https://ryan.0412.online/experience/2026-raicom/Recent content in 2026 RAICOM 智能侦察 on YHY Study WebsiteHugozh-CNSat, 29 Aug 2026 20:58:41 +0800https://ryan.0412.online/experience/2026-raicom/overview/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/overview/<p>全国大学生机器人大赛（RAICOM）「智能侦察」赛项的整车 ROS 软件。小车在 5 分钟内自主穿越 A–D 四区，完成人物识别与水弹打靶、雷区计数、反坦克检测与避障，并输出 <strong>6 行字节精确</strong> 的 <code>report.txt</code>。</p>https://ryan.0412.online/experience/2026-raicom/usage/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/usage/<p>默认工作空间路径为 <code>~/1raicom_ws</code>（与仓库 <a href="https://github.com/RyanYhy/raicom2026">raicom2026</a> 同结构）。</p> <h2 id="requirements">环境要求 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">组件</th> <th scope="col">说明</th> </tr> </thead> <tbody> <tr> <td>系统</td> <td>Ubuntu 18.04</td> </tr> <tr> <td>ROS</td> <td>Melodic</td> </tr> <tr> <td>本仓库</td> <td><code>1raicom_ws</code>（catkin 根）</td> </tr> <tr> <td><code>~/cartographer_ws</code></td> <td>Cartographer 定位（<strong>不在本仓库内</strong>）</td> </tr> <tr> <td><code>~/cv_bridge_ws</code></td> <td>Python3 版 cv_bridge（YOLO 节点）</td> </tr> <tr> <td>Conda <code>yolov8</code></td> <td>ONNX 推理</td> </tr> </tbody> </table> </div> <figure class="td-figure"> <img src="https://ryan.0412.online/images/raicom2026/env_overlay.png" alt="环境 overlay" loading="lazy" decoding="async"><figcaption> <span class="td-fig-caption">overlay 加载顺序（setup_env.sh）</span></figcaption> </figure><h3 id="setup-env">统一环境入口 </h3> <p>每个新终端：</p>https://ryan.0412.online/experience/2026-raicom/module-hardware/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/module-hardware/<h2 id="hardware">硬件清单 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">设备</th> <th scope="col">用途</th> <th scope="col">udev 节点</th> </tr> </thead> <tbody> <tr> <td>麦克纳姆轮底盘</td> <td>全向移动</td> <td><code>/dev/carserial</code></td> </tr> <tr> <td>Wit IMU</td> <td>姿态/角速度</td> <td><code>/dev/imu</code></td> </tr> <tr> <td>镭神 N10_P</td> <td>2D 激光</td> <td><code>/dev/lslidar</code></td> </tr> <tr> <td>云台 + 水弹枪</td> <td>瞄准/开火</td> <td><code>/dev/gun</code></td> </tr> <tr> <td>USB 摄像头</td> <td>人物/雷区（云台）</td> <td><code>/dev/video*</code></td> </tr> <tr> <td>Orbbec DCW2</td> <td>反坦克 RGB+深度</td> <td>USB <code>2bc5</code></td> </tr> </tbody> </table> </div> <img class="td-image" src="https://ryan.0412.online/images/raicom2026/hardware_topology.png" alt="硬件与驱动" loading="lazy" decoding="async"><h2 id="drivers">驱动包对照 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">ROS 包</th> <th scope="col">节点</th> <th scope="col">输出</th> </tr> </thead> <tbody> <tr> <td><code>chassis_driver</code></td> <td><code>base_controller.py</code></td> <td>串口底盘</td> </tr> <tr> <td><code>imu_driver</code></td> <td><code>wit_multi_ros.py</code></td> <td><code>/imu</code></td> </tr> <tr> <td><code>leishen/lslidar_driver</code></td> <td>雷达节点</td> <td><code>/scan</code></td> </tr> <tr> <td><code>car_bringup</code></td> <td><code>base_node</code></td> <td><code>odom_raw</code></td> </tr> <tr> <td><code>orbbec_camera</code></td> <td>SDK 