caowangrenbo
594885b9e8
- hardware: 新增 can_bus.h / joint_module_protocol.h，实现使能/失能/运行帧与 12 字节反馈帧编解码；ReadHardware/WriteHardware 落地，控制字按协议语义映射 （kErrorReset 按重新使能处理，kGetStatus 无需请求） - hardware: 温度/驱动状态/电压经 /joint_diagnostics 发布（默认 10 Hz，可配置） - hardware: 指令看门狗，100 ms 无指令转阻尼，避免上游挂掉后重发最后一帧 - hardware: 限幅与归一化边界分离——[joint_limits] 是唯一实际限幅，加载期校验 其不超过 [motor.*] 的归一化边界；力矩按峰值扭矩夹紧，kp/kd 越界夹紧并告警 - hardware: require_can 开关，无 CAN 时可只发状态（冒烟测试用） - remote: 1002/4 关节按 M20 的 16 槽上报（swing→HipY、wheel→Wheel，其余占位 0）， 1002/5 温度改由 /joint_diagnostics 提供 - deploy: 启动时序等订阅者出现再发（ROS1 无 latch，否则整段丢失） - msgs: 新增 JointDiagnostics - docs: 智身模组 CANFD 协议整理、待办清单
69 lines
2.4 KiB
Bash
Executable File
69 lines
2.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 无硬件冒烟测试：拉起 roscore + invicta_hardware（骨架）+ invicta_deploy，
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# 检查话题、频率、参数是否按预期工作。需要先 catkin_make 并 source devel/setup.bash。
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#
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# source /opt/ros/noetic/setup.bash && source devel/setup.bash
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# bash src/invicta_deploy/scripts/smoke_test.sh # 或任意路径下调用本脚本
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set -u
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WS_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)" # scripts -> invicta_deploy -> src -> ws
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cd "$WS_DIR" || exit 1
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echo "=== 1. onnxruntime 动态库解析 ==="
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ldd devel/lib/invicta_deploy/invicta_deploy | grep -i onnx || echo "!! libonnxruntime.so 未解析，检查 CMakeLists 的 RPATH"
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echo "=== 2. 启动 roscore ==="
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nohup roscore >/tmp/roscore.log 2>&1 &
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sleep 8
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echo "=== 3. 启动 invicta_hardware（require_can:=false：无 CAN 时只发零位状态）==="
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nohup roslaunch invicta_hardware invicta_hardware.launch require_can:=false >/tmp/hw.log 2>&1 &
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sleep 4
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echo "--- 话题 ---"
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rostopic list
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echo "--- /joint_states 频率（期望 ~200 Hz）---"
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timeout 5 rostopic hz /joint_states 2>&1 | tail -2
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echo "--- /joint_states 样例 ---"
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timeout 5 rostopic echo -n1 /joint_states 2>&1 | sed -n '1,12p'
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echo "--- /imu/data 样例 ---"
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timeout 5 rostopic echo -n1 /imu/data 2>&1 | sed -n '1,18p'
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echo "=== 4. 启动 invicta_remote（协议节点）==="
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nohup roslaunch invicta_remote invicta_remote.launch >/tmp/remote.log 2>&1 &
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sleep 3
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python3 "$WS_DIR/src/invicta_remote/scripts/protocol_udp_test.py" --port 30000 --steer 0.2,0,0.1 --motion 1 >/tmp/proto_test.log 2>&1
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tail -4 /tmp/proto_test.log
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echo "=== 5. 启动 invicta_deploy（RL 节点）==="
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nohup roslaunch invicta_deploy invicta_deploy.launch >/tmp/dep.log 2>&1 &
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sleep 8
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echo "--- /joint_commands 频率（idle 状态期望 ~200 Hz）---"
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timeout 5 rostopic hz /joint_commands 2>&1 | tail -2
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echo "--- 配置是否读到（TOML）---"
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grep -aE "^\[config\]" /tmp/dep.log | head -3
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echo "--- 节点连接关系 ---"
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rosnode info /invicta_deploy 2>&1 | sed -n '1,14p'
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echo "--- /motion_state 频率（期望 ~20 Hz）---"
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timeout 4 rostopic hz /motion_state 2>&1 | tail -2
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echo "=== 6. 日志 ==="
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echo "--- invicta_deploy ---"
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tail -35 /tmp/dep.log
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echo "--- invicta_remote ---"
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tail -12 /tmp/remote.log
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echo "--- invicta_hardware ---"
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tail -8 /tmp/hw.log
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pkill -f roslaunch >/dev/null 2>&1
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pkill roscore >/dev/null 2>&1
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sleep 1
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echo "=== 冒烟测试结束 ==="
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