帧定义实现，串口工具更新

.gitignore

@@ -0,0 +1,47 @@
+# ROS 2 / Colcon
+build/
+install/
+log/
+
+# CMake
+CMakeCache.txt
+CMakeFiles/
+cmake_install.cmake
+Makefile
+CTestTestfile.cmake
+Testing/
+
+# C++ 编译输出
+*.o
+*.obj
+*.so
+*.a
+*.dll
+*.exe
+*.out
+
+# IDE
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+
+# 系统文件
+.DS_Store
+Thumbs.db
+
+# 临时文件
+*.tmp
+*.temp
+*.log
+
+# 保留 compile_commands.json 给 clangd 使用
+# (不忽略 build/compile_commands.json，通过 CMake 导出到项目根目录)

.vscode/settings.json

@@ -1,8 +1,28 @@
 {
+    // Clangd 配置
+    "clangd.path": "/usr/bin/clangd",
     "clangd.arguments": [
+        "--background-index",
         "--compile-commands-dir=${workspaceFolder}/build",
-        "--completion-style=detailed",
+        "--header-insertion=iwyu",
-        "--query-driver=/usr/bin/clang",
+        "--completion-style=bundled",
-        "--header-insertion=never"
+        "--pch-storage=memory",
+        "--cross-file-rename"
     ],
+    // C++ 配置
+    "C_Cpp.intelliSenseEngine": "disabled", // 使用 clangd 替代默认引擎
+    "C_Cpp.autocomplete": "disabled",
+    "C_Cpp.errorSquiggles": "disabled",
+    // 文件关联
+    "files.associations": {
+        "*.h": "c",
+        "*.hpp": "cpp",
+        "*.cpp": "cpp"
+    },
+    // 编辑器配置
+    "editor.formatOnSave": true,
+    "editor.tabSize": 4,
+    "editor.insertSpaces": true,
+    // ROS 2 配置
+    "ros.distro": "humble"
 }

CMakeLists.txt

@@ -1,3 +1,4 @@
+
 cmake_minimum_required(VERSION 3.8)
 project(amadeus_26)
 
@@ -5,14 +6,14 @@ project(amadeus_26)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# 导出 compile_commands.json 给 clangd 使用
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 # 查找依赖
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 
-# 查找 serial 库 (用于 UART 节点)
-find_package(serial REQUIRED)
-
 # 添加 SDK 库路径
 set(TRANSMITTER_SDK_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/transmitter_sdk)
 link_directories(${TRANSMITTER_SDK_PATH}/lib/linux/x64)
@@ -23,37 +24,16 @@ include_directories(
   ${TRANSMITTER_SDK_PATH}/inc
 )
 
-# ==================== CAN 节点 ====================
-add_executable(transmitter_test_node src/transmitter_test_node.cpp)
-
-set_target_properties(transmitter_test_node PROPERTIES
-  BUILD_WITH_INSTALL_RPATH FALSE
-  LINK_FLAGS "-Wl,-rpath,'${TRANSMITTER_SDK_PATH}/lib/linux/x64'"
-)
-
-ament_target_dependencies(transmitter_test_node 
-  rclcpp 
-  std_msgs
-)
-
-target_link_libraries(transmitter_test_node
-  dm_device
-  usb-1.0
-  pthread
-)
-
 # ==================== UART 节点 ====================
 add_executable(uart_transmitter_node src/uart_transmitter_node.cpp)
 
 ament_target_dependencies(uart_transmitter_node 
   rclcpp 
   std_msgs
-  serial
 )
 
 # ==================== 安装目标 ====================
 install(TARGETS 
-  transmitter_test_node
   uart_transmitter_node
   DESTINATION lib/${PROJECT_NAME}
 )

README.md

@@ -10,8 +10,8 @@
 
 - MV-SUA133GC-T 工业相机 (USB)
 - NUC10i7 微型计算机 (主机)
-- FDI Systems DETA10 IMU 模块 (USB - CP210x 串口芯片 - UART) `/dev/ttyUSB0`
+- FDI Systems DETA10 IMU 模块 (USB - CP210x 串口芯片 - UART) `/dev/ttyUSB1`
-- 达妙 USB2CAN-DUAL USB 转 CAN 模块 (USB - 模块 - CAN*2) `/dev/ttyACM0`
+- CH340 USB 转 UART 模块 (USB - 模块 - UART) `/dev/ttyUSB0`
 
 ### 软件
 
@@ -19,12 +19,11 @@
 - OpenCV 4.13 with Contrib
 - Eigen 3
 - MVSDK (工业相机 SDK)
-- dm_device (USB 转 CAN 模块 SDK)
 - 待补充...
 