驱动</td> <td><code>/camera/color/*</code>、<code>/camera/depth/*</code></td> </tr> <tr> <td><code>robot_bringup</code></td> <td><code>bringup_robot.launch</code></td> <td><strong>聚合启动</strong> 上表 + EKF + URDF</td> </tr> </tbody> </table> </div> <h2 id="bringup">bringup 启动链 </h2> <p><a href="https://github.com/RyanYhy/raicom2026/blob/main/src/robot_bringup/launch/bringup_robot.launch"><code>bringup_robot.launch</code></a>：</p>https://ryan.0412.online/experience/2026-raicom/module-mapping/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/module-mapping/<h2 id="maps">比赛使用的地图 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">文件</th> <th scope="col">用途</th> </tr> </thead> <tbody> <tr> <td><code>data/maps/map2.yaml</code></td> <td><code>map_server</code> 占用栅格</td> </tr> <tr> <td><code>data/maps/map2.pbstream</code></td> <td>Cartographer 纯定位</td> </tr> </tbody> </table> </div> <p>两者须同一次建图产出；<strong>换图后必须重测航点</strong>（<a href="https://github.com/RyanYhy/raicom2026/blob/main/src/raicom2026/param/nav_competition.yaml"><code>nav_competition.yaml</code></a>）。</p> <h2 id="toolchain">工具链 </h2> <p>建图核心在 <strong>外部</strong> <code>~/cartographer_ws</code>；本仓库提供：</p>https://ryan.0412.online/experience/2026-raicom/module-localization/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/module-localization/<p><a href="https://github.com/RyanYhy/raicom2026/blob/main/src/raicom2026/launch/nav_competition_2026.launch"><code>nav_competition_2026.launch</code></a> 通过 <code>loc_mode</code> 切换：</p> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">模式</th> <th scope="col">参数</th> <th scope="col">说明</th> </tr> </thead> <tbody> <tr> <td><strong>Cartographer</strong></td> <td><code>loc_mode:=cartographer</code>（<strong>比赛默认</strong>）</td> <td>加载 <code>map2.pbstream</code></td> </tr> <tr> <td><strong>AMCL</strong></td> <td><code>loc_mode:=amcl</code></td> <td>粒子滤波 + 静态地图</td> </tr> </tbody> </table> </div> <img class="td-image" src="https://ryan.0412.online/images/raicom2026/localization_modes.png" alt="定位模式" loading="lazy" decoding="async"><p>prep 固定：</p> <div class="td-code td-code--untitled" id="td-code-ab47e1c9-fence-0" data-td-code data-td-code-auto-id data-td-language="bash" data-td-line-count="1"> <div class="td-code__viewport" id="td-code-ab47e1c9-fence-0-viewport" data-td-code-viewport><div class="highlight"><pre tabindex="0" class="chroma"><code class="language-bash" data-lang="bash"><span class="line"><span class="cl">roslaunch raicom2026 nav_competition_2026.launch start_nav:<span class="o">=</span><span class="nb">false</span> loc_mode:<span class="o">=</span>cartographer</span></span></code></pre></div></div> </div> <h2 id="carto-nodes">Cartographer 辅助节点 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">节点</th> <th scope="col">作用</th> </tr> </thead> <tbody> <tr> <td><code>odom_cleaner.py</code></td> <td>清洗 <code>/odom</code> 时间戳</td> </tr> <tr> <td><code>carto_init.py</code></td> <td>注入起点位姿</td> </tr> <tr> <td><code>carto_relocalize.py</code></td> <td>RViz 2D Pose Estimate 手动重定位</td> </tr> </tbody> </table> </div> <p>配置：<a