实现蟹行轨迹跟踪测试并优化底盘XYTh与原地旋转舵角控制

Co-authored-by: Cursor <cursoragent@cursor.com>

data_process/plot_angular_command.py

@@ -34,7 +34,7 @@ def plot_angular_command(
     )
     time = frame["TimeSeconds"].to_numpy(dtype=float)
     angular_command = frame[
-        "CommandAngularSpeedDegPerSec"
+        "CommandAngularSpeedRadPerSec"
     ].to_numpy(dtype=float)
     maximum = float(np.max(angular_command))
     minimum = float(np.min(angular_command))
@@ -50,12 +50,12 @@ def plot_angular_command(
     ax.axhline(0.0, color="black", linewidth=0.8)
     shade_localization_jump_windows(ax, metadata)
     ax.set_xlabel("时间 / s")
-    ax.set_ylabel("命令角速度 / (°/s)")
+    ax.set_ylabel("命令角速度 / (rad/s)")
     ax.set_title(
         f"角速度指令曲线\n"
         f"{metadata['controller_name']} - "
         f"{metadata['trajectory_name']}，"
-        f"范围=[{minimum:.3f}, {maximum:.3f}]°/s"
+        f"范围=[{minimum:.3f}, {maximum:.3f}]rad/s"
     )
     ax.grid(True, alpha=0.3)
     ax.legend()