Refactor omni-b and add omni-c hardware by ZGZ713912 · Pull Request #95 · Alliance-Algorithm/RMCS

ZGZ713912 · 2026-07-22T14:49:16Z

摘要

重构变形全向底盘，新增 DeformableInfantryOmniB 和 DeformableInfantryOmniC 硬件插件。
统一新版 RmcsBoardLite、CAN、UART、IMU 和遥控器接口。
新增悬架、爬升机构、底盘模式管理和相关协程控制组件。
重构底盘、云台、射击和电源控制逻辑，支持自动瞄准、无线充电、编码器模式、低速摩擦轮和导航控制。
更新 ChassisMode，新增供电模式和旋转模式判断接口。
新增 Px4VisionBridge，支持通过 MAVLink 发布视觉位姿和看门狗重启。
新增静态转矩、扫频识别、CSV 写入、数值采集和 PID 拟合工具。
新增自动瞄准测试配置、远程调试脚本、上下文命令、tmux 工作流和补全脚本。
更新哨兵裁判数据解析、事件结构、状态 UI 和自动瞄准 UI。
移除旧版 Steering、DeformableInfantryV2 和旧底盘控制器及其配置。
更新插件注册、依赖、Docker 镜像、SDK 版本和子模块提交。

重点影响

新硬件和控制器接口替换了多项旧插件接口。
ChassisMode 枚举发生不兼容变更。
DjiMotor、Dr16、Vt13 和 RemoteControl 的硬件设备接口发生扩展或重构。
新增 StatusMonitor、NodeMixin、CsvWriter 和 RingBuffer::peek_front_n 公共 API。

coderabbitai · 2026-07-22T14:49:23Z

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📥 Commits

Reviewing files that changed from the base of the PR and between 6686325 and 50a0ddf.

📒 Files selected for processing (100)

