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Merge steering-hero #57

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7e16876
Pick steering hero resources from branch steering-hero
QingZhuC Mar 15, 2026
a276525
Update to librmcs v3.1.0b0
QingZhuC Mar 15, 2026
5b219ae
Fixed board match, test AC
QingZhuC Mar 15, 2026
cef01f4
Fixed gimbal pitch control error and Update climber controller
floatpigeon Mar 15, 2026
901055a
Fixed friction direction error and Update putter controller without p…
floatpigeon Mar 15, 2026
6bbeed2
Auto Climber Demo!
floatpigeon Mar 17, 2026
040b4c4
AUTO CLIMB STABLE
Mar 17, 2026
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276 changes: 276 additions & 0 deletions rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml
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Original file line number Diff line number Diff line change
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rmcs_executor:
ros__parameters:
update_rate: 1000.0
components:
- rmcs_core::hardware::SteeringHero -> hero_hardware

- rmcs_core::referee::Status -> referee_status
- rmcs_core::referee::command::Interaction -> referee_interaction
# - rmcs_core::referee::command::interaction::Ui -> referee_ui
# - rmcs_core::referee::app::ui::Hero -> referee_ui_hero
- rmcs_core::referee::Command -> referee_command

- rmcs_core::controller::gimbal::HeroGimbalController -> gimbal_controller
- rmcs_core::controller::gimbal::DualYawController -> dual_yaw_controller
- rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller
- rmcs_core::controller::pid::PidController -> pitch_velocity_pid_controller

# - rmcs_core::controller::gimbal::PlayerViewer -> gimbal_player_viewer_controller
# - rmcs_core::controller::pid::ErrorPidController -> viewer_angle_pid_controller

- rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
- rmcs_core::controller::shooting::HeatController -> heat_controller
- rmcs_core::controller::shooting::PutterController -> bullet_feeder_controller
- rmcs_core::controller::pid::PidController -> first_left_friction_velocity_pid_controller
- rmcs_core::controller::pid::PidController -> first_right_friction_velocity_pid_controller
- rmcs_core::controller::pid::PidController -> second_left_friction_velocity_pid_controller
- rmcs_core::controller::pid::PidController -> second_right_friction_velocity_pid_controller
# - rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder

- rmcs_core::controller::chassis::ChassisController -> chassis_controller
- rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
- rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller
- rmcs_core::controller::chassis::ChassisClimberController -> climber_controller

# - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer
# - rmcs_auto_aim::AutoAimController -> auto_aim_controller

- rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster

hero_hardware:
ros__parameters:
board_serial_top_board: "D4-2BCA-2E47-76CD-23BC-0B78-684B"
board_serial_bottom_board_one: "D4-7973-19A9-EA40-4A3E-306F-10F9"
board_serial_bottom_board_two: "D4-3674-7174-8768-879E-E44A-3931"
bottom_yaw_motor_zero_point: 52508
pitch_motor_zero_point: 63917
top_yaw_motor_zero_point: 58744
viewer_motor_zero_point: 3030
external_imu_port: /dev/ttyUSB0
left_front_zero_point: 4438
right_front_zero_point: 7167
left_back_zero_point: 370
right_back_zero_point: 5156
q0: 0.0
q1: 0.0
q2: 0.0
q3: 1.0
# left_front_zero_point: 3473
# left_back_zero_point: 6124
# right_back_zero_point: 6157
# right_front_zero_point: 2723

value_broadcaster:
ros__parameters:
forward_list:
- /chassis/left_front_steering/angle
- /chassis/left_back_steering/angle
- /chassis/right_back_steering/angle
- /chassis/right_front_steering/angle
- /chassis/left_front_steering/control_torque
- /chassis/left_back_steering/control_torque
- /chassis/right_back_steering/control_torque
- /chassis/right_front_steering/control_torque
- /gimbal/pitch/control_torque
- /gimbal/pitch/velocity
- /gimbal/pitch/control_velocity
- /gimbal/pitch/control_angle_error
- /chassis/climber/left_back_motor/torque
- /chassis/climber/right_back_motor/torque
- /chassis/climber/left_back_motor/velocity
- /chassis/climber/right_back_motor/velocity
- /chassis/climber/right_back_motor/control_torque
- /chassis/climber/left_back_motor/control_torque

climber_controller:
ros__parameters:
front_climber_velocity: 60.0
back_climber_velocity: 20.0
auto_climb_dash_velocity: 3.0
auto_climb_support_retract_velocity: 30.0
sync_coefficient: 0.3
climb_timeout_limit: 1000
first_stair_approach_pitch: 0.485
second_stair_approach_pitch: 0.35
back_climber_burst_velocity: 15.0
back_climber_burst_duration: 300
front_kp: 1.0
front_ki: 0.0
front_kd: 0.5
back_kp: 1.0
back_ki: 0.0
back_kd: 0.0

gimbal_controller:
ros__parameters:
upper_limit: -0.6266
lower_limit: 0.4629

dual_yaw_controller:
ros__parameters:
top_yaw_angle_kp: 10.0
top_yaw_angle_ki: 0.0
top_yaw_angle_kd: 0.0
top_yaw_velocity_kp: 50.0
top_yaw_velocity_ki: 0.004
top_yaw_velocity_kd: 0.0
bottom_yaw_angle_kp: 5.0
bottom_yaw_angle_ki: 0.0
bottom_yaw_angle_kd: 0.0
bottom_yaw_velocity_kp: 10.0
bottom_yaw_velocity_ki: 0.0
bottom_yaw_velocity_kd: 50.0

