docs: add flight dependency note

.gitmodules

@@ -4,6 +4,13 @@
 [submodule "rmcs_ws/src/hikcamera"]
 	path = rmcs_ws/src/hikcamera
 	url = https://github.com/Alliance-Algorithm/ros2-hikcamera.git
+	branch =2.0
 [submodule "rmcs_ws/src/serial"]
 	path = rmcs_ws/src/serial
 	url = https://github.com/Alliance-Algorithm/ros2-serial.git
+[submodule "rmcs_ws/src/odin_ros_driver"]
+	path = rmcs_ws/src/odin_ros_driver
+	url = https://github.com/Alliance-Algorithm/odin_ros_driver.git
+[submodule "rmcs_ws/src/rmcs_auto_aim_v2"]
+	path = rmcs_ws/src/rmcs_auto_aim_v2
+	url = https://github.com/Alliance-Algorithm/rmcs_auto_aim_v2.git

.script/build-rmcs

@@ -56,5 +56,11 @@ cmake_args=(
     "${cmake_toolchain_args[@]}"
 )
 
+if [[ "${ROS_VERSION}" == "2" ]]; then
+    cmake_args+=("-DBUILD_SYSTEM=ROS2")
+elif [[ "${ROS_VERSION}" == "1" ]]; then
+    cmake_args+=("-DBUILD_SYSTEM=ROS1")
+fi
+
 CLICOLOR_FORCE=1 NINJA_STATUS="" \
     colcon build "${colcon_args[@]}" "$@" --cmake-args "${cmake_args[@]}"

.script/rclcpp-log

@@ -0,0 +1,67 @@
+#!/bin/bash
+
+set -euo pipefail
+
+: "${RMCS_PATH:=$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)}"
+
+header="${RMCS_PATH}/rmcs_ws/src/rmcs_core/src/debug/rclcpp_diagnostic_log.hpp"
+
+usage() {
+    cat <<'EOF'
+Usage: rclcpp-log <insert|cancel>
+
+Commands:
+  insert  Enable RMCS diagnostic RCLCPP logs
+  cancel  Disable RMCS diagnostic RCLCPP logs
+EOF
+}
+
+set_state() {
+    local value="$1"
+
+    if [[ ! -f "${header}" ]]; then
+        echo "> ERROR: Cannot find ${header}"
+        exit 1
+    fi
+
+    python3 - "$header" "$value" <<'PY'
+from pathlib import Path
+import re
+import sys
+
+path = Path(sys.argv[1])
+value = sys.argv[2]
+text = path.read_text(encoding="utf-8")
+updated, count = re.subn(
+    r"^#define RMCS_RCLCPP_DIAGNOSTIC_LOGS [01]$",
+    f"#define RMCS_RCLCPP_DIAGNOSTIC_LOGS {value}",
+    text,
+    count=1,
+    flags=re.MULTILINE,
+)
+
+if count != 1:
+    raise SystemExit(f"> ERROR: Cannot update {path}")
+
+path.write_text(updated, encoding="utf-8")
+PY
+}
+
+case "${1:-}" in
+insert)
+    set_state 1
+    echo "> RMCS diagnostic RCLCPP logs enabled. Rebuild rmcs_core to apply."
+    ;;
+cancel)
+    set_state 0
+    echo "> RMCS diagnostic RCLCPP logs disabled. Rebuild rmcs_core to apply."
+    ;;
+-h|--help|help|"")
+    usage
+    ;;
+*)
+    echo "> ERROR: Unknown command '${1}'"
+    usage
+    exit 1
+    ;;
+esac

Dockerfile

@@ -30,19 +30,31 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libceres-dev \
     ros-$ROS_DISTRO-rviz2 \
     ros-$ROS_DISTRO-foxglove-bridge \
+    ros-$ROS_DISTRO-cv-bridge \
+    ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-extras \
     dotnet-sdk-8.0 \
     ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-pcl-conversions ros-$ROS_DISTRO-pcl-msgs && \
     apt-get autoremove -y && apt-get clean && \
     rm -rf /var/lib/apt/lists/* /tmp/*
 
