Build #861 (Dec 25, 2025 12:09:16 AM)

	Changes feat_out:外设操作命令修改 (details) feat:添加挂尺寸相关字段 (details) feat:删除多余的字段 (details) feat_out:增加夹爪控制及反馈 (details) Changes feat:imv 变道的安全校验参数化 (details) feat:添加绕行状态机 (details) feat:添加变道状态机状态 (details) Revert "feat:imv 变道的安全校验参数化" (details) fix: disable wbca smooth mode for seaside buffer. (details) fix: 修复董家口imv pull over角度偏差过大的问题 (details) fix:修复终点前变道的bug (details) feat:添加参数直行的junction 是否用路口的边界 (details) fix:road 级别的可行驶范围的bug (details) feat:适配董分进堆场边界 (details) fix: routing extending backward for bend. (details) fix:可能崩溃的bug (details) fix:修复封路变道的bug (details) fix:引桥前变道的bug (details) fix:变道的bug (details) fix:修复合并的bug (details) fix:修复合并的bug (details) feat:调整出堆场口的约束创建 (details) fix: SSEP: 修复IMV进充电桩方向错误的问题 (details) fix: wbca crash issue. (details) fix:修复带有bulk 途经点， opensspce 不搜索的bug (details) fix: crash issue. (details) feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数 (details) chore: SSEP: 前港进出堆场改进 (details) chore: SSEP: 改善集卡多段出停车位效果 (details) Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details) Refactor: SSEP: minor updates (details) feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details) feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details) feat: 增加ssep-heatnet-2.0训练场景生成器 (details) refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details) feat: SSEP增加IMV进堆场场景 (details) chore: SSEP: 调试IMV路径 (details) chore: Add proto converters. (details) feat:根据指令更改挂的尺寸 (details) Revert "feat:暂时屏蔽container size 变量" (details) refactor: 去除SSEP中不再用到的参数与相关处理。 (details) fix:太阳纸业出库， ssep路径匹配的bug (details) fix:太阳纸业出库， ssep路径匹配的bug (details) fix: SSEP 修复proto版本不兼容的问题 (details) fix: SSEP 修复proto版本不兼容的问题 (details) fix:修复ttc预测的bug (details) fix:修复ttc预测的bug (details) Revert "feat:暂时屏蔽container size 变量" (details) chore: SSEP: 改进多段路径 - 短路径去除的逻辑 (details) fix: reversing car bulk scenario. (details) fix:修复程序运行的bug (details) feat:搜索尺寸参数赋值 (details) fix:车辆参数赋值错误的bug (details) refactor: update cmakelist (details) fix: reversing crash. (details) feat: convert cloud_obstacles to cloud points. (details) chore: 改进出堆场搜索，调整offboard部分代码 (details) refactor:调整末端的限速 (details) chore: 改进友谊关多段倒车路径形状 (details) chore: 改进友谊关多段倒车路径形状 (details) feat:breakpad 崩溃 (details) feat:删除终点后的不可绕行 (details) feat:上引导不变道的bug (details) feat:draw ssep崩溃的防护 (details) feat:删除打印日志 (details) fix:replayer编译失败的bug (details) fix:breakpad编译失败的bug (details) fix: SSEP: proto去除optional关键字 (details) fix: motion_fsm to_normal bug. (details) feat: SSEP: 完成ssep相关的proto定义。 (details) fix: fix building issue (details) fix: 修复imv优化器斜行代价太小的问题 (details) fix: 修复imv优化器斜行代价太小的问题 (details) Revert "fix: 修复imv优化器斜行代价太小的问题" (details) fix:修复imv优化器斜行代价太小的问题 (details) fix: first_frame smooth mode except in_yard (details) refactor:优化进苏溪停车位的搜索 (details) refactor:优化进苏溪停车位的搜索 (details) fix: clear route in smooth mode when large deviation. (details) fix: clear route in smooth mode when large deviation. (details) chore: SSEP: 实现SceneFrame的构建 (details) fix: wbca smoth_mode route interval (details) feat:适配梁山港 (details) factor:添加搜索途径点的绘制 (details) feat:适配梁山港 (details) factor:添加搜索途径点的绘制 (details) feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。 (details) chore: ssep: yangpu enter yard (details) refactor:优化序列化的显示 (details) chore: SSEP: 改进杨浦进堆场路径 (details) feat: add KappaRateCost. (details) fix: add use_func_stationary_steering_activation (details) chore: SSEP: yangpu进堆场路径调试 (details) fix:宽度补偿的bug (details) fix:宽度补偿的bug (details) fix:参考线拼接的问题 (details) feat:对准指令校验的阈值参数化 (details) feat:优化counter的绘制 (details) feat:ssep的优化 (details) feat:杨浦进堆场口搜索约束的优化 (details) feat:wcba的优化 (details) refactor:优化序列化的显示 (details) refactor:调整末端的限速 (details) fix: smooth path opt. (details) fix:参考线拼接的问题 (details) feat:ssep的优化 (details) feat:杨浦进堆场口搜索约束的优化 (details) fix:参考线拼接的问题 (details) feat:对准指令校验的阈值参数化 (details) feat:优化counter的绘制 (details) feat:ssep的优化 (details) feat:杨浦进堆场口搜索约束的优化 (details) feat:wcba的优化 (details) feat: SSEP: 跑通offboard数据生成工具 (details) fix:smooth_mode connection. (details) feat: SSEP: Add SceneFrame Replayer. (details) fix: wbca using history exception. (details) fix: stitch path data failed. (details) fix:苏溪进停车的bug (details) fix:苏溪进停车的bug (details) feat:添加绕行障碍物的速度参数 (details) feat:添加绕行障碍物的速度参数 (details) feat:优化绕行判断 (details) feat:优化绕行判断 (details) feat: SSEP: offboard: Add scene frame vis server. (details) fix: extract path and trajectory in replayer. (details) fix: extract path and trajectory in replayer. (details) fix: wbca start_pos bug. (details) feat:杨浦进堆场优化 (details) chore: SSEP: update OG polygon extraction algr. (details) feat:杨浦进堆场优化 (details) feat: SSEP: Viz server add download button. (details) feat: SSEP: Add rigid truck general scenario planner. (details) fix: clear history_pts when wbca opt failed. (details) fix: replayer wbca debug. (details) fix: SSEP: 修复SSEP内存泄漏问题 (details) chore: 保存ssep scene frame 到本地 (details) fix: SSEP: Fix crashing issues (details) fix:上引桥极限变道的bug (details) Changes feat_out: add lane name (details)
	Started by user wuyanjun
	Revision: f570878538072ca5f8c2f23224037870f50049e3 Repository: http://159.27.226.4/weilikang/jenkinslib.git master
	Revision: 670d8fdc9db9439013d7cc5e282b071e778f4405 Repository: http://159.27.226.4/weilikang/jenkinsfiles.git refs/remotes/origin/master
	The following steps that have been detected may have insecure interpolation of sensitive variables (click here for an explanation): `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]`
	Revision: 185867dfaf4bb074885954fe648b988b157771b7 Repository: http://159.27.226.4/shared/shared_msgs.git origin/rc_dev
	Revision: baa36b15b097863b686bcbfcfb4d8479a72b9bba Repository: http://159.27.226.4/pnc/pnc.git origin/feat_dead_lock
	Revision: a9c2e4d796a63e7fae98439c0d76ee577dfdf98f Repository: http://159.27.226.4/map/hdmap.git origin/rc_dev
	Revision: 2da8a8e2f3b3c6eeabf913ec6640fdc27ae66c88 Repository: http://159.27.226.4/system/system-ros.git origin/rc_dev
	Revision: b7be5f6192372fcd3edfd44302b0204c1c9d7a59 Repository: http://159.27.226.4/system/rminterpreter.git origin/rc_dev
	Revision: ec9e2338021681d1acbd1b8ce68de7225a19a4d6 Repository: http://159.27.226.4/pnc/control.git origin/feat_cargo_width_sim
	Revision: adbb50f26c53cd594fea54233356f2634f48da48 Repository: http://159.27.226.4/map/hdmap_cloud.git origin/feat_multiple_process
	Revision: ec58104e7665a2b3e74face26e9d18f19aee139e Repository: http://159.27.226.4/system/thirdparty.git origin/rc_dev
	Revision: 14b3ab42d11cd4c46f9cbcf75ec0e10727ded113 Repository: http://159.27.226.4/system/ros-bridge.git origin/rc_dev
	Revision: 9bd34b4f13cefd1806e27f61c462e4811e23376a Repository: http://159.27.226.4/map/hdmap_interface.git origin/rc_dev_add_lane_name
	Revision: 95ec724887af1b240b58915e6d1946ca3d6f4520 Repository: http://159.27.226.4/map/hdmap_analysis.git origin/rc_dev