diff --git a/CMakeLists.txt b/CMakeLists.txt
index 473f354..396c1b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,3 @@
-
cmake_minimum_required(VERSION 3.8)
project(amadeus_26)
@@ -13,6 +12,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
# 添加 SDK 库路径
set(TRANSMITTER_SDK_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/transmitter_sdk)
@@ -32,9 +32,19 @@ ament_target_dependencies(uart_transmitter_node
std_msgs
)
+# ==================== IMU 节点 ====================
+add_executable(imu_receiver_node src/imu_receiver_node.cpp)
+
+ament_target_dependencies(imu_receiver_node
+ rclcpp
+ std_msgs
+ geometry_msgs
+)
+
# ==================== 安装目标 ====================
install(TARGETS
uart_transmitter_node
+ imu_receiver_node
DESTINATION lib/${PROJECT_NAME}
)
diff --git a/README.md b/README.md
index 674e417..d1ab3a6 100644
--- a/README.md
+++ b/README.md
@@ -36,7 +36,7 @@ ROS2 基本架构为节点。以每个节点的发布、解析、接收数据为
- 发布：描述该节点使用 ROS 发布的数据
- 发送：描述该节点使用直连硬件发送的数据
-### 收发节点
+### UART 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：CH340，协商 UART 通信速率 115200，`/dev/ttyUSB0`
@@ -48,6 +48,10 @@ ROS2 基本架构为节点。以每个节点的发布、解析、接收数据为
裁判系统数据（血量、比赛当前状态）
CH340 、IMU 连接 OK 标志
+### IMU 收发节点
+
+- 功能：IMU 与
+
### 中央节点
- 功能：综合各类信息判断状态与转移，是控制指令发送的唯一来源
diff --git a/docs/IMU/packet/MSG_NED_VEL.md b/docs/IMU/packet/MSG_NED_VEL.md
new file mode 100644
index 0000000..91dd296
--- /dev/null
+++ b/docs/IMU/packet/MSG_NED_VEL.md
@@ -0,0 +1,19 @@
+# MSG_NED_VEL | FDISYSTEMS支持中心
+
+该数据包用于描述：卡尔曼滤波融合的北东地速度
+
+## 基本信息
+
+| 属性 | 值 |
+|------|-----|
+| **Packet ID** | 0x5F |
+| **Length** | 12 |
+| **Read / Write** | Read |
+
+## 数据字段
+
+| Offset | Size | Format | Field | Unit | Description |
+|--------|------|--------|-------|------|-------------|
+| 0 | 4 | float32_t | Velocity_north | m/s | 滤波修正的北向速度 |
+| 4 | 4 | float32_t | Velocity_east | m/s 7 | 滤波修正的东向速度 |
+| 8 | 4 | float32_t | Velocity_down | m/s | 滤波修正的地向速度 |
\ No newline at end of file
diff --git a/package.xml b/package.xml
index bc57f4d..cc512a8 100644
--- a/package.xml
+++ b/package.xml
@@ -11,6 +11,7 @@
rclcpp
std_msgs
+ geometry_msgs
ament_cmake
diff --git a/src/imu_receiver_node.cpp b/src/imu_receiver_node.cpp
new file mode 100644
index 0000000..9c7d0ad
--- /dev/null
+++ b/src/imu_receiver_node.cpp
@@ -0,0 +1,495 @@
+/**
+ * @file imu_receiver_node.cpp
+ * @brief IMU NED 速度接收节点 (FDI DETA10) - 高实时性版本
+ *
+ * 通过串口读取 FDI DETA10 IMU 模块的北东地速度数据
+ * 用于二维惯性导航
+ * 波特率：921600
+ * 协议：FDILink
+ *
+ * 数据包：MSG_NED_VEL (0x5F)
+ * - Velocity_north: 北向速度 (m/s)
+ * - Velocity_east: 东向速度 (m/s)
+ * - Velocity_down: 地向速度 (m/s)
+ */
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+// FDI Link 帧定义
+constexpr uint8_t FRAME_START = 0xFC;
+constexpr uint8_t FRAME_END = 0xFD;
+
+// 数据包 ID - 只保留 NED 速度
+constexpr uint8_t MSG_NED_VEL = 0x5F; // 卡尔曼滤波融合的北东地速度
+
+// 默认串口设备
+constexpr const char *DEFAULT_SERIAL_PORT = "/dev/ttyUSB1";
+constexpr int DEFAULT_BAUDRATE = 921600;
+
+// 串口读取缓冲区大小 (921600bps ≈ 115KB/s, 缓冲区需要足够大)
+constexpr size_t SERIAL_READ_BUF_SIZE = 4096;
+constexpr size_t MAX_FRAME_SIZE = 256;