.github/workflows/update-image.yml
.gitmodules
.script/autoaim-debug
.script/complete/_local-context
.script/complete/_remote-context
.script/host/rmcs
.script/identification/fit_friction_velocity_pid.py
.script/identification/fit_gravity_torque.py
.script/identification/fit_sweep_graybox.py
.script/local-context
.script/remote-context
.script/remote-status
.script/rmcs-cli
.script/scan-remote
Dockerfile
rmcs_ws/src/hikcamera
rmcs_ws/src/rmcs_auto_aim_v2
rmcs_ws/src/rmcs_bringup/config/auto_aim_test.yaml
rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-b.yaml
rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni-c.yaml
rmcs_ws/src/rmcs_bringup/config/deformable-infantry-omni.yaml
rmcs_ws/src/rmcs_bringup/config/flight.yaml
rmcs_ws/src/rmcs_bringup/config/sentry.yaml
rmcs_ws/src/rmcs_bringup/config/steering-hero-little-six-friction.yaml
rmcs_ws/src/rmcs_bringup/config/steering-hero-little.yaml
rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml
rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml
rmcs_ws/src/rmcs_core/CMakeLists.txt
rmcs_ws/src/rmcs_core/package.xml
rmcs_ws/src/rmcs_core/plugins.xml
rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_power_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/climber/co_schduler.hpp
rmcs_ws/src/rmcs_core/src/controller/chassis/climber/stick_group.hpp
rmcs_ws/src/rmcs_core/src/controller/chassis/climber/track_group.hpp
rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_chassis.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_joint_layer.hpp
rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_mode.hpp
rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_omni_wheel_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_suspension.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/deformable_wheel_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/hero_chassis_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/chassis/steering_wheel_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/flight/px4_vision_bridge.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/deformable_infantry_gimbal_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/eccentric_dual_yaw_solver.hpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/player_viewer.cpp
rmcs_ws/src/rmcs_core/src/controller/gimbal/two_axis_gimbal_solver.hpp
rmcs_ws/src/rmcs_core/src/controller/pid/pid_calculator.hpp
rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_17mm.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/hero_friction_wheel_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/hero_heat_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp
rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp
rmcs_ws/src/rmcs_core/src/debug/value_collector.cpp
rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni-b.cpp
rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni-c.cpp
rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-omni.cpp
rmcs_ws/src/rmcs_core/src/hardware/deformable-infantry-steering.cpp
rmcs_ws/src/rmcs_core/src/hardware/device/bmi088_ekf.hpp
rmcs_ws/src/rmcs_core/src/hardware/device/dji_motor.hpp
rmcs_ws/src/rmcs_core/src/hardware/device/dr16.hpp
rmcs_ws/src/rmcs_core/src/hardware/device/lk_motor.hpp
rmcs_ws/src/rmcs_core/src/hardware/device/remote_control.hpp
rmcs_ws/src/rmcs_core/src/hardware/device/vt13.hpp
rmcs_ws/src/rmcs_core/src/hardware/flight.cpp
rmcs_ws/src/rmcs_core/src/hardware/omni_infantry.cpp
rmcs_ws/src/rmcs_core/src/hardware/sentry.cpp
rmcs_ws/src/rmcs_core/src/hardware/steering-hero-little-six-friction.cpp
rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp
rmcs_ws/src/rmcs_core/src/hardware/steering-infantry.cpp
rmcs_ws/src/rmcs_core/src/hardware/util/status_monitor.hpp
rmcs_ws/src/rmcs_core/src/identification/static_torque_test_controller.cpp
rmcs_ws/src/rmcs_core/src/identification/swept_frequency_controller.cpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/auto_aim.cpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/deformable_infantry_ui.cpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/hero.cpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/infantry.cpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/shape/shape.hpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/animated_toggle.hpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/crosshair_circle.hpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/deformable_chassis_top_view.hpp
rmcs_ws/src/rmcs_core/src/referee/app/ui/widget/status_ring.hpp
rmcs_ws/src/rmcs_core/src/referee/command/interaction/sentry_decision.cpp
rmcs_ws/src/rmcs_core/src/referee/status.cpp
rmcs_ws/src/rmcs_core/src/referee/status/field.hpp
rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/camera_frame.hpp
rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/chassis_mode.hpp
rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/rmcs_msgs.hpp
rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/robot_id.hpp
rmcs_ws/src/rmcs_msgs/include/rmcs_msgs/sentry_event.hpp
rmcs_ws/src/rmcs_utility/include/rmcs_utility/csv_writer.hpp
rmcs_ws/src/rmcs_utility/include/rmcs_utility/rclcpp/node_mixin.hpp
rmcs_ws/src/rmcs_utility/include/rmcs_utility/ring_buffer.hpp

Walkthrough

Changes

运行脚本与识别工具

Layer / File(s)	Summary
调试、上下文与 tmux 工作流 `.script/*`	新增自动瞄准调试、远程上下文、容器管理和 tmux 控制脚本，并更新远程扫描行为。
参数识别工具 `.script/identification/*`	新增摩擦轮 PID、重力扭矩和扫频灰盒模型的 CSV 拟合工具。
构建与子模块配置 `.gitmodules`, `Dockerfile`, `.github/workflows/`, `rmcs_ws/src/`	新增自动瞄准子模块，更新子模块指针、ROS 依赖和镜像触发路径。

底盘、云台与射击控制

Layer / File(s)	Summary
底盘模式与悬架控制 `rmcs_ws/src/rmcs_msgs/include/`, `rmcs_ws/src/rmcs_core/src/controller/chassis/`	新增底盘模式、悬架、攀爬、导航、无线充电和功率控制逻辑。
云台控制 `rmcs_ws/src/rmcs_core/src/controller/gimbal/*`	新增偏心双偏航求解器、编码器刹车状态机、自动瞄准门控和俯仰保持控制。
射击控制 `rmcs_ws/src/rmcs_core/src/controller/shooting/*`	新增单发控制、低速摩擦轮调节、预装状态和新的拨片状态机。

