<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[LWLGZY的博客]]></title><description><![CDATA[]]></description><link>https://blog.youkuaiyun.com/LWLGZY</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; LWLGZY]]></copyright><item><title><![CDATA[mujoco 仿真导纳控制律]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/153880180</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/153880180</guid><author>LWLGZY</author><pubDate>Sat, 25 Oct 2025 18:01:21 +0800</pubDate><description><![CDATA[本文介绍了基于MuJoCo的导纳控制仿真系统。系统通过XML文件定义了一个带滑动关节的滑块模型，并实现二阶导纳控制算法（Ma + Bv + K*x = F_ext）。导纳控制器根据外力计算期望轨迹，PID内环跟踪该轨迹。仿真展示了当外力施加时滑块柔顺移动，外力消失后平滑返回原位的特性。通过调整导纳参数（质量M、阻尼B、刚度K）可控制系统响应特性。代码实现了外力模拟、导纳控制律和可视化功能，并提供了不同参数配置建议，如快速响应（M=0.8,B=15,K=150）和柔顺配置（M=2.0,B=40,K=50）。该]]></description><category></category></item><item><title><![CDATA[【7】ExternalCommand]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/140127920</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/140127920</guid><author>LWLGZY</author><pubDate>Tue, 02 Jul 2024 17:35:03 +0800</pubDate><description><![CDATA[在每个命令对应的CommandProcessor中创建处理命令的apollo::cyber::Service，service的Response一般都是当前命令处理的状态。输入外部命令经过预处理，被转换成内部命令发送给planning，control或者canbus模块。用户业务模块发送的命令为apollo::external_command::ExternalCommandProcessComponent的输入，用户输入命令通过。可以看到conf配置文件中包含7个服务端处理器。planning模块。]]></description><category></category></item><item><title><![CDATA[【3】系统标定]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/139630549</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/139630549</guid><author>LWLGZY</author><pubDate>Tue, 02 Jul 2024 14:54:13 +0800</pubDate><description><![CDATA[若为 NARROW_INT，则表示 GPS 信号良好，符合定位要求；若不为 NARROW_INT，则遥控移动下车辆，直到出现 NARROW_INT 为止。在配置好标定表后,可以进行纯RTK定位下的车辆循迹;通过对直线和弯道的测试用来检测地盘动力学标定效果以及底盘控制模块是否存在问题.主要是为了获得到lidar到imu的tf关系。imu为父坐标lidar为子坐标。其他雷达标定到主lidar坐标系下。建图不依赖动力学标定，只要雷达传感器标定好后可以进行。标定的结果都是生成一个是四元数。，查看是否有数据刷新.]]></description><category></category></item><item><title><![CDATA[DreamView数据流]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/139857003</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/139857003</guid><author>LWLGZY</author><pubDate>Mon, 01 Jul 2024 11:48:18 +0800</pubDate><description><![CDATA[进入搜索模式"mainboard";也可以看到实际执行的命令如下。打开界面F12打开调试界面，可以查看websock通信详细信息。查看DV中界面启动dag，按钮，后台其实启动的是。]]></description><category></category></item><item><title><![CDATA[【5】apollo编写python节点步骤及实例]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/139882996</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/139882996</guid><author>LWLGZY</author><pubDate>Sun, 23 Jun 2024 16:59:29 +0800</pubDate><description><![CDATA[本机没有编译or缺少需要引用的proto文件时候, 也可以直接将其他机器生成的pb2.py文件拷贝到类似。在刚才自动生成的proto文件里面添加自己定义的消息,记得重新编译.也可以新建proto文件, 修改BUILD文件;在workspace/modules下新建包。下import才不会报错.增加自己的proto消息。修改对应BUILF的文件。订阅底盘话题处理故障实例。proto文件内容如下。]]></description><category></category></item><item><title><![CDATA[问答集锦整理]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/139820031</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/139820031</guid><author>LWLGZY</author><pubDate>Thu, 20 Jun 2024 09:33:57 +0800</pubDate><description><![CDATA[【代码】问答集锦整理。]]></description><category></category></item><item><title><![CDATA[【2】线控底盘]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/139522586</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/139522586</guid><author>LWLGZY</author><pubDate>Fri, 07 Jun 2024 14:49:38 +0800</pubDate><description><![CDATA[驱动：驱动控制接口，一般推荐油门踏板接口，控制精度1%以内；驱动反馈接口，踏板反馈精度与控制精度对齐，1%以内；踏板控制超调建议不超过目标踏板控制量的1%。制动：制动控制接口，一般推荐刹车踏板接口；制动反馈接口，踏板反馈精度1%以内；踏板控制超调建议不超过目标踏板控制量的1%]]></description><category></category></item><item><title><![CDATA[【1】apollo 环境配置]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/139521227</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/139521227</guid><author>LWLGZY</author><pubDate>Fri, 07 Jun 2024 11:25:35 +0800</pubDate><description><![CDATA[安装输入google pinyin法最后需要reboot。]]></description><category></category></item><item><title><![CDATA[apollo资料整理]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/138521908</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/138521908</guid><author>LWLGZY</author><pubDate>Tue, 07 May 2024 14:01:39 +0800</pubDate><description><![CDATA[apollo 资料整理]]></description><category></category></item><item><title><![CDATA[Transitions 例子]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/137243294</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/137243294</guid><author>LWLGZY</author><pubDate>Mon, 01 Apr 2024 19:14:58 +0800</pubDate><description><![CDATA[【代码】Transitions 例子。]]></description><category></category></item><item><title><![CDATA[ros常用代码整理]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/133683752</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/133683752</guid><author>LWLGZY</author><pubDate>Sun, 08 Oct 2023 15:52:45 +0800</pubDate><description><![CDATA[【代码】ros常用代码整理]]></description><category></category></item><item><title><![CDATA[NoMachine远程上方显示绿色问题]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/129306495</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/129306495</guid><author>LWLGZY</author><pubDate>Thu, 02 Mar 2023 18:35:49 +0800</pubDate><description><![CDATA[NoMachine远程显示问题]]></description><category></category></item><item><title><![CDATA[ubuntu系统环境配置和常用软件安装]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/129084166</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/129084166</guid><author>LWLGZY</author><pubDate>Fri, 17 Feb 2023 12:59:10 +0800</pubDate><description><![CDATA[ubuntu装机]]></description><category></category></item><item><title><![CDATA[remap发布节点还是remap接收节点]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/126548419</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/126548419</guid><author>LWLGZY</author><pubDate>Fri, 26 Aug 2022 18:12:08 +0800</pubDate><description><![CDATA[注意需要区分remap发布节点还是remap接收节点]]></description><category></category></item><item><title><![CDATA[ROS QT界面开发步骤]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/123091332</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/123091332</guid><author>LWLGZY</author><pubDate>Wed, 23 Feb 2022 15:31:04 +0800</pubDate><description><![CDATA[你需要ROS人机交互软件吗？