+
+// CRC8 查找表
+static const uint8_t CRC8Table[] = {
+ 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31,
+ 65, 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96,
+ 130, 220, 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128,
+ 222, 60, 98, 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158,
+ 29, 67, 161, 255, 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56,
+ 102, 229, 187, 89, 7, 219, 133, 103, 57, 186, 228, 6, 88, 25, 71,
+ 165, 251, 120, 38, 196, 154, 101, 59, 217, 135, 4, 90, 184, 230, 167,
+ 249, 27, 69, 198, 152, 122, 36, 248, 166, 68, 26, 153, 199, 37, 123,
+ 58, 100, 134, 216, 91, 5, 231, 185, 140, 210, 48, 110, 237, 179, 81,
+ 15, 78, 16, 242, 172, 47, 113, 147, 205, 17, 79, 173, 243, 112, 46,
+ 204, 146, 211, 141, 111, 49, 178, 236, 14, 80, 175, 241, 19, 77, 206,
+ 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238, 50, 108, 142, 208,
+ 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115, 202, 148, 118,
+ 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139, 87, 9,
+ 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22, 233,
+ 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
+ 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107,
+ 53};
+
+// CRC16 查找表
+static const uint16_t CRC16Table[256] = {
+ 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108,
+ 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, 0x1231, 0x0210,
+ 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B,
+ 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, 0x2462, 0x3443, 0x0420, 0x1401,
+ 0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE,
+ 0xF5CF, 0xC5AC, 0xD58D, 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6,
+ 0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D,
+ 0xC7BC, 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+ 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, 0x5AF5,
+ 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC,
+ 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, 0x6CA6, 0x7C87, 0x4CE4,
+ 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD,
+ 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13,
+ 0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A,
+ 0x9F59, 0x8F78, 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E,
+ 0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+ 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1,
+ 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, 0xB5EA, 0xA5CB,
+ 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0,
+ 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xA7DB, 0xB7FA, 0x8799, 0x97B8,
+ 0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657,
+ 0x7676, 0x4615, 0x5634, 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9,
+ 0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882,
+ 0x28A3, 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+ 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, 0xFD2E,
+ 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07,
+ 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, 0xEF1F, 0xFF3E, 0xCF5D,