# dual_yaw_controller:
# ros__parameters:
# top_yaw_angle_kp: 24.5
# top_yaw_angle_ki: 0.0
# top_yaw_angle_kd: 0.0
# top_yaw_velocity_kp: 77.4
# top_yaw_velocity_ki: 0.004
# top_yaw_velocity_kd: 1.0
# bottom_yaw_angle_kp: 8.6
# bottom_yaw_angle_ki: 0.0
# bottom_yaw_angle_kd: 0.0
# bottom_yaw_velocity_kp: 25.85
# bottom_yaw_velocity_ki: 0.0
# bottom_yaw_velocity_kd: 50.0

pitch_angle_pid_controller:
ros__parameters:
measurement: /gimbal/pitch/control_angle_error
control: /gimbal/pitch/control_velocity
kp: 28.0 #28.00
ki: 0.0
kd: 0.6 #0.6

pitch_velocity_pid_controller:
ros__parameters:
measurement: /gimbal/pitch/velocity_imu
setpoint: /gimbal/pitch/control_velocity
control: /gimbal/pitch/control_torque
kp: 45.0 #45.00
ki: 0.00
kd: 1.0 #1.00

gimbal_player_viewer_controller:
ros__parameters:
upper_limit: 0.0101
lower_limit: 0.6191

viewer_angle_pid_controller:
ros__parameters:
measurement: /gimbal/player_viewer/control_angle_error
control: /gimbal/player_viewer/control_velocity
kp: 17.00
ki: 0.00
kd: 2.00

friction_wheel_controller:
ros__parameters:
friction_wheels:
- /gimbal/first_left_friction
- /gimbal/first_right_friction
- /gimbal/second_left_friction
- /gimbal/second_right_friction
friction_velocities:
- 450.00
- 450.00
- 535.00
- 535.00
friction_soft_start_stop_time: 1.0

heat_controller:
ros__parameters:
heat_per_shot: 100000
reserved_heat: 0

shooting_recorder:
ros__parameters:
friction_wheel_count: 2
log_mode: 2 # 1: trigger, 2: timing
Comment on lines +188 to +191
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@coderabbitai coderabbitai bot Mar 15, 2026

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⚠️ Potential issue | 🟡 Minor

shooting_recorder 参数已配置但组件未注册。

shooting_recorder 节点在第 183-186 行配置了参数，但在第 4-37 行的 components 列表中没有注册 rmcs_core::controller::shooting::ShootingRecorder。这些参数将不会被使用。

如果需要使用 ShootingRecorder，请添加组件注册：

- rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder
🤖 Prompt for AI Agents 
Verify each finding against the current code and only fix it if needed.

In `@rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml` around lines 183 - 186,
The YAML defines parameters under shooting_recorder but never registers the
component, so those params are unused; add a components entry mapping
rmcs_core::controller::shooting::ShootingRecorder to the node name
shooting_recorder in the top-level components list (the same list that contains
other components between lines 4-37) so the ShootingRecorder is instantiated and
picks up friction_wheel_count and log_mode.


first_left_friction_velocity_pid_controller:
ros__parameters:
measurement: /gimbal/first_left_friction/velocity
setpoint: /gimbal/first_left_friction/control_velocity
control: /gimbal/first_left_friction/control_torque
kp: 0.003436926
ki: 0.00
kd: 0.009373434

first_right_friction_velocity_pid_controller:
ros__parameters:
measurement: /gimbal/first_right_friction/velocity
setpoint: /gimbal/first_right_friction/control_velocity
control: /gimbal/first_right_friction/control_torque
kp: 0.003436926
ki: 0.00
kd: 0.009373434

second_left_friction_velocity_pid_controller:
ros__parameters:
measurement: /gimbal/second_left_friction/velocity
setpoint: /gimbal/second_left_friction/control_velocity
control: /gimbal/second_left_friction/control_torque
kp: 0.003436926
ki: 0.00
kd: 0.009373434

second_right_friction_velocity_pid_controller:
ros__parameters:
measurement: /gimbal/second_right_friction/velocity
setpoint: /gimbal/second_right_friction/control_velocity
control: /gimbal/second_right_friction/control_torque
kp: 0.003436926
ki: 0.00
kd: 0.009373434

steering_wheel_controller:
ros__parameters:
mess: 22.0
moment_of_inertia: 1.08
vehicle_radius: 0.28284271247462
wheel_radius: 0.055
friction_coefficient: 0.6
k1: 2.958580e+00
k2: 3.082190e-03
no_load_power: 11.37

auto_aim_controller:
ros__parameters:
# capture
use_video: false # If true, use video stream instead of camera.
video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi"
exposure_time: 1
invert_image: false
# identifier
armor_model_path: "/models/mlp.onnx"
# pnp
fx: 1.722231837421459e+03
fy: 1.724876404292754e+03
cx: 7.013056440882832e+02
cy: 5.645821718351237e+02
k1: -0.064232403853946
k2: -0.087667493884102
k3: 0.792381808294582
# tracker
armor_predict_duration: 500
# controller
gimbal_predict_duration: 100
yaw_error: 0.
pitch_error: 0.
shoot_velocity: 28.0
predict_sec: 0.095
# etc
buff_predict_duration: 200
buff_model_path: "/models/buff_nocolor_v6.onnx"
omni_exposure: 1000.0
record_fps: 120
debug: false # Setup in actual using.Debug mode is used when referee is not ready
debug_color: 0 # 0 For blue while 1 for red. mine
debug_robot_id: 4
debug_buff_mode: false
record: false
raw_img_pub: false # Set false in actual use
image_viewer_type: 2
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