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_class='org.jenkinsci.plugins.workflow.graph.FlowEndNode'></node></action><action></action><action></action><action></action><building>false</building><displayName>#125</displayName><duration>244465</duration><estimatedDuration>979341</estimatedDuration><fullDisplayName>orin-module-ros2 #125</fullDisplayName><id>125</id><keepLog>false</keepLog><number>125</number><queueId>1359720</queueId><result>SUCCESS</result><timestamp>1792584144481</timestamp><url>http://159.27.114.184:8080/jenkins/job/orin-module-ros2/125/</url><changeSet _class='hudson.plugins.git.GitChangeSetList'><item _class='hudson.plugins.git.GitChangeSet'><affectedPath>src/hmi/HmiStatePublisher.cpp</affectedPath><affectedPath>protocol/platoon/v1/private_extensions.proto</affectedPath><affectedPath>include/ros/RosTraffic.hpp</affectedPath><affectedPath>src/router/Router.cpp</affectedPath><affectedPath>docs/data_mapping.md</affectedPath><affectedPath>src/ros/RosTraffic.cpp</affectedPath><affectedPath>include/router/RouterTypes.hpp</affectedPath><affectedPath>common/protobuf/src/Validator.cpp</affectedPath><affectedPath>src/hmi/HmiStatePublisher.hpp</affectedPath><affectedPath>include/router/Router.hpp</affectedPath><affectedPath>src/router/LocalSnapshot.cpp</affectedPath><commitId>9b73c19b34a810df398ab56c9a20b83d8af394d3</commitId><timestamp>1792584018000</timestamp><author><absoluteUrl>http://159.27.114.184:8080/jenkins/user/taoge</absoluteUrl><fullName>taoge</fullName></author><authorEmail>taoge@God.localdomain</authorEmail><comment>fix: 定位航向入口归一化、VehicleInfo.timestamp_ns 透传并补充定位诊断日志

问题：编队两车在同一弯道先后出现 HMI 自车与他车消失、后车 PNC 丢失前车，出弯恢复。
排查确认 /vehicle/localization.rotation_angle.z 在该路段未通过 ±180 门禁
（可能越界或 NaN），导致自车定位 valid=false、相对位置清空、PBSMex 航向字段缺失，
后车 VehicleInfo 无 VALID_ORIENTATION。

- Router 入口对 heading 做 std::remainder(yaw, 360) 归一化，不再依赖上游角度表示；
  Validator/LocalSnapshot 航向范围放宽到 ±360 作为对端旧版本兼容下限
- 自车位姿有效性判定统一为 selfPoseIssue()，SelfLocalization 新增 invalid_reason
  并随 HMI localization 下发
- VehicleInfo.timestamp_ns 透传前车 /vehicle/localization.header.stamp：
  发送端写入 pose.stamp.sample_time_unix_ns（不再被 roll/pitch 合并逻辑清除），
  接收端直接转发、缺失为 0，删除 motion/底盘/发送时间回退链
- 新增仅在状态变化时打印的诊断日志：航向异常/恢复（含 NaN）、自车位姿不可用原因、
  远端车辆跳过原因（含位置在但航向缺失）、VehicleInfo valid_fields 变化、
  HMI 下发定位有效性变化
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_class='hudson.plugins.git.GitChangeSet'><affectedPath>Testing/live_compact_version_test.cpp</affectedPath><affectedPath>io/snapshot_payload.hpp</affectedPath><affectedPath>replayer/sdk/planframe_compat.hpp</affectedPath><affectedPath>Testing/planframe_compat_test.cpp</affectedPath><affectedPath>replayer/sdk/planframe_compat.cpp</affectedPath><affectedPath>replayer/scene_data/proto_bag_scene_builder.cpp</affectedPath><affectedPath>replayer/scene_data/compact_snapshot_stream_decoder.cpp</affectedPath><affectedPath>Testing/rosbag2_roundtrip_test.cpp</affectedPath><affectedPath>CMakeLists.txt</affectedPath><affectedPath>replayer/scene_data/live_compact_ingress.cpp</affectedPath><affectedPath>io/compact_snapshot_transport.hpp</affectedPath><affectedPath>replayer/live_bridge/pnc_live_web_bridge.hpp</affectedPath><affectedPath>sink/ros_sink_snapshot_compact_scene.cpp</affectedPath><affectedPath>docs/pnc_algorithm_replay/usage.md</affectedPath><affectedPath>replayer/live_bridge/pnc_live_web_bridge.cpp</affectedPath><affectedPath>Testing/compact_snapshot_transport_test.cpp</affectedPath><affectedPath>Testing/live_web_bridge_test.cpp</affectedPath><commitId>701b4ed4809e3f37946cf309cc838c0ee7a40488</commitId><timestamp>1792586527000</timestamp><author><absoluteUrl>http://159.27.114.184:8080/jenkins/user/chenran</absoluteUrl><fullName>chenran</fullName></author><authorEmail>chenran@senior.auto</authorEmail><comment>fix: preserve ROS 2 snapshot payloads through string transport
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