+ 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74,
+ 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0};
+
+class ImuReceiverNode : public rclcpp::Node {
+public:
+ ImuReceiverNode() : Node("imu_receiver_node") {
+ // 声明参数
+ this->declare_parameter("serial_port", DEFAULT_SERIAL_PORT);
+ this->declare_parameter("baudrate", DEFAULT_BAUDRATE);
+ this->declare_parameter("verbose", true); // 是否输出详细日志
+ this->declare_parameter("enable_crc", false); // 是否启用CRC校验（默认关闭）
+
+ // 获取参数
+ serial_port_ = this->get_parameter("serial_port").as_string();
+ baudrate_ = this->get_parameter("baudrate").as_int();
+ enable_crc_ = this->get_parameter("enable_crc").as_bool();
+
+ RCLCPP_INFO(this->get_logger(), "=================================");
+ RCLCPP_INFO(this->get_logger(), "IMU NED 速度接收节点启动 (高实时性版本)");
+ 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(), "CRC校验: %s",
+ enable_crc_ ? "启用" : "禁用");
+ RCLCPP_INFO(this->get_logger(), "=================================");
+
+ // 创建发布者
+ ned_vel_pub_ = this->create_publisher(
+ "imu/ned_velocity", 10);
+ vel_north_pub_ = this->create_publisher(
+ "imu/velocity_north", 10);
+ vel_east_pub_ =
+ this->create_publisher("imu/velocity_east", 10);
+ connection_status_pub_ = this->create_publisher(
+ "imu/connection_status", 10);
+
+ // 初始化串口
+ if (!initSerial()) {
+ RCLCPP_ERROR(this->get_logger(), "串口初始化失败，节点退出");
+ rclcpp::shutdown();
+ return;
+ }
+
+ // 创建接收线程
+ receive_thread_ = std::thread(&ImuReceiverNode::receiveLoop, this);
+
+ // 创建状态发布定时器
+ status_timer_ = this->create_wall_timer(
+ std::chrono::seconds(1),
+ std::bind(&ImuReceiverNode::publishStatus, this));
+
+ RCLCPP_INFO(this->get_logger(), "IMU 节点初始化完成");
+ }
+
+ ~ImuReceiverNode() {
+ running_ = false;
+ if (receive_thread_.joinable()) {
+ receive_thread_.join();
+ }
+ if (serial_fd_ >= 0) {
+ close(serial_fd_);
+ }
+ RCLCPP_INFO(this->get_logger(), "IMU 串口已关闭");
+ }
+
+private:
+ bool initSerial() {
+ RCLCPP_INFO(this->get_logger(), "正在打开 IMU 串口 %s...",
+ serial_port_.c_str());
+
+ serial_fd_ = open(serial_port_.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
+ if (serial_fd_ < 0) {
+ RCLCPP_ERROR(this->get_logger(), "无法打开串口 %s: %s",
+ serial_port_.c_str(), strerror(errno));
+ return false;
+ }
+
+ 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;
+ }
+
+ speed_t baud = convertBaudrate(baudrate_);
+ cfsetospeed(&tty, baud);
+ cfsetispeed(&tty, baud);
+
+ tty.c_cflag &= ~PARENB;
+ tty.c_cflag &= ~CSTOPB;
+ tty.c_cflag &= ~CSIZE;
+ tty.c_cflag |= CS8;
+ tty.c_cflag |= CREAD | CLOCAL;
+ tty.c_cflag &= ~CRTSCTS;
+
+ tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+ tty.c_iflag &= ~(IXON | IXOFF | IXANY);
+ tty.c_oflag &= ~OPOST;
+
+ // 非阻塞读取，最小读取0字节，超时0
+ tty.c_cc[VMIN] = 0;
+ tty.c_cc[VTIME] = 0;
+
+ 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;
+ }
+
+ tcflush(serial_fd_, TCIOFLUSH);
+
+ RCLCPP_INFO(this->get_logger(), "IMU 串口打开成功");
+ is_connected_ = true;
+ return true;
+ }
+
+ speed_t convertBaudrate(int baudrate) {