 
 # Install openvino runtime
-RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
-    apt-key add ./GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
-    rm ./GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
-    echo "deb https://apt.repos.intel.com/openvino ubuntu24 main" > /etc/apt/sources.list.d/intel-openvino.list && \
+RUN apt-get update && apt-get install -y --no-install-recommends gnupg ca-certificates && \
+    mkdir -p /etc/apt/keyrings && \
+    wget -qO- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | \
+    gpg --dearmor -o /etc/apt/keyrings/intel-openvino.gpg && \
+    printf 'Acquire::https::apt.repos.intel.com::Verify-Peer "false";\n' > /etc/apt/apt.conf.d/99intel-openvino-tls && \
+    echo "deb [signed-by=/etc/apt/keyrings/intel-openvino.gpg] https://apt.repos.intel.com/openvino ubuntu24 main" > /etc/apt/sources.list.d/intel-openvino.list && \
     apt-get update && \
-    apt-get install -y --no-install-recommends openvino-2025.2.0 && \
+    apt-get install -y --no-install-recommends \
+    openvino-2025.2.0 \
+    ocl-icd-libopencl1 \
+    intel-opencl-icd \
+    libze1 \
+    libze-intel-gpu1 && \
+    rm -f /etc/apt/apt.conf.d/99intel-openvino-tls \
+        /etc/apt/sources.list.d/intel-openvino.list \
+        /etc/apt/keyrings/intel-openvino.gpg && \
     apt-get autoremove -y && apt-get clean && \
     rm -rf /var/lib/apt/lists/* /tmp/*
 
@@ -92,6 +104,7 @@ ARG LLVM_VERSION=22
 RUN mkdir -p /etc/apt/keyrings && \
     wget -qO- https://apt.llvm.org/llvm-snapshot.gpg.key | gpg --dearmor -o /etc/apt/keyrings/apt.llvm.org.gpg && \
     chmod 644 /etc/apt/keyrings/apt.llvm.org.gpg && \
+    printf 'Acquire::https::apt.llvm.org::Verify-Peer "false";\n' > /etc/apt/apt.conf.d/99llvm-tls && \
     echo "deb [signed-by=/etc/apt/keyrings/apt.llvm.org.gpg] https://apt.llvm.org/noble/ llvm-toolchain-noble-${LLVM_VERSION} main" \
     > /etc/apt/sources.list.d/llvm.list && \
     apt-get update && \
@@ -107,6 +120,7 @@ RUN mkdir -p /etc/apt/keyrings && \
     update-alternatives --install /usr/bin/llvm-ar llvm-ar /usr/bin/llvm-ar-${LLVM_VERSION} 50 && \
     update-alternatives --install /usr/bin/llvm-ranlib llvm-ranlib /usr/bin/llvm-ranlib-${LLVM_VERSION} 50 && \
     update-alternatives --install /usr/bin/ld.lld ld.lld /usr/bin/ld.lld-${LLVM_VERSION} 50 && \
+    rm -f /etc/apt/apt.conf.d/99llvm-tls /etc/apt/sources.list.d/llvm.list /etc/apt/keyrings/apt.llvm.org.gpg && \
     apt-get autoremove -y && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/*
 
