# dingtek_robot

**Repository Path**: zhangson502/dingtek_robot

## Basic Information

- **Project Name**: dingtek_robot
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-06-10
- **Last Updated**: 2025-08-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 机器人工程框架说明

### 软件架构说明

![alt text](docs/docs/image.png)

#### 硬件层(hardware)
|节点名称|节点功能|文档说明|源代码|
|----|----|----|----|
|wheels|轮组<font color="red">串口</font>驱动|[hardware/wheels_uart.md](docs/docs/hardware/wheels_uart.md)|hardware/wheels_uart|
||轮组<font color="green">Linux直驱</font>驱动|[hardware/wheels_pwm.md](docs/docs/hardware/wheels_uart.md)|hardware/wheels_pwm|
|gps_driver|差分GPS-ROS2驱动|[hardware/gps_driver.md](docs/docs/hardware/gps_driver.md)|hardware/gps|
|imu_driver|陀螺仪-ROS2驱动|[hardware/imu_driver.md](docs/docs/hardware/imu_driver.md)|hardware/imu_driver|
|lidar_driver|激光雷达转scan驱动|[hardware/lidar_driver.md](docs/docs/hardware/lidar_driver.md)|hardware/imu_driver|
|sonar_driver|超声波驱动|[hardware/sonar_driver.md](docs/docs/hardware/lidar_driver.md)|hardware/imu_driver|
|camera_driver|摄像头驱动|[hardware/camera_driver.md](docs/docs/hardware/camera_driver.md)|hardware/camera_driver|
|<font color="red">*screen_driver</font>|显示/触摸屏幕驱动|[hardware/screen_driver.md](docs/docs/hardware/screen_driver.md)|hardware/screen_driver|

#### 系统层(system)
|节点名称|节点功能|文档说明|源代码|
|----|----|----|----|
|localizer|融合定位功能|[system/localizer.md](docs/docs/system/localizer.md)|system/localizer|
|map_manager|地图管理功能|[system/map_manager.md](docs/docs/system/map_manager.md)|system/map_manager|
|task_manager|任务管理节点|[system/task_manager.md](docs/docs/system/task_manager.md)|system/task_manager|
|dyn_controller|运动控制节点|[system/dyn_controller.md](docs/docs/system/dyn_controller.md)|system/dyn_controller|
|sta_controller|路径规划节点|[system/sta_controller.md](docs/docs/system/sta_controller.md)|system/sta_controller|
|manu_controller|手动控制节点|[system/manu_controller.md](docs/docs/system/manu_controller.md)|system/manu_controller|
|logger|故障及日志管理|[system/logger.md](docs/docs/system/logger.md)|system/logger|

#### 用户交互层(UI)
|节点名称|节点功能|文档说明|源代码|
|----|----|----|----|
|http_server|机器人内部服务器|[ui/http_server.md](docs/docs/ui/http_server.md)|ui/http_server|