 ## 目标
 
-感谢同济 SuperPower 战队！自瞄算法参考同济的 sp_vision_26 。项目目标为使 2026 年采用的
+感谢同济 SuperPower 战队！自瞄算法参考同济的 sp_vision_26 。
 
 ## 软件架构
 
@@ -40,14 +39,14 @@ ROS2 基本架构为节点。以每个节点的发布、解析、接收数据为
 ### 收发节点
 
 - 功能：主机对外通信的封装节点。物理上读取收发模块
-- 连接：USB2CAN，协商 CAN 通信速率 1000kbps，`/dev/ttyACM0`
+- 连接：CH340，协商 UART 通信速率 115200，`/dev/ttyUSB0`
-        IMU_CP210x，协商 UART 通信速率 921600，`/dev/ttyUSB0`
+        IMU_CP210x，协商 UART 通信速率 921600，`/dev/ttyUSB1`
-- 接收：USB2CAN -> 裁判系统数据
+- 接收：CH340.RX -> 裁判系统数据
 - 订阅：中央节点 -> 控制指令
-- 发送：USB2CAN.CAN2 -> 控制指令
+- 发送：CH340.TX -> 控制指令
 - 发布：IMU 数据（地磁角、六轴角加速度、加速度、陀螺仪）
         裁判系统数据（血量、比赛当前状态）
-        USB2CAN 、IMU 连接 OK 标志
+        CH340 、IMU 连接 OK 标志
 
 ### 中央节点
 

docs/Transmit/ctrl_command.md

@@ -1,10 +0,0 @@
-# 控制指令的发送说明
-
-在主机外接收的控制板中的控制协议是：
-
-| 帧头1 | 帧头2 | 平动左右 | 平动前后 | 云台偏航 | 云台俯仰 | 拨弹轮 | 左拨杆 | 右拨杆 | CRC8 | 帧尾 |
-| ---   | ---   | ---      | ---      | ---      | ---      | ---    | ---    | ---    | ---  | ---  |
-| 1     | 1     | 2        | 2        | 2        | 2        | 2      | 0.5    | 0.5    | 1    | 1    |
-
-
-两个 ID 分别是云台和底盘的控制板，在处于进点/回家状态时不应开启小陀螺，发射弹丸需要**打开摩擦轮 同时 进弹**，因此只有在处于攻击状态时开启摩擦轮，此时可以将进弹视为扳机。

docs/Transmit/ctrl_frame.md

@@ -0,0 +1,39 @@
+# SRCP 通信协议帧结构
+
+## 帧格式
+
+| 字段 | 内容 | 长度 | 说明 |
+|------|------|------|------|
+| SOF | 0xBB 0x77 | 2 bytes | 帧头 |
+| x_move | -660~660 | 2 bytes | 平动左右 (小端序) |
+| y_move | -660~660 | 2 bytes | 平动前后 (小端序) |
+| yaw | -660~660 | 2 bytes | 云台偏航 (小端序) |
+| pitch | -660~660 | 2 bytes | 云台俯仰 (小端序) |
+| feed | -660~660 | 2 bytes | 拨弹轮 (小端序) |
+| key | 0~15 | 1 byte | 按键 |
+| crc8 | CRC8-MAXIM | 1 byte | 校验 |
+| EOF | 0xEE | 1 byte | 帧尾 |
+
+## 帧长度
+
+```
+SOF(2) + x_move(2) + y_move(2) + yaw(2) + pitch(2) + feed(2) + key(1) + crc8(1) + EOF(1) = 15 bytes
+```
+
+**FRAME_LENGTH = 15**
+
+## 字节序
+
+- 所有 int16_t 类型字段（x_move, y_move, yaw, pitch, feed）使用 **小端序**
+
+## 代码示例
+
+```cpp
+constexpr int FRAME_LENGTH = 15;  // 总帧长度
+
+frame[0] = 0xBB;                    // SOF
+frame[1] = 0x77;                    // SOF
+frame[2] = x_move & 0xFF;           // 低字节
+frame[3] = (x_move >> 8) & 0xFF;    // 高字节
+// ... 其他字段
+frame[14] = 0xEE;                   // EOF

