<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[lzy6041的博客]]></title><description><![CDATA[vx:Liuzy_123456 欢迎沟通交流问题]]></description><link>https://blog.youkuaiyun.com/lzy6041</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; lzy6041]]></copyright><item><title><![CDATA[多激光雷达到车体的标定]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/164398054</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/164398054</guid><author>lzy6041</author><pubDate>Sat, 05 Sep 2026 16:50:08 +0800</pubDate><description><![CDATA[代码准备：multi_lidar目录：lidar_align_tool功能包用于初始标定multi_ldiar_calibrator功能包用于单个从雷达到主雷达的标定lidar_calib目录：multi_ldiar_calibrator功能包用于单个雷达到车体后轴的标定，主要是roll pitch yaw。multi_lidar_merge功能包用于多个雷达的融合，以同一帧点云发布。]]></description><category></category></item><item><title><![CDATA[应对大型程序编译卡死问题]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/163792157</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/163792157</guid><author>lzy6041</author><pubDate>Sun, 16 Aug 2026 08:41:57 +0800</pubDate><description><![CDATA[配置（添加到 ~/.bashrc）#查看缓存命中ccache -s。]]></description><category></category></item><item><title><![CDATA[Jetson Orin Nano Super + Ubuntu 22.04 + ROS2 Humble + Autoware Universe]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/161154870</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/161154870</guid><author>lzy6041</author><pubDate>Sun, 17 May 2026 08:25:48 +0800</pubDate><description><![CDATA[源码编译 (Source Build)]]></description><category></category></item><item><title><![CDATA[问题：编译jetson-inference，找不到-lnpymath]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/154457926</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/154457926</guid><author>lzy6041</author><pubDate>Wed, 05 Nov 2025 22:43:10 +0800</pubDate><description><![CDATA[安装完成后，编译仍然报错。]]></description><category></category></item><item><title><![CDATA[YOLO V3学习（3）——基于darknet ros的目标检测 基于gpu版本]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/136370075</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/136370075</guid><author>lzy6041</author><pubDate>Thu, 29 Feb 2024 16:55:29 +0800</pubDate><description><![CDATA[问题一：darknet_ros 会开始下载yolov2-tiny.weights、yolov3.weights和yolov2.weights，但国内下载太慢，可以直接去CMakelists.txt里注释掉。另外需要说明一点的是从如下链接下载文件放入/darknet_ros/darknet_ros/yolo_network_config/weights文件中。问题二：需要更改相应的gencode,具体可以参考darknet中各种显卡对应。我这里是1660Ti.下载darknet_ros包和darknet包。]]></description><category></category></item><item><title><![CDATA[autoware之twist_filter节点]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/134866378</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/134866378</guid><author>lzy6041</author><pubDate>Thu, 07 Dec 2023 22:58:48 +0800</pubDate><description><![CDATA[总的来说，twist_filter是对线速度和角速度进行一个满足车辆运动学的检验，不能超过给定横向加速度阈值，否则做减速处理。lowpass_gain_linear_x                 速度的低通滤波系数。lowpass_gain_angular_z              角速度的低通滤波系数。也就是说一阶低通滤波算法采样本次采样值与上次滤波输出值进行加权，得到有效滤波值。lowpass_gain_steering_angle	 转角的低通滤波系数。Y(n)为本次滤波输出值；]]></description><category></category></item><item><title><![CDATA[linux C++实现线程绑定CPU]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/134262271</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/134262271</guid><author>lzy6041</author><pubDate>Tue, 07 Nov 2023 11:07:33 +0800</pubDate><description><![CDATA[嵌入式里面我们会使用到，随着产品芯片性能提升，我们也会有很多功能，以及很多进程产生运行，这个时候我们在任务调度调优的时候，把一些进程绑定到固定cpu运行，下面就来分享一下cpu绑定运行的过程：首先运行的环境需要多核，大家可以按照下面命令进行查询对应设备的cpu数量使用cat /proc/cpuinfo查看cpu信息，如下两个信息：processor，指明第几个cpu处理器cpu cores，指明每个处理器的核心数。]]></description><category></category></item><item><title><![CDATA[imu的静止零偏噪声标定与积分]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/134011007</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/134011007</guid><author>lzy6041</author><pubDate>Tue, 24 Oct 2023 14:22:06 +0800</pubDate><description><![CDATA[备注：这款IMU是九轴IMU，融合了磁力计，也就是原始的yaw角指北是0度，范围为0-360°，顺时针增大。回答：你可以把*q_rr去掉，重新编译后，通过TF转换看到，实际上这个坐标是倒着的，还需要绕X轴转180°才是我们ROS里面用到的坐标系。只左乘q_r的话是可以完成TF的坐标变换的，但是我们通常在ros里用到的坐标系是前左上，所以还要通过右乘q_rr来修正坐标系的位姿。示例使用的Imu为轮趣科技 n100 mini其中imu出来的数据的坐标系是基于ROS坐标系的。输入的单帧Imu示例。]]></description><category></category></item><item><title><![CDATA[采用ros同步机制 message::filter将自定义消息在类中的实现时间同步]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/128288692</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/128288692</guid><author>lzy6041</author><pubDate>Mon, 12 Dec 2022 18:00:00 +0800</pubDate><description><![CDATA[【代码】采用ros同步机制 message::filter将自定义消息在类中的实现时间同步。]]></description><category></category></item><item><title><![CDATA[关于WGS80经纬度坐标选定原点转UTM平面坐标的几种测试]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/127302981</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/127302981</guid><author>lzy6041</author><pubDate>Thu, 13 Oct 2022 16:09:56 +0800</pubDate><description><![CDATA[gps ]]></description><category></category></item><item><title><![CDATA[C++ mark ros系统“秒”转换成“年月日时分秒+毫秒”]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/125681931</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/125681931</guid><author>lzy6041</author><pubDate>Fri, 08 Jul 2022 17:01:50 +0800</pubDate><description><![CDATA[void getDate(long long time) 
{
    int seconds = time / 1000000000 + 8 * 3600;// time zone +8
    int days = seconds / 86400;
    int year = 1970 + (int) (days / 1461) * 4; // recycled in 4 years = 1461 days
    int month = 0;
    int day = days % 1461;
 ]]></description><category></category></item><item><title><![CDATA[autoware之轮式里程计计算]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/125511257</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/125511257</guid><author>lzy6041</author><pubDate>Tue, 28 Jun 2022 23:11:06 +0800</pubDate><description><![CDATA[...]]></description><category></category></item><item><title><![CDATA[kitti2bag]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/125448304</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/125448304</guid><author>lzy6041</author><pubDate>Fri, 24 Jun 2022 16:46:57 +0800</pubDate><description><![CDATA[kitti]]></description><category></category></item><item><title><![CDATA[catkin_make install安装与打包ros功能包]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/122380484</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/122380484</guid><author>lzy6041</author><pubDate>Sat, 08 Jan 2022 15:05:54 +0800</pubDate><description><![CDATA[假设有以下工程文件：

