HiveCoreRD/hivecore_robot_brain
6
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity
142 Commits 4 Branches 3 Tags
develop
Commit Graph

142 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
david
b728f050fc chore: upgrade hivecore logger SDK from 1.0.0 to 1.0.1 
- Update hivecore_logger_cpp_DIR and include paths in brain and smacc2
  CMakeLists.txt to reference SDK version 1.0.1
- Fix unused parameter warning in CbRosStop2 constructor by casting
  launchPid to void
 2026-03-05 21:55:24 +08:00
david
13f235c682 fix: guard null const char* and out-of-bounds vector access in LOG_INFO calls 
cerebellum_hooks.cpp (ConfigureDualArmHooks):
- Pass `action ? action : "unknown"` to LOG_INFO to avoid fmt crash
  when motion_type does not match any known type (null const char*)
- Guard target_joints[0..5] with has_joints check to avoid OOB access
  when the joints vector has fewer than 6 elements

cerebellum_node.cpp (CallInverseKinematics):
- Guard angles[0..5] with has_angles check to avoid OOB access
  if the IK service returns fewer than 6 joint angles
 2026-03-04 17:17:57 +08:00
david
80217bbae7 refactor(smacc2): replace RCLCPP logging macros with hivecore logger SDK 
- Replace all RCLCPP_DEBUG/INFO/WARN/ERROR/FATAL macros across 43 files
  in smacc2 headers and sources
- Printf-style format strings converted to fmt/spdlog {} style
- Stream variants (RCLCPP_*_STREAM) converted to lambda + ostringstream:
    LOG_X("{}", [&]{ std::ostringstream _oss; _oss << expr; ... }())
- Throttle variants converted to LOG_*_THROTTLE(ms, ...)
- Add hivecore_logger_cpp dependency to smacc2/CMakeLists.txt
 2026-03-04 14:22:05 +08:00
david
a39f6a6d2e refactor(brain): replace RCLCPP logging macros with hivecore logger SDK 
- Replace all RCLCPP_* logging macros with LOG_* hivecore macros across
  brain_node, cerebrum_node, cerebellum_node, skill_manager, and related files
- Add hivecore_logger_cpp dependency to CMakeLists.txt
- Initialize Logger with explicit LoggerOptions in brain_node.cpp
  (level, log_dir, fallback_dir, file size, queue, worker threads,
  console output, level sync, flush interval)
 2026-03-04 14:10:17 +08:00
david
6709fd510c tune vision grasp offsets and pre-grasp blend radius 2026-03-04 11:44:09 +08:00
david
ce03b2c6c5 refactor(brain): replace arm_action_define constants in cerebellum arm flow 2026-02-25 14:20:18 +08:00
NuoDaJia02
a02bc399b7 Fix BT params anchors and update configs 2026-02-05 18:07:53 +08:00
NuoDaJia02
0e7b8570fd Refactor vision hooks and add dual arm motion type 2026-02-05 12:12:36 +08:00
NuoDaJia02
527c243617 Refresh grasp BT params and hooks 2026-02-05 10:18:48 +08:00
NuoDaJia02
32e15a7d9a Fix param splitting for rebuild overrides 2026-02-04 18:09:23 +08:00
NuoDaJia02
aa74fc2397 Update skills config and cerebellum node 2026-02-04 18:02:15 +08:00
NuoDaJia02
97363f1e32 Update dual arm goal mapping and skills 2026-02-04 17:40:39 +08:00
NuoDaJia02
742e5ec67e Update BT configs and remove unused scripts 2026-02-04 16:17:41 +08:00
NuoDaJia02
7d7f602a16 Fix generators for payload, skills, and BT params 2026-02-04 16:14:13 +08:00
NuoDaJia02
9d19a88ac6 添加行为树xml注释 2026-02-03 09:21:44 +08:00
NuoDaJia02
ac4a1fc8f2 优化robot work info处理 2026-01-29 18:45:19 +08:00
NuoDaJia02
9047e71206 Refactor IK client: move from GraspPoseCalculator to CerebellumNode 2026-01-28 15:29:30 +08:00
NuoDaJia02
da61cf8709 add timestamp to work info 2026-01-27 18:51:29 +08:00
NuoDaJia02
c4f07c73fb feat(brain): enhance BT sequence rebuild and parameter handling 
- Update BT registry to ensure unique node names with timestamps and indices.