docs/Transmit/usb_device_setup.md

@@ -0,0 +1,87 @@
+# USB 串口设备权限设置指南
+
+## 文件说明
+
+| 文件 | 说明 |
+|------|------|
+| `99-usb-serial.rules` | udev 规则文件，固定设备名称和权限 |
+| `setup_usb_permissions.sh` | 自动化设置脚本 |
+
+## 操作步骤
+
+### 方法一：使用自动化脚本（推荐）
+
+```bash
+cd ~/code/amadeus_26
+./setup_usb_permissions.sh
+```
+
+### 方法二：手动设置
+
+1. **识别设备 VID/PID**
+
+```bash
+# 查看 CH340 设备信息
+udevadm info -a -n /dev/ttyUSB0 | grep -E "idVendor|idProduct"
+
+# 查看 IMU 设备信息  
+udevadm info -a -n /dev/ttyUSB1 | grep -E "idVendor|idProduct"
+```
+
+2. **安装 udev 规则**
+
+```bash
+sudo cp 99-usb-serial.rules /etc/udev/rules.d/
+sudo udevadm control --reload-rules
+sudo udevadm trigger
+```
+
+3. **添加用户权限**
+
+```bash
+sudo usermod -aG dialout $USER
+```
+
+4. **生效**
+
+- 重新插拔 USB 设备，或重启系统
+- 注销并重新登录，使权限生效
+
+## 设备映射
+
+设置完成后，设备将以固定名称出现：
+
+| 设备 | 固定名称 | 原名称 |
+|------|----------|--------|
+| CH340 发送模块 | `/dev/ttyCH340` | `/dev/ttyUSB0` |
+| IMU 模块 | `/dev/ttyIMU` | `/dev/ttyUSB1` |
+
+## 验证
+
+```bash
+# 检查设备链接
+ls -la /dev/ttyCH340 /dev/ttyIMU
+
+# 检查权限
+ls -la /dev/ttyUSB*
+```
+
+## 使用
+
+修改 launch 文件中的默认设备路径：
+
+```python
+# launch/uart_transmitter.launch.py
+serial_port_arg = DeclareLaunchArgument(
+    'serial_port',
+    default_value='/dev/ttyCH340',  # 使用固定名称
+    description='CH340 串口设备路径'
+)
+```
+
+运行节点：
+
+```bash
+ros2 launch amadeus_26 uart_transmitter.launch.py
+# 或指定 IMU 设备
+ros2 launch amadeus_26 uart_transmitter.launch.py serial_port:=/dev/ttyIMU

launch/uart_transmitter.launch.py

@@ -8,19 +8,19 @@ def generate_launch_description():
     # 声明启动参数
     serial_port_arg = DeclareLaunchArgument(
         'serial_port',
-        default_value='/dev/ttyUSB0',
+        default_value='/dev/ttyCH340',
         description='CH340 串口设备路径'
     )
     
     baudrate_arg = DeclareLaunchArgument(
         'baudrate',
-        default_value='921600',
+        default_value='115200',
         description='串口波特率'
     )
     
     send_frequency_arg = DeclareLaunchArgument(
         'send_frequency',
-        default_value='50.0',
+        default_value='10.0',
         description='发送频率 (Hz)'
     )
     

package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>amadeus_26</name>
+  <version>0.0.1</version>
+  <description>Amadeus 26 transmission and control package</description>
+  <maintainer email="maintainer@example.com">maintainer</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/uart_transmitter_node.cpp

