feat: sentry support

.clang-format

@@ -13,27 +13,25 @@ MaxEmptyLinesToKeep: 1
 
 AlignAfterOpenBracket: AlwaysBreak
 
-AlignArrayOfStructures: Right
-
 AlignConsecutiveAssignments:
-Enabled: false
+ Enabled: false
 AlignConsecutiveBitFields:
-Enabled: true
-AcrossEmptyLines: false
-AcrossComments: false
+ Enabled: true
+ AcrossEmptyLines: false
+ AcrossComments: false
 AlignConsecutiveDeclarations:
-Enabled: false
+ Enabled: false
 AlignConsecutiveMacros:
-Enabled: true
-AcrossEmptyLines: false
-AcrossComments: false
+ Enabled: true
+ AcrossEmptyLines: false
+ AcrossComments: false
 # AlignConsecutiveShortCaseStatements:
 # Enabled: false
 AlignEscapedNewlines: Left
 AlignOperands: AlignAfterOperator
 AlignTrailingComments:
-Kind: Always
-OverEmptyLines: 64
+ Kind: Always
+ OverEmptyLines: 64
 PointerAlignment: Left
 
 AllowAllArgumentsOnNextLine: true

.script/remote-status

@@ -0,0 +1,65 @@
+#!/bin/env bash
+
+set -euo pipefail
+
+# 定义需要查询的服务列表
+services=(
+ "/rmcs/service/robot_status"
+)
+
+# 使用 bash 远程执行，并传递服务列表作为参数
+ssh remote bash -s -- "${services[@]}" <<'EOF'
+set -euo pipefail
+
+# 1. 环境准备
+set +u
+if [ -f ~/env_setup.bash ]; then
+ source ~/env_setup.bash
+fi
+set -u
+
+# 获取所有可用服务列表
+all_services="$(ros2 service list 2>/dev/null || true)"
+input_services=("${@}")
+
+# 2. 定义单个服务查询函数
+call_status_service() {
+ local service="$1"
+
+ if ! printf "%s\n" "$all_services" | grep -Fxq "$service"; then
+ printf "[warn] service not found: %s\n\n" "$service"
+ return
+ fi
+
+ printf "=== %s ===\n" "$service"
+ local raw
+ raw="$(ros2 service call "$service" std_srvs/srv/Trigger "{}" 2>&1 || true)"
+
+ local msg
+ msg="$(printf "%s\n" "$raw" | sed -n "s/.*message='\(.*\)'.*/\1/p")"
+
+ if [[ -z "$msg" ]]; then
+ printf "[warn] failed to parse message: %s\n%s\n" "$service" "$raw"
+ else
+ printf "%b\n" "$msg"
+ fi
+ printf "\n"
+}
+
+# 3. 并发执行逻辑
+tmp_dir=$(mktemp -d)
+trap 'rm -rf "${tmp_dir}"' EXIT
+
+for i in "${!input_services[@]}"; do
+ call_status_service "${input_services[$i]}" > "${tmp_dir}/${i}" 2>&1 &
+done
+
+wait
+
+# 4. 按原始顺序汇总输出
+for i in "${!input_services[@]}"; do
+ if [ -f "${tmp_dir}/${i}" ]; then
+ cat "${tmp_dir}/${i}"
+ fi
+done
+EOF

Dockerfile

@@ -30,8 +30,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
  libceres-dev \
  ros-$ROS_DISTRO-rviz2 \
  ros-$ROS_DISTRO-foxglove-bridge \
- dotnet-sdk-8.0 \
  ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-pcl-conversions ros-$ROS_DISTRO-pcl-msgs && \
+ ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-msgs \
+ lua5.4 liblua5.4-0 liblua5.4-dev && \
  apt-get autoremove -y && apt-get clean && \
  rm -rf /var/lib/apt/lists/* /tmp/*
 