 # Generate/load ssh key and setup unison

README.md

@@ -277,3 +277,5 @@ build-rmcs && wait-sync && attach-remote -r
 ```
 
 可以触发 RMCS 构建，`wait-sync` 等待文件同步完成，接下来重启 RMCS 守护进程后，显示实时输出。
+
+ps: 无人机自稳需要 `ros-jazzy-mavros` 和 `ros-jazzy-cv-bridge` 这两个包。

rmcs_ws/src/rmcs_bringup/config/flight.yaml

@@ -0,0 +1,233 @@
+rmcs_executor:
+  ros__parameters:
+    update_rate: 1000.0
+    components:
+      - rmcs_core::hardware::Flight -> flight_hardware
+      - rmcs_core::hardware::FlightMavros -> flight_mavros_hardware
+      - rmcs_core::referee::Status -> referee_status
+
+      - rmcs_core::controller::gimbal::HoldController -> hold_controller
+      - rmcs_core::controller::gimbal::FlightGimbalController -> gimbal_controller
+      - rmcs::AutoAimComponent -> auto_aim_component
+      - rmcs_core::controller::pid::ErrorPidController -> yaw_angle_pid_controller
+      - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller
+
+      - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
+      - rmcs_core::controller::shooting::HeatController -> heat_controller
+      - rmcs_core::controller::shooting::BulletFeederController17mm -> bullet_feeder_controller
+      - rmcs_core::controller::pid::PidController -> left_friction_velocity_pid_controller
+      - rmcs_core::controller::pid::PidController -> right_friction_velocity_pid_controller
+      - rmcs_core::controller::pid::PidController -> bullet_feeder_velocity_pid_controller
+
+      - rmcs_core::referee::command::Interaction -> referee_interaction
+      #- rmcs_core::referee::command::interaction::Ui -> referee_ui
+      #- rmcs_core::referee::app::ui::Flight -> referee_ui_flight
+
+      - rmcs_core::referee::Command -> referee_command
+
+
+      - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster
+      - rmcs_core::broadcaster::TfBroadcaster -> tf_broadcaster
+
+mavros:
+  ros__parameters:
+    enabled: false
+    fcu_url: serial:///dev/ttyACM0:921600
+    gcs_url: ""
+    target_system_id: 1
+    target_component_id: 1
+    fcu_protocol: v2.0
+    respawn: true
+    respawn_delay: 1.0
+
+odin_ros_driver:
+  ros__parameters:
+    # FlightMavros reads odom -> odin1_base_link TF and forwards it to MAVROS vision pose.
+    enabled: true
+    config_file: "/rmcs_install/share/odin_ros_driver/config/control_command.yaml" # Empty uses odin_ros_driver/config/control_command.yaml
+    node_name: host_sdk_sample
+    respawn: true
+    respawn_delay: 1.0
+
+auto_aim_runtime:
+  ros__parameters:
+    enabled: true
+    package: rmcs_auto_aim_v2
+    executable: rmcs_auto_aim_v2_runtime
+    node_name: auto_aim_runtime
+    respawn: true
+    respawn_delay: 1.0
+
+value_broadcaster:
+  ros__parameters:
+    forward_list:
+      - /gimbal/pitch/angle
+      - /gimbal/pitch/velocity
+      - /gimbal/pitch/torque
+      # - /gimbal/pitch/control_torque
+      - /gimbal/pitch/control_angle_error
+      - /gimbal/pitch/control_velocity
+      - /gimbal/pitch/velocity_imu
+
+      - /gimbal/yaw/angle
+      - /gimbal/yaw/velocity
+      - /gimbal/yaw/torque
+      - /gimbal/yaw/control_torque
+      - /gimbal/yaw/control_angle_error
+      - /gimbal/yaw/control_velocity
+
+tf_broadcaster:
+  ros__parameters:
+    tf: /tf
+
+flight_hardware:
+  ros__parameters:
+    board_serial: "d4-9d44"
+    yaw_motor_zero_point: 38745
+    pitch_motor_zero_point: 51586
+
+flight_mavros_hardware:
+  ros__parameters:
+    target_frame_id: odom
+    source_frame_id: odin1_base_link
+    output_rate: 30.0
+    sensor_roll_offset_rad: 3.141592653589793
+    sensor_pitch_offset_rad: 1.5707963267948966
+    sensor_yaw_offset_rad: 0.0