@@ -2,35 +2,36 @@
  * @file uart_transmitter_node.cpp
  * @brief UART 串口收发模块测试节点 (CH340)
  *
- * 使用 CH340 USB 转串口模块发送控制指令
+ * 默认波特率：115200
- * 波特率：921600 (与裁判系统一致)
  * 协议帧格式：
- * | 帧头1 | 帧头2 | 平动左右 | 平动前后 | 云台偏航 | 云台俯仰 | 拨弹轮 | 拨杆 | CRC8 | 帧尾 |
+ * | 0xBB | 0x77 | 平动左右 | 平动前后 | 云台偏航 | 云台俯仰 | 拨弹轮 | 拨杆 |
- * | 0xAA  | 0x55  |  2 bytes |  2 bytes |  2 bytes |  2 bytes | 2 bytes|1 byte| 1byte| 0xFF |
+ * CRC8 | 帧尾 | | 0xAA  | 0x55  |  2 bytes |  2 bytes |  2 bytes |  2 bytes | 2
+ * bytes|1 byte| 1byte| 0xEE |
  */
 
+#include <cstring>
+#include <errno.h>
+#include <fcntl.h>
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/bool.hpp>
-#include <serial/serial.h>
+#include <termios.h>
 #include <thread>
-#include <cstring>
+#include <unistd.h>
 #include <vector>
 
 // 帧定义
-constexpr uint8_t FRAME_HEADER_1 = 0xAA;
+constexpr uint8_t FRAME_HEADER_1 = 0xBB;
-constexpr uint8_t FRAME_HEADER_2 = 0x55;
+constexpr uint8_t FRAME_HEADER_2 = 0x77;
-constexpr uint8_t FRAME_TAIL = 0xFF;
+constexpr uint8_t FRAME_TAIL = 0xEE;
-constexpr int FRAME_LENGTH = 14;  // 总帧长度
+constexpr int FRAME_LENGTH = 15;
 
 // 默认串口设备
-constexpr const char* DEFAULT_SERIAL_PORT = "/dev/ttyUSB0";
+constexpr const char *DEFAULT_SERIAL_PORT = "/dev/ttyCH340";
 constexpr int DEFAULT_BAUDRATE = 115200;
 
-class UartTransmitterNode : public rclcpp::Node
+class UartTransmitterNode : public rclcpp::Node {
-{
 public:
-    UartTransmitterNode() : Node("uart_transmitter_node")
+  UartTransmitterNode() : Node("uart_transmitter_node") {
-    {
     // 声明参数
     this->declare_parameter("serial_port", DEFAULT_SERIAL_PORT);
     this->declare_parameter("baudrate", DEFAULT_BAUDRATE);
@@ -42,20 +43,20 @@ public:
     this->declare_parameter("yaw", 0);          // 云台偏航 [-660, 660]
     this->declare_parameter("pitch", 0);        // 云台俯仰 [-660, 660]
     this->declare_parameter("feed", 0);         // 拨弹轮 [-660, 660]
-        this->declare_parameter("left_switch", 0);  // 左拨杆 [0, 15]
+    this->declare_parameter("left_switch", 0);  // 左拨杆 [1, 3]
-        this->declare_parameter("right_switch", 0); // 右拨杆 [0, 15]
+    this->declare_parameter("right_switch", 0); // 右拨杆 [1, 3]
 
     // 获取参数
     serial_port_ = this->get_parameter("serial_port").as_string();
     baudrate_ = this->get_parameter("baudrate").as_int();
     send_frequency_ = this->get_parameter("send_frequency").as_double();
 
-        RCLCPP_INFO(this->get_logger(), "=================================");
+    RCLCPP_INFO(this->get_logger(), "---------------------------------");
-        RCLCPP_INFO(this->get_logger(), "UART 收发模块测试节点启动");
+    RCLCPP_INFO(this->get_logger(), "UART 收发节点启动");
     RCLCPP_INFO(this->get_logger(), "串口: %s", serial_port_.c_str());
     RCLCPP_INFO(this->get_logger(), "波特率: %d", baudrate_);
     RCLCPP_INFO(this->get_logger(), "发送频率: %.1f Hz", send_frequency_);
-        RCLCPP_INFO(this->get_logger(), "=================================");
+    RCLCPP_INFO(this->get_logger(), "---------------------------------");
 
