机器人测试

导航仿真

start play bag

Topics in bag file should contain:

Topic information: Topic: /hric/loc/pose | Type: nav_msgs/msg/Odometry
                   Topic: /hric/loc/status | Type: hric_msgs/msg/LocStatus
                   Topic: /hric/motion/status | Type: hric_msgs/msg/MotionStatus
                   Topic: /hric/nav/plan_trajectory | Type: hric_msgs/msg/PlannedTrajectory
                   Topic: /hric/refline/tmp | Type: nav_msgs/msg/Path
                   Topic: /hric/robot/cmd_vel | Type: geometry_msgs/msg/TwistStamped
                   Topic: /hric/robot/cmd_vel_test | Type: geometry_msgs/msg/TwistStamped
                   Topic: /hric/robot/tracking_status | Type: hric_msgs/msg/TrackingStatus
                   Topic: /lookahead_pose | Type: geometry_msgs/msg/PoseStamped
                   Topic: /perception/non_ground_cloud | Type: sensor_msgs/msg/PointCloud2
                   Topic: /perception/objects | Type: hric_msgs/msg/ObjectArray
                   Topic: /perception/polygon_markers | Type: visualization_msgs/msg/MarkerArray
                   Topic: /planning/dp_path | Type: nav_msgs/msg/Path
                   Topic: /planning/path | Type: nav_msgs/msg/Path
                   Topic: /planning/qp_path | Type: nav_msgs/msg/Path
                   Topic: /rtk_gps | Type: bodyctrl_msgs/msg/RtkGps
                   Topic: /tf | Type: tf2_msgs/msg/TFMessage

播包：

source /opt/ros/humble/setup.bash
source install/setup.bash
cd bags/rosbag2_2026_04_02-23_57_37
ros2 bag play .

start planner manager & navigate & udp_server

source /opt/ros/humble/setup.bash
source install/setup.bash
export FASTRTPS_DEFAULT_PROFILES_FILE=param/dds_profile.xml
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=1
ros2 launch body_control planner_manager_navigate.launch.py

start visualization

bash ./visual_tool_v3/visual_tool/run_visualization.sh

定位

SCRIPT_PATH=$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
PROJECT_DIR=${SCRIPT_PATH}/..
source /opt/ros/humble/setup.bash
source ${PROJECT_DIR}/install/setup.bash
export FASTRTPS_DEFAULT_PROFILES_FILE=${PROJECT_DIR}/param/dds_profile.xml
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=1
ros2 launch body_control humanoid_lidar_slam.launch.py

播bag包

#!/bin/bash
SCRIPT_PATH=$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
PROJECT_DIR=${SCRIPT_PATH}/..
source /opt/ros/humble/setup.bash
source ${PROJECT_DIR}/install/setup.bash
# cd <bag dir>
cd /home/ubuntu/kai/bags/rosbag2_2026_03_14-22_44_54
ros2 bag play . --clock --topics \
    /imu \
    /livox/imu \
    /livox/lidar \
    /ouster/imu \
    /ouster/points \
    /rtk_gps

加载地图

#!/bin/bash
SCRIPT_PATH=$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
PROJECT_DIR=${SCRIPT_PATH}/..
source /opt/ros/humble/setup.bash
source ${PROJECT_DIR}/install/setup.bash
export FASTRTPS_DEFAULT_PROFILES_FILE=${PROJECT_DIR}/param/dds_profile.xml
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export ROS_LOCALHOST_ONLY=1
ros2 service call /hric/loc_laser/load_map \
    hric_msgs/srv/LoadMap \
    "{ task_id: '001', task_type: 6, map_path: ${PROJECT_DIR}/src/robot_motion_control/data/map/malasong/retiler_map }"

感知