] && echo "❌ --user 参数缺失" && exit 1
+ MONITOR_USER="$1"
+ ;;
+ --remote)
+ USE_REMOTE=true
+ ;;
+ --no-copy)
+ SKIP_COPY=true
+ ;;
+ --ip)
+ shift
+ [ -z "$1" ] && echo "❌ --ip 参数缺失" && exit 1
+ MONITOR_HOST="$1"
+ ;;
+ *)
+ echo "未知参数: $1"
+ echo "用法: $0 --user <用户名> [--remote] [--no-copy]"
+ exit 1
+ ;;
+ esac
+ shift
+done
 
-scp remote:${REMOTE_PATH} ${REMOTE_PATH}
-if [ $? -ne 0 ]; then
- echo "⚠️ 从 remote 拷贝失败。是否继续？(y/n)"
+if [ -z "$MONITOR_USER" ]; then
+ echo "❌ 缺少 --user 参数"
+ echo "用法: play-autoaim --user <用户名> [--remote] [--no-copy]"
+ exit 1
+fi
+
+if [ "$USE_REMOTE" = true ]; then
+ scp remote:${SDP_PATH} ${SDP_PATH}
+ if [ $? -ne 0 ]; then
+ echo " 从 remote 拷贝失败。是否继续？(y/n)"
  read -r answer
  case "$answer" in
- [Yy]*) echo "继续执行后续操作…" ;;
+ [Yy]*) echo " 继续执行后续操作…" ;;
  *)
-echo "已取消。"
-exit 1
-;;
+ echo " 已取消。"
+ exit 1
+ ;;
  esac
+ fi
 fi
 
-scp "${REMOTE_PATH}" "${REMOTE_USER}@${REMOTE_HOST}:${LOCAL_PATH}"
-if [ $? -ne 0 ]; then
- echo "❌ scp 拷贝失败"
+if [ "$SKIP_COPY" = false ]; then
+ scp "${SDP_PATH}" "${MONITOR_USER}@${MONITOR_HOST}:${SDP_PATH}"
+ if [ $? -ne 0 ]; then
+ echo " scp 拷贝失败"
  exit 1
+ fi
+ echo " 文件已拷贝到宿主机：${SDP_PATH}"
+else
+ echo " 跳过拷贝，直接打开远程 SDP"
 fi
 
-echo "✅ 文件已拷贝到宿主机：${LOCAL_PATH}"
-
-ssh -f "${REMOTE_USER}@${REMOTE_HOST}" "DISPLAY=:0 ${REMOTE_PLAYER} '${LOCAL_PATH}'"
+ssh -f "${MONITOR_USER}@${MONITOR_HOST}" "DISPLAY=:0 ${MONITOR_PLAYER} '${SDP_PATH}' --network-caching=50"

.script/template/env_setup.bash

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-export ROS_LOCALHOST_ONLY=1
+export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
 export RCUTILS_COLORIZED_OUTPUT=1
 export RMCS_PATH="/workspaces/RMCS"
 

.script/template/env_setup.zsh

@@ -1,7 +1,7 @@
-#!/bin/bash
+#!/bin/zsh
 
+export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
 export RCUTILS_COLORIZED_OUTPUT=1
-export ROS_LOCALHOST_ONLY=1
 export RMCS_PATH="/workspaces/RMCS"
 
 source /opt/ros/jazzy/setup.zsh
@@ -16,3 +16,7 @@ eval "$(register-python-argcomplete ros2)"
 eval "$(register-python-argcomplete colcon)"
 
 export RMCS_ROBOT_TYPE=""
+
+fpath=(${RMCS_PATH}/.script/complete $fpath)
+autoload -Uz compinit
+compinit

Dockerfile

@@ -88,19 +88,25 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
  openssh-client \
  lsb-release software-properties-common gnupg sudo \
  python3-colorama python3-dpkt && \
- wget -O ./llvm-snapshot.gpg.key https://apt.llvm.org/llvm-snapshot.gpg.key && \
- apt-key add ./llvm-snapshot.gpg.key && \
- rm ./llvm-snapshot.gpg.key && \
- echo "deb https://apt.llvm.org/noble/ llvm-toolchain-noble main" > /etc/apt/sources.list.d/llvm-apt.list && \
- apt-get update && \
- version=`apt-cache search clangd- | grep clangd- | awk -F' ' '{print $1}' | sort -V | tail -1 | cut -d- -f2` && \
- apt-get install -y --no-install-recommends clangd-$version && \
  update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 50 && \
  update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 50 && \
- update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-$version 50 && \
  apt-get autoremove -y && apt-get clean && \
  rm -rf /var/lib/apt/lists/* /tmp/*
 