     // 初始化串口
     if (!initSerial()) {
@@ -65,7 +66,8 @@ public:
     }
 
     // 创建发布者
-        connection_status_pub_ = this->create_publisher<std_msgs::msg::Bool>("transmitter/connection_status", 10);
+    connection_status_pub_ = this->create_publisher<std_msgs::msg::Bool>(
+        "transmitter/connection_status", 10);
 
     // 创建定时器 - 发送数据
     auto send_period = std::chrono::duration<double>(1.0 / send_frequency_);
@@ -84,117 +86,173 @@ public:
     RCLCPP_INFO(this->get_logger(), "UART 节点初始化完成");
   }
 
-    ~UartTransmitterNode()
+  ~UartTransmitterNode() {
-    {
-        if (receive_thread_.joinable()) {
     running_ = false;
+    if (receive_thread_.joinable()) {
       receive_thread_.join();
     }
-        if (serial_.isOpen()) {
+    if (serial_fd_ >= 0) {
-            serial_.close();
+      close(serial_fd_);
     }
     RCLCPP_INFO(this->get_logger(), "串口已关闭");
   }
 
 private:
-    bool initSerial()
+  bool initSerial() {
-    {
-        try {
     RCLCPP_INFO(this->get_logger(), "正在打开串口 %s...", serial_port_.c_str());
 
-            serial_.setPort(serial_port_);
+    // 打开串口
-            serial_.setBaudrate(baudrate_);
+    serial_fd_ = open(serial_port_.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
-            serial::Timeout timeout = serial::Timeout::simpleTimeout(1000);
+    if (serial_fd_ < 0) {
-            serial_.setTimeout(timeout);
+      RCLCPP_ERROR(this->get_logger(), "无法打开串口 %s: %s",
-            serial_.setBytesize(serial::eightbits);
+                   serial_port_.c_str(), strerror(errno));
-            serial_.setParity(serial::parity_none);
+      return false;
-            serial_.setStopbits(serial::stopbits_one);
+    }
 
-            serial_.open();
+    // 配置串口
+    struct termios tty;
+    memset(&tty, 0, sizeof(tty));
+
+    if (tcgetattr(serial_fd_, &tty) != 0) {
+      RCLCPP_ERROR(this->get_logger(), "tcgetattr 错误: %s", strerror(errno));
+      close(serial_fd_);
+      serial_fd_ = -1;
+      return false;
+    }
+
+    // 设置波特率
+    speed_t baud = convertBaudrate(baudrate_);
+    cfsetospeed(&tty, baud);
+    cfsetispeed(&tty, baud);
+
+    // 8N1
+    tty.c_cflag &= ~PARENB; // 无校验
+    tty.c_cflag &= ~CSTOPB; // 1位停止位
+    tty.c_cflag &= ~CSIZE;
+    tty.c_cflag |= CS8;            // 8位数据
+    tty.c_cflag |= CREAD | CLOCAL; // 启用接收，忽略控制线
+
+    // 禁用硬件流控
+    tty.c_cflag &= ~CRTSCTS;
+
+    // 原始模式
+    tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    tty.c_iflag &= ~(IXON | IXOFF | IXANY);
+    tty.c_oflag &= ~OPOST;
+
+    // 设置超时
+    tty.c_cc[VMIN] = 0;
+    tty.c_cc[VTIME] = 1; // 100ms 超时
+
+    if (tcsetattr(serial_fd_, TCSANOW, &tty) != 0) {
+      RCLCPP_ERROR(this->get_logger(), "tcsetattr 错误: %s", strerror(errno));
+      close(serial_fd_);
+      serial_fd_ = -1;
+      return false;
+    }
+
+    // 清空缓冲区
+    tcflush(serial_fd_, TCIOFLUSH);
 
