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>
2026-06-22 10:18:20 +08:00
parent 083d12016a
commit 1429442dbd
49 changed files with 2758 additions and 2141 deletions
@@ -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()