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Update gimbal and orientation code. - #224

Merged
Bluefairy-ljy merged 40 commits into
rm-controls:masterfrom
xuncheng-001:national
Oct 17, 2026
Merged

Update gimbal and orientation code. #224
Bluefairy-ljy merged 40 commits into
rm-controls:masterfrom
xuncheng-001:national

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@xuncheng-001

@xuncheng-001 xuncheng-001 commented Oct 14, 2026

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Add the code used for the national competition and implement IMU correction publishing.

@xuncheng-001
Fix center mode .
d7288d6
@xuncheng-001
Add the coff of target distance ,fix the bug of using joint vel,optim…
aa8544d 
…ize the ban shoot time.
@xuncheng-001
Using position to start traject but not time directly.
68a1d45
@xuncheng-001
Optimize the advanced planning problem , add the debug msgs.
7853055
@xuncheng-001
Add switch time self-iteration code,fix the sign issue of trajectory …
eb12061 
…time,and optimize the velocity expectation during trajectory planning.
@xuncheng-001
Write the mpc trajectory planning class .
cdaff9b
@xuncheng-001
Completed the time window logic, modified the firing logic, improved …
c3bf106 
…the speed input, and fixed the firing judgment in standard.cpp.
@xuncheng-001
Delete the mpc class.
089600e
@xuncheng-001
Add the dynamic param and add the v_yaw limit of trajectory.
d9303ec
@xuncheng-001
Fix the bug of time.
3efc776
@xuncheng-001
Add the dynamic param.
aa11882
@xuncheng-001
Merge remote-tracking branch 'origin/master'
4d242cc
@xuncheng-001
Add the outpost delay , delete the td.
c790916
@xuncheng-001
Delete the td param.
b3c1c82
@xuncheng-001
Fix the next armor yaw .
b5e6ba2
@xuncheng-001
Independent outpost parameters, optimized some error logic, and added…
800abbc 
… initial central mode logic.
@xuncheng-001
Adapt to sp_track.
f055c62
@xuncheng-001
Adapt to sp_vison.
d459001
@xuncheng-001
Add new state change srv .
7ebaf09
@xuncheng-001
Save the old controller.
5bc0831
@xuncheng-001
Add the final code and tidy up the formatting.
0bc40e6
@xuncheng-001
Remove redundant code.
5d210f0
@xuncheng-001
Remove redundant code,add the cfg.
5af56c6
@xuncheng-001
Add dual yaw controller.
ade5fe4
@xuncheng-001
Recover the README.md file.
d157ed9
@xuncheng-001
Merge remote-tracking branch 'origin/national' into national
4f62468 
# Conflicts:
#	rm_gimbal_controllers/CMakeLists.txt
#	rm_gimbal_controllers/cfg/BulletSolver.cfg
#	rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
#	rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h
#	rm_gimbal_controllers/src/bullet_solver.cpp
#	rm_gimbal_controllers/src/gimbal_base.cpp
@xuncheng-001
Recover file.
17e3483
@xuncheng-001
Fix format.
416e1d5
@xuncheng-001
Merge remote-tracking branch 'origin/master'
76f3b9e 
# Conflicts:
#	rm_gimbal_controllers/CMakeLists.txt
#	rm_gimbal_controllers/cfg/BulletSolver.cfg
#	rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
#	rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h
#	rm_gimbal_controllers/src/bullet_solver.cpp
#	rm_gimbal_controllers/src/gimbal_base.cpp
@xuncheng-001
Merge branch 'master' into national
fed0e03
@Bluefairy-ljy

Bluefairy-ljy commented Oct 15, 2026

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if (friction_change_speed_derivative > 0 && has_shoot_ &&
        friction_change_speed > config_.wheel_speed_raise_threshold)
  has_shoot_ = false;

我看shooter里改了这个，解释一下捏 @xuncheng-001

@xuncheng-001

xuncheng-001 commented Oct 15, 2026

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if (friction_change_speed_derivative > 0 && has_shoot_ &&
        friction_change_speed > config_.wheel_speed_raise_threshold)
  has_shoot_ = false;

我看shooter里改了这个，解释一下捏 @xuncheng-001

这个条件是加了回速的判断，防止他在一次发射中频繁有状态跳变，实现一次发射只能进入一次has_shoot等于true，不然在一次掉速的过程中可能会有多次has_shoot在true和false之间跳变，导致认为打了很多发

Bluefairy-ljy
Bluefairy-ljy reviewed Oct 16, 2026
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Comment thread rm_gimbal_controllers/src/gimbal_base.cpp Outdated
config.chassis_comp_b_ = init_config.chassis_comp_b_;
config.chassis_comp_c_ = init_config.chassis_comp_c_;
config.chassis_comp_d_ = init_config.chassis_comp_d_;
config.accel_pitch_ = init_config.accel_pitch_;

@Bluefairy-ljy Bluefairy-ljy Oct 16, 2026

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瞄神，重复了修一下 @xuncheng-001

@xuncheng-001 xuncheng-001 Oct 16, 2026

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ok了

@Bluefairy-ljy

Bluefairy-ljy commented Oct 16, 2026

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gimbal_base的init感觉有点乱了，sub、pub、srv还是统一一下写法放在后面吧，为什么要再写个变量存话题名呢？
std::string target_is_armor_topic; controller_nh.param<std::string>("target_is_armor_topic", target_is_armor_topic, "/vision/target_is_armor"); controller_nh.param("initial_target_is_armor", target_is_armor_, true); target_is_armor_pub_ = root_nh.advertise<std_msgs::Bool>(target_is_armor_topic, 1, true);
可有可无的位置调换可以不交上来，比如重力补偿那一块 @xuncheng-001

@Bluefairy-ljy
Bluefairy-ljy merged commit 7143a9d into rm-controls:master Oct 17, 2026
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@xuncheng-001 @Bluefairy-ljy