-            if (serial_.isOpen()) {
     RCLCPP_INFO(this->get_logger(), "串口打开成功");
     is_connected_ = true;
     return true;
-            } else {
-                RCLCPP_ERROR(this->get_logger(), "串口打开失败");
-                return false;
   }
-        } catch (const std::exception& e) {
+
-            RCLCPP_ERROR(this->get_logger(), "串口异常: %s", e.what());
+  speed_t convertBaudrate(int baudrate) {
-            return false;
+    switch (baudrate) {
+    case 9600:
+      return B9600;
+    case 19200:
+      return B19200;
+    case 38400:
+      return B38400;
+    case 57600:
+      return B57600;
+    case 115200:
+      return B115200;
+    case 230400:
+      return B230400;
+    case 460800:
+      return B460800;
+    case 921600:
+      return B921600;
+    default:
+      RCLCPP_WARN(this->get_logger(), "不支持的波特率 %d，使用 115200",
+                  baudrate);
+      return B115200;
     }
   }
 
-    void sendControlFrame()
+  void sendControlFrame() {
-    {
+    if (serial_fd_ < 0) {
-        if (!serial_.isOpen()) {
+      RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000,
-            RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000, "串口未打开");
+                           "串口未打开");
       return;
     }
 
-        // 获取最新的控制参数
+    // 获取控制参数
-        int16_t x_move = static_cast<int16_t>(this->get_parameter("x_move").as_int());
+    int16_t x_move =
-        int16_t y_move = static_cast<int16_t>(this->get_parameter("y_move").as_int());
+        static_cast<int16_t>(this->get_parameter("x_move").as_int());
+    int16_t y_move =
+        static_cast<int16_t>(this->get_parameter("y_move").as_int());
     int16_t yaw = static_cast<int16_t>(this->get_parameter("yaw").as_int());
     int16_t pitch = static_cast<int16_t>(this->get_parameter("pitch").as_int());
     int16_t feed = static_cast<int16_t>(this->get_parameter("feed").as_int());
-        uint8_t left_switch = static_cast<uint8_t>(this->get_parameter("left_switch").as_int()) & 0x0F;
+    uint8_t left_switch =
-        uint8_t right_switch = static_cast<uint8_t>(this->get_parameter("right_switch").as_int()) & 0x0F;
+        static_cast<uint8_t>(this->get_parameter("left_switch").as_int()) &
+        0x0F;
+    uint8_t right_switch =
+        static_cast<uint8_t>(this->get_parameter("right_switch").as_int()) &
+        0x0F;
 
     // 构建数据帧
-        std::vector<uint8_t> frame;
+    uint8_t frame[FRAME_LENGTH];
-        frame.reserve(FRAME_LENGTH);
+    int idx = 0;
 
     // 帧头
-        frame.push_back(FRAME_HEADER_1);
+    frame[idx++] = FRAME_HEADER_1;
-        frame.push_back(FRAME_HEADER_2);
+    frame[idx++] = FRAME_HEADER_2;
 
-        // 平动左右 (2 bytes, int16, 大端序)
+    // 平动左右 (2 bytes, int16, 小端序)
-        frame.push_back((x_move >> 8) & 0xFF);
+    frame[idx++] = x_move & 0xFF;
-        frame.push_back(x_move & 0xFF);
+    frame[idx++] = (x_move >> 8) & 0xFF;
 
-        // 平动前后 (2 bytes)
+    // 平动前后 (2 bytes, 小端序)
-        frame.push_back((y_move >> 8) & 0xFF);
+    frame[idx++] = y_move & 0xFF;
-        frame.push_back(y_move & 0xFF);
+    frame[idx++] = (y_move >> 8) & 0xFF;
 
-        // 云台偏航 (2 bytes)
+    // 云台偏航 (2 bytes, 小端序)
-        frame.push_back((yaw >> 8) & 0xFF);
+    frame[idx++] = yaw & 0xFF;
-        frame.push_back(yaw & 0xFF);
+    frame[idx++] = (yaw >> 8) & 0xFF;
 
-        // 云台俯仰 (2 bytes)
+    // 云台俯仰 (2 bytes, 小端序)
-        frame.push_back((pitch >> 8) & 0xFF);
+    frame[idx++] = pitch & 0xFF;
-        frame.push_back(pitch & 0xFF);
+    frame[idx++] = (pitch >> 8) & 0xFF;
 