rmcs_ws/src/rmcs_bringup/config/sentry.yaml

@@ -0,0 +1,164 @@
+rmcs_executor:
+ ros__parameters:
+ update_rate: 1000.0
+ components:
+ - rmcs_core::hardware::Sentry -> sentry_hardware
+
+ - rmcs_core::referee::Status -> referee_status
+ - rmcs_core::referee::Command -> referee_command
+
+ - rmcs_core::referee::command::Interaction -> referee_interaction
+ - rmcs_core::referee::command::interaction::Ui -> referee_ui
+
+ - rmcs_core::controller::gimbal::EccentricDualYaw -> gimbal_controller
+
+ # - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster
+
+ - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
+ - rmcs_core::controller::shooting::HeatController -> heat_controller
+ - rmcs_core::controller::shooting::BulletFeederController17mm -> bullet_feeder_controller
+ - rmcs_core::controller::pid::PidController -> left_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> right_friction_velocity_pid_controller
+ - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller
+
+ - rmcs_core::controller::chassis::ChassisController -> chassis_controller
+ - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
+ - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller
+
+ # - rmcs::navigation::Navigation -> rmcs_navigation
+
+# The positive direction is the one that battery exists
+sentry_hardware:
+ ros__parameters:
+ board_serial_top_board: "af-da30"
+ board_serial_bottom_board: "d4-2184"
+ board_serial_gimbal_board: "d4-1d2b"
+ bottom_yaw_motor_zero_point: 26163
+ top_yaw_motor_zero_point: 4540
+ pitch_motor_zero_point: 1446
+ left_front_zero_point: 7131
+ left_back_zero_point: 3740
+ right_back_zero_point: 1327
+ right_front_zero_point: 5147
+
+rmcs_navigation:
+ ros__parameters:
+ # 策略名称：
+ # - fast-push-output "速推前哨站"
+ # - kill-robots "杀伤优先"
+ decision: "fast-push-output"
+ command_vel_name: "/cmd_vel"
+ mock_context: false
+ endpoint: "test"
+ enable_goal_topic_forward: true
+
+gimbal_controller:
+ ros__parameters:
+ upper_limit: -0.39518
+ lower_limit: 0.36
+
+ top_yaw_angle_kp: 30.0
+ top_yaw_angle_ki: 0.0
+ top_yaw_angle_kd: 0.0
+ top_yaw_velocity_kp: 2.160
+ top_yaw_velocity_ki: 0.0
+ top_yaw_velocity_kd: 0.0
+
+ bottom_yaw_angle_kp: 8.8
+ bottom_yaw_angle_ki: 0.0
+ bottom_yaw_angle_kd: 0.0
+ bottom_yaw_velocity_kp: 22.49
+ bottom_yaw_velocity_ki: 0.0
+ bottom_yaw_velocity_kd: 0.0
+
+ pitch_angle_kp: 40.0
+ pitch_angle_ki: 0.0
+ pitch_angle_kd: 0.01
+ pitch_velocity_kp: 2.5
+ pitch_velocity_ki: 0.0
+ pitch_velocity_kd: 0.0
+
+ k_top_to_bottom: -1.0
+
+ bottom_yaw_viscous_ff_gain: 0.002495
+ # bottom_yaw_coulomb_ff_gain: 0.457343
+ # bottom_yaw_coulomb_ff_tanh_gain: 100.0
+ top_yaw_viscous_ff_gain: 0.231
+ # top_yaw_coulomb_ff_gain: 1.12
+ # top_yaw_coulomb_ff_tanh_gain: 100.0
+ pitch_viscous_ff_gain: 0.33
+ # pitch_coulomb_ff_gain: 0.95
+ # pitch_coulomb_ff_tanh_gain: 100.0
+ pitch_gravity_ff_gain: 2.128
+ pitch_gravity_ff_phase: 1.438
+
+chassis_controller:
+ ros__parameters:
+ navigation_velocity_scale: 1.0
+
+friction_wheel_controller:
+ ros__parameters:
+ friction_wheels:
+ - /gimbal/left_friction
+ - /gimbal/right_friction
+ friction_velocities:
+ - 630.0
+ - 630.0
+ friction_soft_start_stop_time: 1.0
+
+heat_controller:
+ ros__parameters:
+ heat_per_shot: 10000
+ reserved_heat: 10000
+
+bullet_feeder_controller:
+ ros__parameters:
+ bullets_per_feeder_turn: 9.0
+ shot_frequency: 28.0
+ safe_shot_frequency: 10.0
+ eject_frequency: 15.0
+ eject_time: 0.15
+ deep_eject_frequency: 15.0
+ deep_eject_time: 0.20
+ single_shot_max_stop_delay: 2.0
+
+left_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/left_friction/velocity
+ setpoint: /gimbal/left_friction/control_velocity
+ control: /gimbal/left_friction/control_torque
+ kp: 0.003436926
+ ki: 0.00
+ kd: 0.009373434
+
+right_friction_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/right_friction/velocity
+ setpoint: /gimbal/right_friction/control_velocity
+ control: /gimbal/right_friction/control_torque
+ kp: 0.003436926
+ ki: 0.00
+ kd: 0.009373434
+
+bullet_feeder_velocity_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/bullet_feeder/velocity
+ setpoint: /gimbal/bullet_feeder/control_velocity
+ control: /gimbal/bullet_feeder/control_torque
+ kp: 0.283
+ ki: 0.0
+ kd: 0.0
+
+steering_wheel_controller:
+ ros__parameters:
+ mess: 22.0
+ moment_of_inertia: 0.77852676
+ vehicle_radius: 0.26870058
+ wheel_radius: 0.055
+ friction_coefficient: 0.666
+ k1: 2.958580e+00
+ k2: 3.082190e-03
+ no_load_power: 11.37
+ chassis_translation_kp: 8.0
+ chassis_translation_ki: 0.0
+ chassis_translation_kd: 0.0

