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weifang-container-submodule.jenkinsfileeditparams/weifang-container-submodule.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfilede2d8324abffc45252e0ae0b843f47b66b44be781789895948000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-09-20 09:19:08 +0000de2d8324abffc45252e0ae0b843f47b66b44be78Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfileparams/hainan-yangpu-submodule.jenkinsfile627c09e458776a1b23504161b6f770f41d07a1ff1789956537000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile 2026-09-21 02:08:57 +0000627c09e458776a1b23504161b6f770f41d07a1ffUpdate hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfilegitguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt1f1b50411fbad43ef0d16e173acf889b3a4138541781582488000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-16 12:01:28 +08001f1b50411fbad43ef0d16e173acf889b3a413854feat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacle.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txtcbe2305d5c6c686eaa127b2cc0d59df5b5bca47d1782370275000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-25 14:51:15 +0800cbe2305d5c6c686eaa127b2cc0d59df5b5bca47dfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacle.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacleReport.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/RecordTransferCmd.msgcloud_msgs/msg/RecordTransferResult.msg303eb68645d43fc7e1695415feada4be3a0feb4b1785917135000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加全量上传topic 2026-08-05 16:05:35 +0800303eb68645d43fc7e1695415feada4be3a0feb4bfeat_out:增加全量上传topiceditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/RecordTransferCmd.msgaddcloud_msgs/msg/RecordTransferResult.msgperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msgperipheral_msgs/msg/PeripheralOperateStates.msgtos_msgs/msg/PeripheralCmd.msg79e9ee25b4ab79077fc9216ed01c5b80ecee14ee1787038195000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autoMerge peripheral shared_msgs updates into rc_dev_weiqiao 2026-08-18 15:29:55 +080079e9ee25b4ab79077fc9216ed01c5b80ecee14eeMerge peripheral shared_msgs updates into rc_dev_weiqiaoeditcloud_msgs/msg/LedMsg.msgedittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateStates.msgeditperipheral_msgs/msg/PeripheralOperateState.msgtos_msgs/msg/PeripheralCmd.msgf820c4ad43107c56f407831e44f6bc87cbbfff7f1788686986000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:对调命令target值 2026-09-06 17:29:46 +0800f820c4ad43107c56f407831e44f6bc87cbbfff7ffeat_out:对调命令target值edittos_msgs/msg/PeripheralCmd.msggitconfig/imv/rslidar_config_all_in_one.yamlsrc/adapter/point_cloud_ros_adapter.hppconfig/imv/rslidar_config_all_in_one_offline.yamlconfig/config.yaml0fa5e53ddd6f7ebd530f800d2d7110f101c991d01789033965000http://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanxiaosonglan@gmail.comfix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_ground pose_frame_id 决定 lookupTransform(pose_frame_id, frame_id_) 取到的 trans_lidar_to_imu —— 即把点云搬到「位姿所在刚体」的外参, 所以它必须和 pose 话题描述的刚体对上: /msf/imu_pose_raw_estimate -> imu_raw (原本就对) /msf/dr_pose -> imu (原先错写成 base_ground) /vehicle/localization -> base_ground (原先没有这条分支) 原先 dr_pose 被强制成 base_ground, 力臂差了整整 5.007m: 干线 AT002 车上 tf_static 实测 base_ground->imu = (4.450, 0.760, 2.165) 且旋转差 0.000°, 即 imu->lidar_front=(1.688,-0.780,0.810) vs base_ground->lidar_front=(6.138,-0.020,2.975)。补偿误差 ≈ 帧内转角 × 5.007m。用 AT002「直行+转弯」实包(2038 条 dr_pose, 车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 100ms 内转角: 中位 0.1263° -> 1.10 cm P90 0.3313° -> 2.90 cm P99 0.7755° -> 6.78 cm 最大 1.1158° -> 9.76 cm 直行时转角趋零、误差趋零 —— 港口对位场景基本蠕行, 所以这个 bug 被掩盖了一年, 干线车高速转弯才显现。