-        // 拨弹轮 (2 bytes)
+    // 拨弹轮 (2 bytes, 小端序)
-        frame.push_back((feed >> 8) & 0xFF);
+    frame[idx++] = feed & 0xFF;
-        frame.push_back(feed & 0xFF);
+    frame[idx++] = (feed >> 8) & 0xFF;
 
     // 拨杆 (1 byte: 高4位左拨杆，低4位右拨杆)
-        uint8_t switches = (left_switch << 4) | right_switch;
+    frame[idx++] = (left_switch << 4) | right_switch;
-        frame.push_back(switches);
 
-        // CRC8 (除帧头外的所有数据)
+    // CRC8 (除帧头和帧尾外的所有数据，不包括CRC本身)
-        uint8_t crc = calculateCRC8(frame.data() + 2, frame.size() - 2);
+    // 当前idx=13, 数据长度=11 (从frame[2]到frame[12])
-        frame.push_back(crc);
+    frame[idx++] = calculateCRC8(frame + 2, 11);
 
     // 帧尾
-        frame.push_back(FRAME_TAIL);
+    frame[idx++] = FRAME_TAIL;
 
     // 发送数据
-        try {
+    ssize_t written = write(serial_fd_, frame, FRAME_LENGTH);
-            size_t written = serial_.write(frame.data(), frame.size());
+    if (written != FRAME_LENGTH) {
-            if (written != frame.size()) {
+      RCLCPP_WARN(this->get_logger(), "发送数据不完整: %zd/%d", written,
-                RCLCPP_WARN(this->get_logger(), "发送数据不完整: %zu/%d", written, FRAME_LENGTH);
+                  FRAME_LENGTH);
-            }
-        } catch (const std::exception& e) {
-            RCLCPP_ERROR(this->get_logger(), "发送失败: %s", e.what());
-            is_connected_ = false;
     }
   }
 
-    uint8_t calculateCRC8(const uint8_t* data, size_t len)
+  uint8_t calculateCRC8(const uint8_t *data, size_t len) {
-    {
     uint8_t crc = 0xFF; // 初始值
     for (size_t i = 0; i < len; i++) {
       crc ^= data[i];
@@ -209,73 +267,64 @@ private:
     return crc;
   }
 
-    void receiveLoop()
+  void receiveLoop() {
-    {
+    uint8_t buffer[256];
-        std::vector<uint8_t> buffer;
+    std::vector<uint8_t> frame_buffer;
-        buffer.reserve(FRAME_LENGTH);
+    frame_buffer.reserve(FRAME_LENGTH);
 
     while (running_ && rclcpp::ok()) {
-            if (!serial_.isOpen()) {
+      if (serial_fd_ < 0) {
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         continue;
       }
 
-            try {
+      // 读取数据
-                // 读取可用数据
+      ssize_t n = read(serial_fd_, buffer, sizeof(buffer));
-                size_t available = serial_.available();
+      if (n > 0) {
-                if (available > 0) {
+        for (ssize_t i = 0; i < n; i++) {
-                    std::vector<uint8_t> data = serial_.read(available);
+          frame_buffer.push_back(buffer[i]);
-                    
-                    // 处理接收到的数据（简单的帧解析）
-                    for (uint8_t byte : data) {
-                        buffer.push_back(byte);
 
           // 查找帧头
-                        if (buffer.size() >= 2 && 
+          if (frame_buffer.size() >= 2 && frame_buffer[0] == FRAME_HEADER_1 &&
-                            buffer[0] == FRAME_HEADER_1 && 
+              frame_buffer[1] == FRAME_HEADER_2) {
-                            buffer[1] == FRAME_HEADER_2) {
 