href="https://github.com/RyanYhy/raicom2026/tree/main/src/raicom2026/config/cartographer"><code>config/cartographer/localization.lua</code></a></p>https://ryan.0412.online/experience/2026-raicom/module-navigation/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/module-navigation/<h2 id="components">核心组件 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">组件</th> <th scope="col">作用</th> </tr> </thead> <tbody> <tr> <td><code>map_server</code></td> <td>发布 <code>/map</code></td> </tr> <tr> <td><code>move_base</code></td> <td>全局 + DWA 局部规划</td> </tr> <tr> <td><code>robot_navigation/param/</code></td> <td>costmap、DWA 参数</td> </tr> <tr> <td><code>visual_layer_params.yaml</code></td> <td>local costmap 订阅 <code>/visual_mine/obstacles</code></td> </tr> </tbody> </table> </div> <p>主 launch <strong>自持</strong> <code>move_base</code>（<code>clear_params=true</code>），最后加载 visual 层参数。</p>https://ryan.0412.online/experience/2026-raicom/module-tasks/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/module-tasks/<p>代码主要在 <code>raicom2026</code> 包。<a href="https://github.com/RyanYhy/raicom2026/tree/main/src/raicom2026">仓库</a></p> <img class="td-image" src="https://ryan.0412.online/images/raicom2026/task_service_flow.png" alt="任务 Service 流" loading="lazy" decoding="async"><h2 id="scheduler">主调度 nav_competition </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">项</th> <th scope="col">说明</th> </tr> </thead> <tbody> <tr> <td>配置</td> <td><a href="https://github.com/RyanYhy/raicom2026/blob/main/src/raicom2026/param/nav_competition.yaml"><code>nav_competition.yaml</code></a></td> </tr> <tr> <td>go 启动</td> <td><a href="https://github.com/RyanYhy/raicom2026/blob/main/src/raicom2026/launch/match_go.launch"><code>match_go.launch</code></a></td> </tr> <tr> <td>任务类型</td> <td><code>person</code>（A–D）、<code>mine</code>（A/B）、<code>antitank</code></td> </tr> </tbody> </table> </div> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">Service</th> <th scope="col">执行节点</th> </tr> </thead> <tbody> <tr> <td><code>/person_detect_service</code></td> <td><code>webcam_person_gun.py</code></td> </tr> <tr> <td><code>/mine_detect_service</code></td> <td><code>orbbec_mine_antitank.py</code></td> </tr> <tr> <td><code>/antitank_check_service</code></td> <td><code>orbbec_mine_antitank.py</code></td> </tr> </tbody> </table> </div> <h2 id="gimbal">云台服务 gimbal_server </h2> <ul> <li>独占 <code>/dev/gun</code></li> <li><code>/gun/aim</code>、<code>/gun/fire</code>、<code>/gun/home</code></li> <li>人物与雷区<strong>共用</strong>云台</li> </ul> <h2 id="person">人物识别与打靶 </h2> <p><a href="https://github.com/RyanYhy/raicom2026/blob/main/src/raicom2026/scripts/webcam_person_gun.py"><code>webcam_person_gun.py</code></a></p>https://ryan.0412.online/experience/2026-raicom/summary/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/summary/<h2 id="deps">模块依赖 </h2> <pre class="mermaid">flowchart TB subgraph HW [硬件与驱动] BR[robot_bringup] end subgraph LOC [定位] CARTO[cartographer] MAP[map_server] end subgraph NAV [导航] MB[move_base] end subgraph TASK [比赛任务] NAVCOMP[nav_competition] PERSON[webcam_person_gun] MINEAT[orbbec_mine_antitank] end BR --&gt; CARTO MAP --&gt; MB CARTO --&gt; MB NAVCOMP --&gt; MB NAVCOMP --&gt; PERSON NAVCOMP --&gt; MINEAT