刚体归属由定位侧确认: dr_pose=imu, imu_pose_raw_estimate=imu_raw, vehicle/localization=base_ground。 ⚠️ config 侧一并改: config.yaml 与 imv/rslidar_config_all_in_one{,_offline}.yaml 共 17 处 pose_frame_id 原为 base_ground(topic 全是 /msf/dr_pose), 改为 imu, 注释同步写全三种映射。这些是港口车在用的配置, 下次部署后补偿结果会变化(变正确), 涉及历史标注/建图数据一致性, 需与定位组和数据侧确认后再下发。源头是 rslidar_sdk_new 的 4cd98d4(2025-09-24, zhjfeng, feat_out:增加运动补偿处理), 本仓库同款实现。rslidar_sdk_new 的 dev_ros2/rc_dev/dev 与 hesai_lidar 一并修正。 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK 2026-09-10 05:52:45 -04000fa5e53ddd6f7ebd530f800d2d7110f101c991d0fix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_groundeditconfig/config.yamleditconfig/imv/rslidar_config_all_in_one.yamleditsrc/adapter/point_cloud_ros_adapter.hppeditconfig/imv/rslidar_config_all_in_one_offline.yamlconfig/truck/rslidar_config_right_offline.yamlconfig/truck/rslidar_config_top_up_offline.yamlconfig/imv/rslidar_config_right_rear_offline.yamlconfig/imv/rslidar_config_left_rear_down_offline.yamlconfig/imv/rslidar_config_right_front_offline.yamlconfig/imv/rslidar_config_left_rear_down.yamlconfig/imv/rslidar_config_right_front_down_offline.yamlconfig/imv/rslidar_config_left_front_up.yamlconfig/imv/rslidar_config_left_front_up_offline.yamlconfig/imv/rslidar_config_left_front_up_offline_bp4.yamlconfig/imv/rslidar_config_right_front_down_offline_bp4.yamlconfig/imv/rslidar_config_left_rear_down_offline_bp4.yamlconfig/imv/rslidar_config_right_rear_up_offline.yamlconfig/truck/rslidar_config_top.yamlconfig/imv/rslidar_config_left_rear_offline.yamlconfig/truck/rslidar_config_top_up.yamlconfig/imv/rslidar_config_left_front_down_offline_bp4.yamlconfig/imv/rslidar_config_right_rear_down_offline_bp4.yamlconfig/truck/rslidar_config_left_down.yamlconfig/truck/rslidar_config_left_offline.yamlconfig/imv/rslidar_config_right_front_down.yamlconfig/imv/rslidar_config_right_front.yamlconfig/imv/rslidar_config_left_front.yamlconfig/truck/rslidar_config_right_down.yamlconfig/truck/rslidar_config_top_up_offline_bp4.yamlconfig/imv/rslidar_config_right_rear_up_offline_bp4.yamlconfig/truck/rslidar_config_top_offline.yamlconfig/truck/rslidar_config_right_down_offline_bp4.yamlconfig/truck/rslidar_config_left_down_offline.yamlconfig/imv/rslidar_config_left_rear.yamlconfig/truck/rslidar_config_left.yamlconfig/imv/rslidar_config_right_rear_up.yamlconfig/truck/rslidar_config_right.yamlconfig/truck/rslidar_config_rear_down_offline_bp4.yamlconfig/truck/rslidar_config_left_down_offline_bp4.yamlconfig/imv/rslidar_config_left_front_offline.yamlconfig/truck/rslidar_config_right_down_offline.yamlconfig/imv/rslidar_config_right_rear.yaml378d00df455683c9571a7bf0793880b8730e900a1789034312000http://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanxiaosonglan@gmail.comfix: 补齐 imv/truck 下 38 个单雷达 config 的 pose_frame_id 上一个提交只改了 config.yaml 与 imv/rslidar_config_all_in_one{,_offline}.yaml 共 17 处, 漏掉 config/imv/(22 个) 与 config/truck/(16 个) 下的单雷达配置 —— 它们的 ros_recv_pose_topic 同样是 /msf/dr_pose, pose_frame_id 也同样错写成 base_ground。原因是我当时用 git grep -c 列文件时 head -3 截断了输出, 把前 3 个文件当成了全部。