rmcs_ws/src/rmcs_core/CMakeLists.txt

@@ -17,8 +17,8 @@ include(FetchContent)
 set(BUILD_STATIC_LIBRMCS ON CACHE BOOL "Build static librmcs SDK" FORCE)
 FetchContent_Declare(
  librmcs
- URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.0.0/librmcs-sdk-src-3.0.0.zip
- URL_HASH SHA256=b39f51c21baacdcbf3f0176119b8850137a108b88a67e12395d37d89e5ef53e8
+ URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.1.0/librmcs-sdk-src-3.1.0.zip
+ URL_HASH SHA256=07107e251745ddb23f7b3e39edec5d6910be1a197025d167ec9849c5c80dd954
  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 FetchContent_MakeAvailable(librmcs)

rmcs_ws/src/rmcs_core/package.xml

@@ -11,6 +11,7 @@
 
  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
+ <depend>std_srvs</depend>
  <depend>pluginlib</depend>
  <depend>tf2</depend>
  <depend>tf2_ros</depend>

rmcs_ws/src/rmcs_core/plugins.xml

@@ -2,6 +2,7 @@
  <class type="rmcs_core::hardware::MecanumHero" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::hardware::SteeringHero" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::hardware::OmniInfantry" base_class_type="rmcs_executor::Component" />
+ <class type="rmcs_core::hardware::Sentry" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::hardware::SteeringInfantry" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::chassis::ChassisController" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::chassis::ChassisPowerController" base_class_type="rmcs_executor::Component" />
@@ -10,6 +11,7 @@
  <class type="rmcs_core::controller::gimbal::SimpleGimbalController" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::gimbal::HeroGimbalController" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::gimbal::DualYawController" base_class_type="rmcs_executor::Component" />
+ <class type="rmcs_core::controller::gimbal::EccentricDualYaw" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::gimbal::PlayerViewer" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::shooting::FrictionWheelController" base_class_type="rmcs_executor::Component" />
  <class type="rmcs_core::controller::shooting::HeatController" base_class_type="rmcs_executor::Component" />

rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp

@@ -145,4 +145,4 @@ class DualYawController
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(rmcs_core::controller::gimbal::DualYawController, rmcs_executor::Component)
+PLUGINLIB_EXPORT_CLASS(rmcs_core::controller::gimbal::DualYawController, rmcs_executor::Component)