+ 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:
+ return B921600;
+ }
+ }
+
+ uint8_t calculateCRC8(const uint8_t *data, uint8_t len) {
+ uint8_t crc8 = 0;
+ for (uint8_t i = 0; i < len; i++) {
+ crc8 = CRC8Table[crc8 ^ data[i]];
+ }
+ return crc8;
+ }
+
+ uint16_t calculateCRC16(const uint8_t *data, uint8_t len) {
+ uint16_t crc16 = 0;
+ for (uint8_t i = 0; i < len; i++) {
+ crc16 = CRC16Table[((crc16 >> 8) ^ data[i]) & 0xFF] ^ (crc16 << 8);
+ }
+ return crc16;
+ }
+
+ // 接收循环
+ void receiveLoop() {
+ // 使用双缓冲区策略：一个用于接收，一个用于处理
+ std::vector rx_buffer;
+ rx_buffer.reserve(SERIAL_READ_BUF_SIZE * 2);
+
+ // 临时读取缓冲区
+ uint8_t read_buf[SERIAL_READ_BUF_SIZE];
+
+ // 帧解析状态
+ bool in_frame = false;
+ std::vector current_frame;
+ current_frame.reserve(MAX_FRAME_SIZE);
+
+ while (running_ && rclcpp::ok()) {
+ // 批量读串口数据
+ ssize_t n = read(serial_fd_, read_buf, sizeof(read_buf));
+
+ if (n > 0) {
+ // 将新数据追加到缓冲区
+ rx_buffer.insert(rx_buffer.end(), read_buf, read_buf + n);
+
+ // 处理缓冲区中的数据
+ size_t i = 0;
+ while (i < rx_buffer.size()) {
+ uint8_t byte = rx_buffer[i];
+
+ if (!in_frame) {
+ // 查找帧头
+ if (byte == FRAME_START) {
+ // 检查是否有足够的字节来读取帧头信息
+ if (i + 5 <= rx_buffer.size()) {
+ // 读取帧头信息
+ uint8_t msg_id = rx_buffer[i + 1];
+ uint8_t data_len = rx_buffer[i + 2];
+ uint8_t seq = rx_buffer[i + 3];
+ uint8_t header_crc = rx_buffer[i + 4];
+
+ // 可选的CRC校验
+ bool header_valid = true;
+ if (enable_crc_) {
+ uint8_t header[4] = {FRAME_START, msg_id, data_len, seq};
+ header_valid = (calculateCRC8(header, 4) == header_crc);
+ }
+
+ if (header_valid) {
+ // 开始收集帧数据
+ in_frame = true;
+ current_frame.clear();
+ current_frame.push_back(FRAME_START);
+ current_frame.push_back(msg_id);
+ current_frame.push_back(data_len);
+ current_frame.push_back(seq);
+ current_frame.push_back(header_crc);
+
+ // 计算还需要读取多少字节
+ size_t total_frame_len =
+ 5 + 2 + data_len + 1; // 头+CRC16+数据+尾
+ size_t remaining = total_frame_len - 5; // 已经读取了5字节
+
+ // 检查缓冲区中是否有足够的数据
+ if (i + 5 + remaining <= rx_buffer.size()) {
+ // 数据足够，直接复制剩余部分
+ current_frame.insert(current_frame.end(),
+ rx_buffer.begin() + i + 5,
+ rx_buffer.begin() + i + 5 + remaining);
+
+ // 检查帧尾
+ if (current_frame.back() == FRAME_END) {
+ // 解析帧
+ processFrame(current_frame);
+ }
+ // 无论是否有帧尾，都结束当前帧处理
+ in_frame = false;
+ i += total_frame_len;
+ continue;
+ } else {
+ // 数据不够，需要等待更多数据
+ // 删除已处理的部分，保留当前帧的后续数据
+ rx_buffer.erase(rx_buffer.begin(), rx_buffer.begin() + i);
+ i = 5; // 保留当前帧头
+ break;
+ }
+ }
+ }
+ }
+ i++;
+ } else {
+ // 已经在帧中，继续收集数据
+ current_frame.push_back(byte);
+
+ // 检查是否到达帧尾
+ if (byte == FRAME_END) {
+ // 解析帧
+ processFrame(current_frame);
+ in_frame = false;
+ i++;
+ } else if (current_frame.size() >= MAX_FRAME_SIZE) {
+ // 帧太长，丢弃
+ in_frame = false;
+ i++;
+ } else {
+ i++;
+ }
+ }
+ }
+
+ // 如果不在帧中且缓冲区太大，清理旧数据
+ if (!in_frame && rx_buffer.size() > SERIAL_READ_BUF_SIZE) {
+ // 保留最后一部分数据，可能包含不完整的帧头
+ if (rx_buffer.size() > 100) {
+ rx_buffer.erase(rx_buffer.begin(), rx_buffer.end() - 100);
+ }
+ }
+ } else if (n < 0 && errno != EAGAIN && errno != EWOULDBLOCK) {