- Implement per-instance parameter overrides for sequence executions.
- Add helpers for splitting quoted strings and handling generic rebuild requests.
- update HandleGenericRebuild to support both Remote and Sequence types with parameter matching.
 2026-01-22 17:31:06 +08:00
NuoDaJia02
3fc1de3a1a optimize code 2026-01-19 17:55:49 +08:00
NuoDaJia02
02f7c103c7 update dual arm demo1 params 2026-01-15 16:05:04 +08:00
NuoDaJia02
c1a7205e10 优化代码和流程 2026-01-15 15:37:05 +08:00
NuoDaJia02
c929176625 参数可配置 2026-01-14 16:32:06 +08:00
NuoDaJia02
f191008b5a optimize parameters 2026-01-13 18:26:08 +08:00
NuoDaJia02
a36903f467 modify parameters 2026-01-13 16:59:58 +08:00
NuoDaJia02
2d4a1edb10 optimize code 2026-01-12 17:55:58 +08:00
NuoDaJia02
88dceb1a1a add wheel and waist action to sch TAG-HUIYU-DEMO1-20260112 2026-01-12 10:13:19 +08:00
NuoDaJia02
0b6f18729c optimize bt sch 2026-01-11 16:31:43 +08:00
NuoDaJia02
385527dc2a test dual arm grasp sch ok 2026-01-11 14:26:00 +08:00
NuoDaJia02
2348200dc7 test left arm grasp 2026-01-09 16:57:33 +08:00
NuoDaJia02
79187e6645 update yaml 2026-01-08 17:31:49 +08:00
NuoDaJia02
1c7605e397 add left arm bt xml 2026-01-08 17:10:53 +08:00
NuoDaJia02
68563e2162 support left arm 2026-01-08 16:10:49 +08:00
NuoDaJia02
5c3994da9d modify arm position 2026-01-08 10:08:47 +08:00
NuoDaJia02
ac6bf49e75 support two gripper 2026-01-07 13:46:55 +08:00
NuoDaJia02
4e0d53d41e optimize code 2026-01-06 16:05:29 +08:00
NuoDaJia02
19d59c50db update sch 2026-01-05 18:04:01 +08:00
NuoDaJia02
1ee0c96bb6 optimize sch&params 2026-01-05 17:20:21 +08:00
NuoDaJia02
4ec5ff7a05 add launch files 2026-01-04 16:40:30 +08:00
NuoDaJia02
c9fc59119e update bt 2025-12-30 18:13:35 +08:00
NuoDaJia02
869e77d3c8 add fallback to bt 2025-12-30 15:21:24 +08:00
NuoDaJia02
5cf006a3e5 add subtree 2025-12-30 15:08:20 +08:00
NuoDaJia02
40b38dfd00 disable wheel and waist action 2025-12-30 14:23:11 +08:00
NuoDaJia02
b063044249 optimize code 2025-12-30 13:52:49 +08:00
NuoDaJia02
56ec283a44 huiyu demo 1 2025-12-30 08:55:45 +08:00
NuoDaJia02
acffa0e6db new schedual 2025-12-29 15:14:54 +08:00
NuoDaJia02
f56490c5b1 optimize code 2025-12-27 13:29:39 +08:00
NuoDaJia02
994f2a574f test oK 2025-12-25 19:01:01 +08:00
NuoDaJia02
7f05981c15 add gripper control 2025-12-24 16:26:33 +08:00
NuoDaJia02
34d4f4cce6 add take photo pose 2025-12-24 08:40:02 +08:00