huoyi_deploy

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Author	SHA1	Message	Date
caowangrenbo	a173383756	refactor(config) + feat(model): 每节点一份 TOML 取代 ROS yaml；8 关节两自由度腿与单连杆 IK 配置（节点自治，跨包不共享）： - 新增各节点自己的 config/<节点>.toml（deploy / remote / hardware），只放本节点参数；删除三份 *.yaml - 各节点自带配置结构与加载器（deploy_config.h / remote_config.h / hardware_config.h），删除 state_machine/parameters/ 与 ControlParameters - TOML 解析库 toml++ 改为系统安装：find_package(tomlplusplus REQUIRED)，以 header-only 方式编译，库源码不进仓库、目标机不需部署运行时 .so - launch 只传 config_file；改 TOML 不需重编，改配置头自动触发该节点重编机器人模型（按本机构型改）： - 16 关节三关节腿 → 8 关节（每腿摆臂 + 轮） - IK 改为单连杆反解 θ = splay_sign·acos(h/L)；趴下 h=0 → 摆臂水平（±90°） - 步态倒向：趴下时前腿向前、后腿向后（splay_sign 前 +1 / 后 −1），与 M20 相反 - 起立/趴下用样条 + 速度前馈；轮 kp 恒 0；限位改为逐关节查表 - 精简死参数：机身长宽、髋偏置、轮半径、力矩限制、通用策略参数，以及 auto_calibrate 与 ±360° 回绕标定 - 硬件侧参数入库：电机量程（P65MAXS/W190S）、CAN 通道与仲裁 ID、使能帧数/间隔、每腿 bus/canid、台架增益保留（未改动 HEAD 已有功能）：多步态模型预加载与运行中切换、站立后自动进 RL 与就绪自检、遥测四路上报、阻尼态单调时钟计时、策略输出 NaN 保护验证（ROS Noetic 容器，干净构建）： - 四个包 catkin_make rc=0 - /joint_states 200 Hz（8 关节名与配置一致）、/motion_state 20 Hz - IK 目标角：站立 ±16.3°、收腿 ±66.4°、趴下 ±90.0°；趴下指令实测峰值 1.5708 rad - 协议 MotionParam=1/4 触发 idle→standup→liedown；自动进 RL 自检在零反馈下正确拦住待实测：摆臂长度/站趴高度、各关节 dir/offset_deg；invicta_hardware 的 CAN 读写仍为 TODO	2026-10-21 21:39:49 +08:00
caowangrenbo	cf70b1a1d7	Initial commit: extract M20 sim2real into ROS1 invicta project Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only. Packages: - invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs. - invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX policy with per-gait models, auto RL entry after standup with readiness checks, safety loop, gait->model table; no protocol/network code. - invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0), header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry 1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state. - invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands. Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam, gait preconditions, error codes), telemetry push, and end-to-end switching of two policy models with a real remote controller.	2026-10-21 00:46:29 +08:00

Author

SHA1

Message

Date

caowangrenbo

a173383756

refactor(config) + feat(model): 每节点一份 TOML 取代 ROS yaml；8 关节两自由度腿与单连杆 IK

配置（节点自治，跨包不共享）：
- 新增各节点自己的 config/<节点>.toml（deploy / remote / hardware），只放本节点参数；删除三份 *.yaml
- 各节点自带配置结构与加载器（deploy_config.h / remote_config.h / hardware_config.h），
  删除 state_machine/parameters/ 与 ControlParameters
- TOML 解析库 toml++ 改为系统安装：find_package(tomlplusplus REQUIRED)，以 header-only 方式编译，
  库源码不进仓库、目标机不需部署运行时 .so
- launch 只传 config_file；改 TOML 不需重编，改配置头自动触发该节点重编

机器人模型（按本机构型改）：
- 16 关节三关节腿 → 8 关节（每腿 摆臂 + 轮）
- IK 改为单连杆反解 θ = splay_sign·acos(h/L)；趴下 h=0 → 摆臂水平（±90°）
- 步态倒向：趴下时前腿向前、后腿向后（splay_sign 前 +1 / 后 −1），与 M20 相反
- 起立/趴下用样条 + 速度前馈；轮 kp 恒 0；限位改为逐关节查表
- 精简死参数：机身长宽、髋偏置、轮半径、力矩限制、通用策略参数，以及 auto_calibrate 与 ±360° 回绕标定
- 硬件侧参数入库：电机量程（P65MAXS/W190S）、CAN 通道与仲裁 ID、使能帧数/间隔、每腿 bus/canid、台架增益

保留（未改动 HEAD 已有功能）：多步态模型预加载与运行中切换、站立后自动进 RL 与就绪自检、
遥测四路上报、阻尼态单调时钟计时、策略输出 NaN 保护

验证（ROS Noetic 容器，干净构建）：
- 四个包 catkin_make rc=0
- /joint_states 200 Hz（8 关节名与配置一致）、/motion_state 20 Hz
- IK 目标角：站立 ±16.3°、收腿 ±66.4°、趴下 ±90.0°；趴下指令实测峰值 1.5708 rad
- 协议 MotionParam=1/4 触发 idle→standup→liedown；自动进 RL 自检在零反馈下正确拦住

待实测：摆臂长度/站趴高度、各关节 dir/offset_deg；invicta_hardware 的 CAN 读写仍为 TODO

2026-10-21 21:39:49 +08:00

caowangrenbo

cf70b1a1d7

Initial commit: extract M20 sim2real into ROS1 invicta project

Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only.

Packages:
- invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages
  (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs.
- invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX
  policy with per-gait models, auto RL entry after standup with readiness checks,
  safety loop, gait->model table; no protocol/network code.
- invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0),
  header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry
  1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state.
- invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes
  sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands.

Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint
state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam,
gait preconditions, error codes), telemetry push, and end-to-end switching of two
policy models with a real remote controller.

2026-10-21 00:46:29 +08:00