+ // 读取错误
+ RCLCPP_ERROR(this->get_logger(), "串口读取错误: %s", strerror(errno));
+ }
+ // n == 0 或 EAGAIN: 没有数据可读，继续循环（无sleep，保证实时性）
+ }
+ }
+
+ // 处理完整的一帧数据
+ void processFrame(const std::vector &frame) {
+ // 最小帧长度检查：头(5) + CRC16(2) + 尾(1) = 8
+ if (frame.size() < 8)
+ return;
+
+ // 检查帧尾
+ if (frame.back() != FRAME_END)
+ return;
+
+ uint8_t msg_id = frame[1];
+ uint8_t data_len = frame[2];
+
+ // 验证数据长度
+ size_t expected_len = 5 + 2 + data_len + 1;
+ if (frame.size() != expected_len)
+ return;
+
+ // 可选的数据CRC校验
+ if (enable_crc_) {
+ uint16_t data_crc = (frame[5] << 8) | frame[6];
+ uint16_t calc_crc = calculateCRC16(frame.data() + 7, data_len);
+ if (data_crc != calc_crc)
+ return;
+ }
+
+ // 解析数据包
+ parsePacket(msg_id, frame.data() + 7, data_len);
+ }
+
+ void parsePacket(uint8_t msg_id, const uint8_t *data, uint8_t len) {
+ if (msg_id == MSG_NED_VEL) {
+ parseNEDVelocity(data, len);
+ }
+ }
+
+ // 解析 NED 速度数据
+ void parseNEDVelocity(const uint8_t *data, uint8_t len) {
+ if (len < 12)
+ return;
+
+ float vel_north = *reinterpret_cast(data);
+ float vel_east = *reinterpret_cast(data + 4);
+ float vel_down = *reinterpret_cast(data + 8);
+
+ // 发布 Twist 消息
+ geometry_msgs::msg::Twist twist_msg;
+ twist_msg.linear.x = vel_north; // 北向速度
+ twist_msg.linear.y = vel_east; // 东向速度
+ twist_msg.linear.z = vel_down; // 地向速度
+
+ ned_vel_pub_->publish(twist_msg);
+
+ // 单独发布北向和东向速度（方便二维导航使用）
+ std_msgs::msg::Float32 north_msg;
+ north_msg.data = vel_north;
+ vel_north_pub_->publish(north_msg);
+
+ std_msgs::msg::Float32 east_msg;
+ east_msg.data = vel_east;
+ vel_east_pub_->publish(east_msg);
+
+ // 增加接收计数
+ ned_vel_received_count_++;
+
+ // 根据 verbose 参数输出日志
+ bool verbose = this->get_parameter("verbose").as_bool();
+ if (verbose) {
+ RCLCPP_INFO(this->get_logger(),
+ "NED速度 - 北向: %.3f, 东向: %.3f, 地向: %.3f m/s", vel_north,
+ vel_east, vel_down);
+ } else {
+ RCLCPP_DEBUG(this->get_logger(),
+ "NED速度 - 北向: %.3f, 东向: %.3f, 地向: %.3f m/s",
+ vel_north, vel_east, vel_down);
+ }
+ }
+
+ void publishStatus() {
+ auto msg = std_msgs::msg::Bool();
+ msg.data = is_connected_ && (serial_fd_ >= 0);
+ connection_status_pub_->publish(msg);
+
+ if (is_connected_) {
+ RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 5000,
+ "IMU NED 速度接收正常 - 累计接收数据包: %zu",
+ ned_vel_received_count_.load());
+ }
+ }
+
+ // 成员变量
+ std::string serial_port_;
+ int baudrate_;
+ bool enable_crc_ = true; // CRC校验开关
+
+ int serial_fd_ = -1;
+ bool is_connected_ = false;
+ std::atomic running_{true};
+ std::thread receive_thread_;
+
+ // 统计信息
+ std::atomic ned_vel_received_count_;
+
+ rclcpp::Publisher::SharedPtr ned_vel_pub_;
+ rclcpp::Publisher::SharedPtr vel_north_pub_;
+ rclcpp::Publisher::SharedPtr vel_east_pub_;
+ rclcpp::Publisher::SharedPtr connection_status_pub_;
+ rclcpp::TimerBase::SharedPtr status_timer_;
+};
+
+int main(int argc, char *argv[]) {
+ rclcpp::init(argc, argv);
+
+ auto node = std::make_shared();
+
+ if (rclcpp::ok()) {
+ rclcpp::spin(node);
+ }
+
+ rclcpp::shutdown();
+ return 0;
+}
\ No newline at end of file