完善Detour状态估计与轨迹跟踪验证
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.052m，航向2.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.052m，航向2.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.068m，航向0.30°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.068m，航向0.30°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.050m，航向4.45°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.050m，航向4.45°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.084m，航向1.08°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.084m，航向1.08°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.034m，航向5.66°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.034m，航向5.66°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 362
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.073m，航向5.61°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.073m，航向5.61°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 362
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.037m，航向6.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移超过自动连续化范围：平移0.037m，航向6.82°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 362
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour单帧航向变化超出物理边界。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour单帧航向变化超出物理边界。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 401
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.130m，航向误差=0.08°。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.130m，航向误差=0.08°。, stack:
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at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.187m，航向1.34°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.187m，航向1.34°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
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at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.240m，航向误差=0.24°。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):车辆已在终点零速参考处停稳，但终点精度不满足要求：位置误差=0.240m，航向误差=0.24°。, stack:
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at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
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at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
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: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour航向连续异常达到确认条件，航向暂不可用。最后原因：Detour航向创新超过当前动态允许值。, stack:
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at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
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at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
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at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
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at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
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*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour航向连续异常达到确认条件，航向暂不可用。最后原因：Detour航向创新超过当前动态允许值。, stack:
|
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at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 401
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
*p.InnerException * (InvalidOperationException):MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.EnsureMotionFrameIsActive(Double motionDirectionRadians) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 115
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendRollingTwistInActiveMotionFrame(Twist2D bodyTwist, Double linearSpeedMetersPerSecond, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 365
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendBodyTwist(Twist2D bodyTwist, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 351
|
||||
at MultiWheelC.Control.Execution.GcpCommandExecutor.Execute(GcpMotionCommand command, Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\GcpCommandExecutor.cs:line 125
|
||||
at MultiWheelC.Control.Execution.ParkingGeometricController.ExecuteCycle(Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\ParkingGeometricController.cs:line 517
|
||||
|
||||
: * (Exception):DriveTask failed, msg=停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.NewControllerStraight4mTest.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\NewControllerTrackingTests.cs:line 264
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):停车机器人轨迹控制周期异常：MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MultiWheelC.TrajectoryTrackingMovement.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\TrajectoryTrackingMovement.cs:line 419
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
*p.InnerException * (InvalidOperationException):MultiWheelChassis当前运动坐标系与命令不一致。当前偏置为X=0, Y=0, Th=-0°，期望Th=-45°。, stack:
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.EnsureMotionFrameIsActive(Double motionDirectionRadians) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 115
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendRollingTwistInActiveMotionFrame(Twist2D bodyTwist, Double linearSpeedMetersPerSecond, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 365
|
||||
at MyParking.Shared.MultiWheelChassisAdapter.SendBodyTwist(Twist2D bodyTwist, Nullable`1 interval) in D:\Users\Desktop\入职培训\停车机器人\MyParking\Shared\Chassis\MultiWheelChassisAdapter.cs:line 351
|
||||
at MultiWheelC.Control.Execution.GcpCommandExecutor.Execute(GcpMotionCommand command, Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\GcpCommandExecutor.cs:line 125
|
||||
at MultiWheelC.Control.Execution.ParkingGeometricController.ExecuteCycle(Double deltaTimeSeconds) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Control\Execution\ParkingGeometricController.cs:line 517
|
||||
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour疑似坐标跳变未能在0.60s内确认，车辆状态已置为不可用。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour疑似坐标跳变未能在0.60s内确认，车辆状态已置为不可用。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.163m，航向2.26°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):原地自转完成后Detour位置在限定时间内未恢复。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.163m，航向2.26°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 282
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,94 @@
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.045m，航向4.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.045m，航向4.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向0.39°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向0.39°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.162m，航向0.78°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.162m，航向0.78°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.070m，航向1.89°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.070m，航向1.89°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向1.72°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向1.72°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.112m，航向0.79°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.112m，航向0.79°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.048m，航向0.29°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.048m，航向0.29°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
: * (Exception):DriveTask failed, msg=无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向2.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at ClumsyCore.DriveTask.Wait() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 205
|
||||
at MultiWheelC.InPlaceRotateTestBase.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 145
|
||||
at MultiWheelC.TestRotateAngle.Test() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Experiments\RotationTests.cs:line 240
|
||||
at ClumsyLite.ClumsyLiteUI.<>c__DisplayClass19_1.<MainPanelHandler>b__21() in D:\MDCS\Source\Core\Clumsy\ClumsyLite\ClumsyLiteUI.cs:line 592
|
||||
|
||||
*p.InnerException * (InvalidOperationException):无法从Detour状态源读取有效车辆航向。Detour位姿偏移在短时确认后仍未恢复，且不能安全地自动连续化：平移0.102m，航向2.53°。车辆状态已置为不可用，应停车并重新定位或规划。, stack:
|
||||
at MultiWheelC.MultiWheelRotateInPlace.ReadCurrentAngleDegrees(IVehicleStateProvider stateProvider) in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 367
|
||||
at MultiWheelC.MultiWheelRotateInPlace.Get()+MoveNext() in D:\Users\Desktop\入职培训\停车机器人\MyParking\MultiWheelC\Movements\RotateInPlace.cs:line 184
|
||||
at ClumsyCore.DriveTask.<>c__DisplayClass9_0.<.ctor>b__2() in D:\MDCS\Source\Core\Clumsy\ClumsyCore\DriveTask.cs:line 112
|
||||
|
||||
|
||||
@@ -0,0 +1,22 @@
|
||||
getCartLocation()返回什么位姿是可能因重定位而跳变的地图位姿？
|
||||
还是保证连续的里程计位姿？
|
||||
回环或重定位后，x/y/th是否允许突然变化？
|
||||
|
||||
这是最重要的问题。
|
||||
tick代表什么时间是激光采样时间、定位计算完成时间，还是发布时间？
|
||||
是否为 .NET DateTime.Ticks？
|
||||
getCartLocation()返回缓存数据时，tick是否保持不变？
|
||||
|
||||
这决定MyParking如何进行时间对齐。
|
||||
l_step的含义
|
||||
只需要问：
|
||||
正常、定位退化、定位丢失、重定位中分别是什么范围？
|
||||
判断定位恢复的推荐条件是什么？
|
||||
自转时 l_step升高是否正常？
|
||||
是否存在额外可调用的接口
|
||||
重点问有没有：
|
||||
连续里程计位姿或速度。
|
||||
定位是否有效。
|
||||
是否正在重定位。
|
||||
定位置信度或匹配分数。
|
||||
不需要让对方新增功能，只问现有接口有没有。
|
||||
Reference in New Issue
Block a user