master

openeuler-ci-botfeat: camera calibration system for Gazebo and MuJoCo

657ea068创建于 15 小时前历史提交

文件	最后提交记录	最后更新时间
lekiwi.yaml	robot_config: integrate lekiwi mobile base Add a LeKiwi robot profile with control, teleop, recording, and navigation support so the mobile base can launch through the unified robot_config entrypoint. Wire Gazebo sensor bridges for the LeKiwi simulation path and extend robot_config builders to support the new mobile base. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>	1 个月前
lekiwi_navi.yaml	feat(navi): replace FunASR with local sherpa-onnx + add tests Voice control refactoring: - Add voice_control node bridging voice_asr_service (sherpa-onnx) to nav2_goal_client via keyword matching, replacing external FunASR WebSocket client that required a separate server deployment - Add hotword registration: voice_control auto-pushes keywords to voice_asr_node at startup via SetHotwords service (ibrobot_msgs) - Remove funasr_client_node, FunASR install/start scripts, and python3-websockets dependency - Clean up lekiwi_navi.yaml: replace stale funasr config with voice_asr section; update model path to relative path - Update voice_nav.py launch builder for voice_control node - Update README with new architecture and ROS interface docs lekiwi_hardware refactoring: - Extract lekiwi_conversions.hpp (header-only) with 6 pure conversion functions (ticks_to_radians, radians_to_ticks, steps_to_rad_s, rad_s_to_steps, decode_motor_register, encode_homing_offset) - Refactor lekiwi_system_hardware.cpp to use extracted functions, removing inline conversion logic - Add 55 gtest cases covering all conversion functions and round-trip consistency (test_lekiwi_conversions.cpp) Test coverage: - Add pytest tests for voice_control (40 cases: keyword matching, destination resolution, stop handling, hotword extraction, e2e) - Add pytest tests for cmd_vel_bridge (IK/FK, velocity scaling, quaternion, joint feedback, odometry integration) - Add pytest tests for nav2_goal_client (goal dispatch, cancellation, task description caching, timeout handling) Also fix asr_inference_module to correctly load encoder/decoder ONNX files for streaming paraformer model. Signed-off-by: yanhan <yanhan31@huawei.com>	18 天前
so101_dual_arm.yaml	docs: sync architecture and rename legacy control modes Update READMEs and architectural documentation to reflect the removal of 'rosetta' and 'robot_interface' packages. Sync 'teleop_act' to 'model_inference' across all configuration and documentation files. - Remove all 'rosetta' and 'robot_interface' mentions in READMEs. - Update 'docs/architecture.md' and 'docs/roadmap.md' to current status. - Rename 'teleop_act' mode to 'model_inference' in robot_config YAMLs. - Update launch builders to search in 'robot_config/config/contracts'. - Clean up 'tensormsg' docstrings and comments. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>	2 个月前
so101_single_arm.yaml	feat: camera calibration system for Gazebo and MuJoCo Add sim-aware camera alignment and Gazebo proxy adjustment. Add MuJoCo calibration support via isolated Gazebo. Keep overrides and robot spawn owned by robot_config.	15 小时前
so101_single_arm_rgbd.yaml	feat(robot_config): add so101_rgbd config and fix realsense perception params	2 个月前
test_single_arm_single_cam.yaml	feat: Enhance MoveIt IK solver and add moveit_gateway node - Improve IK solver functionality for SO101 5DOF mechanical arm - Add moveit_gateway node for pose control with enhanced IK strategies - Update configuration files: joint_limits.yaml and kinematics.yaml - Add comprehensive documentation for moveit_gateway node - Update launch file and CMake configuration for new functionality - Update package.xml with required dependencies	2 个月前