其中bus_control是主文件，而pure_pursuit、planing均是其依赖文件。
在bus_control层级的CMakeLists.txt写法：
cmake_minimum_required(VERSION 3.0.2)
project(bus_control)
# set(CMAKE_BUILD_TYPE Release)
SET(CMAKE_BUILD_TYPE Debug)
## Compile as C++11, supported in ROS Kineti]]></description><category></category></item><item><title><![CDATA[C++知识点（19) 纯虚函数与抽象基类]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/120477175</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/120477175</guid><author>lzy6041</author><pubDate>Sat, 25 Sep 2021 20:43:33 +0800</pubDate><description><![CDATA[test.h
#ifndef TEST
#define TEST
#include&lt;iostream&gt;
using namespace std;
class Shape//抽象基类,包含一个或一个以上纯虚函数
{
private:
    /* data */
public:

    virtual float area() const {return 0.0;}//虚函数
    virtual float volume() const {return 0.0;}//虚函数
    virt]]></description><category></category></item><item><title><![CDATA[数据处理：修改rosbag topic的frame_id]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/120347406</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/120347406</guid><author>lzy6041</author><pubDate>Fri, 17 Sep 2021 13:45:18 +0800</pubDate><description><![CDATA[1.安装srv_tools工具
git clone https://github.com/srv/srv_tools.git
将其作为功能包放到ros工作空间下编译即可。
2.使用示例
rosrun bag_tools change_frame_id.py -t /blrobot/drivers/lidar_front/velodyne_points -f /laser -i 2021-08-17-11-00-18.bag -o new.bag
解释：rosrun bag_tools change_fram]]></description><category></category></item><item><title><![CDATA[C++知识点（18） unordered_map]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/120277208</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/120277208</guid><author>lzy6041</author><pubDate>Wed, 15 Sep 2021 21:55:39 +0800</pubDate><description><![CDATA[unorder_map是基于哈希表实现，不允许有重复的key值
（1） find()
iterator find(const key_type &amp;key)
如果key存在，则find返回key对应迭代器，通过迭代器的second获取值；
如果key不存在，则返回unordered_map::end();因此可以通过map.find(key)==map.end()来判断key是否存在于unordered_map中。
（2）count()
size_type count(const key_type &]]></description><category></category></item><item><title><![CDATA[机器人导航：move_base的actionlib机制]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/120235654</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/120235654</guid><author>lzy6041</author><pubDate>Sat, 11 Sep 2021 12:29:46 +0800</pubDate><description><![CDATA[通过actionlib客户端发布目标点  让actionlib 服务器响应。
在actionlin客户端
#include &lt;ros/ros.h&gt;
#include &lt;tf/transform_listener.h&gt;
#include &lt;nav_msgs/Odometry.h&gt;
#include &lt;string.h&gt;
#include &lt;move_base_msgs/MoveBaseAction.h&gt;
#include &lt;actionlib/]]></description><category></category></item><item><title><![CDATA[C++ Json实现外部参数配置]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/119976663</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/119976663</guid><author>lzy6041</author><pubDate>Sun, 29 Aug 2021 09:41:22 +0800</pubDate><description><![CDATA[在项目开发过程中经常会通过配置文件去设置一些外部参数，前期也有讲到过用yaml配置参数，这里写了一个用json配置参数的示例。
配置参数：
{
	"info":	{
                "name":	"I am Mr.liu",
                "year":	18,
                "id": 123456,
                "chinese": 98,
                "math": 99,
                "]]></description><category></category></item><item><title><![CDATA[数据处理：map2world的初始对准]]></title><link>https://blog.youkuaiyun.com/lzy6041/article/details/119781934</link><guid>https://blog.youkuaiyun.com/lzy6041/article/details/119781934</guid><author>lzy6041</author><pubDate>Wed, 18 Aug 2021 20:02:35 +0800</pubDate><description><![CDATA[在gnss和lidar融合定位的过程中有这样的一个问题，需要将雷达点云匹配的位姿转换到
可以将相对于map系的gnss位置和laser位置分别记录到gnss.csv和laser.csv中。
然后将位置点分别保存到sensor_msgs::PointCloud2类型的点云，最后再用ICP的方式找到两者的旋转和偏移。

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