GitHub - chengyangkj/Ros_Qt5_Gui_App: ROS human computer interface based on Qt5(基于Qt5的ROS人机交互界面)

https://blog.youkuaiyun.com/qq_38441692/category_9863968.html

bilibili html5 player

安装ros对qt pkg的支持




sudo apt-get install ros-melodic-qt-create]]></description><category></category></item><item><title><![CDATA[python-模拟键盘按键]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/123090993</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/123090993</guid><author>LWLGZY</author><pubDate>Wed, 23 Feb 2022 15:19:18 +0800</pubDate><description><![CDATA[#! /usr/bin/env python
# coding:utf-8

import time
from pynput.keyboard import Key, Controller
from pynput import keyboard

def on_press(key):
    try:
        print('alphanumeric key {0} pressed'.format(key.char))
    except AttributeError:
        pr...]]></description><category></category></item><item><title><![CDATA[拷贝文件夹内容到指定文件夹下]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/123090887</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/123090887</guid><author>LWLGZY</author><pubDate>Wed, 23 Feb 2022 15:17:19 +0800</pubDate><description><![CDATA[#! /usr/bin/env python
# coding:utf-8

import os
import shutil
import time

RootB  = r"C:\Users\dell\Desktop\ClientB"
RootA  = r"C:\Users\dell\Desktop\ClientA"

DestA  = "E:\DataShare\ClientA"
DestB  = "E:\DataShare\ClientB"


def copyDirAllFiles(src_Dir,.]]></description><category></category></item><item><title><![CDATA[Ubuntu 安装绿联CM448无线网卡驱动]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/122491198</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/122491198</guid><author>LWLGZY</author><pubDate>Fri, 14 Jan 2022 13:06:18 +0800</pubDate><description><![CDATA[驱动地址

https://download.lulian.cn/USB%E6%97%A0%E7%BA%BF%E7%BD%91%E5%8D%A1RTL8811CU%E8%8A%AF%E7%89%87%E9%A9%B1%E5%8A%A8%EF%BC%88Windows%2BLinux%E7%B3%BB%E7%BB%9F%EF%BC%89.rarhttps://download.lulian.cn/USB%E6%97%A0%E7%BA%BF%E7%BD%91%E5%8D%A1RTL8811CU%E8%8A%AF]]></description><category></category></item><item><title><![CDATA[python 服务端程序]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/122479461</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/122479461</guid><author>LWLGZY</author><pubDate>Thu, 13 Jan 2022 17:58:30 +0800</pubDate><description><![CDATA[HOST = ''
    PORT = 5555
    BUFSIZ = 128
    ADDR = (HOST, PORT)
    tcpSerSock = socket(AF_INET, SOCK_STREAM)
    
    tcpSerSock.settimeout(None)

    tcpSerSock.bind(ADDR)
    tcpSerSock.listen(5)

    input = [tcpSerSock, sys.stdin]   #input是一个列...]]></description><category></category></item><item><title><![CDATA[Python 常用总结]]></title><link>https://blog.youkuaiyun.com/LWLGZY/article/details/122127409</link><guid>https://blog.youkuaiyun.com/LWLGZY/article/details/122127409</guid><author>LWLGZY</author><pubDate>Fri, 24 Dec 2021 14:38:53 +0800</pubDate><description><![CDATA[格式化字符串操作


strr = "str= %s :numI = %03d pi=%.2f" %('lwlg',5,3.14)
    print(strr)
    
    strr = "str= {0} :numI = {1} pi= {2}".format('lwlg',666,3.1415)
    print(strr)





类似Switch分支操作

def f1():
    print("f1")

def f2():
    print("f2")


if __nam...]]></description><category></category></item></channel></rss>