MINEAT --&gt; MB</pre> <h2 id="dev-tips">二次开发建议 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">目标</th> <th scope="col">建议</th> </tr> </thead> <tbody> <tr> <td>改航点/超时</td> <td>只改 <code>nav_competition.yaml</code></td> </tr> <tr> <td>改识别</td> <td>对应 <code>scripts/*.py</code> + <code>data/models/*.onnx</code></td> </tr> <tr> <td>改导航</td> <td><code>robot_navigation/param/</code> + launch</td> </tr> <tr> <td>新功能</td> <td><strong>优先写在 <code>raicom2026</code> 包内</strong></td> </tr> </tbody> </table> </div> <div class="td-callout td-callout--tip" role="note"> <div class="td-callout__title"><i class="td-callout__icon fa-solid fa-lightbulb" aria-hidden="true"></i><span class="td-callout__label">Oink 与仓库</span></div> <div class="td-callout__body"> <p>本文档站点用 <a href="https://oink.pgsty.com/zh/book/">Oink</a> 主题组织内容；改代码以 <a href="https://github.com/RyanYhy/raicom2026">GitHub 仓库</a> 为准。详见 <a href="../appendix/">附录</a> 速查表。</p>https://ryan.0412.online/experience/2026-raicom/appendix/Mon, 01 Jan 0001 00:00:00 +0000https://ryan.0412.online/experience/2026-raicom/appendix/<h2 id="unfinished">未完成功能 </h2> <h3 id="黄线循线">黄线循线 </h3> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">环节</th> <th scope="col">状态</th> </tr> </thead> <tbody> <tr> <td><code>visual_mine_avoidance.py</code></td> <td>prep 会起；发 <code>/visual_line/*</code></td> </tr> <tr> <td><code>cmd_vel_merge.py</code></td> <td><code>enable_line_follow=false</code></td> </tr> <tr> <td>比赛效果</td> <td><strong>无</strong>；速度仅透传</td> </tr> </tbody> </table> </div> <h3 id="visual_mine_avoidance">visual_mine_avoidance </h3> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">能力</th> <th scope="col">状态</th> </tr> </thead> <tbody> <tr> <td>反坦克常驻推理</td> <td><code>enable_at=false</code></td> </tr> <tr> <td>比赛点云</td> <td>由 <code>orbbec_mine_antitank</code> 发布</td> </tr> <tr> <td>bench</td> <td><code>roslaunch raicom2026 visual_mine_avoidance.launch</code></td> </tr> </tbody> </table> </div> <h2 id="cheatsheet">功能 → 文件速查 </h2> <div class="td-table-scroll td-table-scroll--static"> <table> <thead> <tr> <th scope="col">想改 / 想查</th> <th scope="col">路径（相对仓库根）</th> </tr> </thead> <tbody> <tr> <td>航点、超时</td> <td><code>src/raicom2026/param/nav_competition.yaml</code></td> </tr> <tr> <td>导航编排</td> <td><code>src/raicom2026/scripts/nav_competition.py</code></td> </tr> <tr> <td>人物+打靶</td> <td><code>src/raicom2026/scripts/webcam_person_gun.py</code></td> </tr> <tr> <td>雷区+反坦克</td> <td><code>src/raicom2026/scripts/orbbec_mine_antitank.py</code></td> </tr> <tr> <td>云台</td> <td><code>src/raicom2026/scripts/gimbal_server.py</code></td> </tr> <tr> <td>报告</td> <td><code>src/raicom2026/src/raicom2026/report.py</code></td> </tr> <tr> <td>主 launch</td> <td><code>src/raicom2026/launch/nav_competition_2026.launch</code></td> </tr> <tr> <td>move_base 参数</td> <td><code>src/robot_navigation/param/</code></td> </tr> <tr> <td>地图</td> <td><code>src/raicom2026/data/maps/map2.*</code></td> </tr> <tr> <td>prep/go</td> <td><code>scripts/start_match_*.sh</code></td> </tr> </tbody> </table> </div> <p>完整列表见 <a href="https://github.com/RyanYhy/raicom2026">GitHub 仓库</a>。</p>