硬件与数据链路

Layer / File(s)	Summary
设备与遥控仲裁 `rmcs_ws/src/rmcs_core/src/hardware/device/*`	新增 `DjiMotor` 编号映射、`Vt13` 解析、`Dr16` 超时管理和 `RemoteControl` 仲裁。
板卡组件 `rmcs_ws/src/rmcs_core/src/hardware/*`	迁移多个硬件组件到新版板卡回调接口，并新增 Omni B、Omni C 和 SteeringHeroLittle 组件。
插件与依赖 `rmcs_ws/src/rmcs_core/plugins.xml`, `rmcs_ws/src/rmcs_core/CMakeLists.txt`, `rmcs_ws/src/rmcs_core/package.xml`	更新插件注册、librmcs SDK 版本和构建依赖。

裁判数据与界面

Layer / File(s)	Summary
裁判数据解析 `rmcs_ws/src/rmcs_core/src/referee/status/`, `rmcs_ws/src/rmcs_msgs/include/`	新增哨兵事件、交互数据、敌方血量、伤害差值和激光雷达广播解析。
自动瞄准与机器人界面 `rmcs_ws/src/rmcs_core/src/referee/app/ui/*`	更新距离显示、摩擦轮状态、悬架图形、模式颜色和超级电容能量显示。
通用工具 `rmcs_ws/src/rmcs_utility/include/*`	新增 CSV 写入器、节点参数混入和环形缓冲区非消费遍历接口。

Estimated code review effort: 5 (Critical) | ~120 minutes

Possibly related PRs

Alliance-Algorithm/RMCS#54：涉及相同的 rmcs_core 硬件迁移、插件注册和 librmcs 接口。
Alliance-Algorithm/RMCS#93：涉及相同的 RemoteControl、Dr16、Vt13 和硬件集成代码。
Alliance-Algorithm/RMCS#89：涉及相同的变形底盘控制器、悬架组件和 bringup 配置。

Suggested reviewers:qzhhhi, creeper5820

Poem

我是兔子，蹦过控制线，
新脚本点亮调试窗。
电机、云台齐响应，
CSV 记录每一场。
悬架稳稳，数据清，
祝这次变更顺利上线！

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ZGZ713912 · 2026-07-22T14:50:12Z

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coderabbitai · 2026-07-22T14:50:17Z

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ZGZ713912 · 2026-08-11T16:52:16Z

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github-project-automationBot added this to RMCS Jul 22, 2026

github-project-automationBot moved this to Todo in RMCS Jul 22, 2026

ZGZ713912 force-pushed the merge/deformable branch 4 times, most recently from 9f23fea to c3fc3aeCompare July 31, 2026 20:09

ZGZ713912 force-pushed the merge/deformable branch 3 times, most recently from c66163c to a359b1cCompare August 3, 2026 22:35

creeper5820 added 11 commits August 10, 2026 18:06

chore: Update infrastructure scripts, CI and build config
a29ed69

feat: Update rmcs_msgs messages and rmcs_utility
c573262

feat(hardware): Add VT13 remote control and update device drivers
6f94a49

feat(controller): Improve shared controllers and add value collector
688af64

feat(tools): Add system identification tools
ce19b6d

feat(auto_aim): Integrate auto_aim v2 as submodule
8d9a286

feat(sentry): Add sentry robot with climber, navigation and decision
21ebb97

feat(hero): Rework hero with six-friction steering chassis
08e3c7d

feat(infantry): Update omni infantry and drop steering infantry
80cb37c

feat(deformable-infantry): Rework deformable chassis and add omni-b
13ca2cc

feat(flight): Update flight hardware and add PX4 vision bridge
a27e3d1

ZGZ713912 force-pushed the merge/deformable branch from 548c521 to 50a0ddfCompare August 11, 2026 17:17

ZGZ713912 force-pushed the merge/deformable branch from 50a0ddf to 7baf2c7Compare August 13, 2026 06:37

merge/deformable-infantry
4829548

ZGZ713912 force-pushed the merge/deformable branch from 7baf2c7 to 4829548Compare August 13, 2026 07:23

ZGZ713912 closed this Aug 13, 2026

github-project-automationBot moved this from Todo to Done in RMCS Aug 13, 2026

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Refactor omni-b and add omni-c hardware - #95

Refactor omni-b and add omni-c hardware#95
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摘要

重点影响

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