+# Install latest stable llvm-toolchain
+RUN mkdir -p /etc/apt/keyrings && \
+ wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | gpg -o /etc/apt/keyrings/llvm-snapshot.gpg --dearmor && \
+ echo "deb [signed-by=/etc/apt/keyrings/llvm-snapshot.gpg] https://mirrors.tuna.tsinghua.edu.cn/llvm-apt/noble/ llvm-toolchain-noble-22 main" \
+ | tee /etc/apt/sources.list.d/llvm.list && \
+ apt-get update && \
+ apt-get install -y --no-install-recommends clang-22 clangd-22 clang-format-22 lldb-22 && \
+ update-alternatives --install /usr/bin/clang clang /usr/bin/clang-22 100 && \
+ update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-22 100 && \
+ update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-22 100 && \
+ update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-22 100 && \
+ update-alternatives --install /usr/bin/lldb lldb /usr/bin/lldb-22 100 && \
+ apt-get autoremove -y && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/*
+
 # Generate/load ssh key and setup unison
 RUN --mount=type=bind,target=/tmp/.ssh,source=.ssh,readonly=false \
  cd /home/ubuntu && mkdir -p .ssh && \
@@ -117,6 +123,11 @@ RUN curl -LO https://github.com/neovim/neovim/releases/latest/download/nvim-linu
  tar -C /opt -xzf nvim-linux-x86_64.tar.gz && \
  rm nvim-linux-x86_64.tar.gz
 
+# Install latest stable cmake for user ubuntu
+RUN wget https://github.com/kitware/cmake/releases/download/v4.2.3/cmake-4.2.3-linux-x86_64.sh -O install.sh && \
+ mkdir -p /opt/cmake/ && bash install.sh --skip-license --prefix=/opt/cmake/ --exclude-subdir && \
+ rm install.sh
+
 # Change user
 RUN chsh -s /bin/zsh ubuntu && \
  echo "ubuntu ALL=(ALL:ALL) NOPASSWD:ALL" >> /etc/sudoers
@@ -130,12 +141,14 @@ RUN sh -c "$(wget https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools
  sed -i 's/ZSH_THEME=\"[a-z0-9\-]*\"/ZSH_THEME="af-magic"/g' ~/.zshrc && \
  echo 'source ~/env_setup.zsh' >> ~/.zshrc && \
  echo 'export PATH="${PATH}:/opt/nvim-linux-x86_64/bin"' >> ~/.zshrc && \
+ # echo 'export PATH="${PATH}:/opt/cmake/bin"' >> ~/.zshrc && \
  echo 'export PATH="${PATH}:${RMCS_PATH}/.script"' >> ~/.zshrc
 
 # Copy environment setup scripts
 COPY --chown=1000:1000 .script/template/env_setup.bash env_setup.bash
 COPY --chown=1000:1000 .script/template/env_setup.zsh env_setup.zsh
 
+
 # Runtime container, will automatically launch the main program
 FROM rmcs-base AS rmcs-runtime
 

README.md

@@ -1,6 +1,8 @@
 # RMCS
 RoboMaster Control System based on ROS2.
 
+快速开始: [quick-start](https://github.com/Alliance-Algorithm/RMCS/wiki/Quick-Start)
+
 ## Development
 
 ### Pre-requirements:

docker-compose.yml

@@ -1,23 +1,16 @@
 services:
  rmcs-develop:
  image: qzhhhi/rmcs-develop:latest
- user: "${CONTAINER_USER}"
- privileged: true
- command: >
- bash -c "
- sudo chown -R ${CONTAINER_USER}:${CONTAINER_USER} ${CONTAINER_HOME}/.config
- exec bash
- "
+ user: "1000:1000"
  volumes:
  - /dev:/dev:bind
  - /tmp/.X11-unix:/tmp/.X11-unix:bind
- - /run/user/1000/wayland-0:/run/user/1000/wayland-0
+ - /run/user/1000/wayland-0:/run/user/1000/wayland-0:bind
  - ${HOST_NVIM_DIR}:${CONTAINER_HOME}/.config/nvim/:bind
  - .:/workspaces/RMCS:bind
  environment:
  - DISPLAY=${DISPLAY}
  - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
  network_mode: host
  tty: true
- stdin_open: true 
-
+ stdin_open: true

ip.conf

@@ -0,0 +1 @@
+169.254.233.233