Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,39 @@
+import rospy
+from pynput import keyboard
+from threading import Thread
+from nav_msgs.msg import Odometry
+
+class Rebpublic:
+    def __init__(self):
+        self.is_pub = True
+        self.lidar_odom1_pub = rospy.Publisher("/m2/gpsOdom1", Odometry, queue_size=1)
+    
+    def on_press(self, key):
+        try:
+            if key.char == "q":
+                self.is_pub = not self.is_pub
+            print(self.is_pub)
+        except:
+            print("error")
+    
+    def odom_callback(self, data):
+        if self.is_pub:
+            self.lidar_odom1_pub.publish(data)
+            print("publish", rospy.get_time())
+        else:
+            print("not publish", rospy.get_time())
+
+    def key_listen(self):
+        with keyboard.Listener(on_press=self.on_press) as listener:
+            listener.join()
+
+    def listen(self):
+        rospy.Subscriber("/m2/gpsOdom", Odometry, self.odom_callback, queue_size=1)
+        rospy.spin()
+
+if __name__ == "__main__":
+    rospy.init_node("republic", anonymous=True)
+    rebpublic = Rebpublic()
+    thread_key_listern = Thread(target=rebpublic.key_listen, args=())
+    thread_key_listern.start()
+    rebpublic.listen()
@@ -0,0 +1,201 @@
+# -*- coding: utf-8 -*-
+
+# 星网宇达组合导航配置
+# ntrip差分帐号配置
+# 输出配置
+# 杆臂配置
+# 航向补偿配置
+# ......
+import serial
+import time
+
+imu_serial = serial.Serial("/dev/ttyS0", 115200)
+
+# 恢复出厂配置
+factory_str = "$cmd,factory,reset*ff"
+imu_serial.write(factory_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+
+# 配置gpfpd协议透传 50HZ
+gpfpd_str = "$cmd,output,com0,gpfpd,0.02*ff"
+imu_serial.write(gpfpd_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 配置gphpd协议透传 5Hz
+gphpd_str = "$cmd,output,com0,gphpd,0.2*ff"
+imu_serial.write(gphpd_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 配置gtimu输出 50HZ
+gpimu_str = "$cmd,output,com0,gtimu,0.02*ff"
+imu_serial.write(gpimu_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 配置千寻查分账号
+# 设置组合导航ip地址　根据路由器网络来配置
+local_ip_str = "$cmd,set,localip,192,168,8,122*ff"
+imu_serial.write(local_ip_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 设置子网掩码
+local_mask_str = "$cmd,set,localmask,255,255,255,0*ff"
+imu_serial.write(local_mask_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 设置网关地址
+local_gate_str = "$cmd,set,localgate,192,168,8,1*ff"
+imu_serial.write(local_gate_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 设置千寻账号网络服务器及端口
+netipport_str = "$cmd,set,netipport,120,253,226,97,8002*ff"
+# netipport_str = "$cmd,set,netipport,rtk,ntrip,qxwz,com,8002*ff"
+imu_serial.write(netipport_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 设置千寻账号用户名和密码 user和password换成自己的账号和密码
+cors_account_str = "$cmd,set,netuser,cvmh5553:ap367r6um*ff"
+imu_serial.write(cors_account_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 设置挂载点
+# mountpoint_str = "$cmd,set,mountpoint,RTCM32_GGB*ff"
+mountpoint_str = "$cmd,set,mountpoint,RTCM33_GRCEJ*ff"
+imu_serial.write(mountpoint_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+
+# 激活 ntrip
+ntrip_str = "$cmd,set,ntrip,enable,enable*ff"
+imu_serial.write(ntrip_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 航向补偿 左边为主天线
+heading_offset_str ="$cmd,set,headoffset,0*ff"
+imu_serial.write(heading_offset_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 杆臂配置
+leverarm_str = "$cmd,set,leverarm,gnss,0.0,0.0,0.4*ff"
+imu_serial.write(leverarm_str.encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+
+# 同样，将导航模式一条一条输入
+# 精对准
+imu_serial.write("$cmd,set,navmode,FineAlign,off*ff".encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 粗对准
+imu_serial.write("$cmd,set,navmode,coarsealign,off*ff".encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 动态对准
+imu_serial.write("$cmd,set,navmode,dynamicalign,on*ff".encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# gnss双精度
+imu_serial.write("$cmd,set,navmode,gnss,double*ff".encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+
+# 打开车载模式
+imu_serial.write("$cmd,set,navmode,carmode,on*ff".encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 打开零速校正
+imu_serial.write("$cmd,set,navmode,zupt,off*ff".encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 固件索引
+imu_serial.write("$cmd,set,navmode,firmwareindex,0*ff".encode("utf-8"))
+time.sleep(0.5)
+
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+
+# 保存设置配置
+save_str = "$cmd,save,config*ff"
+imu_serial.write(save_str.encode("utf-8"))
+time.sleep(0.5)
+
+# 完事后重新上电