Rename customs-tablet-frontend to public-frontend and add new features

- Rename customs-tablet-frontend/ to public-frontend/ for broader scope
- Add new pages: customs, inspection with camera integration
- Add new services: apiClient.ts, backendApi.ts, normalizers.ts
- Add CameraFrame component for real-time video streaming
- Add scan_fixer module with clock_publisher and timestamp fix utilities
- Update startup scripts to support new frontend structure
- Update arm_server configuration and service files

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

scan_fixer/clock_publisher.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""系统时钟发布器。
+
+向 /clock 持续发布系统时间，配合 Nav2 的 use_sim_time 配置，避免 AGV
+节点、雷达节点和导航栈之间出现时间源不一致。
+"""
+import os
+import sys
+
+import rclpy
+from rclpy.node import Node
+from rosgraph_msgs.msg import Clock
+
+
+LOCKFILE = "/tmp/clock_publisher.lock"
+PUBLISH_INTERVAL_SECONDS = 0.01
+LOG_INTERVAL_COUNT = 1000
+
+
+def ensure_single_instance(lockfile: str) -> None:
+    if os.path.exists(lockfile):
+        with open(lockfile) as f:
+            old_pid = int(f.read().strip())
+        try:
+            os.kill(old_pid, 0)
+            print(f"Another clock_publisher running PID {old_pid}, exit.", file=sys.stderr)
+            sys.exit(1)
+        except (OSError, ProcessLookupError):
+            print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
+
+    with open(lockfile, "w") as f:
+        f.write(str(os.getpid()))
+
+
+class SystemClockPublisher(Node):
+    def __init__(self):
+        super().__init__("system_clock_publisher")
+        self.publisher = self.create_publisher(Clock, "/clock", 10)
+        self.timer = self.create_timer(PUBLISH_INTERVAL_SECONDS, self.publish_clock)
+        self.count = 0
+        self.get_logger().info(f"Clock publisher PID={os.getpid()}, publishing at 100Hz")
+
+    def publish_clock(self):
+        message = Clock()
+        message.clock = self.get_clock().now().to_msg()
+        self.publisher.publish(message)
+        self.count += 1
+        if self.count % LOG_INTERVAL_COUNT == 0:
+            self.get_logger().info(f"Published {self.count} clock messages")
+
+
+def main():
+    ensure_single_instance(LOCKFILE)
+    rclpy.init(args=sys.argv[1:])
+    node = SystemClockPublisher()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        if os.path.exists(LOCKFILE):
+            os.remove(LOCKFILE)
+
+
+if __name__ == "__main__":
+    main()

scan_fixer/fix_scan_timestamp_v6.py

@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+"""激光雷达时间戳动态修正器。
+
+订阅 /scan，将 LaserScan 的 header.stamp 替换为当前 ROS 时间后发布到
+/scan_corrected，保证 AMCL/Costmap 收到的雷达时间戳和 TF 时间同步。
+"""
+import os
+import sys
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import LaserScan
+
+
+LOCKFILE = "/tmp/scan_fixer.lock"
+LOG_INTERVAL_COUNT = 200
+
+
+def ensure_single_instance(lockfile: str) -> None:
+    if os.path.exists(lockfile):
+        with open(lockfile) as f:
+            old_pid = int(f.read().strip())
+        try:
+            os.kill(old_pid, 0)
+            print(f"Another fixer running PID {old_pid}, exit.", file=sys.stderr)
+            sys.exit(1)
+        except (OSError, ProcessLookupError):
+            print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
+
+    with open(lockfile, "w") as f:
+        f.write(str(os.getpid()))
+
+
+def copy_scan_with_current_time(source_scan: LaserScan, node: Node) -> LaserScan:
+    corrected_scan = LaserScan()
+    corrected_scan.header.frame_id = source_scan.header.frame_id
+    corrected_scan.header.stamp = node.get_clock().now().to_msg()
+    corrected_scan.angle_min = source_scan.angle_min
+    corrected_scan.angle_max = source_scan.angle_max
+    corrected_scan.angle_increment = source_scan.angle_increment
+    corrected_scan.time_increment = source_scan.time_increment
+    corrected_scan.scan_time = source_scan.scan_time
+    corrected_scan.range_min = source_scan.range_min
+    corrected_scan.range_max = source_scan.range_max
+    corrected_scan.ranges = source_scan.ranges
+    corrected_scan.intensities = source_scan.intensities
+    return corrected_scan
+
+
+def main():
+    ensure_single_instance(LOCKFILE)
+    rclpy.init(args=sys.argv[1:])
+    node = Node("scan_timestamp_fixer")
+    publisher = node.create_publisher(LaserScan, "/scan_corrected", 10)
+    count = 0
+    first_timestamp = None
+
+    def on_scan(scan: LaserScan):
+        nonlocal count, first_timestamp
+        count += 1
+        if first_timestamp is None:
+            first_timestamp = scan.header.stamp.sec
+            node.get_logger().info(f"First /scan timestamp: {first_timestamp}")
+
+        publisher.publish(copy_scan_with_current_time(scan, node))
+        if count % LOG_INTERVAL_COUNT == 0:
+            node.get_logger().info(f"#{count} republished with current time")
+
+    node.create_subscription(LaserScan, "/scan", on_scan, 10)
+    node.get_logger().info(f"Fixer v6 PID={os.getpid()}, using current system time")
+
+    try:
+        while rclpy.ok():
+            rclpy.spin_once(node, timeout_sec=0.1)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        if os.path.exists(LOCKFILE):
+            os.remove(LOCKFILE)
+
+
+if __name__ == "__main__":
+    main()