现在按 ros_recv_pose_topic 配对全量修正仓库内所有 yaml: /msf/imu_pose_raw_estimate -> imu_raw /msf/dr_pose -> imu /vehicle/localization -> base_ground via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK 2026-09-10 05:58:32 -0400378d00df455683c9571a7bf0793880b8730e900afix: 补齐 imv/truck 下 38 个单雷达 config 的 pose_frame_ideditconfig/truck/rslidar_config_left.yamleditconfig/imv/rslidar_config_right_front.yamleditconfig/imv/rslidar_config_left_front_up.yamleditconfig/truck/rslidar_config_right.yamleditconfig/truck/rslidar_config_right_down_offline.yamleditconfig/imv/rslidar_config_left_rear.yamleditconfig/truck/rslidar_config_top.yamleditconfig/imv/rslidar_config_left_rear_offline.yamleditconfig/truck/rslidar_config_top_up.yamleditconfig/imv/rslidar_config_left_front_offline.yamleditconfig/imv/rslidar_config_left_front_down_offline_bp4.yamleditconfig/imv/rslidar_config_left_front_up_offline.yamleditconfig/imv/rslidar_config_right_rear_up_offline_bp4.yamleditconfig/truck/rslidar_config_left_down_offline.yamleditconfig/imv/rslidar_config_left_front.yamleditconfig/truck/rslidar_config_right_down_offline_bp4.yamleditconfig/truck/rslidar_config_rear_down_offline_bp4.yamleditconfig/truck/rslidar_config_left_down.yamleditconfig/imv/rslidar_config_right_rear_offline.yamleditconfig/truck/rslidar_config_left_down_offline_bp4.yamleditconfig/truck/rslidar_config_right_down.yamleditconfig/imv/rslidar_config_left_rear_down_offline.yamleditconfig/imv/rslidar_config_right_rear_up_offline.yamleditconfig/imv/rslidar_config_right_front_down.yamleditconfig/truck/rslidar_config_right_offline.yamleditconfig/imv/rslidar_config_left_front_up_offline_bp4.yamleditconfig/truck/rslidar_config_left_offline.yamleditconfig/truck/rslidar_config_top_up_offline.yamleditconfig/truck/rslidar_config_top_offline.yamleditconfig/truck/rslidar_config_top_up_offline_bp4.yamleditconfig/imv/rslidar_config_right_rear_down_offline_bp4.yamleditconfig/imv/rslidar_config_right_front_down_offline_bp4.yamleditconfig/imv/rslidar_config_right_rear_up.yamleditconfig/imv/rslidar_config_right_front_offline.yamleditconfig/imv/rslidar_config_right_front_down_offline.yamleditconfig/imv/rslidar_config_right_rear.yamleditconfig/imv/rslidar_config_left_rear_down_offline_bp4.yamleditconfig/imv/rslidar_config_left_rear_down.yamlgitsrc/RMInterpreter/ros_mqtt_bridge.cpp83b36a2806bc6618308da7136111f4128d8694e31789106500000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加消息/localization/init下发 2026-09-11 14:01:40 +080083b36a2806bc6618308da7136111f4128d8694e3feat_out:增加消息/localization/init下发editsrc/RMInterpreter/ros_mqtt_bridge.cppgitmachine_metrics/src/info/power_info.cppmachine_metrics/src/config_loader.hmachine_metrics/src/info/ptp_info.htools/error_codes.tomlmachine_metrics/src/info/ptp_info.cpptools/fetch_confluence_error_infos.pymachine_metrics/src/info/power_info.h91e374b975fadbcae69278e49958fcd7a062a0dd1789021409000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加sudo 密码读取逻辑 2026-09-10 14:23:29 +080091e374b975fadbcae69278e49958fcd7a062a0ddfeat_out:增加sudo 密码读取逻辑editmachine_metrics/src/info/ptp_info.cppeditmachine_metrics/src/info/ptp_info.heditmachine_metrics/src/info/power_info.cppeditmachine_metrics/src/config_loader.heditmachine_metrics/src/info/power_info.hedittools/fetch_confluence_error_infos.pyedittools/error_codes.tomlgitconfig/truck/hesai_config_top90_offline.yamlconfig/truck/hesai_config_right_offline.yamlconfig/truck/hesai_config_left_p40m_offline.yamlconfig/imv/hesai_config_left_front_online.yamlconfig/truck/hesai_config_right_p40m_offline.yamlconfig/imv/hesai_config_right_front_offline.yamlconfig/imv/hesai_config_left_rear_offline.yamlconfig/imv/hesai_config_right_front_online.yamlconfig/truck/hesai_config_left_offline.yamlsrc/main.ccconfig/truck/hesai_config_left_p40m_online.yamlconfig/truck/hesai_config_left_online.yamlconfig/truck/hesai_config_top_offline.yamlconfig/imv/hesai_config_right_rear_offline.yamlconfig/truck/hesai_config_right_online.yamlconfig/imv/hesai_config_left_rear_online.yamlconfig/imv/hesai_config_left_front_offline.yamlconfig/imv/hesai_config_right_rear_online.yamlconfig/truck/hesai_config_top_p40m_online.yamlconfig/truck/hesai_config_top_p40m_offline.yamlconfig/truck/hesai_config_right_p40m_online.yamlconfig/truck/hesai_config_top_online.yaml2ae1bae03bcc2aa6acf8e12d4071b72aff38b5de1789034243000http://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanxiaosonglan@gmail.comfix: motion_compensate_pose_frame_id 按 pose 话题取值, dr_pose 应为 imu pose_frame_id 决定 lookupTransform(pose_frame_id, frame_id) 取到的 lidar->pose-frame 外参, 必须和 pose 话题描述的刚体对上: /msf/dr_pose -> imu (原先缺省 base_ground) /vehicle/localization -> base_ground (原先也是 base_ground, 本来就对) 原先无论哪个话题都缺省 base_ground, 走 dr_pose 时力臂差一整段 base_ground->imu: 干线 AT002 车上 tf_static 实测 (4.450, 0.760, 2.165) 共 5.007m 且旋转差 0.000°。补偿误差 ≈ 帧内转角 × 5.007m。用 AT002「直行+转弯」实包(2038 条 dr_pose, 车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 100ms 内转角: 中位 0.1263° -> 1.10 cm P90 0.3313° -> 2.90 cm P99 0.7755° -> 6.78 cm 最大 1.1158° -> 9.76 cm 直行时转角趋零、误差趋零 —— 港口对位场景基本蠕行, 所以这个 bug 一直没显现。刚体归属由定位侧确认: dr_pose=imu, imu_pose_raw_estimate=imu_raw, vehicle/localization=base_ground。改动: - main.cc: 结构体缺省值 base_ground -> imu; LoadConfig() 里按话题校验并打 ERROR - config/imv/*.yaml + config/truck/*.yaml 共 21 处: topic 全是 /msf/dr_pose, frame 由 base_ground 改 imu ⚠️ 这些是港口车在用的配置, 下次部署后补偿结果会变化(变正确), 涉及历史标注/ 建图数据一致性, 需与定位组和数据侧确认后再下发。同源问题存在于 rslidar_sdk_new(dev_ros2/rc_dev/dev)、rslidar_sdk(rc_dev/dev) 与本仓库 dev_ros2, 已一并修正; 源头是 rslidar_sdk_new 的 4cd98d4(2025-09-24, zhjfeng)。 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK 2026-09-10 05:57:23 -04002ae1bae03bcc2aa6acf8e12d4071b72aff38b5defix: motion_compensate_pose_frame_id 按 pose 话题取值, dr_pose 应为 imueditconfig/imv/hesai_config_left_rear_online.yamleditconfig/truck/hesai_config_right_p40m_offline.yamleditconfig/truck/hesai_config_left_p40m_offline.yamleditconfig/truck/hesai_config_top_online.yamleditconfig/truck/hesai_config_top_p40m_online.yamleditconfig/imv/hesai_config_right_rear_offline.yamleditconfig/imv/hesai_config_right_front_offline.yamleditconfig/truck/hesai_config_left_online.yamleditconfig/truck/hesai_config_right_online.yamleditconfig/imv/hesai_config_left_front_offline.yamleditconfig/truck/hesai_config_top_p40m_offline.yamleditconfig/imv/hesai_config_right_rear_online.yamleditconfig/truck/hesai_config_top_offline.yamleditconfig/truck/hesai_config_top90_offline.yamleditconfig/imv/hesai_config_left_front_online.yamleditsrc/main.cceditconfig/imv/hesai_config_left_rear_offline.yamleditconfig/truck/hesai_config_right_offline.yamleditconfig/truck/hesai_config_left_offline.yamleditconfig/imv/hesai_config_right_front_online.yamleditconfig/truck/hesai_config_left_p40m_online.yamleditconfig/truck/hesai_config_right_p40m_online.yamlsrc/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.ccsrc/mc/lidar_motion_compensate.cppsrc/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/input.ccsrc/main.ccconfig/imv/hesai_config_left_front_online.yamld91c9baf1266754a6750c1cdf83f0680b65ea6831789111469000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加原始数据问题的log记录 2026-09-11 15:24:29 +0800d91c9baf1266754a6750c1cdf83f0680b65ea683feat_out:增加原始数据问题的log记录editsrc/mc/lidar_motion_compensate.cppeditconfig/imv/hesai_config_left_front_online.yamleditsrc/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/input.cceditsrc/HesaiLidar_General_SDK/src/PandarGeneralRaw/src/pandarGeneral_internal.cceditsrc/main.ccgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanhttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2314http://159.27.114.184:8080/jenkins/view/all/job/orin-slave64/314/312http://159.27.114.184:8080/jenkins/view/all/job/orin-slave64/312/