             // 等待完整帧
-                            if (buffer.size() >= FRAME_LENGTH) {
+            if (frame_buffer.size() >= FRAME_LENGTH) {
               // 检查帧尾
-                                if (buffer[FRAME_LENGTH - 1] == FRAME_TAIL) {
+              if (frame_buffer[FRAME_LENGTH - 1] == FRAME_TAIL) {
                 // 验证 CRC
-                                    uint8_t rx_crc = buffer[FRAME_LENGTH - 2];
+                uint8_t rx_crc = frame_buffer[FRAME_LENGTH - 2];
-                                    uint8_t calc_crc = calculateCRC8(
+                uint8_t calc_crc =
-                                        buffer.data() + 2, FRAME_LENGTH - 4);
+                    calculateCRC8(frame_buffer.data() + 2, FRAME_LENGTH - 4);
 
                 if (rx_crc == calc_crc) {
-                                        RCLCPP_INFO(this->get_logger(), 
+                  RCLCPP_INFO(this->get_logger(), "收到有效帧，CRC 验证通过");
-                                            "收到有效帧，CRC 验证通过");
                 } else {
                   RCLCPP_WARN(this->get_logger(),
-                                            "CRC 错误: 接收=%02X, 计算=%02X", 
+                              "CRC 错误: 接收=%02X, 计算=%02X", rx_crc,
-                                            rx_crc, calc_crc);
+                              calc_crc);
                 }
               }
 
               // 清空缓冲区，准备下一帧
-                                buffer.clear();
+              frame_buffer.clear();
             }
-                        } else if (buffer.size() > FRAME_LENGTH) {
+          } else if (frame_buffer.size() > FRAME_LENGTH) {
             // 缓冲区溢出，清空
-                            buffer.clear();
+            frame_buffer.clear();
           }
         }
-                }
+      } else if (n < 0 && errno != EAGAIN) {
-            } catch (const std::exception& e) {
+        RCLCPP_ERROR(this->get_logger(), "读取错误: %s", strerror(errno));
-                RCLCPP_ERROR(this->get_logger(), "接收异常: %s", e.what());
-                is_connected_ = false;
       }
 
       std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
   }
 
-    void publishStatus()
+  void publishStatus() {
-    {
     auto msg = std_msgs::msg::Bool();
-        msg.data = is_connected_ && serial_.isOpen();
+    msg.data = is_connected_ && (serial_fd_ >= 0);
     connection_status_pub_->publish(msg);
   }
 
@@ -284,7 +333,7 @@ private:
   int baudrate_;
   double send_frequency_;
 
-    serial::Serial serial_;
+  int serial_fd_ = -1;
   bool is_connected_ = false;
   bool running_ = true;
   std::thread receive_thread_;
@@ -294,8 +343,7 @@ private:
   rclcpp::TimerBase::SharedPtr status_timer_;
 };
 
-int main(int argc, char* argv[])
+int main(int argc, char *argv[]) {
-{
   rclcpp::init(argc, argv);
 
   auto node = std::make_shared<UartTransmitterNode>();

tool/99-usb-serial.rules

@@ -0,0 +1,5 @@
+# CH340 串口模块 (ttyUSB0 -> ttyCH340)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", SYMLINK+="ttyCH340", MODE="0666", GROUP="dialout"
+
+# IMU 串口模块 (ttyUSB1 -> ttyIMU) 
+SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="ttyIMU", MODE="0666", GROUP="dialout"

tool/setup_usb_permissions.sh

@@ -0,0 +1,38 @@
+#!/bin/bash
+# USB 串口设备权限和固定名称设置脚本
+
+set -e
+
+echo "=================================="
+echo "USB 串口设备权限设置"
+echo "=================================="
+
+# 1. 检查当前设备
+echo ""
+echo "当前连接的 USB 串口设备："
+ls -la /dev/ttyUSB* 2>/dev/null || echo "未发现 ttyUSB 设备"
+
+echo ""
+echo "设备详细信息："
+for dev in /dev/ttyUSB*; do
+    if [ -e "$dev" ]; then
+        echo "--- $dev ---"
+        udevadm info -a -n "$dev" | grep -E "(idVendor|idProduct|serial)" | head -5
+    fi
+done
+
+# 2. 安装规则文件
+echo ""
+echo "安装 udev 规则"
+sudo cp 99-usb-serial.rules /etc/udev/rules.d/
+
+# 3. 重新加载 udev 规则
+echo "重新加载 udev 规则"
+sudo udevadm control --reload-rules
+sudo udevadm trigger
+
+# 4. 添加用户到 dialout 组
+echo "将当前用户添加到 dialout 组"
+sudo usermod -aG dialout $USER
+
+echo "设置完成，请重新插拔设备"