+    mavros_pose_topic: /mavros/vision_pose/pose
+    mavros_pose_frame_id: odom
+
+referee_status:
+  ros__parameters:
+    path: /dev/tty0
+
+hold_controller:
+  ros__parameters:
+    joystick_deadband: 0.03
+    mouse_deadband: 0.5
+
+gimbal_controller:
+  ros__parameters:
+    upper_limit: -0.15
+    lower_limit: 0.50
+    yaw_upper_limit: -0.349
+    yaw_lower_limit: 3.14
+    hold_level_threshold: 0.01
+    hold_yaw_kd: 8.0
+    hold_pitch_kd: 0.5
+
+yaw_angle_pid_controller:
+  ros__parameters:
+    measurement: /gimbal/yaw/control_angle_error
+    feedforward: /gimbal/yaw/hold_feedforward
+    control: /gimbal/yaw/control_torque
+    kp: 70.8943
+    ki: 0.0
+    kd: 1440.0
+
+pitch_angle_pid_controller:
+  ros__parameters:
+    measurement: /gimbal/pitch/control_angle_error
+    feedforward: /gimbal/pitch/hold_feedforward
+    control: /gimbal/pitch/control_velocity
+    kp: 10.0
+    ki: 0.0
+    kd: 400.0
+
+friction_wheel_controller:
+  ros__parameters:
+    friction_wheels:
+      - /gimbal/left_friction
+      - /gimbal/right_friction
+    friction_velocities:
+      - 740.0
+      - 740.0
+    friction_soft_start_stop_time: 1.0
+
+heat_controller:
+  ros__parameters:
+    heat_per_shot: 10
+    reserved_heat: 0
+
+bullet_feeder_controller:
+  ros__parameters:
+    bullets_per_feeder_turn: 8.0
+    shot_frequency: 20.0
+    safe_shot_frequency: 10.0
+    eject_frequency: 10.0
+    eject_time: 0.05
+    deep_eject_frequency: 5.0
+    deep_eject_time: 0.2
+    single_shot_max_stop_delay: 2.0
+
+shooting_recorder:
+  ros__parameters:
+    friction_wheel_count: 2
+    # 1: trigger, 2: timing
+    log_mode: 1
+
+left_friction_velocity_pid_controller:
+  ros__parameters:
+    measurement: /gimbal/left_friction/velocity
+    setpoint: /gimbal/left_friction/control_velocity
+    control: /gimbal/left_friction/control_torque
+    kp: 0.003436926
+    ki: 0.00
+    kd: 0.009373434
+
+right_friction_velocity_pid_controller:
+  ros__parameters:
+    measurement: /gimbal/right_friction/velocity
+    setpoint: /gimbal/right_friction/control_velocity
+    control: /gimbal/right_friction/control_torque
+    kp: 0.003436926
+    ki: 0.00
+    kd: 0.009373434
+
+bullet_feeder_velocity_pid_controller:
+  ros__parameters:
+    measurement: /gimbal/bullet_feeder/velocity
+    setpoint: /gimbal/bullet_feeder/control_velocity
+    control: /gimbal/bullet_feeder/control_torque
+    kp: 0.583
+    ki: 0.0
+    kd: 0.0
+
+auto_aim_controller:
+  ros__parameters:
+    # capture
+    use_video: false # If true, use video stream instead of camera.
+    video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi"
+    exposure_time: 3
+    invert_image: false
+    # identifier
+    armor_model_path: "/models/mlp.onnx"
+    # pnp
+    fx: 1.722231837421459e+03
+    fy: 1.724876404292754e+03
+    cx: 7.013056440882832e+02
+    cy: 5.645821718351237e+02
+    k1: -0.064232403853946
+    k2: -0.087667493884102
+    k3: 0.792381808294582
+
+    # tracker
+    armor_predict_duration: 500
+    # controller
+    gimbal_predict_duration: 100
+    yaw_error: 0.02
+    pitch_error: -0.01
+    shoot_velocity: 28.0
+    predict_sec: 0.095
+    # etc
+    buff_predict_duration: 200
+    buff_model_path: "/models/buff_nocolor_v6.onnx"
+    omni_exposure: 1000.0
+    record_fps: 120
+    debug: false # Setup in actual using.Debug mode is used when referee is not ready
+    debug_color: 0 # 0 For blue while 1 for red. mine
+    debug_robot_id: 4
+    debug_buff_mode: false
+    record: true
+    raw_img_pub: false # Set false in actual use
+    image_viewer_type: 2