FaulknerWu
1429442dbd
- 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>
86 lines
2.8 KiB
Python
86 lines
2.8 KiB
Python
#!/usr/bin/env python3
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"""激光雷达时间戳动态修正器。
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订阅 /scan，将 LaserScan 的 header.stamp 替换为当前 ROS 时间后发布到
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/scan_corrected，保证 AMCL/Costmap 收到的雷达时间戳和 TF 时间同步。
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"""
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import os
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import sys
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import rclpy
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from rclpy.node import Node
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from sensor_msgs.msg import LaserScan
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LOCKFILE = "/tmp/scan_fixer.lock"
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LOG_INTERVAL_COUNT = 200
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def ensure_single_instance(lockfile: str) -> None:
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if os.path.exists(lockfile):
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with open(lockfile) as f:
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old_pid = int(f.read().strip())
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try:
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os.kill(old_pid, 0)
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print(f"Another fixer running PID {old_pid}, exit.", file=sys.stderr)
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sys.exit(1)
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except (OSError, ProcessLookupError):
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print(f"Stale lock removed (PID {old_pid} dead)", file=sys.stderr)
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with open(lockfile, "w") as f:
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f.write(str(os.getpid()))
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def copy_scan_with_current_time(source_scan: LaserScan, node: Node) -> LaserScan:
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corrected_scan = LaserScan()
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corrected_scan.header.frame_id = source_scan.header.frame_id
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corrected_scan.header.stamp = node.get_clock().now().to_msg()
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corrected_scan.angle_min = source_scan.angle_min
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corrected_scan.angle_max = source_scan.angle_max
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corrected_scan.angle_increment = source_scan.angle_increment
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corrected_scan.time_increment = source_scan.time_increment
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corrected_scan.scan_time = source_scan.scan_time
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corrected_scan.range_min = source_scan.range_min
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corrected_scan.range_max = source_scan.range_max
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corrected_scan.ranges = source_scan.ranges
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corrected_scan.intensities = source_scan.intensities
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return corrected_scan
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def main():
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ensure_single_instance(LOCKFILE)
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rclpy.init(args=sys.argv[1:])
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node = Node("scan_timestamp_fixer")
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publisher = node.create_publisher(LaserScan, "/scan_corrected", 10)
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count = 0
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first_timestamp = None
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def on_scan(scan: LaserScan):
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nonlocal count, first_timestamp
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count += 1
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if first_timestamp is None:
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first_timestamp = scan.header.stamp.sec
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node.get_logger().info(f"First /scan timestamp: {first_timestamp}")
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publisher.publish(copy_scan_with_current_time(scan, node))
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if count % LOG_INTERVAL_COUNT == 0:
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node.get_logger().info(f"#{count} republished with current time")
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node.create_subscription(LaserScan, "/scan", on_scan, 10)
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node.get_logger().info(f"Fixer v6 PID={os.getpid()}, using current system time")
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try:
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while rclpy.ok():
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rclpy.spin_once(node, timeout_sec=0.1)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if os.path.exists(LOCKFILE):
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os.remove(LOCKFILE)
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if __name__ == "__main__":
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main()
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